Autonomous working device, and control method therefor

Patent metadata

Field	Value
Publication number	US-2023393578-A1
Application number	US-202318205454-A
Country	US
Kind code	A1
Filing date	Jun 2, 2023
Priority date	Dec 3, 2020
Publication date	Dec 7, 2023
Grant date	—

Abstract

This application relates to an autonomous working apparatus and a control method for an autonomous working apparatus. The autonomous working apparatus includes: a mover, configured to drive the autonomous working apparatus to move in a working area; a sensor, including at least a first sensor and a second sensor different from the first sensor, the first sensor being configured to obtain surrounding environment data of the autonomous working apparatus, and the second sensor being configured to obtain the surrounding environment data of the autonomous working apparatus or positioning data of a current position of the autonomous working apparatus; and a processor, connected at least to the sensor, the processor being configured to determine a category of an area in a direction of travel of the autonomous working apparatus based on a processing result of data input by the second sensor and to generate at least one instruction associated with the first sensor according to the category.

First claim

1 - 15 . (canceled)

16 . An autonomous working apparatus, the autonomous working apparatus comprising:
a mover, configured to drive the autonomous working apparatus to move in a working area; a sensor, comprising at least a first sensor and a second sensor different from the first sensor, the first sensor being configured to obtain surrounding environment data of the autonomous working apparatus, and the second sensor being configured to obtain the surrounding environment data of the autonomous working apparatus or positioning data of a current position of the autonomous working apparatus; and a processor, connected at least to the sensor, the processor being configured to determine a category of an area in a direction of travel of the autonomous working apparatus based on a processing result of data input by the second sensor and to generate at least one instruction associated with the first sensor according to the category.

17 . The autonomous working apparatus according to claim 16 , wherein
the category of the area comprises a first area, the first area is an uphill area having a gradient within a preset range, and the processor is configured to generate an instruction for reducing a detection distance of the first sensor when determining that the area in the direction of travel of the autonomous working apparatus is the first area.

18 . The autonomous working apparatus according to claim 16 , wherein
the category of the area comprises a first area, the first area is an uphill area having a gradient within a preset range, and the processor is configured to generate an instruction for turning off the first sensor when determining that the area in the direction of travel of the autonomous working apparatus is the first area.

19 . The autonomous working apparatus according to claim 16 , wherein
the category of the area comprises a first area, the first area is an uphill area having a gradient within a preset range, and the processor is configured to generate a instruction for filtering the surrounding environment data of the autonomous working apparatus obtained by the first sensor when determining that the area in the direction of travel of the autonomous working apparatus is the first area.

20 . The autonomous working apparatus according to claim 16 , wherein
the second sensor is configured to obtain the surrounding environment data of the autonomous working apparatus; the processor is further configured to determine whether an obstacle surrounds the autonomous working apparatus based on fusion of data input by the first sensor and the second sensor; and the category of the area comprises a first area, the first area is an uphill area having a gradient within a preset range, and the processor is configured to generate an instruction for reducing a fusion ratio of the surrounding environment data of the autonomous working apparatus obtained by the first sensor when determining that the area in the direction of travel of the autonomous working apparatus is the first area.

21 . The autonomous working apparatus according to claim 16 , wherein
The processor is further configured to determine whether there is an obstacle surrounding the autonomous working apparatus based on data input by the first sensor; and The first sensor is further configured to obtain obstacle data around the autonomous working apparatus; the category of the area comprises a first area, the first area is an uphill area having a gradient within a preset range, and the processor is configured to generate an instruction for reducing a reaction distance of the first sensor when determining that the area in the direction of travel of the autonomous working apparatus is the first area; the processor is further configured to determine whether the distance between the autonomous working apparatus and the obstacle is less than or equal to the reaction distance based on data input by the first sensor, and control the autonomous working apparatus to execute an obstacle avoidance action.

22 . The autonomous working apparatus according to claim 20 , wherein the second sensor comprises at least one of a LIDAR sensor and a vision sensor.

23 . The autonomous working apparatus according to claim 16 , wherein
the second sensor is configured to obtain positioning data of a current position of the autonomous working apparatus, the positioning data comprising height data of the current position of the autonomous working apparatus; and the processor is configured to calibrate a position of a first area having a gradient within a preset range in the working area according to the height data of the surface of the working area to draw an area map of the working area before the autonomous working apparatus executes a working task.

24 . The autonomous working apparatus according to claim 23 , wherein the processor is configured to determine a category of an area in a direction of travel of the autonomous working apparatus based on a processing result of a positioning data of the current position of the autonomous working apparatus and the area map of the working area.

25 . The autonomous working apparatus according to claim 16 , wherein each first area corresponds to one area identifier;
the second sensor is configured to detect the area identifier; wherein the processor is configured to determine a category of an area in a direction of travel of the autonomous working apparatus based on detection data of detecting the identifier.

26 . The autonomous working apparatus according to claim 16 , wherein the processor is further configured to determine whether a distance between the autonomous working apparatus and the first area in the direction of travel is less than or equal to a preset distance, and to generate the at least one instruction if the distance is less than or equal to the preset distance.

27 . The autonomous working apparatus according to claim 16 , wherein after the autonomous working apparatus leaves the first area for a predetermined distance or a predetermined time, the processor is further configured to stop generating an instruction for reducing a detection distance of the first sensor, or stop generating an instruction for filtering the surrounding environment data of the autonomous working apparatus obtained by the first sensor, or stop generating an instruction for reducing a fusion ratio of the surrounding environment data of the autonomous working apparatus obtained by the first sensor, or stop generating an instruction for reducing a reaction distance.

28 . The autonomous working apparatus according to claim 23 , wherein the second sensor comprises a satellite positioning sensor.

29 . The autonomous working apparatus according to claim 16 , wherein the first sensor is configured to transmit a signal around the autonomous working apparatus and receive a reflected signal of the signal, so as to obtain the surrounding environment data of the autonomous working apparatus.

30 . The autonomous working apparatus according to claim 29 , wherein the first sensor comprises an ultrasonic sensor.

31 . The autonomous working apparatus according to claim 30 , wherein a detection distance of the ultrasonic sensor is less than or equal to 60 cm.

32 . The autonomous working apparatus according to claim 30 , wherein a detection distance of the ultrasonic sensor is less than or equal to 38 cm.

33 . A control method for an autonomous working apparatus, the autonomous working apparatus comprising a mover, a sensor, and a processor connected at least to the s

Assignees

• Positec Power Tools Suzhou Co Ltd

Inventors

• Conti Emanuel

Classifications

• G05D1/0214 Primary

  in accordance with safety or protection criteria, e.g. avoiding hazardous areas (monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13) · CPC title

• G05D1/0255

  using acoustic signals, e.g. ultra-sonic singals (sonar systems designed for anti-collision purposes G01S15/93) · CPC title

• G05D1/024

  in combination with a laser (lasers per se H01S) · CPC title

• G05D1/0278

  using satellite positioning signals, e.g. GPS · CPC title

• G05D1/0274

  using mapping information stored in a memory device (navigation using map-matching G01C21/30) · CPC title