Autonomous working apparatus and system, and working method

Patent metadata

Field	Value
Publication number	US-2025255213-A1
Application number	US-202519196509-A
Country	US
Kind code	A1
Filing date	May 1, 2025
Priority date	Nov 4, 2022
Publication date	Aug 14, 2025
Grant date	—

Abstract

A mowing control process includes: acquiring map data of a first working area of a mowing task to be executed; planning a moving path of the autonomous working apparatus in the first working area at least according to the map data of the first working area, and controlling the autonomous working apparatus to autonomously traverse the first working area along the planned movement path and perform single-pass mowing in the first working area. The single-pass mowing is achieved through simultaneously mulching or collecting grass during mowing. The autonomous working apparatus switches to a state of moving or preparing to move toward a next first working area after detecting completion of traversal of the first working area.

First claim

What is claimed is:

1 . An autonomous working apparatus, adapted to perform at least one working task on a surface of a working area, the autonomous working apparatus comprising:
a housing; a cutting assembly and a driving assembly, each connected to the housing; and, a control circuit connected to the cutting assembly and the driving assembly; wherein the control circuit is at least configured to execute a lawn mowing control process, the lawn mowing control process comprising:
obtaining map data of a first working area for a mowing task, wherein the map data of the first working area is provided by a memory that pre-stores map data of different working areas;
planning a movement path of the autonomous working apparatus in the first working area based at least on the map data of the first working area, and outputting a first instruction to the cutting assembly and the driving assembly to control the autonomous working apparatus to autonomously traverse the first working area along the planned movement path and perform single-pass mowing in the first working area; wherein the single-pass mowing is achieved through simultaneously mulching or collecting grass during mowing; and
outputting a second instruction to the cutting assembly and the driving assembly to control the autonomous working apparatus to switch to a state of moving or preparing to move toward a next first working area after detecting completion of traversal of the first working area.

2 . The autonomous working apparatus according to claim 1 , wherein:
the map data of the first working area includes boundary data of the first working area and position data of at least a portion of non-cuttable areas; and the control circuit is configured to plan the movement path of the autonomous working apparatus in the first working area based at least on the boundary data of the first working area and the position data of at least a portion of non-cuttable areas.

3 . The autonomous working apparatus according to claim 1 , wherein:
the autonomous working apparatus further comprises a sensor assembly, electrically connected to the control circuit, configured to generate sensor data based on collected information; the sensor data includes positioning data for indicating position information of the autonomous working apparatus, and environmental data reflecting an environment in which the autonomous working apparatus is located; and the control circuit is further configured to:
detect whether the autonomous working apparatus encounters a preset event based on the environmental data;
if the preset event is detected, record a position area where the autonomous working apparatus encounters the preset event based on the positioning data;
plan a supplementary mowing path for the autonomous working apparatus based on the recorded position area and current positioning data of the autonomous working apparatus when detecting that the autonomous working apparatus completes an initial traversal of the first working area along the planned movement path; and
output a third instruction to the driving assembly and the cutting assembly to control the autonomous working apparatus to return to the recorded position area along the supplementary mowing path to execute the mowing task until the traversal of the first working area is completed.

4 . The autonomous working apparatus according to claim 3 , wherein the control circuit is further configured to:
mark the position area in the map data of the first working area to indicate that the position area is a non-cuttable area when the preset event is detected again in the position area; and continue moving along the supplementary mowing path to a next recorded position area, and output the second instruction to the driving assembly and the cutting assembly when detecting that the autonomous working apparatus completes the traversal of each recorded position area.

5 . The autonomous working apparatus according to claim 1 , wherein:
the autonomous working apparatus further comprises a sensor assembly, electrically connected to the control circuit, configured to generate sensor data based on collected information, wherein the sensor data includes positioning data for indicating position information of the autonomous working apparatus; and the control circuit is further configured to plan the movement path of the autonomous working apparatus in the first working area based at least on the positioning data and the map data of the first working area.

6 . The autonomous working apparatus according to claim 5 , wherein the control circuit is further configured to execute one or more of the following path planning processes:
planning a first mowing path for the autonomous working apparatus to move along a boundary of the first working area based at least on positioning data and the map data of the first working area; planning a second mowing path for the autonomous working apparatus to move along an island boundary in the first working area based at least on the positioning data and the map data of the first working area; and planning a regular third mowing path based at least on the positioning data and the map data of the first working area to control the autonomous working apparatus to traverse an area to be mowed between a boundary of the first working area and the island boundary.

7 . The autonomous working apparatus according to claim 1 , wherein:
the autonomous working apparatus further comprises a sensor assembly, electrically connected to the control circuit, configured to generate sensor data based on collected information, wherein the sensor data includes positioning data for indicating position information of the autonomous working apparatus; and the control circuit is further configured to retrieve the map data of the first working area matching the position information of the autonomous working apparatus from the memory based on the positioning data.

8 . The autonomous working apparatus according to claim 7 , wherein the sensor assembly is configured to:
generate original positioning data for indicating approximate position information of the autonomous working apparatus; receive correction data sent by a server; and generate the positioning data by correcting the original positioning data according to the correction data.

9 . The autonomous working apparatus according to claim 8 , wherein a coordinate system of current positioning data of the autonomous working apparatus and a coordinate system of the map data of the first working area where the autonomous working apparatus is about to work or is currently working have the same format; and the coordinate systems of the map data of different working areas in the memory have a consistent format.

10 . The autonomous working apparatus according to claim 1 , wherein:
the control circuit is further configured to:
obtain interface information associated with the first working area; and
retrieve the map data of the first working area matching the interface information from the memory according to the interface information; and
the interface information includes at least one of:
identity information of an owner of the first working area;
communication information of the owner of the first working area;
address information of the first working area; and
sequence information of the first working area.

11 . The autonomous working apparatus according to claim 1 , wherein the control circuit is further configured to:
retrieve the map data of the first working area, retrieve scheduling information of the autonomous working apparatus from the memory according to preset scheduling data for indicating the sch

Assignees

• Positec Power Tools Suzhou Co Ltd

Inventors

• Jiao Shiping
• Du Jiang
• Li Xinghong
• Zha Xiahong
• Lan Bincai
• Liao Liangliang

Classifications

• G05D2109/10

  Land vehicles · CPC title

• G05D2107/23

  Gardens or lawns · CPC title

• A01D2101/00

  Lawn-mowers · CPC title

• G05D1/246

  using environment maps, e.g. simultaneous localisation and mapping [SLAM] · CPC title

• G05D2105/15

  for harvesting, sowing or mowing in agriculture or forestry · CPC title