Autonomous working robot and system

Patent metadata

Field	Value
Publication number	US-2026003361-A1
Application number	US-202418917922-A
Country	US
Kind code	A1
Filing date	Oct 16, 2024
Priority date	Jul 22, 2022
Publication date	Jan 1, 2026
Grant date	—

Abstract

An autonomous working robot including a sensor assembly configured to generate sensing data based on acquired information; and a controller configured to determine whether an entry condition is met, and perform an entry control process in response to the entry condition being met. The entry control process includes outputting a corresponding driving instruction according to the sensing data to control a first movement trajectory of the autonomous working robot moving from a vehicle transporting the autonomous working robot to a ground of a non-working area; obtaining map data of a working area of a working task to be performed; and outputting a corresponding driving instruction according to the map data and sensing data to control a second movement trajectory of the autonomous working robot moving from the ground of the non-working area to the working area.

First claim

What is claimed is:

1 . An autonomous working robot comprising:
a body; a driving assembly connected to the body and configured to drive the autonomous working robot to move according to a driving instruction; a sensor assembly configured to generate sensing data based on acquired information; and a controller configured to:
determine whether an entry condition is met; and
perform an entry control process in response to the entry condition being met, the entry control process including:
outputting a first corresponding driving instruction according to the sensing data to control a first movement trajectory of the autonomous working robot moving from a vehicle transporting the autonomous working robot to a ground of a non-working area;
obtaining map data of a working area of a working task to be performed; and
outputting a second corresponding driving instruction according to the map data and sensing data to control a second movement trajectory of the autonomous working robot moving from the ground of the non-working area to the working area.

2 . The autonomous working robot according to claim 1 , wherein the entry condition comprises at least one of following:
the controller receives an input of an entry instruction; the autonomous working robot recognizes that a position thereof is in a preset area; and the autonomous working robot detects that a ramp of the vehicle is lowered.

3 . The autonomous working robot according to claim 1 , wherein the controller is further configured to:
determine whether a return condition is met; and perform a return control process in response to the return condition being met, the return control process including:
outputting a third corresponding driving instruction according to the map data and sensing data to control a third movement trajectory of the autonomous working robot moving from the working area to the ground of the non-working area; and
obtaining position data of the vehicle; and
outputting a fourth corresponding driving instruction according to the position data of the vehicle and the sensing data, to control a fourth movement trajectory of the autonomous working robot moving from the ground of the non-working area to the vehicle.

4 . The autonomous working robot according to claim 3 , wherein the return condition comprises at least one of following:
the controller receives an input of a return instruction, and the autonomous working robot completes the working task of the working area and parks at a preset parking position.

5 . The autonomous working robot according to claim 3 , wherein:
the sensing data comprises positioning data used for indicating position information of the autonomous working robot; and the controller is further configured to:
provide the sensing data to a first determination process, the first determination process being used for determining whether a preset event occurs in the autonomous working robot;
in response to determining that the preset event occurs in the autonomous working robot, record position data of at least one position of the autonomous working robot in the first movement trajectory and/or the second movement trajectory according to the positioning data in the sensing data in response to an occurrence of the preset event, the position data including the vehicle position data; and
obtaining the position data, and controlling the autonomous working robot to pass through the at least one position to return to the vehicle.

6 . The autonomous working robot according to claim 5 , wherein:
the preset event comprises more than one event that can be used for marking where a vehicle position is located; and the preset event comprises at least one of following:
detecting that the autonomous working robot moves to a get-off point;
detecting that the autonomous working robot moves to course confirmation position; and
detecting that the positioning data of the autonomous working robot meets a preset precision condition.

7 . The autonomous working robot according to claim 5 , wherein:
the sensing data further comprises environmental data reflecting an environment in which the autonomous working robot is located; and the controller is further configured to:
provide the environmental data to a second determination process, the second determination process being used for determining whether the autonomous working robot moves from the vehicle to the ground of the non-working area; and
in response to determining that the autonomous working robot moves from the vehicle to the ground of the non-working area, record, according to the positioning data in the sensing data, position data of at least one position after the autonomous working robot reaches the ground of the non-working area.

8 . The autonomous working robot according to claim 7 , wherein:
the sensor assembly comprises:
a tilt sensor used for detecting a body tilt; and
a slope sensor used for detecting a slope of a surface in a movement direction of the autonomous working robot;
the sensing data further comprises tilt data and slope data; and the second determination process comprises determining, according to the tilt data and the slope data, whether the autonomous working robot moves from the vehicle to the ground of the non-working area through a ramp.

9 . The autonomous working robot according to claim 5 , wherein the controller is further configured to:
provide the positioning data to a third determination process, wherein the third determination process is used for determining whether the positioning data meets a preset precision condition; and in response to determining that the positioning data meets the preset precision condition, record, according to the positioning data in the sensing data, position data of at least one position of the autonomous working robot in the first movement trajectory and/or the second movement trajectory in response to the positioning data meets the preset precision condition.

10 . The autonomous working robot according to claim 9 , wherein:
the positioning data comprises satellite positioning data; and the third determination process is used for determining whether the satellite positioning data meets the preset precision condition.

11 . The autonomous working robot according to claim 9 , wherein the controller is further configured to:
in response to determining that the positioning data meets the preset precision condition, record, according to the positioning data in the sensing data, first trajectory data of the first movement trajectory and second trajectory data of the second movement trajectory in response to the positioning data meets the preset precision condition; control the third movement trajectory of the autonomous working robot according to the second trajectory data and the sensing data; and control the fourth movement trajectory of the autonomous working robot according to the first trajectory data and the sensing data.

12 . The autonomous working robot according to claim 1 , wherein:
the sensing data comprises positioning data used for indicating position information of the autonomous working robot; and the map data comprises boundary data of the working area and guidance data used for guiding the autonomous working robot to move to the working area.

13 . The autonomous working robot according to claim 12 , wherein:
the guidance data comprises first path data; the first path data is used for indicating a pre-established first path to the working area; and a starting point of the first path is located outside the working area.

14 . The autonomous

Assignees

• Positec Power Tools Suzhou Co Ltd

Inventors

• Weng meng
• Yang Shengcang
• Ren Zhiguo
• Zha Xiahong
• Lan Bincai
• Hou Xinglong
• Zhou Xiaohui
• Zheng Siyuan
• Yu Hang
• Lu Shuailong

Classifications

• G05D1/43 Primary

  Control of position or course in two dimensions [2D] · CPC title

• G05D1/648

  Performing a task within a working area or space, e.g. cleaning · CPC title

• G05D2107/23

  Gardens or lawns · CPC title

• G05D2105/15

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

• A01D34/008

  for automated or remotely controlled operation · CPC title