US 11,675,363 B2
Automatic working system, self-moving apparatus and control method thereof
Davide Dalfra, Vicenza (IT)
Assigned to Positec Power Tools (Suzhou) Co., Ltd, Suzhou (CN)
Appl. No. 16/484,454
Filed by Positec Power Tools (Suzhou) Co., Ltd, Jiangsu (CN)
PCT Filed Feb. 13, 2018, PCT No. PCT/CN2018/076709
§ 371(c)(1), (2) Date Aug. 7, 2019,
PCT Pub. No. WO2018/149404, PCT Pub. Date Aug. 23, 2018.
Claims priority of application No. 201710081901.1 (CN), filed on Feb. 15, 2017.
Prior Publication US 2019/0369629 A1, Dec. 5, 2019
Int. Cl. G05D 1/00 (2006.01); G05D 1/02 (2020.01)
CPC G05D 1/0223 (2013.01) [G05D 1/0088 (2013.01); G05D 2201/0208 (2013.01)] 16 Claims
OG exemplary drawing
 
1. An automatic lawn mower, moving and working in a working region defined by a border, and comprising:
a housing;
a movement module, mounted at the housing, and driven by a drive motor to enable the automatic lawn mower to move;
a control module, controlling movement and working of the automatic lawn mower; and
a detection unit, electrically connected to the control module, and detecting one or more movement or status parameters of the automatic lawn mower,
wherein when the detection unit detects that the one or more movement or status parameters of the automatic lawn mower satisfies a preset condition, the control module alternately decreases and increases an acceleration of the movement of the automatic lawn mower, so as to keep a speed of the movement of the automatic lawn mower in a preset range that is less than or equal to a preset speed value that allows the automatic lawn mower to respond to a border detection and prevent moving beyond the border,
wherein a first one of the movement or status parameters of the automatic lawn mower is the acceleration of the movement of the automatic lawn mower, and
wherein the associated preset condition is that the acceleration of the movement of the automatic lawn mower is greater than or equal to a first threshold.