US 12,189,390 B2
Outdoor robot and control method therefor
Paolo Andriolo, Vicenza (IT); Federico Testolin, Vicenza (IT); Davide Dalfra, Mantua (IT); and Emanuel Conti, Falciano (SM)
Assigned to Positec Power Tools (Suzhou) Co., LTD., Suzhou (CN)
Appl. No. 17/642,665
Filed by Positec Power Tools (Suzhou) Co., Ltd., Suzhou (CN)
PCT Filed Jun. 4, 2020, PCT No. PCT/CN2020/094350
§ 371(c)(1), (2) Date May 4, 2022,
PCT Pub. No. WO2021/047213, PCT Pub. Date Mar. 18, 2021.
Claims priority of application No. 201910866648.X (CN), filed on Sep. 12, 2019.
Prior Publication US 2022/0326709 A1, Oct. 13, 2022
Int. Cl. G05B 19/4155 (2006.01); G05D 1/00 (2006.01)
CPC G05D 1/021 (2013.01) [G05B 19/4155 (2013.01); G05B 2219/50391 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A control method of an outdoor robot, wherein the control method comprises:
obtaining a load parameter of an execution motor of the outdoor robot during running of the outdoor robot;
obtaining a change rate parameter of a load according to the load parameter; and
in response to determining that the change rate parameter of the load represents that the load increases and the change rate parameter of the load exceeds a preset threshold range, detecting that an obstacle is present on a path of the outdoor robot, and braking an execution apparatus of the outdoor robot.