US 12,265,399 B2
Automatic work system and turning method therefor, and self-moving device
Paolo Andriolo, Vicenza (IT); Federico Testolin, Vicenza (IT); Davide Dalfra, Vicenza (IT); and Emanuel Conti, Vicenza (IT)
Assigned to Positec Power Tools (Suzhou) Co., Ltd., Suzhou (CN)
Appl. No. 17/764,525
Filed by Positec Power Tools (Suzhou) Co., Ltd., Suzhou (CN)
PCT Filed Nov. 26, 2019, PCT No. PCT/CN2019/120977
§ 371(c)(1), (2) Date Sep. 19, 2022,
PCT Pub. No. WO2021/047063, PCT Pub. Date Mar. 18, 2021.
Claims priority of application No. 201910863810.2 (CN), filed on Sep. 10, 2019.
Prior Publication US 2024/0134394 A1, Apr. 25, 2024
Prior Publication US 2024/0231388 A9, Jul. 11, 2024
Int. Cl. A01D 34/00 (2006.01); A01D 101/00 (2006.01); G05D 1/224 (2024.01); G05D 1/648 (2024.01)
CPC G05D 1/6482 (2024.01) [A01D 34/008 (2013.01); G05D 1/2246 (2024.01); A01D 2101/00 (2013.01)] 18 Claims
OG exemplary drawing
 
1. An automatic working system comprising:
a self-moving device comprising:
a housing;
a movement module, mounted on the housing and configured to drive the self-moving device to move and/or turn; and
a control module, configured to control the movement module to drive the self-moving device to move and/or turn; and
a navigation mechanism, configured to record movement locations passed by the self-moving device when the self-moving device moves in a working region, and determine coverage values of the self-moving device in sub-regions of a map of the working region based on the movement locations, wherein:
when the self-moving device reaches a boundary of the working region, the control module is configured to control the movement module to turn to leave the boundary, and
based on a coverage value corresponding to each movement range when the self-moving device reaches the boundary, the control module is configured to control the movement module to turn to a movement range with a corresponding coverage value that meets a preset requirement, wherein the coverage value corresponding to each movement range is determined based at least in part on a coverage value of the self-moving device in a corresponding sub-region of the sub-regions.