US 12,066,831 B2
Self-moving device, obstacle detection method thereof, and obstacle detection module
Davide Dalfra, Vicenza (IT); Emanuel Conti, Vicenza (IT); and Federico Testolin, Vicenza (IT)
Assigned to Positec Power Tools (Suzhou) Co., Ltd, Suzhou (CN)
Appl. No. 17/427,893
Filed by Positec Power Tools (Suzhou) Co., Ltd, Suzhou (CN)
PCT Filed Jan. 31, 2020, PCT No. PCT/CN2020/074125
§ 371(c)(1), (2) Date Aug. 2, 2021,
PCT Pub. No. WO2020/156518, PCT Pub. Date Aug. 6, 2020.
Claims priority of application No. 201910108695.8 (CN), filed on Feb. 3, 2019.
Prior Publication US 2022/0121217 A1, Apr. 21, 2022
Int. Cl. G05D 1/00 (2024.01)
CPC G05D 1/0255 (2013.01) 18 Claims
OG exemplary drawing
 
1. A self-moving device comprising:
a housing;
a moving module;
a working module;
at least two non-contact obstacle detection modules, respectively located on two sides of the housing in a moving direction, and configured to transmit and receive detection signals, and detect an obstacle in the moving direction of the self-moving device;
a control module, configured to:
control the moving module to drive the self-moving device to move and control the working module to perform a work task;
determine a location of the obstacle based at least in part on detection data;
control the self-moving device to move and/or turn to avoid the obstacle based at least in part on the determined location of the obstacle;
determine that the obstacle is located in a right first region of a right region if the detection data comprises a detection signal transmitted and received by a left obstacle detection module of the at least two non-contact obstacle detection modules and does not comprise any detection signal transmitted and received by a right obstacle detection module of the at least two obstacle detection modules;
determine that the obstacle is located in a left first region of a left region if the detection data comprises a detection signal transmitted and received by a right obstacle detection module of the at least non-contact two obstacle detection modules and does not comprise any detection signal transmitted and received by the left obstacle detection module; and
determine that the obstacle is located in the right region or a middle region in the moving direction of the self-moving device if the left obstacle detection module transmits a first detection signal, and the detection data comprises the first detection signal reflected by the obstacle and received by the left obstacle detection module.