US 12,135,561 B2
Self-moving device and method for controlling movement path of same
Davide Dalfra, Jiangsu (CN); Emanuel Conti, Jiangsu (CN); Federico Testolin, Jiangsu (CN); Xiaochu Sheng, Jiangsu (CN); Yuanzhong Ran, Jiangsu (CN); Yanjun Pang, Jiangsu (CN); Jiang Du, Jiangsu (CN); and Xinghong Li, Jiangsu (CN)
Assigned to Positec Power Tools (Suzhou) Co., LTD., Suzhou (CN)
Appl. No. 16/643,151
Filed by Positec Power Tools (Suzhou) Co., Ltd, Suzhou (CN)
PCT Filed Aug. 30, 2018, PCT No. PCT/CN2018/103168
§ 371(c)(1), (2) Date Feb. 28, 2020,
PCT Pub. No. WO2019/042345, PCT Pub. Date Mar. 7, 2019.
Claims priority of application No. 201710764771.1 (CN), filed on Aug. 30, 2017; application No. 201810175128.X (CN), filed on Mar. 2, 2018; application No. 201810332699.X (CN), filed on Apr. 13, 2018; and application No. 201810333463.8 (CN), filed on Apr. 13, 2018.
Prior Publication US 2020/0201347 A1, Jun. 25, 2020
Int. Cl. G05D 1/00 (2024.01)
CPC G05D 1/0238 (2013.01) [G05D 1/0223 (2013.01); G05D 1/0255 (2013.01); G05D 1/027 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A self-moving device, comprising:
a housing;
an inertial navigation system (INS);
a non-contact obstacle recognition sensor disposed in front of the housing and configured to form an obstacle detection area in a movement direction of the self-moving device; and
a control module configured to:
control the self-moving device;
determine whether an obstacle exists in the obstacle detection area, wherein:
a mounting height of the non-contact obstacle recognition sensor is a first height,
a height limit value for obstacles is a second height that is correlated to the first height, and an object height is a third height,
an object is determined to be the obstacle when the third height is greater than the second height, and the object is determined not to be the obstacle when the third height is less than the second height, and
a correlation between the first height and the second height is that the first height is equal to a combination of the second height, a distance between an axial center of the non-contact obstacle recognition sensor and a determination section that receives a reflected wave, a value of a half of a field-of-view angle, and an offset angle of a central line of the non-contact obstacle recognition sensor relative to a bottom surface of a housing of the self-moving device;
cause the self-moving device to continue moving and steer towards a no-obstacle direction;
obtain, from the INS, an original direction that is before the self-moving device moves and steers around the obstacle, and a new direction that the self-moving device is to take;
control the self-moving device to move and steer at a steering angle determined based at least in part on a relative angle and a distance between the obstacle and the self-moving device; and
control the self-moving device to steer from the new direction to the original direction and continue moving according to the original direction.