US 12,135,562 B2
Self-moving device, server, and automatic working system thereof
Mingming He, Jiangsu (CN)
Assigned to Positec Power Tools (Suzhou) Co., LTD., Suzhou (CN)
Appl. No. 17/048,566
Filed by Positec Power Tools (Suzhou) Co., Ltd, Jiangsu (CN)
PCT Filed Apr. 19, 2019, PCT No. PCT/CN2019/083539
§ 371(c)(1), (2) Date Oct. 16, 2020,
PCT Pub. No. WO2019/201346, PCT Pub. Date Oct. 24, 2019.
Claims priority of application No. 201810354642.X (CN), filed on Apr. 19, 2018.
Prior Publication US 2021/0157331 A1, May 27, 2021
Int. Cl. G05D 1/00 (2024.01)
CPC G05D 1/0246 (2013.01) [G05D 1/0214 (2013.01); G05D 1/0219 (2013.01); G05D 1/0221 (2013.01); G05D 1/0225 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A self-moving device comprising:
an image detection module configured to detect an environment around the self-moving device to generate an environmental image;
a first recognition module configured to invoke a first deep learning model using a neural network model obtained through pre-training, identify an object region corresponding to a respective object type from the environmental image by executing the neural network model, and recognize a specific object in the environmental image based on the environmental image to generate a first recognition signal;
a first communication module configured to selectively send the environmental image and/or the first recognition signal to a server and receive a second recognition signal from the server corresponding to the environmental image; and
a control module configured to control different obstacle avoidance operations of the self-moving device according to different types of obstacles identified based on the first recognition signal and/or the second recognition signal.