US 11,841,710 B2
Automatic working system, self-moving device, and methods for controlling same
Yong Shao, Suzhou (CN); Mingming He, Suzhou (CN); Chang Zhou, Suzhou (CN); Zhou Yang, Suzhou (CN); Gen Sun, Suzhou (CN); and Yue Rao, Suzhou (CN)
Assigned to Positec Power Tools (Suzhou) Co., Ltd., Suzhou (CN)
Filed by Positec Power Tools (Suzhou) Co., Ltd., Jiangsu (CN)
Filed on Sep. 13, 2022, as Appl. No. 17/943,503.
Application 17/943,503 is a continuation of application No. 16/157,906, filed on Oct. 11, 2018, granted, now 11,442,466.
Application 16/157,906 is a continuation of application No. PCT/CN2017/080313, filed on Apr. 12, 2017.
Claims priority of application No. 201610224652.2 (CN), filed on Apr. 12, 2016; and application No. 201610805198.X (CN), filed on Sep. 6, 2016.
Prior Publication US 2023/0004172 A1, Jan. 5, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/02 (2020.01); G01S 1/00 (2006.01); G01S 19/49 (2010.01); G01S 19/48 (2010.01); G05D 1/00 (2006.01)
CPC G05D 1/0278 (2013.01) [G01S 1/00 (2013.01); G01S 19/485 (2020.05); G01S 19/49 (2013.01); G05D 1/0088 (2013.01); G05D 1/027 (2013.01); G05D 1/028 (2013.01); G05D 1/0231 (2013.01); G05D 1/0257 (2013.01); G05D 1/0259 (2013.01); G05D 1/0225 (2013.01); G05D 2201/0208 (2013.01)] 22 Claims
OG exemplary drawing
 
1. A self-moving device, comprising:
a moving module, a task execution module, and a control module, wherein the control module is electrically connected to the moving module and the task execution module, and is configured to control the moving module to actuate the self-moving device to move, and to control the task execution module to execute a working task;
the self-moving device further comprises a satellite navigation apparatus, electrically connected to the control module and configured to receive a satellite signal and output current location information of the self-moving device, wherein the self-moving device comprises a storage unit, electrically connected to the control module and the satellite navigation apparatus; a location at which quality of location information output by the satellite navigation apparatus satisfies a preset condition is referred to as an expected location; the storage unit stores information of the expected location;
wherein the control module is further configured to:
control the moving module to actuate the self-moving device to move along a preset path;
determine whether quality of location information output by the satellite navigation apparatus at a current location satisfies the preset condition, and if the quality does not satisfy the preset condition, control the moving module to actuate the self-moving device to continue to move along the preset path; if the quality still does not satisfy the preset condition after the self-moving device moves along the preset path for a preset time or by a preset distance, control the moving module to actuate the self-moving device to move toward the expected location, to enable quality of location information output by the satellite navigation apparatus at a location after the movement to satisfy the preset condition.