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公开(公告)号：US11695359B2
公开(公告)日：2023-07-04
申请号：US17050346
申请日：2019-04-24
发明人： Federico Testolin , Davide Dalfra
IPC分类号： H02P5/74 , H02P6/06 , H02P8/14 , H02P21/18 , H02P21/22 , H02P27/12 , A01D34/00 , A01D34/64 , A01D34/74 , A01D34/78
摘要： The disclosure relates to an autonomous apparatus, moving and performing preset work in a defined working area, the autonomous apparatus including an energy module supplying energy to the autonomous apparatus, a motor, a sensor circuit, and a control circuit, the motor obtaining the energy from the energy module, to drive the autonomous apparatus to move and/or work in the working area, the sensor circuit detecting working parameters and environmental parameters of the autonomous apparatus, and transmitting detection results to the control circuit, the control circuit controlling the operation of the motor according to a signal transmitted by the sensor circuit, where the motor is a sensorless brushless motor, and before the motor rotates, the control circuit measures a resistance value of the motor, and estimates, one the basis of the resistance value of the motor, a rotor position of the motor, so as to control the operation of the motor.
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公开(公告)号：US11675363B2
公开(公告)日：2023-06-13
申请号：US16484454
申请日：2018-02-13
发明人： Davide Dalfra
CPC分类号： G05D1/0223 , G05D1/0088 , G05D2201/0208
摘要： Embodiments of the present invention relates to a self-moving device, moving and working in a working region, and including: a housing; a movement module, mounted at the housing, and driven by a drive motor to enable the self-moving device to move; a control module, controlling movement and working of the self-moving device; and a detection unit, electrically connected to the control module, and detecting a movement and/or status parameter of the self-moving device, where when the detection unit detects that the movement and/or status parameter of the self-moving device satisfies a preset condition, the control module alternately decreases and increases an acceleration of the movement of the self-moving device, so as to keep a speed of the movement of the self-moving device in a preset range.
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公开(公告)号：US11003192B2
公开(公告)日：2021-05-11
申请号：US15775222
申请日：2016-11-04
发明人： Davide Dalfra , Emanuel Conti
IPC分类号： G05D1/02 , A01D34/00 , A47L9/28 , A47L11/40 , A01D101/00
摘要： Disclosed is an apparatus and a control method of an automatic working system, and the control method comprises the following steps: generating a boundary signal by a signal generating apparatus; generating an electromagnetic field as the boundary signal flows by the boundary wire; detecting the electromagnetic field by an automatic moving device to at least generate a first detection signal and a second detection signal, and multiplying the first detection signal and the second detection signal to generate a product signal; determining a first signal point and a second signal point by the product signal; generating characteristic values based on parameters of the first signal point and the second signal point, comparing the characteristic values with preset thresholds, and judging whether the first detection signal is interfered by noise, thereby effectively removing an interference signal. Also disclosed is an automatic working system executing the above control method.
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公开(公告)号：US20240118712A1
公开(公告)日：2024-04-11
申请号：US18542108
申请日：2023-12-15
发明人： Paolo Andriolo , Emanuel Conti , Davide Dalfra
IPC分类号： G05D1/646
CPC分类号： G05D1/646
摘要： The present disclosure relates to a self-moving device, an obstacle avoidance control method, and a storage medium. In an embodiment, detection data of an obstacle in a moving direction of the self-moving device is obtained, and a distance to the obstacle is obtained through calculation according to the detection data of the obstacle, or a distance between the self-moving device and the obstacle obtained by another device according to the detection data is received. In response to determining that the distance between the self-moving device and the obstacle is between a first preset distance and a second preset distance, the self-moving device maintains an original moving speed and an original moving direction and moves forward stably. In response to determining that the second preset distance is reached, turning is performed at the original moving speed or a faster moving speed.
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公开(公告)号：US20210165411A1
公开(公告)日：2021-06-03
申请号：US17119598
申请日：2020-12-11
摘要： The present invention provides a self-moving device, including: a housing, in which a primary cavity is formed; a moving module, mounted on the housing, and configured to actuate the self-moving device to move; a primary working module, mounted on the housing, and configured to perform a work task; a control module, including a main control board, and configured to control the moving module to actuate the self-moving device to move, and control the primary working module to perform the work task, where: the main control board is disposed in the primary cavity, where at least one secondary cavity is further formed in the housing; the secondary cavity is configured to mount at least one functional module different from the moving module and the primary working module; and the self-moving device includes at least one first interface corresponding to the secondary cavity and capable of connecting to a second interface of the functional module, and the first interface is connected to the second interface, so that the functional module is mounted to the secondary cavity.
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公开(公告)号：US20190294168A1
公开(公告)日：2019-09-26
申请号：US16437423
申请日：2019-06-11
发明人： Davide Dalfra
摘要： A autonomous moving device, moving and working in a working region limited by a boundary wire, and including at least one boundary sensor, detecting boundary signal and outputting boundary signal output; a control module, electrically connected to the boundary sensor, and judging type of the boundary signal output, wherein the control module comprises an estimation unit, estimating whether the type of the boundary signal output in a predetermined estimation period is consistent or not, and if consistent, the control module judges that the boundary signal output is stable; the control module judges position relation of the boundary sensor relative to the boundary wire based on the type of the stable boundary signal output.
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公开(公告)号：US20190286158A1
公开(公告)日：2019-09-19
申请号：US16432433
申请日：2019-06-05
发明人： Davide Dalfra
摘要： A control method of an automatic working system, which comprises the following steps: a signal generating device generates a boundary signal; the boundary signal flows through the boundary wire to generate an electromagnetic field; a detecting device on an automatic moving device detects the electromagnetic field to generate a detection signal, amplify the detection signal to form a gain signal, compare an feature point of the gain signal with a preset condition, the preset condition comprising: the feature point is lower than an upper threshold value and higher than a lower threshold value, then automatically adjust the gain signal according to a comparing result, such that the feather point of the gain signal formed after adjusting accords with the preset condition, further to process the gain signal, An automatic working system and an automatic moving device also be disclosed.
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8.发明授权公开(公告)号：US11561554B2
公开(公告)日：2023-01-24
申请号：US17037261
申请日：2020-09-29
摘要： An automatic working system comprises a self-moving device moving and working in a working region, a handheld device and a control module. The handheld device is configured to move along a perimeter of the working region with a user and comprises a detecting module, detecting the perimeter information of the working region; and an input module, receiving a command of the user for detecting the perimeter information. The control module comprises a perimeter setting unit, generating virtual data of the perimeter, an area calculation unit calculating the area of the working region and a scheduling unit generating a working schedule. The self-moving device comprises a working module, a driving module and a controller. The controller controls the self-moving device to work according to the working schedule.
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公开(公告)号：US11300975B2
公开(公告)日：2022-04-12
申请号：US16875690
申请日：2020-05-15
发明人： Davide Dalfra , Emanuel Conti
摘要： A self-moving device is provided and includes a signal detector configured to detect a boundary wire signal, a coordinate obtaining module, and a control module. The control module includes a program module and a processing module. When the signal detector does not detect the boundary wire signal, the self-moving device inputs location coordinates obtained by the coordinate obtaining module into the program module, to obtain a first determining result whether the self-moving device is within the boundary wire, and the processing module controls the self-moving device to move and work; and when the signal detector detects the boundary wire signal, the self-moving device inputs the boundary wire signal obtained by the signal detector into the program module, to obtain a second determining result whether the self-moving device is within the boundary wire, and the processing module controls the self-moving device to move and work.
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10.发明申请公开(公告)号：US20210132624A1
公开(公告)日：2021-05-06
申请号：US17037261
申请日：2020-09-29
摘要： An automatic working system comprises a self-moving device moving and working in a working region, a handheld device and a control module. The handheld device is configured to move along a perimeter of the working region with a user and comprises a detecting module, detecting the perimeter information of the working region; and an input module, receiving a command of the user for detecting the perimeter information. The control module comprises a perimeter setting unit, generating virtual data of the perimeter, an area calculation unit calculating the area of the working region and a scheduling unit generating a working schedule. The self-moving device comprises a working module, a driving module and a controller. The controller controls the self-moving device to work according to the working schedule.
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