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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：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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公开(公告)号：US12066831B2
公开(公告)日：2024-08-20
申请号：US17427893
申请日：2020-01-31
发明人： Davide Dalfra , Emanuel Conti , Federico Testolin
IPC分类号： G05D1/00
CPC分类号： G05D1/0255
摘要： The present invention relates to a self-moving device, where the self-moving device includes at least two non-contact obstacle detection modules, respectively located on two side of a housing in a moving direction and configured to transmit detection signals and receive reflected detection signals, to detect an obstacle in the moving direction of the self-moving device; the self-moving device further includes a control module, and the control module turns on each obstacle detection module in a time-sharing manner to transmit the detection signal and turns on each obstacle detection module in the time-sharing manner to receive the reflected detection signal, to obtain detection data; and the control module determines a location of the obstacle according to the obtained detection data, a corresponding identity of the obstacle detection module that transmits the detection signal, and a corresponding identity of the obstacle detection module that receives the detection signal, to control the self-moving device to move and/or turn to avoid the obstacle, and the identities of the obstacle detection modules are related to positions of the obstacle detection modules relative to the housing.
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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：US20240099187A1
公开(公告)日：2024-03-28
申请号：US18525806
申请日：2023-11-30
发明人： Paolo Andriolo , Emanuel Conti , Davide Dalfra
IPC分类号： A01D34/00
CPC分类号： A01D34/008 , A01D2101/00
摘要： The present disclosure relates to a self-moving device, a control method for avoiding obstacles, and a storage medium. In an embodiment, a distance to an obstacle can be determined through the self-moving device. The controller can pre-adjust the self-moving device to deflect by a certain angle to move before the distance between the self-moving device and the obstacle reaches a normal turning distance. In response to the normal turning distance being reached, the self-moving device is then controlled to turn.
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公开(公告)号：US11782445B2
公开(公告)日：2023-10-10
申请号：US17119598
申请日：2020-12-11
IPC分类号： G05D1/02 , A01D34/00 , G01S19/42 , A01D101/00 , H04L67/12
CPC分类号： G05D1/0212 , A01D34/008 , G01S19/42 , G05D1/0231 , G05D1/0255 , G05D1/0259 , A01D2101/00 , H04L67/12
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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