# US 11,442,448 B2 · Self-moving device, method for providing alarm about positioning fault in same, self-moving device, and automatic working system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,442,448 B2 - Document ID: US11442448B2 - Status: Granted - Kind: B2 - Application number: 16/442,442 - Filed: 2019-06-14 - Published: 2019-12-05 - Granted: 2022-09-13 - Earliest claimed: 2016-12-15 - Assignees: Positec Power Tools (Suzhou) Co., Ltd. - Applicants: Positec Power Tools (Suzhou) Co., Ltd - Inventors: Mingming He; Yong Shao; Chang Zhou; Yiyun Tan; Fangshi Liu; Shiping Jiao - Web page: https://patentgrep.com/patent/US11442448B2 ## CPC - G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)} - A01D 34/008: {for automated or remotely controlled operation} - G01C 25/00: Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass (testing, calibrating or compensating compasses G01C17/38) - G01S 19/071: {DGPS corrections} - G01S 19/35: Constructional details or hardware or software details of the signal processing chain - G01S 19/396: {Determining accuracy or reliability of position or pseudorange measurements} - G01S 19/41: Differential correction, e.g. DGPS [differential GPS] - G01S 19/47: the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial - G01S 19/48: by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system - G01S 19/485: {whereby the further system is an optical system or imaging system} - G01S 19/49: whereby the further system is an inertial position system, e.g. loosely-coupled - G05B 23/02: Electric testing or monitoring - G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00) - G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)} - G05D 1/0214: {in accordance with safety or protection criteria, e.g. avoiding hazardous areas (monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13)} - G05D 1/0225: {involving docking at a fixed facility, e.g. base station or loading bay (parking aids B62D15/027)} - G05D 1/0278: {using satellite positioning signals, e.g. GPS} - G05D 1/248: generated by satellites, e.g. GPS - G05D 1/622: Obstacle avoidance (predicting or avoiding probable or impending collision of road vehicles B60W30/08) - G05D 1/6482: {by dividing the whole area or space in sectors to be processed separately} - G06F 16/00: Information retrieval; Database structures therefor; File system structures therefor - G06F 16/29: Geographical information databases - G06Q 10/04: Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem" (market predictions or forecasting for commercial activities G06Q30/0202) - A01D 2101/00: Lawn-mowers - G05B 13/0265: {the criterion being a learning criterion} - G05D 2105/15: for harvesting, sowing or mowing in agriculture or forestry - G05D 2107/23: {Gardens or lawns} - G05D 2109/10: Land vehicles - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - A01D: HARVESTING; MOWING - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - G06Q: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR ## Abstract The invention relates to a method for providing an alarm about a positioning fault in a self-moving device. A self-moving device is configured to autonomously move, based on positioning of the self-moving device, inside a working region defined on a map. The method includes: receiving positioning data from a satellite positioning system to locate the self-moving device; detecting whether a positioning fault occurs in the self-moving device; and in response to a detected positioning fault that occurs in the self-moving device, providing an alarm about the positioning fault. ## Claims ### Claim 1 A method for an automatic working system, the method including: receiving, by a mobile station, a signal from a first antenna of the mobile station, the signal including a first signal of a satellite; determining, by the mobile station, position information of one or more positions of a self-moving device inside or outside of a working region based on the signal; controlling, by a control unit of the self-moving device, a movement of the self-moving device based on the position information; determining, by the mobile station, a quality of the signal received by the first antenna; determining, by the mobile station, an indication manner of a first indication module of the mobile station based on the quality of the signal received by the first antenna; acquiring, by the mobile station, a differential signal sent by a base station; determining, by the mobile station, a movement of the base station based on a state of the mobile station, the differential signal, and the first signal of a satellite, wherein the determining the movement of the base station includes: calculating, by the mobile station, a calculated position of the mobile station at a current time point according to the differential signal and the first signal of a satellite; and determining, by the mobile station, whether the mobile station is in a stationary state based on an output value of a first displacement sensor of the mobile station; when the mobile station is in the stationary state, determining, by the mobile station, whether the calculated position at the current time point is consistent with a calculated position at a previous time point; and when the calculated position at the current time point is not consistent with the calculated position at the previous time point, generating, by the first indication module, an indication of movement of the base station. ### Claim 2 (depends on 1) The state detection method according to claim 1, wherein the determining, by the mobile station, the quality of the signal received by the first antenna includes: determining, by the mobile station, the quality of the signal received by the first antenna based on a parameter of the first signal of a satellite received by the first antenna, the parameter of the first signal of a satellite including a number of satellite signals received and a signal-to-noise ratio of each of the number of satellite signals received. ### Claim 3 (depends on 1) The method according to claim 1, further including: receiving, by the mobile station, an output from an attitude sensor disposed on the first antenna; determining, by the mobile station, a state of a current attitude of the first antenna based on the output from the attitude sensor; and upon determining the state of the current attitude of the first antenna being abnormal, generating, by the first indication module, an indication of the attitude of the first antenna being incorrect. ### Claim 4 (depends on 1) The method according to claim 1, further including: determining, by the mobile station, the first antenna being obstructed based on an output value of a first contact sensor disposed on a receiving surface of the first antenna; and upon determining the first antenna being obstructed, generating, by the first indication module, an indication of the first antenna being obstructed. ### Claim 5 (depends on 1) The method according to claim 1, further including: generating, by the mobile station, an indication of whether an attitude of holding a handle portion of the mobile station is correct, the handle portion being configured to assist a user in keeping the first antenna in a correct attitude. ### Claim 6 (depends on 5) The method according to claim 5, further including: before generating the indication of whether the attitude of the holding portion of the mobile station is correct and when the handle is being held by the user, determining, by the mobile station, whether the attitude of the antenna is correct based on an output value of a second contact sensor disposed at the handle portion. ### Claim 7 (depends on 1) The method according to claim 1, further including: generating, by the first indication module, an indication of remaining power of an energy source module of the mobile station. ### Claim 8 (depends on 1) The method according to claim 1, wherein the determining an indication manner of the first indication module includes: determining a display manner of the first indication module; determining a vibration manner of the first indication module; determining voice content of the first indication module; or determining content sent to a terminal by using the first indication module. ### Claim 9 (depends on 1) The method according to claim 1, further including: upon determining the quality of the signal on the first antenna satisfies a preset condition at one or more positions, determining, by the mobile station, a fixing position of a charging station or the base station at the one or more positions. ### Claim 10 (depends on 1) The method according to claim 1, further including: generating, by the mobile station, a map according to the first signal of a satellite received by the first antenna; and upon determining the quality of the signal received by the first antenna, marking, by the mobile station, map information at one or more positions based on the quality of the signal received by the first antenna. ### Claim 11 (depends on 1) The method according to claim 1, further including: acquiring, by a communications module of the mobile station, a state of the signal at a current position and/or time; and determining, by the mobile station, a working state of the communications module at the current position based on the state of the signal acquired by the communication module, or determining, by the communication module, a working state of a peer end in communication connection with the mobile station. ### Claim 12 (depends on 11) The method according to claim 11, further including: connecting, by the communications module, the mobile station to a terminal; and sending, by the mobile station, the working state of the mobile station at the current position to the terminal. ### Claim 13 (depends on 1) The method according to claim 1, further including: generating, by a second indication module of the base station, a quality of a signal received by a second antenna of the base station, the second antenna being configured to receive a second signal, the second signal including a second signal of a satellite. ### Claim 14 (depends on 13) The method according to claim 13, further including: when the base station determines that the base station has moved, generating, by the second indication module, an indication that the base station has moved. ### Claim 15 (depends on 1) The method according to claim 1, further comprising: determining whether a positioning fault of the self-moving device has occurred based on a failure to determine the position of the self-moving device; and in response to determining the positioning fault, controlling the self-moving device to stop. ### Claim 16 (depends on 1) The method according to claim 1, further comprising: in response to failing to determine a position of the self-moving device at a predetermined accuracy level, determining a time point before a positioning fault occurred in the self-moving device; acquiring positioning data at the time point; and locating, based on a predetermined positioning fault handling strategy, the self-moving device by using the positioning data. ### Claim 17 A mobile station configured to move and work inside a working region defined on a map, including: a first antenna configured to receive a signal and a differential signal sent by a base station, the signal including a signal of a satellite; a first indication module coupled to the first antenna; a displacement sensor configured to detect movement of the mobile station; a first memory storing a computer program; and a first processor configured to invoke and execute the computer program stored in the first memory, wherein the first processor is further configured to: control the first indication module to perform indication, determine position information of one or more positions of the mobile station inside or outside of a working region based on the signal; control a movement of the mobile station based on the position information; determine a quality of the signal received by the first antenna; determine an indication manner of the first indication module based on the quality of the signal received by the first antenna; determine a movement of the base station based on a state of the mobile station, the differential signal, and the signal of a satellite signal, wherein the determining the movement of the base station includes: calculating a calculated position of the mobile station at a current time point according to the differential signal and the signal of a satellite; and determining whether the mobile station is in a stationary state based on an output value of the first displacement sensor of the mobile station; determine, when the mobile station is in the stationary state, whether the calculated position at the current time point is consistent with a calculated position at a previous time point; and control the first indication module to generate, when the calculated position at the current time point is not consistent with the calculated position at the previous time point, an indication of movement of the base station. ### Claim 18 (depends on 17) The mobile station according to claim 17, wherein the mobile station further includes at least one of a first contact sensor disposed on a receiving surface of the first antenna, an attitude sensor disposed on the first antenna, an energy source module, a communications module, a handle portion, and a second contact sensor disposed at the handle portion.