# US 11,442,466 B2 · Automatic working system, self-moving device, and methods for controlling same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,442,466 B2 - Document ID: US11442466B2 - Status: Granted - Kind: B2 - Application number: 16/157,906 - Filed: 2018-10-11 - Published: 2019-02-07 - Granted: 2022-09-13 - Earliest claimed: 2016-04-12 - Assignees: Positec Power Tools (Suzhou) Co., Ltd. - Applicants: Positec Power Tools (Suzhou) Co., Ltd. - Inventors: Yong Shao; Mingming He; Chang Zhou; Zhou Yang; Gen Sun; Yue Rao - Web page: https://patentgrep.com/patent/US11442466B2 ## CPC - G05D 1/0278: {using satellite positioning signals, e.g. GPS} - G01S 1/00: Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith (position fixing by co-ordinating a plurality of determinations of direction or position lines G01S5/00) - 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 - 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 1/0231: {using optical position detecting means (position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16)} - G05D 1/0257: {using a radar (radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931)} - G05D 1/0259: {using magnetic or electromagnetic means} - G05D 1/027: {comprising intertial navigation means, e.g. azimuth detector (inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165)} - G05D 1/028: {using a RF signal} - G05D 1/245: using dead reckoning - G05D 1/248: generated by satellites, e.g. GPS - G05D 1/0225: {involving docking at a fixed facility, e.g. base station or loading bay (parking aids B62D15/027)} - G05D 2105/15: for harvesting, sowing or mowing in agriculture or forestry - G05D 2107/23: {Gardens or lawns} - G05D 2109/10: Land vehicles - G05D 2111/52: {generated by inertial navigation means, e.g. gyroscopes or accelerometers} - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - 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 ## Abstract A self-moving device, including: a moving module, a task execution module, a control module. The control module is electrically connected to the moving module and the task execution module, controls the moving module to actuate the self-moving device to move, controls the task execution module to execute a working task. The self-moving device further includes 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. The control module determines whether quality of location information output by the satellite navigation apparatus at a current location satisfies a preset condition, controls, if the quality does not satisfy the preset condition, the moving module to actuate the self-moving device to change a moving manner, to enable quality of location information output by the satellite navigation apparatus at a location after the movement to satisfy the preset condition. ## Claims ### Claim 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 for a preset time or by a preset distance; after the self-moving device moves along the preset path for the preset time or by the 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. ### Claim 2 (depends on 1) The self-moving device according to claim 1, wherein the control module determines distances between several expected locations stored in the storage unit and the current location of the self-moving device, chooses one of the several expected locations according to the distances between the expected locations and the current location of the self-moving device, and controls the moving module to actuate the self-moving device to move toward the chosen expected location. ### Claim 3 (depends on 2) The self-moving device according to claim 2, wherein the control module controls the moving module to actuate the self-moving device to move toward an expected location closest to the current location of the self-moving device. ### Claim 4 (depends on 1) The self-moving device according to claim 1, wherein a location at which the quality of the location information output by the satellite navigation apparatus does not satisfy the preset condition before the self-moving device changes the moving manner is referred to as an original location, and the storage unit stores information of the original location; and after the self-moving device moves to the expected location, the control module controls the moving module to actuate the self-moving device to return to the original location. ### Claim 5 (depends on 4) The self-moving device according to claim 4, wherein after controlling the moving module to actuate the self-moving device return to the original location, the control module controls the moving module to actuate the self-moving device to continue to move along the preset path. ### Claim 6 (depends on 1) The self-moving device according to claim 1, wherein the self-moving device further comprises at least one location sensor, electrically connected to the control module, and configured to detect features related to the location of the self-moving device; and when the quality of the location information output by the satellite navigation apparatus does not satisfy the preset condition, the control module determines the current location of the self-moving device at least partially based on output of the location sensor. ### Claim 7 (depends on 6) The self-moving device according to claim 6, wherein the location sensor comprises at least one of a camera, radar, a capacitive sensor, and an inertial navigation sensor. ### Claim 8 (depends on 6) The self-moving device according to claim 6, wherein when the quality of the location information output by the satellite navigation apparatus satisfies the preset condition, the self-moving device corrects the output of the location sensor by using output of the satellite navigation apparatus. ### Claim 9 (depends on 1) The self-moving device according to claim 1, wherein the preset condition comprises that a quantity of satellites from which the satellite navigation apparatus receives a signal is greater than or equal to a preset value. ### Claim 10 (depends on 1) An automatic working system, comprising the self-moving device according to claim 1. ### Claim 11 A method for controlling a self-moving device, wherein the self-moving device comprises a satellite navigation apparatus, configured to receive a satellite signal and output current location information of the self-moving device, and the method for controlling a self-moving device comprises steps of: controlling the moving module to actuate the self-moving device to move along a preset path; determining 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; storing the expected location; determining 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 for a preset time or by a preset distance; and controlling the moving module to actuate the self-moving device to move toward the expected location after the self-moving device moves along the preset path for the preset time or by the preset distance, to enable quality of location information output by the satellite navigation apparatus at a location after the movement to satisfy the preset condition. ### Claim 12 (depends on 11) The method for controlling a self-moving device according to claim 11, wherein distances between several stored expected locations and the current location of the self-moving device are determined, one of the several expected locations is chosen according to the distances between the expected locations and the current location of the self-moving device, and the self-moving device is controlled to move toward the chosen expected location. ### Claim 13 (depends on 12) The method for controlling a self-moving device according to claim 12, wherein the self-moving device is controlled to move toward an expected location closest to the current location of the self-moving device. ### Claim 14 (depends on 11) The method for controlling a self-moving device according to claim 11, wherein a location at which the quality of the location information output by the satellite navigation apparatus does not satisfy the preset condition before the self-moving device changes the moving manner is referred to as an original location, and information of the original location is stored; and after the self-moving device is controlled to move to the expected location, the self-moving device is further controlled to return to the original location. ### Claim 15 (depends on 14) The method for controlling a self-moving device according to claim 14, wherein after the self-moving device returns to the original location, the self-moving device is controlled to continue to move along the preset path. ### Claim 16 (depends on 11) The method for controlling a self-moving device according to claim 11, wherein the self-moving device further comprises at least one location sensor, configured to detect features related to the location of the self-moving device; and when the quality of the location information output by the satellite navigation apparatus does not satisfy the preset condition, the current location of the self-moving device is determined at least partially based on output of the location sensor. ### Claim 17 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: 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 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; and wherein the storage unit stores information of several expected locations, the control module is further configured to choose one of the several expected locations, and control the moving module to actuate the self-moving device to move toward the chosen expected location. ### Claim 18 (depends on 17) The self-moving device according to claim 17, wherein the control module is further configured to control the moving module to actuate the self-moving device to move toward the expected location directly, if the quality does not satisfy the preset condition. ### Claim 19 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: 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 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; and wherein the control module is further configured to control the moving module to actuate the self-moving device to move toward the expected location directly, if the quality does not satisfy the preset condition.