# US 2020/0401153 A1 · Moving Method for Self-moving Device and Self-moving Device

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- Number: US 2020/0401153 A1
- Document ID: US20200401153A1
- Status: Published application
- Kind: A1
- Application number: 16/668,819
- Filed: 2019-10-30
- Published: 2020-12-24
- Earliest claimed: 2019-06-20
- Assignees: Shenzhen Silver Star Intelligent Group Co., Ltd.
- Applicants: Shenzhen Silver Star Intelligent Technology Co., Ltd.
- Inventors: Linghui Sui; Lize Lin; Peng Liu
- Web page: https://patentgrep.com/patent/US20200401153A1

## CPC

- G05D 1/0223: {involving speed control of the vehicle (vehicle fittings for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator B60K31/00)}
- G05D 1/0238: {using obstacle or wall sensors (G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93)}
- G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)}
- G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)}
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

## Abstract

A moving method for a self-moving device, and a self-moving device are provided. The method includes: driving the self-moving device to move in a first advancing direction; determining whether the self-moving device can continue to move in the first advancing direction; and controlling the self-moving device to perform a first escape preprocessing operation, if the self-moving device cannot continue to move in the first advancing direction. When the self-moving device is encountered with a raised sill on the ground, the solution provided in the present disclosure enables the self-moving device to effectively cross the raised sill.

## Claims

### Claim 1

A moving method for a self-moving device, comprising steps of:
driving the self-moving device to move in a first advancing direction;
determining whether the self-moving device can continue to move in the first advancing direction; and
controlling the self-moving device to perform a first escape preprocessing operation, if the self-moving device cannot continue to move in the first advancing direction.

### Claim 2 (depends on 1)

The moving method for a self-moving device according to claim 1, wherein the first escape preprocessing operation comprises:
driving the self-moving device to move in a second advancing direction, wherein the second advancing direction is a direction deviated from the first advancing direction towards a first side direction by a first preset angle.

### Claim 3 (depends on 2)

The moving method for a self-moving device according to claim 2, further comprising:
determining whether the self-moving device can continue to move in the second advancing direction; and
controlling the self-moving device to perform a second escape preprocessing operation, if the self-moving device cannot continue to move in the second advancing direction.

### Claim 4 (depends on 3)

The moving method for a self-moving device according to claim 3, wherein the second escape preprocessing operation comprises at least one of the following operations:
driving the self-moving device to move in a third advancing direction;
controlling the self-moving device to move back;
increasing a rotation speed of a driving motor of the self-moving device;
recording a current position of the self-moving device;
controlling the self-moving device to bypass the recorded current position of the self-moving device according to a preset motion type;
controlling the self-moving device to send an alarm prompt; and
increasing a reverse-rotation speed of a driving wheel of the self-moving device.

### Claim 5 (depends on 2)

The moving method for a self-moving device according to claim 2, wherein the first escape preprocessing operation further comprises:
driving the self-moving device to move in a third advancing direction, wherein the third advancing direction is a direction deviated from the first advancing direction towards a second side direction by the first preset angle.

### Claim 6 (depends on 2)

The moving method for a self-moving device according to claim 2, wherein the first preset angle ranges from 3° to 45°.

### Claim 7 (depends on 1)

The moving method for a self-moving device according to claim 1, wherein the first escape preprocessing operation comprises:
controlling the self-moving device to move back; and/or
increasing a rotation speed of a motor of a driving wheel of the self-moving device.

### Claim 8 (depends on 1)

The moving method for a self-moving device according to claim 1, wherein the first escape preprocessing operation comprises at least one of the following operations:
marking a current position of the self-moving device;
controlling the self-moving device to move back;
determining whether the self-moving device can move back;
wherein controlling the self-moving device to bypass the marked current position according to a preset motion type, if the self-moving device can move back successfully;
controlling the self-moving device to perform a third escape preprocessing operation, if the self-moving device cannot move back successfully;
controlling the self-moving device to send alarm information; and
increasing a reverse-rotation speed of a driving wheel of the self-moving device.

### Claim 9 (depends on 8)

The moving method for a self-moving device according to claim 8, wherein the marking the current position of the self-moving device comprises:
marking the current position of the self-moving device as an obstacle;
marking information on the obstacle on a map constructed by the self-moving device; and
controlling the self-moving device to no longer pass the marked position in subsequent operations.

### Claim 10 (depends on 1)

The moving method for a self-moving device according to claim 1, wherein the self-moving device is one of a cleaning robot, a service robot, a business robot and a transfer robot.

### Claim 11 (depends on 3)

The moving method for a self-moving device according to claim 3, wherein the first preset angle ranges from 3° to 45°.

### Claim 12 (depends on 4)

The moving method for a self-moving device according to claim 4, wherein the first preset angle ranges from 3° to 45°.

### Claim 13

A self-moving device, comprising a traveling mechanism configured to drive the self-moving device to move on a working surface; a controller configured to generate a plurality of control instructions; and an executor configured to process the plurality of control instructions, wherein the control instructions are configured to be loaded and executed by the executor to perform the following operations:
driving the self-moving device to move in a first advancing direction;
determining whether the self-moving device can continue to move in the first advancing direction; and
controlling the self-moving device to perform a first escape preprocessing operation, if the self-moving device cannot continue to move in the first advancing direction.

### Claim 14 (depends on 13)

The self-moving device according to claim 13, wherein the first escape preprocessing operation comprises:
driving the self-moving device to move in a second advancing direction, wherein the second advancing direction is a direction deviated from the first advancing direction towards a first side direction by a first preset angle;
and the processor further loads and executes the following control instructions:
determining whether the self-moving device can continue to move in the second advancing direction; and
controlling the self-moving device to perform a second escape preprocessing operation, if the self-moving device cannot continue to move in the second advancing direction.

### Claim 15 (depends on 14)

The self-moving device according to claim 14, wherein the second escape preprocessing operation comprises at least one of the following operations:
driving the self-moving device to move in a third advancing direction;
controlling the self-moving device to move back;
increasing a rotation speed of a driving motor of the self-moving device;
recording a current position of the self-moving device;
controlling the self-moving device to bypass the recorded current position of the self-moving device according to a preset motion type;
controlling the self-moving device to send an alarm prompt; and
increasing a reverse-rotation speed of a driving wheel of the self-moving device.

### Claim 16 (depends on 14)

The self-moving device according to claim 14, wherein the first escape preprocessing operation further comprises:
driving the self-moving device to move in the third advancing direction, wherein the third advancing direction is a direction deviated from the first advancing direction towards a second side direction by the first preset angle.

### Claim 17 (depends on 14)

The self-moving device according to claim 14, wherein the first preset angle ranges from 3° to 45°.

### Claim 18 (depends on 13)

The self-moving device according to claim 13, wherein the first escape preprocessing operation comprises:
controlling the self-moving device to move back; and/or
increasing a rotation speed of a motor of a driving wheel of the self-moving device.

### Claim 19 (depends on 13)

The self-moving device according to claim 13, wherein the first escape preprocessing operation comprises at least one of the following operations:
marking a current position of the self-moving device;
controlling the self-moving device to move back;
determining whether the self-moving device can move back;
wherein controlling the self-moving device to bypass the marked current position according to a preset motion type, if the self-moving device can move back successfully;
controlling the self-moving device to perform a third escape preprocessing operation, if the self-moving device cannot move back successfully;
controlling the self-moving device to send alarm information; and
increasing a reverse-rotation speed of the driving wheel of the self-moving device.

### Claim 20 (depends on 19)

The self-moving device according to claim 19, wherein the marking the current position of the self-moving device comprises:
marking the current position of the self-moving device as an obstacle;
marking information on the obstacle on a map constructed by the self-moving device; and
controlling the self-moving device to no longer pass the marked position in subsequent operations.