Patent ID: 11859980
Assignee: URSROBOT INC.
Field: Measurement (Instruments)
Classification: CPC G  A  H | IPC G  H

Claim 6:
7. A processing module of a lawn mower that includes a control module, said processing module comprising:
a first positioning device;
a second positioning device; and
a processor electrically connected to said first positioning device and said second positioning device,
wherein before a working area is defined, said first positioning device is configured to, when it is determined by said processing module that signal strength of an external positioning signal is greater than a predefined strength threshold, periodically perform positioning based on the external positioning signal so as to locate said processing module, and said processor is configured to generate a first path record based on a result of the positioning performed by said first positioning device,
said second positioning device is configured to, when it is determined by said processing module that the signal strength of the external positioning signal is not greater than the predefined strength threshold, periodically perform measurement of a variation in movement of said processing module, and said processor is configured to generate a second path record based on a result of the measurement of the variation in movement performed by said second positioning device,
said first positioning device is further configured to, when it is determined by said processing module that the signal strength of the external positioning signal increases from being not greater than the predefined strength threshold to being greater than the predefined strength threshold, perform positioning based on the external positioning signal so as to obtain a coordinate set of an exact position of said processing module,
said processor is further configured to compute, based on the second path record and the coordinate set of the exact position of said processing module, corrected path data related to the second path record, and to generate a movement path record based on the first path record and the corrected path data, and
the movement path record indicates a surrounding boundary which defines and surrounds the working area,
wherein after the working area is defined,
said processor is further configured to generate first navigation data and second navigation data based on the movement path record, the first navigation data containing plural entries of first working path data that respectively indicate a plurality of first working paths which are arranged in sequence in the working area and which are parallel to and spaced apart from each other, the second navigation data containing plural entries of second working path data that respectively indicate a plurality of second working paths which are arranged in sequence in the working area and which are parallel to and spaced apart from each other, any adjacent two of the second working paths arranged in the working area are closer to each other than any adjacent two of the first working paths arranged in the working area are to each other,
said processing module is further configured to, when it is determined by said processing module that the signal strength of the external positioning signal is greater than a predefined power threshold, operate in a first navigation mode where said processing module performs positioning based on the external positioning signal so as to locate said processing module, and outputs to the control module, based on the result of the positioning and the first navigation data, a first navigation signal that is related to the first working paths,
said processing module is further configured to, when it is determined by said processing module that the signal strength of the external positioning signal is not greater than the predefined power threshold, operate in a second navigation mode where said processing module performs positioning by means of inertial measurement so as to locate said processing module, and outputs to the control module, based on the result of the positioning and the second navigation data, a second navigation signal that is related to the second working paths,
after receiving the first navigation signal, the control module controls, based on the first navigation signal, the lawn mower to move along the first working paths and to cut grass, and
after receiving the second navigation signal, the control module controls, based on the second navigation signal, the lawn mower to move along the second working paths and to cut grass.