Self-moving device and control method thereof

Abstract

The present disclosure relates to a self - moving device and a control method thereof. The second detection module of the device is disposed on the housing at an interval from the first detection module, and is respectively used for detecting a guiding wire to generate a first detection signal and a second detection signal. When the first detection module and the second detection module are respectively located on both sides of the guiding wire, the control module controls the walking module to drive the housing to move forward according to the first detection signal and the second detection signal, so that the ratio of the first distance between the first detection module and the guiding wire to the second distance between the second detection module and the guiding wire is maintained at a preset value, and the preset value is not equal to 1. In this way, on the one hand, the self - moving device can accurately move forward along the guiding wire, avoiding large - or - small deviations between the self - moving device and the guiding wire. On the other hand, the self - moving device does not exceed half of its fuselage outside the guiding wire, thereby avoiding the self - moving device from hurting animals or people outside the guiding wire. Therefore, it can meet the requirements of the operation safety specifications of the self - moving device.

Description

Technical Field

[0001] The present disclosure relates to a self - moving device and a control method thereof. Background Art

[0002] When a self - moving device is charging, it needs to be aligned with a charging station to ensure the charging power, shorten the charging time, and reduce energy waste. Currently, mainly by setting a physical wire, the self - moving device can sense the electromagnetic signal of the physical wire and then return to the charging dock along the physical wire to dock with the charging dock.

[0003] Currently, the method of using a physical wire to guide a self - moving device usually uses a single sensor to detect the wire. It is difficult for such a single sensor for detecting the wire to accurately guide the self - moving device to move forward along the wire, thus resulting in large and small deviations between the self - moving device and the wire. Summary of the Invention

[0004] The present disclosure provides a self - moving device to solve the technical problems existing in the prior art.

[0005] The self - moving device of the present disclosure includes:

[0006] A housing;

[0007] A walking module, arranged on the housing, for driving the self - moving device to walk;

[0008] A first detection module, arranged on the housing, for detecting an external guiding wire to generate a first detection signal;

[0009] A second detection module, arranged on the housing and spaced apart from the first detection module, for detecting the guiding wire to generate a second detection signal;

[0010] A control module, connected to the first detection module, the second detection module and the walking module. The control module is configured to control the walking module to drive the self - moving device to walk according to the first detection signal and the second detection signal when the first detection module and the second detection module are respectively on both sides of the guiding wire, so as to maintain the ratio of a first distance and a second distance at a preset value, where the preset value is not equal to 1, and the first distance and the second distance are the distances between the first detection module and the second detection module and the guiding wire respectively.

[0011] In an embodiment of the self - moving device of the present disclosure, the guiding wire is configured as a boundary line of a working area, and the control module is configured to control the walking module to drive the self - moving device to walk and work along the boundary line to prevent more than half of the body of the self - moving device from being outside the boundary line.

[0012] In one embodiment of the self - moving device of the present disclosure, the guiding line is configured to extend towards the charging device, and the control module is used to control the walking module to drive the self - moving device to walk along the guiding line to the charging device for charging when the power of the self - moving device is insufficient.

[0013] In one embodiment of the self - moving device of the present disclosure, the housing has a central axis, and the first detection module and the second detection module are respectively arranged on opposite sides of the central axis.

[0014] In one embodiment of the self - moving device of the present disclosure, the first detection module and the second detection module are arranged at the bottom of the housing

[0015] In one embodiment of the self - moving device of the present disclosure, the first detection module is a distance measuring sensor, and the distance measuring sensor is used to send detection light to the guiding line so that the detection light returns after being blocked by the guiding line, thereby generating the first detection signal; and / or,

[0016] The second detection module is a distance measuring sensor, and the distance measuring sensor is used to send detection light to the guiding line so that the detection light returns after being blocked by the guiding line, thereby generating the second detection signal.

[0017] In one embodiment of the self - moving device of the present disclosure, the distance measuring sensor includes an infrared distance measuring sensor or a laser distance measuring sensor.

[0018] In one embodiment of the self - moving device of the present disclosure, the guiding line includes a wire and a signal generating element electrically connected to the wire, and the signal generating element is configured to generate an electrical signal and conduct it to the wire.

[0019] In one embodiment of the self - moving device of the present disclosure, the first detection module and the second detection module are inductive elements, and the inductive elements are used to sense the magnetic signal emitted by the wire and convert it into an electrical signal.

[0020] In one embodiment of the self - moving device of the present disclosure, the self - moving device includes a lawn mower.

[0021] On the other hand, the present disclosure also provides a control method for a self - moving device,

[0022] The self - moving device includes: a housing; a walking module disposed on the housing for driving the self - moving device to walk; a first detection module disposed on the housing for detecting an external guiding wire to generate a first detection signal; a second detection module disposed on the housing and spaced apart from the first detection module for detecting the guiding wire to generate a second detection signal, wherein the control method includes the following steps:

[0023] Step S11: Obtain the first detection signal and the second detection signal emitted by the first detection module and the second detection module respectively, wherein the first detection module and the second detection module are respectively located on both sides of the guiding wire;

[0024] Step S12: Obtain a first distance and a second distance according to the first detection signal and the second detection signal respectively, and determine whether the ratio of the first distance to the second distance reaches a preset value, wherein the preset value is not equal to 1, and the first distance and the second distance are respectively the distances between the first detection module and the second detection module and the guiding wire;

[0025] Step S13: When the ratio of the first distance to the second distance does not reach the preset value, control the walking module to change the walking direction of the self - moving device, and repeat steps S11 to S12 until the ratio of the first distance to the second distance reaches the preset value. In an embodiment of the control method of the present disclosure, the control method further includes:

[0026] Step S14: When the ratio of the first distance to the second distance reaches the preset value, control the walking module to drive the self - moving device to walk along the guiding wire.

[0027] The self - moving device of the present disclosure includes a housing, a walking module, a first detection module, a second detection module, and a control module. Among them, the walking module is disposed on the housing and is configured to drive the housing to walk; the first detection module is disposed on the housing, and the first detection module is configured to detect an external guiding wire to generate a first detection signal; the second detection module is disposed on the housing and is spaced apart from the first detection module, and the second detection module is configured to detect the guiding wire to generate a second detection signal; the control module is connected to the first detection module, the second detection module, and the walking module, and the control module is configured to, when the first detection module and the second detection module are respectively located on both sides of the guiding wire, control the walking module to drive the housing to walk according to the first detection signal and the second detection signal, so that the ratio of the first distance to the second distance is maintained at a preset value, wherein the preset value is not equal to 1, and the first distance and the second distance are respectively the distances between the first detection module and the second detection module and the guiding wire.

[0028] The external guiding line can be configured to form a closed working area. When the self - moving device is in the working mode, the self - moving device moves and works within the working area. When the self - moving device walks to the guiding line, the control module controls the self - moving device to walk along the guiding line, and the ratio of the first distance to the second distance is maintained at a preset value. In this way, on the one hand, it enables the self - moving device to move precisely along the guiding line, avoiding large - and - small deviations between the self - moving device and the guiding line; on the other hand, it enables the self - moving device not to exceed half of its fuselage outside the guiding line, thereby avoiding the self - moving device from hurting animals or people outside the guiding line. Therefore, it can meet the operation safety specification requirements of the self - moving device.

[0029] The external guiding line can be set to extend towards charging devices such as charging stations. When the battery power of the self - moving device is less than the allowed preset minimum power, the control module controls the self - moving device to walk precisely along the guiding line to the charging device for charging. In this way, the self - moving device can walk along the guiding line to accurately dock with the charging device for charging.

[0030] Furthermore, the ratio of the first distance to the second distance is not 1. Compared with the ratio being 1, it can reduce the accuracy requirements for installing the first detection module and the second detection module, thereby reducing the installation difficulty of the first detection module and the second detection module, reducing the labor intensity, and improving work efficiency.

[0031] Through the following detailed description of the exemplary embodiments of the present disclosure with reference to the accompanying drawings, other features and advantages of the present disclosure will become clear. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The drawings incorporated in and constituting a part of this specification illustrate embodiments of the present disclosure and, together with the description, are used to explain the principles of the present disclosure.

[0033] Figure 1 is a structural block diagram of an embodiment of the self - moving device provided by the present disclosure;

[0034] Figure 2 is Figure 1 a schematic diagram of a working state of the self - moving device in

[0035] Figure 3 is Figure 1 another schematic diagram of a working state of the self - moving device in

[0036] Figure 4 is a structural block diagram of another specific embodiment of the self - moving device of the present disclosure;

[0037] Figure 5 is a control flowchart of an embodiment of the control method of the self - moving device of the present disclosure.

[0038] Figures 1 to 4 The one-to-one correspondence between the names of the components and the reference numerals in the figures is as follows:

[0039] 10 housing, 111 first motor, 112 second motor, 113 first drive wheel, 114 second drive wheel, 12 control module, 120 receiving unit, 121 comparison unit, 122 control unit, L3 center line;

[0040] 21 first detection module, 22 second detection module, 3 guide wire, 40 working area, 41 non-working area, 5 charging device. Detailed implementation manners

[0041] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: unless otherwise specifically stated, the relative arrangements, numerical expressions, and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.

[0042] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way a limitation on the present disclosure and its application or use.

[0043] Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and devices should be regarded as part of the specification.

[0044] In all the examples shown and discussed herein, any specific values should be construed as merely exemplary and not as a limitation. Thus, other examples of the exemplary embodiments may have different values.

[0045] It should be noted that: like reference numerals and letters denote like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

[0046] Embodiments of the present application disclose a self - moving device, which includes a housing, a traveling module, a first detection module, a second detection module, and a control module. Among them, the traveling module is arranged on the housing and is configured to drive the housing to travel; the first detection module is arranged on the housing, and the first detection module is configured to detect an external guiding wire to generate a first detection signal; the second detection module is arranged on the housing and is spaced from the first detection module, and the second detection module is configured to detect the guiding wire to generate a second detection signal; the control module is connected to the first detection module, the second detection module, and the traveling module, and the control module is configured to, when the first detection module and the second detection module are respectively located on both sides of the guiding wire, control the traveling module to drive the housing to travel according to the first detection signal and the second detection signal, so that the ratio of a first distance and a second distance is maintained at a preset value, where the preset value is not equal to 1, and the first distance and the second distance are respectively the distances between the first detection module and the second detection module and the guiding wire.

[0047] The external guiding wire can be configured to form a closed working area. When the self - moving device travels to the guiding wire, the control module controls the self - moving device to travel along the guiding wire, and the ratio of the first distance and the second distance is maintained at a preset value. In this way, on the one hand, it enables the self - moving device to accurately move forward along the guiding wire, avoiding large and small deviations between the self - moving device and the guiding wire; on the other hand, it enables the self - moving device not to exceed half of the fuselage outside the guiding wire, thereby avoiding the self - moving device from hurting animals or people outside the guiding wire. Therefore, it can meet the operation safety specification requirements of the self - moving device.

[0048] The external guiding wire can be set to extend towards a charging device such as a charging stand. When the power of the self - moving device is less than the allowed preset minimum power, the control module controls the self - moving device to accurately travel along the guiding wire to the charging device for charging. And the ratio of the first distance and the second distance is not 1. Compared with the case where the ratio of the first distance and the second distance is 1, it can reduce the installation difficulty of the first detection module and the second detection module, reduce the labor intensity, and improve the work efficiency.

[0049] For better understanding, the following combines Figures 1 to 4 , taking a lawn mower as an example, to elaborate in detail on the specific structure and working principle of the self - moving device provided by the present disclosure.

[0050] See Figure 1 , in this embodiment, the self - moving device of the present disclosure includes a housing 10, a traveling module, a control module 12, a first detection module 21, and a second detection module 22.

[0051] Among them, the outer shell 10 is generally a box structure similar to a cuboid, and functional components such as the control module 12 of the self - moving device are installed therein to prevent these functional components from being impacted by external forces, soaked by rainwater, or contaminated by dust. The shell can be made of materials such as metal, resin, or plastic.

[0052] Of course, the outer shell 10 is not limited to Figure 1 the box structure similar to a cuboid in []. According to some other embodiments of the present disclosure, the outer shell 10 of the present disclosure can be a cylindrical or special - shaped box structure.

[0053] The traveling module is arranged on the outer shell 10 and is configured to drive the outer shell 10 to travel.

[0054] Continuing to refer to Figure 1 , in this embodiment, the traveling module includes a first motor 111, a second motor 112, a first driving wheel 113, and a second driving wheel 114. Among them, the first driving wheel 113 and the second driving wheel 114 are respectively arranged on both sides of the outer shell 10 and are rotatably connected to the outer shell 10 through bearing seats. The first driving wheel 113 and the second driving wheel 114 support the outer shell 10.

[0055] The first motor 111 is in transmission connection with the first driving wheel 113 to drive the first driving wheel 113 to rotate around its axis. Similarly, the second motor 112 is in transmission connection with the second driving wheel 114 to drive the second driving wheel 114 to rotate around its axis. That is to say, under the driving action of the first motor 111 and the second motor 112, the first driving wheel 113 and the second driving wheel 114 drive the self - moving device to travel on the lawn.

[0056] When the rotational speeds of the first motor 111 and the second motor 112 are equal, the first driving wheel 113 and the second driving wheel 114 drive the outer shell 10 to move in a straight line.

[0057] When the rotational speed of the first motor 111 is greater than the rotational speed of the second motor 112, correspondingly, the rotational speed of the first driving wheel 113 will also be greater than the rotational speed of the second driving wheel 114. At this time, the outer shell 10 turns to the right, that is, the outer shell 10 will turn to the side of the slower - rotating second driving wheel 114.

[0058] Similarly, when the rotational speed of the first motor 111 is less than the rotational speed of the second motor 112, correspondingly, the rotational speed of the first driving wheel 113 will also be less than the rotational speed of the second driving wheel 114. At this time, the outer shell 10 turns to the left, that is, the outer shell 10 will turn to the side of the slower - rotating first driving wheel 113.

[0059] It should be noted that the orientation words "left and right" used herein to express the turning of the outer shell are based on Figure 1It is set based on the central axis L3 of the outer shell. The right side is the side located on the right of the central axis L3, and the left side is the side located on the left of the central axis L3.

[0060] The first detection module 21 is arranged on the outer shell 10, and the first detection module 21 is configured to detect the external guiding wire 3 to generate a first detection signal.

[0061] The second detection module 22 is arranged on the outer shell 10, and the second detection module 22 is configured to detect the external guiding wire 3 to generate a first detection signal.

[0062] Among them, the specific form of the guiding wire 3 depends on the working principles of the first detection module 21 and the second detection module 22, so that both the first detection module 21 and the second detection module 22 can detect the external guiding wire 3 and generate corresponding first and second detection signals respectively.

[0063] According to an embodiment of the present disclosure, at least one of the first detection module 21 and the second detection module 22 of the present disclosure is a distance measuring sensor, and the distance measuring sensor is configured to send a detection light beam to the guiding wire 3 so that the detection light beam returns after being blocked by the guiding wire 3 to generate a first detection signal and a second detection signal.

[0064] Specifically, the first detection module 21 is a distance measuring sensor, and the distance measuring sensor is used to send a detection light beam to the guiding wire 3 so that the detection light beam returns after being blocked by the guiding wire 3, thereby generating a first detection signal.

[0065] The second detection module 22 is a distance measuring sensor, and the distance measuring sensor is used to send a detection light beam to the guiding wire 3 so that the detection light beam returns after being blocked by the guiding wire 3, thereby generating a second detection signal.

[0066] According to an embodiment of the present disclosure, at least one of the first detection module 21 and the second detection module 22 of the present disclosure is an infrared distance measuring sensor.

[0067] The infrared distance measuring sensor utilizes the principle that the intensity of the reflection of an infrared signal is different when the distance to an obstacle is different to detect the distance of the obstacle. The infrared distance measuring sensor has a pair of infrared signal transmitting and receiving diodes. The transmitting diode emits an infrared signal of a specific frequency, and the receiving diode receives this frequency of infrared signal. When the detection direction of the infrared encounters the guiding wire 3, the infrared signal is reflected back and received by the receiving tube. The propagation path of the infrared signal is the first detection signal and the second detection signal, that is, the first distance between the first detection module 21 and the guiding wire 3, and the second distance between the second detection module 22 and the guiding wire 3.

[0068] Based on this, in this embodiment, the guiding line 3 can be a linear object that can reflect the infrared signal of the infrared ranging sensor and can enclose a definite shape, such as a rope or the like.

[0069] According to an embodiment of the present disclosure, at least one of the first detection module 21 and the second detection module 22 of the present disclosure is a laser ranging sensor.

[0070] When the laser ranging sensor works, first, the laser diode emits laser pulses towards the guiding line 3. After being reflected by the guiding line 3, the laser scatters in all directions. Part of the scattered light returns to the sensor receiver and is imaged onto the avalanche photodiode after being received by the optical system. The avalanche photodiode is an optical sensor with an internal amplification function, so it can detect extremely weak optical signals. By recording and processing the time elapsed from the emission of the optical pulse to its reception, the target distance can be measured. That is to say, the first distance between the first detection module 21 and the guiding line 3, and the second distance between the second detection module 22 and the guiding line 3.

[0071] Based on this, in this embodiment, the guiding line 3 can be a linear object that can reflect the signal of the laser ranging sensor and can enclose a definite shape. Such as a rope or the like.

[0072] According to an embodiment of the present disclosure, the guiding line 3 of the present disclosure includes a wire and a signal generating element. The wire and the signal generating element are connected, and the signal generating element generates a signal and transmits the signal to the wire. The signal generating element can generate a current or voltage signal. According to the law of electromagnetic induction, a wire carrying current can generate a magnetic field in space, and the magnitude of the magnetic field strength at any point in space is inversely proportional to the distance between that point and the wire.

[0073] Both the first detection module 21 and the second detection module 22 are inductive elements. The inductive elements can independently detect the magnetic field signals emitted by the wire and can convert the magnetic field signals into voltage signals. The magnitude of the voltage signal is proportional to the magnitude of the magnetic field signal, and the positive and negative voltages of the voltage signal can reflect the direction of the magnetic field signal.

[0074] That is to say, when the voltage signals detected by the first detection module 21 and the second detection module 22 are both positive or both negative, it indicates that the first detection module 21 and the second detection module 22 are located on the same side of the wire; when one of the voltage signals detected by the first detection module 21 and the second detection module 22 is positive and the other is negative, it indicates that the first detection module 21 and the second detection module 22 are located on both sides of the wire.

[0075] After the control module 12 of the self - moving device detects the first detection signal and the second detection signal detected by the first detection module 21 and the second detection module 22, it controls the walking module to walk according to a predetermined rule based on the first detection signal and the second detection signal.

[0076] The control module 12 is connected to the first detection module 21, the second detection module 22 and the walking module. Specifically, the control module 12 can be connected to these modules in a wired or wireless manner, as long as data signals and control signals can be transmitted between them. For example, the first detection module 21 and the second detection module 22 can transmit their respective detection signals to the control module 12 for analysis and processing. The control module 12 controls the action of the walking module based on the processing result of the detection signal, and then makes the self - moving device walk according to a predetermined rule. Specifically, the first detection module 21 and the second detection module 22 respectively transmit the detected voltage signals to the control module 12 for analysis and processing, and then obtain the first distance L1 and the second distance L2. The first distance L1 is the distance between the first detection module 21 and the guiding wire 3. The second distance L2 is the distance between the second detection module 22 and the guiding wire 3. Further, the control module 12 controls the action of the walking module based on the first distance L1 and the second distance L2, and then makes the self - moving device walk according to a predetermined rule.

[0077] Specifically, when the first detection module 21 and the second detection module 22 are respectively located on both sides of the guiding wire 3, the control module 12 can be used to control the walking module to drive the housing 10 to walk according to the first detection signal and the second detection signal, so that the ratio of the first distance to the second distance is maintained at a preset value, where the preset value is not equal to 1, and the first distance and the second distance are the distances between the first detection module 21 and the second detection module 22 and the guiding wire 3 respectively.

[0078] The control module 12 includes a receiving unit 120, a comparing unit 121 and a control unit 122. Among them,

[0079] The receiving unit 120 is configured to obtain the first distance and the second distance according to the first detection signal detected by the first detection module 21 and the second detection signal detected by the second detection module 22 respectively.

[0080] The comparing unit 121 is configured to compare whether the ratio between the first distance and the second distance is greater than 1.

[0081] The control unit 122 can be used to control the walking module to drive the housing 10 to walk based on the comparison result of the comparing unit 121, so that the ratio of the first distance to the second distance is maintained at a preset value, where the preset value is not equal to 1.

[0082] Specifically, in this embodiment, the control unit 122 is electrically connected to both the first motor 111 and the second motor 112. According to the comparison result of the comparison unit 121, the control unit 122 controls the rotation speeds of the first motor 111 and the second motor 112 to adjust the relative position of the housing 10 with respect to the guiding wire 3.

[0083] According to one embodiment of the present disclosure, referring to Figure 2 , in the present disclosure, the guiding wire 3 is configured as the boundary line of the working area, and the control module 12 is used to control the traveling module to drive the housing 10 to travel and work along the boundary line.

[0084] The guiding wire 3 encloses a closed working area on the working surface, dividing the working surface into a working area and a non-working area, and the guiding wire 3 serves as the boundary line of the working area.

[0085] In the working mode, the self-moving device travels and works within the working area. When the self-moving device travels to the guiding wire 3, that is, when the first detection module 21 and the second detection module 22 are respectively located on both sides of the guiding wire 3, the control module 12 controls the traveling module to drive the housing 10 to travel according to the first detection signal of the first detection module 21 and the second detection signal of the second detection module 22, and the ratio of the first distance and the second distance is maintained at a preset value.

[0086] Specifically, when the ratio of the first distance L1 and the second distance L2 is maintained at the preset value, the control unit 122 controls the rotation speeds of the first motor 111 and the second motor 112 to remain unchanged, and the housing 10 moves linearly along the guiding wire 3.

[0087] When the ratio of the first distance L1 and the second distance L2 exceeds the preset value, the control unit 122 controls the first motor 111 to increase the rotation speed or controls the second motor 112 to decrease the rotation speed, driving the housing 10 to turn towards the second detection module 22 side (right turn) until the ratio of the first distance L1 and the second distance L2 reaches the preset value.

[0088] When the ratio of the first distance L1 and the second distance L2 is less than the preset value, the control unit 122 controls the first motor 111 to decrease the rotation speed or controls the second motor 112 to increase the rotation speed, driving the housing 10 to turn towards the first detection module 21 side (left turn) until the ratio of the first distance L1 and the second distance L2 reaches the preset value.

[0089] It can be seen that when the self - moving device walks to the guiding line 3, the control module 12 controls the self - moving device to walk along the guiding line 3, and the ratio of the first distance L1 to the second distance L2 is maintained at a preset value. In this way, on the one hand, it enables the self - moving device to move forward precisely along the guiding line 3, avoiding large and small deviations between the self - moving device and the guiding line 3; on the other hand, it enables the self - moving device not to exceed half of the fuselage outside the guiding line 3, thus avoiding the self - moving device from hurting animals or people outside the guiding line 3, so it can meet the operation safety specification requirements of the self - moving device.

[0090] According to an embodiment of the present disclosure, referring to Figure 3 , the guiding line 3 in the present disclosure is configured to extend towards the charging device 5, and the control module is used to control the walking module to drive the self - moving device to walk along the guiding line 3 to the charging device 5 for charging when the self - moving device needs to be charged.

[0091] It should be noted that the charging device 5 includes devices with charging functions such as the charging base, charging pile, and base station of the self - moving device.

[0092] If the current power of the self - moving device is less than the minimum power threshold allowed for operation, it means that the self - moving device has insufficient power and needs to be charged. The self - moving device enters the recharge working mode. The control module 12 controls the self - moving device to walk to the guiding line 3, and makes the first detection module 21 and the second detection module 22 located on both sides of the guiding line 3 respectively, and then continues to control the self - moving device to walk along the guiding line 3, and makes the ratio of the first distance L1 to the second distance L2 maintained at a preset value.

[0093] Specifically, when the ratio of the first distance L1 to the second distance L2 is maintained at a preset value, the control unit 122 controls the rotation speeds of the first motor 111 and the second motor 112 to remain unchanged, and the housing 10 moves linearly along the guiding line 3.

[0094] When the ratio of the first distance L1 to the second distance L2 exceeds the preset value, the control unit 122 controls the first motor 111 to increase the rotation speed or controls the second motor 112 to decrease the rotation speed, driving the housing 10 to turn towards the second detection module 22 side (right - turn) until the ratio of the first distance L1 to the second distance L2 is maintained at the preset value.

[0095] When the ratio of the first distance L1 to the second distance L2 is less than the preset value, the control unit 122 controls the first motor 111 to decrease the rotation speed or controls the second motor 112 to increase the rotation speed, driving the housing 10 to turn towards the first detection module 21 side (left - turn) until the ratio of the first distance L1 to the second distance L2 is maintained at the preset value.

[0096] When the self - moving device of the present disclosure is in a low - power state, that is, when the power of the self - moving device is less than the allowed preset minimum power, the control module 12 controls the self - moving device to precisely walk along the guiding line 3 to the charging device 5 for charging.

[0097] Furthermore, the ratio of the first distance L1 to the second distance L2 is not 1. Compared with the case where the ratio of the first distance L1 to the second distance L2 is 1, the installation difficulty of the first detection module 21 and the second detection module 22 can be reduced, the labor intensity can be reduced, and the work efficiency can be improved.

[0098] According to an embodiment of the present disclosure, the preset value of the present disclosure can be a specific determined value. For example, the preset value can be specific values such as 2, 2.5, 3, etc. The self - moving device walks under the guiding action of the guiding line 3 until it can be accurately docked to the charging position of the charging device 5. Those skilled in the art can set this preset value based on actual applications.

[0099] Based on this, the comparison unit 121 of the housing is configured to compare whether the ratio between the first distance L1 and the second distance L2 is equal to the preset value. The control unit 122 is configured to control the walking module to drive the housing 10 to move relative to the guiding line 3 based on the comparison result of the comparison unit 121 until the first detection module 21 and the second detection module 22 are located on both sides of the guiding line 3 and the ratio between the first distance L1 and the second distance L2 is equal to the preset value.

[0100] According to an embodiment of the present disclosure, referring to Figure 2 , the housing 10 of the present disclosure has a central axis L3, and the central axis L3 extends along the walking direction of the self - moving device and divides the housing into two equal parts. The first detection module 21 and the second detection module 22 are respectively arranged on opposite sides of the central axis L3.

[0101] According to an embodiment of the present disclosure, the first detection module 21 and the second detection module 22 of the present disclosure are respectively arranged on both sides of the central axis L3, and the distance between the first detection module 21 and the central axis L3 can be the first distance.

[0102] With such a setting, the first detection module 21 and the second detection module 22 are not symmetrically arranged with respect to the central axis L3, so that the installation accuracy of the first detection module 21 and the second detection module 22 with respect to the central axis can be reduced. Further, when the self - moving device walks along the guiding line 3, its central axis L3 coincides with the guiding line 3, so that at least half of the body of the self - moving device is located within the boundary line, to prevent more than half of the body of the self - moving device from being located outside the boundary line, thus meeting the operation safety specification requirements of the self - moving device.

[0103] In addition, based on this setting method, the outer shell can travel along the guiding line 3 until it can be accurately docked onto the charging electrode of the charging device 5.

[0104] According to an embodiment of the present disclosure, referring to Figure 4 , the first detection module 21 and the second detection module 22 of the present disclosure are respectively arranged on both sides of the central axis L3 of the outer shell, and the distance between the first detection module 21 and the central axis L3 is not equal to the first distance L1.

[0105] With such a setting, the first detection module 21 and the second detection module 22 can be symmetrically arranged or asymmetrically arranged with respect to the central axis L3, so that the installation accuracy of the first with respect to the central axis can be reduced. And the ratio of the first distance L1 and the second distance L2 can be set according to actual needs, so that when the self - moving device travels along the guiding line 3, its central axis L3 does not coincide with the guiding line 3, and most of the body of the self - moving device is located within the working area and a small part is located outside the working area, which can better meet the operation safety specification requirements of the self - moving device.

[0106] As described above, in the present disclosure, both the first detection module 21 and the second detection module 22 are configured to detect the guiding line 3.

[0107] In order to detect the guiding line 3 more accurately, according to an embodiment of the present disclosure, both the first detection module 21 and the second detection module 22 of the present disclosure are arranged at the bottom of the outer shell. Herein, the orientation term "bottom" refers to the part of the outer shell 10 close to the working surface.

[0108] According to another embodiment of the present disclosure, the positions of the first detection module 21 and the second detection module 22 of the present disclosure can be swapped, that is, the first detection module 21 is located on the right side of the guiding line 3, and the second detection module 22 is located on the left side of the guiding line 2. That is to say, in this embodiment, when the self - moving device travels along the guiding line 3, the first detection module 21 is located within the working area 40, and the second detection module 22 is within the non - working area 41.

[0109] In addition to the above-mentioned self-moving device, the present disclosure also provides a control method applied to a self-moving device, which includes a housing, a traveling module, a first detection module, a second detection module, and a control module. Among them, the traveling module is arranged on the housing and is configured to drive the housing to travel; the first detection module is arranged on the housing, and the first detection module is configured to detect an external guiding line to generate a first detection signal; the second detection module is arranged on the housing and is spaced apart from the first detection module, and the second detection module is configured to detect the guiding line to generate a second detection signal. This control method is implemented by the control module of the self-moving device. The specific structure and working principle of the self-moving device have been described in detail in the foregoing, and will not be elaborated here.

[0110] See Figure 5 , the control method provided by the present disclosure includes the following steps:

[0111] S11. When the first detection module 21 and the second detection module 22 are respectively located on both sides of the guiding line 3, obtain the first detection signal and the second detection signal emitted by the first detection module 21 and the second detection module 22 respectively;

[0112] It should be noted that the receiving unit 120 of the control module of the self-moving device is electrically connected to the first detection module 21 and the second detection element 22, and the first detection module 21 and the second detection module 22 will transmit their detection signals to the receiving unit 120.

[0113] S12. Obtain a first distance and a second distance according to the first detection signal and the second detection signal respectively, and determine whether the ratio of the first distance to the second distance is a preset value, where the preset value is not equal to 1, and the first distance and the second distance are the distances between the first detection module 21 and the second detection module 22 and the guiding line 3 respectively.

[0114] As described above, when the first detection module 21 and the second detection module 22 are ranging sensors, the detection signals emitted by the ranging sensors are blocked by the guiding line 3 and then reflected back, and the distances of the detection signals reflected back after being blocked are respectively recorded as the first distance and the second distance.

[0115] The comparison unit 121 of the control module then compares the ratio of the first distance to the second distance with the preset value.

[0116] S13. When the ratio of the first distance to the second distance does not reach the preset value, control the traveling module to change the traveling direction of the self-moving device, and repeat steps S11 and S12 until the ratio of the first distance to the second distance reaches the preset value.

[0117] When the ratio of the first distance L1 to the second distance L2 exceeds a preset value, the control unit 122 controls the first motor 111 to increase the rotational speed or controls the second motor 112 to decrease the rotational speed, driving the housing 10 to turn towards the second detection module 22 side (turn right) until the ratio of the first distance L1 to the second distance L2 is maintained at the preset value.

[0118] When the ratio of the first distance L1 to the second distance L2 is less than the preset value, the control unit 122 controls the first motor 111 to decrease the rotational speed or controls the second motor 112 to increase the rotational speed, driving the housing 10 to turn towards the first detection module 21 side (turn left) until the ratio of the first distance L1 to the second distance L2 is maintained at the preset value.

[0119] S14. When the ratio of the first distance to the second distance reaches the preset value, the control walking module drives the self - moving device to move along the wire 3.

[0120] Specifically, when the ratio of the first distance L1 to the second distance L2 is maintained at the preset value, the control unit 122 controls the rotational speeds of the first motor 111 and the second motor 112 to remain unchanged, and the housing 10 moves linearly along the guiding wire 3.

[0121] When the self - moving device walks to the guiding wire 3, the control module controls the self - moving device to move along the guiding wire, and the ratio of the first distance L1 to the second distance L2 is maintained at the preset value. In this way, on the one hand, it enables the self - moving device to move precisely along the guiding wire 3, avoiding large - and - small deviations between the self - moving device and the guiding wire 3; on the other hand, it enables the self - moving device not to exceed half of its body width outside the guiding wire 3, thereby avoiding the self - moving device from injuring animals or people outside the guiding wire 3. Therefore, it can meet the operation safety specification requirements of the self - moving device.

[0122] Furthermore, the body can refer to the maximum width of the self - moving device. The self - moving device has a length direction in its traveling direction.

[0123] For better understanding, the following will combine two application scenarios and take a lawn mower as an example to elaborate in detail the working principle of the self - moving device of the present disclosure.

[0124] Application Scenario 1

[0125] The guiding wire 3 encloses a closed working area on the working surface, dividing the working surface into a working area and a non - working area, and the guiding wire 3 serves as the boundary line of the working area.

[0126] When the lawn mower travels to the guiding line 3 and the first detection module 21 and the second detection module 22 are respectively located on both sides of the guiding line 3, the control module of the lawn mower acquires the first detection signal of the first detection module 21 and the second detection signal of the second detection module 22, and based on the first detection signal and the second detection signal, obtains the first distance between the first detection module 21 and the guiding line 3 and the second distance between the second detection module 22 and the guiding line 3, and then compares whether the ratio between the first distance and the second distance reaches a preset value.

[0127] If the ratio between the first distance and the second distance reaches the preset value, the lawn mower continues to travel along the guiding line 3.

[0128] If the ratio between the first distance and the second distance exceeds the preset value, the control unit 122 controls the first motor 111 to increase the speed or controls the second motor 112 to decrease the speed, driving the self - moving device to turn towards the second detection module 22 side (right - turn) until the ratio of the first distance L1 and the second distance L2 reaches the preset value.

[0129] When the ratio of the first distance L1 and the second distance L2 is less than the preset value, the control unit 122 controls the first motor 111 to decrease the speed or controls the second motor 112 to increase the speed, driving the self - moving device to turn towards the first detection module 21 side (left - turn) until the ratio of the first distance L1 and the second distance L2 reaches the preset value.

[0130] In this way, on the one hand, it enables the self - moving device to accurately move forward along the guiding line 3, avoiding large and small deviations between the self - moving device and the guiding line 3; on the other hand, it enables the self - moving device not to exceed half of its body width outside the guiding line 3, thereby avoiding the self - moving device from injuring animals or people outside the guiding line 3, so it can meet the operation safety specification requirements of the self - moving device.

[0131] Application scenario two

[0132] The guiding line 3 is configured to extend towards the charging device 5. When the current battery level of the lawn mower is less than the allowable minimum battery level threshold, it indicates that the battery power of the lawn - mowed area is insufficient and charging is required. It enters the recharge working mode. The control module 12 controls the lawn - mowed area to travel to the guiding line 3, and makes the first detection module 21 and the second detection module 22 be respectively located on both sides of the guiding line 3, and then controls the lawn mower to continue to travel along the guiding line 3, and makes the ratio of the first distance and the second distance maintain at the preset value.

[0133] Specifically, when the ratio of the first distance L1 and the second distance L2 maintains at the preset value, the control unit 122 controls the speeds of the first motor 111 and the second motor 112 to remain unchanged, and the self - moving device moves linearly along the guiding line 3.

[0134] When the ratio of the first distance L1 to the second distance L2 exceeds a preset value, the control unit 122 controls the first motor 111 to increase the rotational speed or controls the second motor 112 to decrease the rotational speed, driving the housing 10 to turn towards the second detection module 22 side (right turn) until the ratio of the first distance L1 to the second distance L2 reaches the preset value.

[0135] When the ratio of the first distance L1 to the second distance L2 is less than the preset value, the control unit 122 controls the first motor 111 to decrease the rotational speed or controls the second motor 112 to increase the rotational speed, driving the housing 10 to turn towards the first detection module 21 side (left turn) until the ratio of the first distance L1 to the second distance L2 reaches the preset value.

[0136] The self - moving device accurately walks along the guiding line to the charging device for charging, and the ratio of the first distance to the second distance is not 1. Compared with the case where the ratio of the first distance to the second distance is 1, the installation difficulty of the first detection module and the second detection module can be reduced, the labor intensity can be reduced, and the work efficiency can be improved.

[0137] The embodiments of the present disclosure have been described above. The above description is exemplary and not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations are obvious to those of ordinary skill in the art in the technical field without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other ordinary skilled persons in the technical field to understand the disclosed embodiments. The scope of the present disclosure is defined by the appended claims.

Claims

1. A self - moving device, characterized in that, The self - moving device includes: A housing (10); A walking module disposed on the housing (10) for driving the self - moving device to walk; A first detection module (21) disposed on the housing (10) for detecting an external guiding line (3) to generate a first detection signal; A second detection module (22) disposed on the housing (10) and spaced apart from the first detection module (21) for detecting the guiding line (3) to generate a second detection signal; A control module (12) connected to the first detection module (21), the second detection module (22) and the walking module. The control module (12) is configured to control the walking module to drive the self - moving device to walk according to the first detection signal and the second detection signal when the first detection module (21) and the second detection module (22) are respectively on both sides of the guiding line, so that the ratio of a first distance and a second distance is maintained at a preset value, where the preset value is not equal to 1, and the first distance and the second distance are the distances between the first detection module (21) and the second detection module (22) and the guiding line (3) respectively.

2. The self - moving device according to claim 1, characterized in that, The guiding line (3) is configured as a boundary line of a working area, and the control module (12) is configured to control the walking module to drive the self - moving device to walk and work along the boundary line to prevent more than half of the body of the self - moving device from being outside the boundary line.

3. The self-moving device according to claim 1, characterized in that, The guiding line (3) is configured to extend towards a charging device (5), and the control module (12) is configured to control the walking module to drive the self - moving device to walk along the guiding line (3) to the charging device (5) for charging when the power of the self - moving device is insufficient.

4. The self - moving device according to any one of claims 1 to 3, characterized in that, The housing (10) has a central axis (L3), and the first detection module (21) and the second detection module (22) are respectively disposed on opposite sides of the central axis (L3).

5. The self-moving device according to any one of claims 1 to 3, characterized in that, The first detection module (21) and the second detection module (22) are disposed at the bottom of the housing (10).

6. The self - moving device according to any one of claims 1 to 3, characterized in that, The first detection module (21) is a distance - measuring sensor, and the distance - measuring sensor is configured to send a detection light beam to the guiding line (3) so that the detection light beam returns after being blocked by the guiding line (3), thereby generating the first detection signal; and / or, The second detection module (22) is a distance - measuring sensor, and the distance - measuring sensor is configured to send a detection light beam to the guiding line (3) so that the detection light beam returns after being blocked by the guiding line (3), thereby generating the second detection signal.

7. The self-moving device according to claim 6, characterized in that, The distance - measuring sensor includes an infrared distance - measuring sensor or a laser distance - measuring sensor.

8. The self-moving device according to any one of claims 1 to 3, characterized in that, The guiding line (3) includes a wire and a signal - generating element electrically connected to the wire, and the signal - generating element is configured to generate an electrical signal and conduct it to the wire.

9. The self-moving device according to claim 8, characterized in that, The first detection module (21) and the second detection module (22) are inductive elements, and the inductive elements are configured to sense a magnetic signal emitted by the wire and convert it into an electrical signal.

10. The self-moving device according to any one of claims 1 to 3, characterized in that, The self - moving device is a lawn mower.

11. A control method for a self - moving device, the self - moving device comprising: Housing (10); a traveling module, disposed on the housing (10) and used to drive the self - moving device to travel; A first detection module (21), disposed on the housing (10) and used to detect an external guiding wire (3) to generate a first detection signal; a second detection module (22), disposed on the housing (10) and spaced apart from the first detection module (21), and used to detect the guiding wire (3) to generate a second detection signal, wherein the control method includes the following steps: Step S11: respectively obtain the first detection signal and the second detection signal emitted by the first detection module (21) and the second detection module (22), wherein the first detection module (21) and the second detection module (22) are respectively located on both sides of the guiding wire (3); Step S12: respectively obtain a first distance and a second distance according to the first detection signal and the second detection signal, and determine whether the ratio of the first distance to the second distance reaches a preset value, wherein the preset value is not equal to 1, and the first distance and the second distance are respectively the distances between the first detection module (21) and the second detection module (22) and the guiding wire (3); Step S13: when the ratio of the first distance to the second distance does not reach the preset value, control the traveling module to change the traveling direction of the self - moving device, and repeat steps S11 to S12 until the ratio of the first distance to the second distance reaches the preset value.

12. The control method according to claim 11, wherein The control method further includes: Step S14: when the ratio of the first distance to the second distance reaches the preset value, control the traveling module to drive the self - moving device to travel along the guiding wire (3).

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