Method and system for protecting a self-moving device from going out of bounds

Abstract

The self-moving device out-of-boundary protection method and system provided by the application solve the problem of the self-moving device going out of boundary in the global navigation process, and the self-moving device can get rid of abnormal conditions and return to the normal working state without human intervention. In addition, through the judgment of the positioning mark, it can be judged whether the self-moving device collides with an island, so as to enter the island logic of patrolling along the island, and then make the self-moving device efficiently get rid of the island and re-plan the path to navigate to the target point.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, and in particular relates to a method and system for protecting self-moving equipment from going out of bounds. Background Technology

[0002] Global navigation is widely used in the normal operation logic of lawnmower robots. Logics such as planning and regression, transition planning, and relocalization all require global navigation. Under normal circumstances, global navigation plans the shortest path around known obstacles within the feasible area. While moving along this path, it also initiates local path planning to avoid unknown obstacles encountered during operation. However, abnormal scenarios such as positioning drift, control system failures, and multiple obstacle avoidance triggers due to dynamic obstacles can cause the lawnmower robot to become lost. A lawnmower robot that should only move within the feasible area may appear anywhere in abnormal scenarios, significantly increasing the uncertainty of global navigation.

[0003] Without any strategy designed to handle abnormal scenarios in global navigation, it's foreseeable that if the lawnmower malfunctions, it will not take any corrective measures and will continue along the wrong path until it goes out of bounds and triggers an alarm to stop. This approach is unacceptable from both a product design and user experience perspective.

[0004] Therefore, a method and system for protecting self-moving devices from going out of bounds was designed, aiming to enable lawnmower robots to escape abnormal scenarios and return to normal working conditions without human intervention through a series of protective measures. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the present invention aims to provide a method and system for protecting self-moving devices from going out of bounds, thereby solving the problem of self-moving devices going out of bounds during global navigation. This allows self-moving devices to escape abnormal situations and return to normal working conditions without human intervention.

[0006] The technical solution adopted by this invention to solve the problem of the prior art is: a method for protecting self-moving equipment from going out of bounds.

[0007] include:

[0008] When the self-moving device crosses the boundary line in its first working state after traveling along the first preset path to the target point, the self-moving device undergoes a state change, specifically including:

[0009] S1: The self-moving device switches from a first working state to a second working state with a different walking path than the first working state;

[0010] S2: The self-moving device determines whether the first preset condition is triggered. If yes, the self-moving device stops the second working state and proceeds to S4; otherwise, it does not stop the second working state and proceeds to S3.

[0011] S3: The self-moving device determines whether a second preset condition different from the first preset condition is triggered. If so, the island patrol logic is triggered until the patrol stops.

[0012] S4: The self-moving device changes from the second working state to the third working state, which travels along a second preset path different from the first preset path to the target point;

[0013] The isolated line-following logic includes the following steps:

[0014] Record the coordinates of the starting point of the patrol and record the distance from the current location to the target point in real time during the patrol process;

[0015] Find the nearest location N on the isolated island to the target point;

[0016] The self-moving device stops patrolling when it reaches position N.

[0017] A further improvement is that the self-moving device includes a left boundary sensor and a right boundary sensor;

[0018] Before entering the second working state, S1 includes:

[0019] The position change process of the self-moving device relative to the boundary line is determined based on the left and right boundary sensors. The rotation direction of the self-moving device is determined based on the position change process. If the left boundary sensor moves out of the boundary line first, the self-moving device is controlled to rotate along the first direction to enter the second working state; otherwise, the self-moving device rotates along the second direction, which is different from the first direction, to enter the second working state.

[0020] A further improvement is as follows: Before determining whether the first preset condition is triggered, step S2 includes:

[0021] The self-moving device identifies the location and operating conditions, and determines the corresponding first preset condition based on the location and operating conditions.

[0022] A further improvement is as follows: The first preset condition includes: a first working condition preset condition corresponding to a first position working condition, and / or a second working condition preset condition corresponding to a second working condition different from the first position working condition, and / or a third working condition preset condition corresponding to a third working condition different from the first and second position working conditions.

[0023] The further improvement plan is as follows: The preset conditions for the first working condition include:

[0024] The self-moving device detects at least one first location identifier, compares the first location identifier information with the information stored in the system to perform relocation, and the relocation is successful; the first location identifier is the location identifier stored in the self-moving device.

[0025] A further improvement is proposed: the preset conditions for the second operating condition shall include at least one of the following conditions:

[0026] Preset condition 1: The distance from the location of the mobile device to the base station is less than the first preset distance;

[0027] Preset condition 2: The distance from the location of the mobile device to the target point is less than the second preset distance;

[0028] Preset condition 3: The self-moving device detects at least one first location identifier, which is a location identifier stored in the self-moving device.

[0029] A further improvement is proposed: the preset conditions for the third operating condition shall include at least one of the following conditions:

[0030] Preset condition 1: The distance from the location of the mobile device to the nearest first location identifier is less than a third preset distance, where the first location identifier is a location identifier stored in the mobile device;

[0031] Preset condition 2: The distance from the location of the mobile device to the target point is less than the fourth preset distance;

[0032] Preset condition 3: The self-moving device detects at least one first location identifier, which is a location identifier stored in the self-moving device.

[0033] A further improvement is as follows: The second preset condition includes: detecting at least one second location identifier that is different from the first location identifier.

[0034] A further improvement is as follows: the first working state includes a global navigation state that travels along a first preset path to the target point; the second working state includes a line-following state that travels along a boundary line; and the third working state includes a global navigation state that travels along a second preset path that is different from the first preset path to the target point.

[0035] A further improvement is as follows: a self-moving device system, the self-moving device system being able to implement the self-moving device boundary protection method, the self-moving device system comprising: a self-moving device, a boundary line, and a base station;

[0036] The self-moving device is equipped with a left boundary sensor, a right boundary sensor, a positioning identifier, and a controller; the controller is configured to receive signals generated by the left and right boundary sensors, signals from the positioning identifier, and control the operation of the self-moving device through the self-moving device boundary protection method.

[0037] The boundary line corresponds to the area to be worked on, and the boundary line defines the safe area of ​​the self-moving device;

[0038] The base station is provided with a docking part that cooperates with the self-moving device, and the docking part is configured to at least provide power to the self-moving device.

[0039] Compared with the prior art, the present invention has the following beneficial effects: the sensor signal allows the self-moving device to determine the abnormal operation, such as the self-moving device going out of the boundary. According to different working conditions, a series of different strategies are adopted so that the lawnmower can get out of the abnormal scene and return to the normal working state without human intervention.

[0040] Furthermore, by judging the location marker, it can be determined whether the self-moving device has encountered an island, thereby entering the island logic of following the island's path, which enables the self-moving device to efficiently get rid of the island, re-plan the path, and navigate to the target point. Attached Figure Description

[0041] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings:

[0042] Figure 1 This is a flowchart illustrating the steps of a self-moving device boundary protection method according to an embodiment of this application;

[0043] Figure 2 This is a flowchart illustrating the steps of the boundary protection method for the first position working condition according to an embodiment of this application;

[0044] Figure 3 This is a flowchart illustrating the steps of the boundary protection method for the second position working condition according to an embodiment of this application;

[0045] Figure 4 This is a flowchart illustrating the steps of the boundary protection method for the third position working condition according to an embodiment of this application;

[0046] Figure 5 This is a flowchart illustrating the steps of the islanded line-following logic in an embodiment of this application, shown in column 1.

[0047] Figure 6 This is a flowchart implementation of the islanding line-following logic in an embodiment of this application, shown in column 2. Detailed Implementation

[0048] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0049] The following description, in conjunction with the accompanying drawings, details the self-moving device boundary protection method and system provided in this application through specific embodiments and application scenarios.

[0050] See Figure 1 This is a flowchart illustrating the steps of the self-moving device boundary protection method according to an embodiment of this application. The steps include:

[0051] When the self-moving device crosses the boundary line in its first working state after traveling along the first preset path to the target point, the self-moving device undergoes a state change, specifically including:

[0052] S1: The self-moving device switches from a first working state to a second working state with a different walking path than the first working state;

[0053] S2: The self-moving device determines whether the first preset condition is triggered. If yes, the self-moving device stops the second working state and proceeds to S4; otherwise, it does not stop the second working state and proceeds to S3.

[0054] S3: The self-moving device determines whether a second preset condition different from the first preset condition is triggered. If so, the island patrol logic is triggered until the patrol stops.

[0055] S4: The self-moving device changes from the second working state to the third working state, which travels along a second preset path different from the first preset path to the target point;

[0056] The isolated line-following logic includes the following steps:

[0057] Record the coordinates of the starting point of the patrol and record the distance from the current location to the target point in real time during the patrol process;

[0058] Find the nearest location N on the isolated island to the target point;

[0059] The self-moving device stops patrolling when it reaches position N.

[0060] During the process of the self-moving device traveling along a preset path to the target point in global navigation, after crossing the boundary, it switches from a first working state to a second working state with a different walking path than the first working state. That is, the self-moving device switches from global navigation state to a line-following state that walks along the boundary line. The position change process of the self-moving device relative to the boundary line is determined based on the left and right boundary sensors, and the rotation direction of the self-moving device is determined based on the position change process. If the left boundary sensor crosses the boundary line first, the self-moving device is controlled to rotate in the first direction to enter the second working state, that is, to start line-following by rotating clockwise. If the right boundary sensor is detected to cross the boundary line first, the self-moving device rotates in the second direction, which is different from the first direction, to enter the second working state, that is, to start line-following by rotating counterclockwise.

[0061] The self-moving device identifies the location and operating conditions, determines the corresponding first preset condition based on the location and operating conditions, and determines whether the first preset condition is triggered. If so, the self-moving device stops the second working state, that is, stops the line-following state. Then, it switches from the second working state to the third working state, which is to walk along a second preset path different from the first preset path to the target point. That is, it switches from the line-following state to the global navigation state, which is to walk along a second preset path different from the first preset path to the target point. The second preset path is the path that the self-moving device re-plans from its current location to the target point after stopping the line-following.

[0062] The first preset condition includes: a first working condition preset condition corresponding to a first position working condition, and / or a second working condition preset condition corresponding to a second position working condition different from the first position working condition, and / or a third working condition preset condition corresponding to a third position working condition different from the first and second position working conditions.

[0063] The preset conditions for the first operating condition include:

[0064] The self-moving device detects at least one first positioning identifier, compares the first positioning identifier information with the information stored in the system for relocation, and if the first positioning identifier information matches the information stored in the self-moving device, the current location of the self-moving device can be known, which means that the relocation is successful; the first positioning identifier is a positioning identifier stored in the self-moving device, and the first positioning identifier includes, but is not limited to, RFID, and all positioning identifiers described below include, but are not limited to, RFID.

[0065] The second operating condition preset conditions include at least one of the following conditions:

[0066] Preset condition 1: The distance from the location of the mobile device to the base station is less than the first preset distance;

[0067] Preset condition 2: The distance from the location of the mobile device to the target point is less than the second preset distance;

[0068] Preset condition 3: The self-moving device detects at least one first location identifier, which is a location identifier stored in the self-moving device.

[0069] The preset conditions for the third operating condition include at least one of the following conditions:

[0070] Preset condition 1: The distance from the location of the mobile device to the nearest first location identifier is less than a third preset distance, where the first location identifier is a location identifier stored in the mobile device;

[0071] Preset condition 2: The distance from the location of the mobile device to the target point is less than the fourth preset distance;

[0072] Preset condition 3: The self-moving device detects at least one first location identifier, which is a location identifier stored in the self-moving device.

[0073] After the mobile device switches to the line-following state, if a second preset condition different from the first preset condition is triggered, the island line-following logic is triggered until the line-following stops. Then, the line-following state is switched to the global navigation state of walking along a second preset path different from the first preset path to the target point. The second preset path is the path that the mobile device re-plans from its current position to the target point after the line-following stops.

[0074] The second preset condition includes: detecting at least one second location identifier that is different from the first location identifier, i.e., a location identifier that has not been stored by the self-moving device.

[0075] After entering the island patrol logic, the self-moving device records the coordinates of the patrol starting point when it starts patrolling. While patrolling around the island, it records the distance from the current coordinates of the self-moving device to the target point. When the distance from the current coordinates of the self-moving device to the starting point is less than the fifth preset distance, it is considered that the self-moving device has patrolled around the island once. The location N on the island that is closest to the target point is found from the recorded coordinates. The preferred value of the fifth preset distance is 0.1 meters.

[0076] The mower continues its patrol, stopping when it reaches point N again, or the self-moving device establishes a local coordinate system with the target point as the origin and the positive X-axis in any direction. If the mower passes through all four quadrants of this local coordinate system while patrolling around the island, the target point is inside the island and unreachable, triggering the patching logic to patch and cut that area. If the mower does not pass through all four quadrants of this local coordinate system during its patrol around the island, it continues patrolling until it reaches point N again, at which point it stops.

[0077] The mobile device re-plans the route from point N and navigates globally to the target point.

[0078] In steps S1-S4, if navigation to the same point triggers boundary crossing three times consecutively and enters the boundary crossing protection logic, the following steps are executed after the third boundary crossing:

[0079] The device switches from global navigation mode to counter-clockwise line-following mode;

[0080] During the line patrol, any first positioning identifier is detected, and the positioning identifier information is compared with the information stored in the system for repositioning. After successful repositioning, the line patrol state ends, and a new route is planned from the successfully repositioned point for global navigation to the target point. The first positioning identifier is the positioning identifier stored in the self-moving device.

[0081] See Figure 2 This is a flowchart illustrating the steps of the boundary protection method for the first location condition according to an embodiment of this application. The first location condition includes, but is not limited to, global navigation to the relocation point boundary. After the self-moving device globally navigates to the relocation point boundary, the following logical steps are executed:

[0082] S1: The self-moving device switches from a first working state to a second working state with a different walking path than the first working state;

[0083] S2: The self-moving device triggers the first working condition preset condition, and the self-moving device stops the second working state;

[0084] S3: The self-moving device changes from the second working state to the third working state, which travels along a second preset path different from the first preset path to the target point.

[0085] The first working state includes a global navigation state that travels along a first preset path to the target point; the second working state includes a line-following state that travels along a boundary line; and the third working state includes a global navigation state that travels along a second preset path that is different from the first preset path to the target point.

[0086] The first working condition preset conditions include the self-mobile device detecting at least one first positioning identifier, comparing the first positioning identifier information with the information stored in the system for repositioning, and if the first positioning identifier information matches the information stored in the self-mobile device, the current location of the self-mobile device can be known, which means that the repositioning is successful; the first positioning identifier is the positioning identifier stored in the self-mobile device.

[0087] The mobile device switches from global navigation mode to line-following mode, which is counterclockwise around the boundary line. If any first positioning identifier stored in the mobile device is detected during the line-following process, the relocation logic is initiated. That is, the positioning identifier information is compared with the information stored in the system for relocation. After successful relocation, the line-following mode ends, and a secondary path is planned from the current position of the mobile device to the target point. The mobile device then performs global navigation again to the target point.

[0088] See Figure 3 This is a flowchart illustrating the steps of the boundary protection method for the second location condition according to an embodiment of this application. The second location condition includes, but is not limited to, global navigation return boundary loss. When the self-moving device returns to global navigation, the self-moving device needs to navigate from its current location to a random point directly in front of the charging pile. During this process, the self-moving device may lose its boundary due to positioning drift or control system failure. After detecting the boundary loss, the following logical steps are executed:

[0089] S1: The self-moving device switches from the first working state to a second working state with a different walking path than the first working state;

[0090] S2: The self-moving device triggers the second working condition preset condition, and the self-moving device stops the second working state;

[0091] S3: The second working state is changed to the third working state, which is to travel along a second preset path that is different from the first preset path to the target point.

[0092] The first working state includes a global navigation state that travels along a first preset path to the target point; the second working state includes a line-following state that travels along a boundary line; and the third working state includes a global navigation state that travels along a second preset path that is different from the first preset path to the target point.

[0093] The second operating condition preset conditions include one of the following conditions:

[0094] Preset condition 1: The distance from the location of the mobile device to the base station is less than a first preset distance, and the preferred value of the first preset distance includes 0.5 meters;

[0095] Preset condition 2: The distance from the location of the mobile device to the target point is less than the second preset distance, and the preferred value of the second preset distance includes 2 meters;

[0096] Preset condition 3: The self-moving device detects at least one first location identifier, which is a location identifier stored in the self-moving device.

[0097] The self-moving device switches from global navigation mode to line-following mode, which rotates counterclockwise around the boundary line. If, during the process of part of the self-moving device moving from inside the boundary line to outside the boundary line, the left boundary sensor is detected to have crossed the boundary line first, the self-moving device is controlled to rotate in the first direction to enter the second working state, which is clockwise rotation to start line-following. If the right boundary sensor is detected to have crossed the boundary line first, the self-moving device is controlled to rotate in the second direction, which is different from the first direction, to enter the second working state, which is counterclockwise rotation to start line-following.

[0098] If the self-moving device meets any of the preset conditions 1-3 during the line patrol process, the self-moving device stops patrolling; after the self-moving device stops patrolling, it re-plans a path from the current position to the target point, and then the self-moving device navigates globally to the target point again.

[0099] See Figure 4 This is a flowchart illustrating the steps of the boundary protection method for the third location condition in an embodiment of this application. The third location condition includes, but is not limited to, global navigation to the starting point of the next partition and boundary excursion. After the self-moving device completes the cutting of a region, it needs to globally navigate to the cutting starting point of the next partition. If boundary excursion is detected during this process, the following logical steps are executed:

[0100] S1: The self-moving device switches from a first working state to a second working state with a different walking path than the first working state;

[0101] S2: The self-moving device triggers the third working condition preset condition, and the self-moving device stops the second working state;

[0102] S3: The self-moving device changes from the second working state to the third working state, which travels along a second preset path different from the first preset path to the target point.

[0103] The first working state includes a global navigation state that travels along a first preset path to the target point; the second working state includes a line-following state that travels along a boundary line; and the third working state includes a global navigation state that travels along a second preset path that is different from the first preset path to the target point.

[0104] The preset conditions for the third operating condition include one of the following conditions:

[0105] Preset condition 1: The distance from the location of the mobile device to the nearest first positioning identifier is less than a third preset distance. The first positioning identifier is a positioning identifier stored in the mobile device. The preferred value of the third preset distance includes 0.5 meters.

[0106] Preset condition 2: The distance from the location of the mobile device to the target point is less than the fourth preset distance, and the preferred value of the fourth preset distance includes 2 meters;

[0107] Preset condition 3: The self-moving device detects at least one first location identifier, which is a location identifier stored in the self-moving device.

[0108] The self-moving device switches from global navigation mode to line-following mode, rotating counterclockwise around the boundary line. The position change process of the self-moving device relative to the boundary line is determined based on the left and right boundary sensors. The rotation direction of the self-moving device is determined based on this position change process. If the left boundary sensor detects that the device has crossed the boundary line first, the self-moving device is controlled to rotate in a first direction to enter a second working state, i.e., clockwise rotation to begin line-following. If the right boundary sensor detects that the device has crossed the boundary line first, the self-moving device rotates in a second direction different from the first direction to enter a second working state, i.e., counterclockwise rotation to begin line-following.

[0109] During the line patrol, record the coordinates of the first positioning marker closest to the target point; when any of the above preset conditions 1-3 are met, stop the line patrol; after the mobile device stops the line patrol, replan the path from the current position to the target point, and then navigate the mobile device to the target point again globally.

[0110] See Figure 5 This is a flowchart illustrating the steps of an embodiment 1 of the island patrol logic in this application. If, under the second position condition, a second positioning identifier different from the first positioning identifier is detected during the process of stopping patrol by triggering the first preset condition, the patrol will not stop, and the island patrol logic steps will be executed:

[0111] S1: Record the coordinates of the starting point of the patrol line and record the distance from the current location to the target point in real time during the patrol process;

[0112] S2: Obtain the nearest location N to the target point on the isolated island;

[0113] S3: Stop the line patrol when the self-moving device reaches position N.

[0114] When the self-moving device starts patrolling, it records the coordinates of the patrol starting point. While patrolling around the island, it records the distance from the current coordinates of the self-moving device to the target point. When the distance from the current coordinates of the self-moving device to the starting point is less than the fifth preset distance, it is considered that the self-moving device has patrolled around the island once. The location N on the island that is closest to the target point is found from the recorded coordinates. The preferred value of the fifth preset distance is 0.1 meters.

[0115] Then continue the route patrol. When you reach point N again, stop the patrol and re-plan the path from point N on the mobile device, then navigate globally to the target point.

[0116] See Figure 6This is a flowchart illustrating the steps of an embodiment 2 of the island patrol logic in this application. If, under the third position condition, during the process of stopping patrol by triggering the first preset condition, a second positioning identifier different from the first positioning identifier is detected, then patrol will not stop, and the island patrol logic steps will be executed:

[0117] S1: Record the coordinates of the starting point of the patrol line and record the distance from the current location to the target point in real time during the patrol process;

[0118] S2: Obtain the nearest location N to the target point on the isolated island;

[0119] S3: Stop the line patrol when the self-moving device reaches position N.

[0120] When the self-moving device starts patrolling the line, it records the coordinates of the starting point of the patrolling. While patrolling around the island, it records the distance from the current coordinates of the self-moving device to the target point. When the distance from the current coordinates of the self-moving device to the starting point of the patrolling is less than the sixth preset distance, it is considered that the self-moving device has patrolled the island once. The location N on the island that is closest to the target point is found from the recorded coordinates. The preferred value of the fifth preset distance is 0.1 meters.

[0121] The self-moving device establishes a local coordinate system with the target point as the origin and the positive X-axis in any direction. If the lawnmower passes through all four quadrants of this local coordinate system while circling the island, the target point is inside the island and cannot be reached, so the gap-filling logic is triggered to fill the gap in the cutting of that area; if the lawnmower does not pass through all four quadrants of the local coordinate system after circling the island, it continues to circulate the line and stops circling when it reaches point N again.

[0122] The mobile device re-plans the route from point N and navigates globally to the target point.

[0123] The self-moving devices described in this specification may include, but are not limited to, smart lawnmowers, robotic vacuum cleaners, sorting robots, unmanned delivery vehicles, and drones.

[0124] This application also provides a self-moving device system capable of implementing the self-moving device boundary protection method described above, wherein the self-moving device system includes: a self-moving device, a boundary line, and a base station;

[0125] The self-moving device is equipped with a left boundary sensor, a right boundary sensor, a positioning identifier, and a controller; the controller is configured to receive signals generated by the left and right boundary sensors, signals from the positioning identifier, and control the operation of the self-moving device through the self-moving device boundary protection method.

[0126] The boundary line corresponds to the area to be worked on, and the boundary line defines the safe area of ​​the self-moving device;

[0127] The base station is provided with a docking part that cooperates with the self-moving device, and the docking part is configured to at least provide power to the self-moving device.

[0128] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0129] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for protecting self-moving devices from going out of bounds, characterized in that, include: When the self-moving device crosses the boundary line in its first working state after traveling along the first preset path to the target point, the self-moving device undergoes a state change, specifically including: S1: The self-moving device switches from a first working state to a second working state with a different walking path than the first working state; S2: The self-moving device determines whether the first preset condition is triggered. If yes, the self-moving device stops the second working state and proceeds to S4; otherwise, it does not stop the second working state and proceeds to S3. S3: The self-moving device determines whether a second preset condition different from the first preset condition is triggered. If so, the island patrol logic is triggered until the patrol stops. S4: The self-moving device changes from the second working state to the third working state, which travels along a second preset path different from the first preset path to the target point; The isolated line-following logic includes the following steps: Record the coordinates of the starting point of the patrol and record the distance from the current location to the target point in real time during the patrol process; Find the nearest location N on the isolated island to the target point; The self-moving device stops patrolling when it reaches position N; The first working state includes a global navigation state that walks along a first preset path to the target point; the second working state includes a line-following state that walks along a boundary line; and the third working state includes a global navigation state that walks along a second preset path that is different from the first preset path to the target point. The first preset conditions include: a first working condition preset condition corresponding to a first position working condition, and / or a second working condition preset condition corresponding to a second position working condition different from the first position working condition, and / or a third working condition preset condition corresponding to a third position working condition different from the first and second position working conditions; The first working condition preset conditions include: the self-mobile device detects at least one first positioning identifier, compares the first positioning identifier information with the information stored in the system for repositioning, and the repositioning is successful; the first positioning identifier is a positioning identifier stored in the self-mobile device. The second operating condition preset conditions include at least one of the following conditions: Preset condition 1: The distance from the location of the mobile device to the base station is less than the first preset distance; Preset condition 2: The distance from the location of the mobile device to the target point is less than the second preset distance; Preset condition 3: The self-mobile device detects at least one first location identifier, where the first location identifier is a location identifier stored in the self-mobile device; The preset conditions for the third operating condition include at least one of the following conditions: Preset condition 1: The distance from the location of the mobile device to the nearest first location identifier is less than a third preset distance, where the first location identifier is a location identifier stored in the mobile device; Preset condition 2: The distance from the location of the mobile device to the target point is less than the fourth preset distance; Preset condition 3: The self-mobile device detects at least one first location identifier, where the first location identifier is a location identifier stored in the self-mobile device; The second preset condition includes: detecting at least one second location identifier that is different from the first location identifier.

2. The self-moving device boundary protection method according to claim 1, characterized in that, The self-moving device includes a left boundary sensor and a right boundary sensor; Before entering the second working state, S1 includes: The position change process of the self-moving device relative to the boundary line is determined based on the left and right boundary sensors. The rotation direction of the self-moving device is determined based on the position change process. If the left boundary sensor moves out of the boundary line first, the self-moving device is controlled to rotate along the first direction to enter the second working state; otherwise, the self-moving device rotates along the second direction, which is different from the first direction, to enter the second working state.

3. The self-moving device boundary protection method according to claim 1, characterized in that, Before determining whether the first preset condition is triggered, step S2 includes: The self-moving device identifies the location and operating conditions, and determines the corresponding first preset condition based on the location and operating conditions.

4. A self-moving device system, characterized in that, The self-moving device system is capable of implementing the self-moving device boundary protection method as described in any one of claims 1 to 3, and the self-moving device system includes: a self-moving device, a boundary line, and a base station; The self-moving device is equipped with a left boundary sensor, a right boundary sensor, a positioning identifier, and a controller; the controller is configured to receive signals generated by the left and right boundary sensors, signals from the positioning identifier, and control the operation of the self-moving device through the self-moving device boundary protection method. The boundary line corresponds to the area to be worked on, and the boundary line defines the safe area of ​​the self-moving device; The base station is provided with a docking part that cooperates with the self-moving device, and the docking part is configured to at least provide power to the self-moving device.

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