Control method of self-moving equipment and self-moving working system

Abstract

The invention provides a control method of a self-moving device and a self-moving working system, the control method of the self-moving device comprises the following steps: detecting a magnetic signal from a magnetic stripe unit, the magnetic stripe unit being used for marking a specific area on a boundary; when the magnetic signal from the magnetic stripe unit is detected, position information of the self-moving equipment is obtained, and the self-moving equipment is controlled to walk along the magnetic stripe unit based on the position information. The control method of the self-moving equipment and the self-moving working system provided by the invention have higher walking and / or working efficiency, and are safer and more reliable.

Description

Technical Field

[0001] The present disclosure relates to the technical field of self-moving working systems, and in particular to a control method for a self-moving equipment and a self-moving working system. Background Art

[0002] With the development of science and technology, intelligent self-moving devices have become well known to people. Self-moving devices can automatically walk and / or perform specific tasks based on pre-set programs without much human operation and intervention, bringing great convenience to people's work and life.

[0003] During operation, the autonomous mobile device usually needs to walk along a preset path or reach a designated location, such as walking along a boundary line to return to a charging station. If there is an uneven ground or obstacle on the boundary line, it will affect the walking efficiency of the autonomous mobile device, and even cause damage to the autonomous mobile device or cause harm to the outside world. Summary of the invention

[0004] In view of this, the purpose of the present disclosure is to provide a control method for a self-moving device and a self-moving working system, which have higher walking and / or working efficiency and are safer and more reliable.

[0005] In order to achieve one of the above disclosed purposes, an embodiment of the present disclosure provides a control method for a self-moving device, wherein the self-moving device walks and / or works in a working area defined by a boundary, comprising:

[0006] detecting a magnetic signal from a magnetic stripe unit for marking a specific area located on the boundary;

[0007] When the magnetic signal from the magnetic stripe unit is detected, the position information of the self-moving device is acquired, and based on the position information, the self-moving device is controlled to move along the magnetic stripe unit.

[0008] As a further improvement of an embodiment of the present disclosure, controlling the self-moving device to move along the magnetic stripe unit includes: controlling the self-moving device to move in a preset direction.

[0009] As a further improvement of an embodiment of the present disclosure, the obtaining the location information of the mobile device includes:

[0010] Acquire historical track information of the mobile device in the working area;

[0011] Obtaining map information of the work area;

[0012] Based on the map information, the relative position relationship between the historical trajectory information and the current position of the self-moving device is determined.

[0013] As a further improvement of an embodiment of the present disclosure, determining the relative position relationship between the historical trajectory information and the current position of the self-moving device includes:

[0014] It is determined whether the historical track information is on the left or right side of the current traveling direction of the mobile device.

[0015] As a further improvement of an embodiment of the present disclosure, the historical track information includes the position of the mobile device before detecting the magnetic signal from the magnetic stripe unit.

[0016] As a further improvement of an embodiment of the present disclosure, controlling the self-moving device to walk in a preset direction includes:

[0017] Arriving at the magnetic stripe unit;

[0018] When the historical track is on the right side of the self-moving device, the self-moving device is controlled to rotate a preset angle relative to the current traveling direction so that the historical track is located on the left side of the self-moving device, and then moves along the magnetic stripe unit;

[0019] When the historical track is on the left side of the self-moving device, the self-moving device is controlled to move along the magnetic stripe unit.

[0020] As a further improvement of an embodiment of the present disclosure, when the historical track is on the right side of the self-moving device, controlling the self-moving device to rotate a preset angle relative to the current traveling direction includes:

[0021] When the historical track is on the right side of the self-moving device, image information in front of the walking direction of the self-moving device is collected;

[0022] Perform obstacle detection based on the collected image information to determine whether there is an obstacle;

[0023] In response to the self-moving device not colliding with the obstacle during the rotation process, the self-moving device is controlled to rotate by a preset angle relative to the current traveling direction.

[0024] As a further improvement of an embodiment of the present disclosure, the method further includes:

[0025] In response to the self-moving device colliding with the obstacle during the rotation process, controlling the self-moving device to move in a backward direction;

[0026] During the retreat process, when it is determined that the self-moving device does not collide with the obstacle during rotation, the self-moving device stops retreating, and is controlled to rotate a preset angle relative to the current direction of travel, and then moves along the magnetic stripe unit.

[0027] As a further improvement of an embodiment of the present disclosure, the method further includes:

[0028] During the process of walking along the magnetic stripe unit, if the motor of the self-moving device is blocked, the self-moving device is controlled to stop moving and wait for a first preset time;

[0029] Record the time when the motor stall occurs and / or the position of the mobile device when the motor stalls;

[0030] Recording the number of motor stalls that occur within a second preset time period and / or a preset distance from the mobile device;

[0031] If the number of stalls is greater than or equal to the preset number, the self-moving device is controlled to stop; if the number of stalls is less than the preset number, the self-moving device is controlled to continue moving along the magnetic stripe unit.

[0032] In order to achieve one of the above disclosed purposes, an embodiment of the present disclosure provides a self-moving working system, including:

[0033] Self-equipped equipment, walking and working in the work area;

[0034] A boundary component, defining the scope of the working area;

[0035] The boundary assembly includes a boundary line, and a magnetic stripe unit capable of emitting a signal to mark a specific area located on the boundary line;

[0036] The magnetic stripe unit includes at least a partial arc-shaped section, and two ends thereof are respectively arranged on the boundary line.

[0037] Compared with the prior art, the control method and self-moving working system of the self-moving device provided by the present disclosure set a magnetic stripe unit to mark a specific area on the boundary where the self-moving device is inconvenient to pass, and the self-moving device determines whether it is close to the specific area by detecting the magnetic signal from the magnetic stripe unit; when approaching the specific area, the self-moving device moves along the magnetic stripe unit. When the self-moving device returns along the boundary line, it can avoid the inconvenient area through the guidance of the magnetic stripe unit, which is simple, efficient, safe and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the present disclosure or related technologies, the drawings required for use in the implementation methods or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only implementation methods of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1A schematic diagram of an existing self-moving device in a working area;

[0040] Figure 2 A schematic diagram of a self-moving working system provided in one embodiment of the present disclosure;

[0041] Figure 3 A schematic diagram of a flow chart of a method for controlling a self-moving device provided in one embodiment of the present disclosure;

[0042] Figure 4 A schematic diagram of a process of a self-moving device walking in a preset direction provided by an embodiment of the present disclosure;

[0043] Figure 5 A schematic diagram of a process for obtaining location information from a mobile device provided in one embodiment of the present disclosure;

[0044] Figure 6 A schematic diagram of a process of rotating a mobile device to a preset angle provided by an embodiment of the present disclosure;

[0045] Figure 7 A flowchart of another method for controlling a self-moving device provided in one embodiment of the present disclosure;

[0046] Figure 8 A schematic flow chart of a control method for a mobile device provided by another embodiment of the present disclosure;

[0047] Fig. 9 A flowchart of another method for controlling a self-moving device provided by an embodiment of the present disclosure;

[0048] Fig.10 A flowchart of a method for controlling a self-moving device provided by another embodiment of the present disclosure is provided. DETAILED DESCRIPTION

[0049] The present disclosure will be described in detail below in conjunction with the specific embodiments shown in the accompanying drawings. However, these embodiments do not limit the present disclosure, and any structural, methodological, or functional changes made by a person skilled in the art based on these embodiments are all within the scope of protection of the present disclosure.

[0050] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present disclosure should be the usual meanings understood by people with ordinary skills in the field to which the present disclosure belongs. The words "including" or "comprising" and the like used in the embodiments of the present disclosure mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. The words "connect" or "connected" and the like are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0051] Existing self-propelled devices usually need to walk along a preset path or reach a specified location during operation. If there are uneven ground or obstacles in the working area or at the boundary of the working area, the walking efficiency of the self-propelled device will be affected, and even the self-propelled device may be damaged or cause harm to the outside world.

[0052] like Figure 1 As shown, an existing solution is that the user sets a mark 3 next to certain areas. When the self-mobile device 1 moves along the boundary line 5 (the self-mobile device 1 can keep a certain distance from the boundary line 5 and move, or the self-mobile device 1 moves across the boundary line 5), and the self-mobile device 1 detects the mark 3, the self-mobile device 1 moves toward the mark 3 and continues to move along the mark 3. When it moves to the end of the mark 3, the self-mobile device 1 moves toward the boundary line 5 and continues to move along the boundary line 5, so as to reach the designated position to avoid obstacles. However, this solution to avoid obstacles will have many problems in actual operation: it is difficult for users to find a suitable distance from the boundary line 5 to arrange the mark 3; in addition, the self-mobile device 1 is also easy to get stuck between the mark 3 and the boundary line 5, affecting the walking efficiency of the self-mobile device.

[0053] In view of this, the embodiments of the present disclosure provide a control method for a self-moving device and a self-moving working system, which have higher walking and / or working efficiency and are safer and more reliable.

[0054] like Figure 2 , which is a schematic diagram of a self-moving working system according to an embodiment of the present disclosure. The self-moving device 10 may be a lawn mower, a sweeper, a snow sweeper, a sprinkler, etc. The self-moving device 10 may travel and / or work in a working area 33, including traveling and / or working inside the working area 33, and traveling and / or working along the boundary of the working area 33.

[0055] In an exemplary application environment, the self-moving device 10 may be an automatic lawn mower. The self-moving device 10 may automatically move in a working area 33 within the boundary line 31 to cut grass or vegetation in the working area 33 .

[0056] The self-moving device 10 includes a device body 13, a mobile module arranged at the bottom of the device body 13 for driving the self-moving device 10 to walk on the working surface, the mobile module includes at least one wheel arranged at the bottom of the device body 13, and a motor for driving the wheel, wherein the wheel can be provided with multiple walking wheels and guide wheels to facilitate the self-moving device 10 to flexibly turn and walk in the working area 33.

[0057] The energy supply unit (e.g., a battery pack) provided on the device body 13 is used to provide energy for the self-moving device 10 to move and / or work. The control module provided on the device body 13 and electrically connected to the energy supply unit can control the energy supply unit to release energy, and the control module can control the self-moving device 10 to move and / or work. The self-moving device 10 also includes a working module, which includes a cutting disc provided at the bottom of the device body 13, and a motor that drives the cutting disc to rotate.

[0058] A magnetic induction sensor 11 is also provided on the device body 13 for detecting the magnetic force value; the magnetic induction sensor 11 can be set at the bottom of the device body 13, for detecting the magnetic force value at the location of the self-moving device 10, and sending the magnetic force value to the control module. Two magnetic induction sensors 11 can be provided to better detect the magnetic force value of the magnetic strip set in the working area. The present disclosure does not limit the number of magnetic induction sensors 11, the installation position and the distance value between the two magnetic induction sensors 11. The magnetic induction sensor 11 can be, for example, a geomagnetic sensor, and the present disclosure does not limit the specific type of the magnetic induction sensor.

[0059] The device body 13 is also provided with an information acquisition module, including a positioning component and a visual component. The positioning component is used to acquire the position information of the self-mobile device 10, including the current position information of the self-mobile device 10 and the walking path information in the working area 33. The visual component is used to acquire the image information in the working area 33. The image information acquired by the information acquisition module is sent to the control module, and the control module better controls the self-mobile device 10 to walk and / or work in the working area 33 based on the position information of the self-mobile device 10 and the image information in the working area 33.

[0060] like Figure 2 , Figure 3 As shown, an embodiment of the present disclosure provides a method for controlling a self-moving device, comprising the following steps:

[0061] Step S100, detecting a magnetic signal from the magnetic stripe unit 35, where the magnetic stripe unit 35 is used to mark a specific area located on the boundary;

[0062] Step S200 , when a magnetic signal from the magnetic stripe unit 35 is detected, the position information of the mobile device 10 is obtained, and based on the position information, the mobile device 10 is controlled to move along the magnetic stripe unit 35 .

[0063] The control method of the self-moving device provided in the embodiment of the present disclosure marks a specific area on the boundary where the self-moving device is inconvenient to pass, and the self-moving device determines whether it is close to the specific area by detecting the magnetic signal from the magnetic stripe unit; when approaching the specific area, the position information of the self-moving device is obtained, and based on the position information, the self-moving device is made to move along the magnetic stripe unit to avoid the self-moving device from moving in the wrong direction along the magnetic stripe unit, which may reduce the walking and / or working efficiency of the self-moving device or even fail to achieve the expected goal. The specific area can be a dangerous area or a fuzzy boundary area; dangerous areas such as pools and cliffs; fuzzy boundary areas such as unclear boundaries between grass and non-grass, and boundaries that are difficult for the self-moving device to identify. When the self-moving device returns along the boundary line, it can avoid the inconvenient area through the guidance of the magnetic stripe unit, which is simple, efficient, safe and reliable.

[0064] In step S100, the magnetic stripe unit 35 is used to mark a specific area located on the border, and the magnetic stripe unit 35 can release a magnetic signal. When the self-moving device 10 approaches the magnetic stripe unit 35, the self-moving device 10 detects the magnetic signal released by the magnetic stripe unit 35 through the magnetic induction sensor 11. Specifically, when the self-moving device 10 walks and / or works along or across the border, since dangerous areas such as pool areas and cliff areas may appear at the border of the working area 33, the self-moving device 10 can set a magnetic stripe unit 35 for marking a specific area located on the border in the working area 33 around the obstacle to bypass the obstacle.

[0065] In one embodiment, the magnetic stripe unit 35 may have different shapes. For example, the magnetic stripe unit 35 may be in a bar shape or a linear shape. The length and width of the magnetic stripe unit may be customized as needed, and the magnetic stripe unit may have different magnetic strengths to adapt to different application scenarios. Bar-shaped or linear magnets have the advantages of simple manufacture and low cost. The magnetic stripe unit 35 may be made of permanent magnets; permanent magnets can maintain their magnetism for a long time, and are not easy to lose magnetism or be magnetized. In addition, permanent magnets do not require an external power supply to maintain their magnetism, saving energy.

[0066] Optionally, the magnetic stripe unit 35 can be a conductor that can generate a specific magnetic field when powered. The direction of the magnetic field generated by the powered conductor is related to the direction of the current. By setting the powered conductor, the direction of the magnetic field can be changed at any time, and the scope of application is wider.

[0067] The selection of the magnetic stripe unit 35 is not specifically limited here, and can be selected according to usage requirements.

[0068] In step S200 , after the mobile device 10 detects the magnetic signal released by the magnetic stripe unit 35 , the information collection module in the mobile device 10 acquires its location information.

[0069] Exemplarily, the location information includes information such as the current location of the mobile device 10 in the working area 33 , the current walking direction of the mobile device 10 , and the path that the mobile device 10 has walked in the working area 33 .

[0070] According to the location information obtained by the mobile device 10, the control module on the mobile device 10 controls the mobile device 10 to make corresponding adjustments and move along the magnetic stripe unit 35, so that when the mobile device 10 moves along the boundary line 31, it can avoid the inconvenient area through the guidance of the magnetic stripe unit 35, which is simple, efficient, safe and reliable. It avoids the mobile device 10 from moving to the inconvenient area and being damaged.

[0071] like Figure 5 As shown, in one embodiment, in step S200, obtaining location information from the mobile device 10 includes:

[0072] Step S210, obtaining historical track information of the mobile device 10 in the working area 33;

[0073] Step S220, obtaining map information of the working area 33;

[0074] Step S230 : Based on the map information, determine the relative position relationship between the historical trajectory information and the current position of the mobile device 10 .

[0075] In one embodiment, in step S210, the historical trajectory information of the mobile device 10 in the working area 33 is obtained by the information collection module of the mobile device 10; wherein the historical trajectory information includes the position of the mobile device 10 before detecting the magnetic signal from the magnetic stripe unit 35, that is, where the mobile device 10 walked in the working area and the driving trajectory before the mobile device 10 detected the magnetic stripe unit 35. After all the walking paths of the mobile device 10 in the working area 33 are collected, the historical trajectory information of the mobile device 10 is obtained, and the historical trajectory information is sent to the control module.

[0076] For example, the historical trajectory information may be obtained through an inertial navigation sensor. The map information may be a global map of the working area or a local map of the working area. The global map may include environmental information of the entire working area. The local map may include environmental information within a certain range around the mobile device 10.

[0077] The global map and the local map may be grid maps, and the grids of the grid map may represent grass or non-grass (obstacles / boundaries).

[0078] The current position, current driving direction, and historical track information of the self-mobile device 10 may be determined based on the inertial navigation sensor, and the current relative position relationship between the historical track information and the self-mobile device 10 may be determined in conjunction with the map.

[0079] Exemplarily, historical trajectory information can be obtained in real time through a positioning component; for example, historical trajectory information from a mobile device 10 can be obtained by connecting to a nearby wireless network, such as a positioning base station, Wi-Fi, or Bluetooth, etc.; historical trajectory information can also be obtained through GPS satellites, and the specific acquisition method is not limited here.

[0080] In step S220 , the map information of the working area 33 may be acquired through the information acquisition module. The map information includes all information within the boundary line 31 , for example, the boundary line 31 and the grass, roads, obstacles, etc. within the boundary line 31 .

[0081] In step S230, the relative position relationship represents whether the historical track information is on the left or right side of the current moving direction of the self-moving device 10. For example, in the map, the front of the current walking direction of the self-moving device 10 is taken as the top, and the back is taken as the bottom; the walking direction is the central axis, and the left and right of the central axis are used to determine whether the historical track information is on the left or right side of the self-moving device 10. Alternatively, the central axis O of the self-moving device 10 is used as a reference to determine whether the historical track information is on the left or right side of the self-moving device 10. When the historical track information is on the left side of the central axis O, it means that the historical track information is on the left side of the self-moving device 10.

[0082] In another embodiment, considering that it is impossible to simply determine whether the historical trajectory information is on the left or right side of the current travel direction of the self-mobile device 10, the interval division method can be adopted; the map information is divided into several small intervals with the entire map as the coordinate system, and the relative position relationship between the self-mobile device 10 and the current position on the map coordinate system before the magnetic stripe unit 35 is detected is determined, so as to further obtain more accurate historical trajectory information, and based on this relative position relationship, perform more accurate walking path planning.

[0083] In one embodiment, in step S200 , controlling the self-moving device 10 to move along the magnetic stripe unit 35 includes: controlling the self-moving device 10 to move in a preset direction.

[0084] For example, the mobile device 10 may be set to travel along the border in a fixed direction (eg, counterclockwise).

[0085] like Figure 4 As shown, further, in the case where the self-moving device 10 is set to travel along the border in a counterclockwise direction, controlling the self-moving device 10 to travel in a preset direction includes the following steps:

[0086] Step S260, arriving at the magnetic stripe unit 35;

[0087] Step S270: when the historical track is on the right side of the self-moving device 10, the self-moving device 10 is controlled to rotate by a preset angle relative to the current moving direction so that the historical track is located on the left side of the self-moving device, and then moves along the magnetic stripe unit 35;

[0088] Step S280 , when the historical track is on the left side of the self-moving device 10 , control the self-moving device 10 to move along the magnetic stripe unit 35 .

[0089] In one embodiment, according to the configuration of the charging station, the mobile device 10 moves counterclockwise along the boundary line 31. After the mobile device 10 detects the magnetic signal released by the magnetic stripe unit 35 and reaches the magnetic stripe unit 35, the mobile device 10 moves along the magnetic stripe unit 35.

[0090] When the mobile device 10 moves along the direction of F1, it can be determined that the historical trajectory information of the mobile device 10 is on the left side of the moving direction of the mobile device 10. At this time, the mobile device 10 can directly walk onto the magnetic stripe unit 35 and walk along the magnetic stripe unit 35, thereby bypassing obstacles and quickly reaching the specified location.

[0091] When the self-moving device 10 moves along the direction of F2, it is determined that the historical trajectory information of the self-moving device 10 is on the right side of the moving direction of the self-moving device 10. If the self-moving device 10 moves along the magnetic stripe unit 35, the self-moving device will move clockwise along the boundary line 31 after bypassing the obstacle, which is different from the set counterclockwise direction. Therefore, in this embodiment, when the historical trajectory information of the self-moving device 10 is on the right side of the moving direction of the self-moving device 10, the self-moving device 10 rotates a preset angle relative to the current moving direction, and then the self-moving device 10 enters the magnetic stripe unit 35 and moves along the magnetic stripe unit 35, thereby bypassing the obstacle. It can effectively avoid the error in the direction of the self-moving device 10 when moving along the magnetic stripe unit 35.

[0092] In another embodiment, according to the setting form of the charging station, the self-moving device 10 walks clockwise along the boundary line 31. When the historical track information of the self-moving device 10 is on the left side of the self-moving device 10, the self-moving device 10 can rotate a preset angle relative to the current travel direction, and then the self-moving device 10 enters the magnetic stripe unit 35 and walks along the magnetic stripe unit 35. When the historical track information of the self-moving device 10 is on the right side of the self-moving device 10, the self-moving device 10 can directly walk onto the magnetic stripe unit 35 and walk along the magnetic stripe unit 35.

[0093] In another embodiment, the walking direction of the self-moving device 10 may not be limited. When the self-moving device 10 detects the magnetic stripe unit 35, the next walking route of the self-moving device 10 may be a specific route. The specific route may be pre-set or manually entered, and the walking route may be flexibly adjusted according to the user's usage requirements.

[0094] In step S270, the range of the preset angle includes 0-180 degrees, for example, 0 degrees, 90 degrees, 180 degrees, etc. In other embodiments, the range of the preset angle may also exceed 180, for example, 210 degrees, 300 degrees, etc., which is not specifically limited here.

[0095] In one embodiment, in order to ensure that the self-moving device 10 can move on the magnetic stripe unit 35 in the correct direction, the self-moving device 10 needs to make certain adjustments after detecting the magnetic stripe unit 35 to better move on the magnetic stripe unit 35. The rotation angle of the self-moving device 10 is determined by the direction of travel of the self-moving device 10.

[0096] When the self-moving device 10 reaches the magnetic stripe unit 35 along the direction of F2, the self-moving device 10 rotates 180 degrees in the counterclockwise direction or the clockwise direction, then enters the magnetic stripe unit 35 and moves along the magnetic stripe unit 35. When the self-moving device 10 reaches the magnetic stripe unit 35 along the direction of F3, the self-moving device 10 can rotate 90 degrees in the counterclockwise direction, enter the magnetic stripe unit 35, and move along the magnetic stripe unit 35. It can be understood that when the self-moving device 10 reaches the magnetic stripe unit 35 from different directions, the self-moving device 10 rotates at different angles, and it is sufficient to ensure that the self-moving device 10 moves on the magnetic stripe unit 35 in the correct direction.

[0097] like Figure 6 As shown, further, when the historical track is on the right side of the self-moving device 10, controlling the self-moving device 10 to rotate a preset angle relative to the current traveling direction includes the following steps:

[0098] Step S310: When the historical track is on the right side of the mobile device 10, image information in front of the walking direction of the mobile device 10 is collected;

[0099] Step S320: performing obstacle detection based on the collected image information to determine whether there is an obstacle;

[0100] Step S330: In response to the self-moving device 10 not colliding with an obstacle during the rotation process, the self-moving device 10 is controlled to rotate by a preset angle relative to the current traveling direction.

[0101] In step S310 , when the historical track is on the right side of the mobile device 10 , the information collection module carried by the mobile device 10 may collect image information in front of the walking direction of the mobile device 10 .

[0102] For example, a real-time image may be captured by a camera or a three-dimensional image may be captured by laser scanning, etc. The manner of collecting image information from the mobile device 10 is not limited herein.

[0103] In step S320, obstacle detection may be performed based on the collected image information to determine whether an obstacle exists.

[0104] For example, based on image recognition technology, obstacle detection can be performed on the collected image information to determine whether there are obstacles in the collected image.

[0105] In step S330 , in response to the self-moving device 10 not colliding with an obstacle during the rotation process, the self-moving device 10 may be controlled to rotate by a preset angle relative to the current traveling direction.

[0106] For example, it can be determined whether the self-moving device 10 will collide with an obstacle during the rotation process, especially for a self-moving device whose rotation center is not the center of the fuselage. Although there is no collision with the obstacle at present, since the distance from the head of the self-moving device 10 to the obstacle before the rotation is smaller than the distance from the tail of the self-moving device 10 to the obstacle after the rotation, it is very likely that the tail will collide with the obstacle. Then, when it is determined that the self-moving device 10 will not collide with the obstacle during the rotation process, the self-moving device 10 is controlled to rotate by a preset angle relative to the current travel direction, thereby avoiding collision with the obstacle during the rotation process.

[0107] In one embodiment, in order to avoid the occurrence of a collision, the position of the self-moving device 10 can be adjusted. Figure 6 As shown, when the historical track is on the right side of the self-moving device 10, the self-moving device 10 is controlled to rotate a preset angle relative to the current traveling direction, and the following steps are also included:

[0108] Step S340: in response to the self-moving device 10 colliding with an obstacle during the rotation process, controlling the self-moving device 10 to move in a backward direction;

[0109] Step S350: During the retreat process, when it is determined that the self-moving device 10 does not collide with an obstacle during rotation, the self-moving device 10 stops retreating, and controls the self-moving device 10 to rotate a preset angle relative to the current direction of travel, and then moves along the magnetic stripe unit.

[0110] In step S340 , in response to the self-moving device 10 colliding with an obstacle during the rotation process, the self-moving device 10 may be controlled to move in a backward direction.

[0111] For example, in order to leave enough rotation space and maintain a safe distance between the self-moving device 10 and obstacles during the rotation process, the self-moving device 10 can be controlled to move in the backward direction.

[0112] In step S340, during the backward process, when it is determined that the self-moving device 10 does not collide with an obstacle during rotation, the backward movement can be stopped, and the self-moving device 10 can be controlled to rotate a preset angle relative to the current travel direction, and then move along the magnetic stripe unit.

[0113] For example, during the backward movement of the self-moving device 10, it is possible to determine through real-time or periodic detection whether the self-moving device 10 has left a safe space by backward movement, so that the self-moving device 10 does not collide with obstacles during rotation. At this time, the self-moving device 10 can stop backward movement and control the self-moving device 10 to rotate a preset angle relative to the current direction of travel, and then move along the magnetic stripe unit.

[0114] In the above process, when the historical trajectory is on the right side of the self-moving device, that is, the self-moving device needs to rotate first and then walk along the magnetic stripe, obstacle detection is performed by collecting image information in the front of the walking direction, and then the anti-collision strategy is determined according to the presence or absence of obstacles, thereby avoiding danger to the self-moving device and improving safety.

[0115] like Figure 7 As shown, further, an embodiment of the present disclosure provides another method for controlling a self-moving device, comprising the following steps:

[0116] Step S400, while walking along the magnetic stripe unit 35, collecting image information in front of the walking direction of the mobile device 10;

[0117] Step S500: performing obstacle detection based on the collected image information to determine whether there is an obstacle;

[0118] Step S600: planning a safe path for the mobile device 10 to bypass the obstacle based on the obstacle information corresponding to the obstacle;

[0119] Step S700: According to the planned safe path, the automatic moving device 10 is controlled to leave the magnetic stripe unit 35 , and after completing the detour, the automatic moving device 10 is controlled to continue walking along the magnetic stripe unit 35 .

[0120] In step S400 , image information in front of the moving direction of the moving device 10 may be collected while the moving device 10 is moving along the magnetic stripe unit 35 .

[0121] For example, a real-time image may be captured by a camera or a three-dimensional image may be captured by laser scanning, etc. The manner of collecting image information from the mobile device 10 is not limited herein.

[0122] In step S500, obstacle detection may be performed based on the collected image information to determine whether an obstacle exists.

[0123] For example, based on image recognition technology, obstacle detection can be performed on the collected image information to determine whether there are obstacles in the collected image.

[0124] In one embodiment, in step S600, in response to the obstacle being a moving object, the self-mobile device 10 can be controlled to stop moving and wait for a preset time period; and in response to the obstacle being a fixed object, or the waiting time exceeds the preset time period, a safe path for the self-mobile device 10 to bypass the obstacle is planned based on the obstacle information corresponding to the obstacle.

[0125] In one example, the obstacle may be a moving object, such as a person or a pet. Since the obstacle is moving, the mobile device may be controlled to stop moving and wait for a preset time, such as 1 minute. The specific time is not limited.

[0126] In another example, the obstacle may be a fixed object, such as furniture, equipment, etc. When the obstacle is a fixed obstacle, or when the self-mobile device 10 waits for more than a preset time, there is no need to wait, but instead a safe path for the self-mobile device 10 to bypass the obstacle is planned based on the obstacle information corresponding to the obstacle.

[0127] In the above process, since the types of obstacles are identified, the control strategy of the self-moving device in the process of walking along the magnetic stripe unit is more flexible and diverse, thereby improving the safety during the walking process.

[0128] In one embodiment, the obstacle information includes at least the moving direction, position information, and size information of the obstacle;

[0129] Further, step S600 may include the following steps:

[0130] According to the moving direction of the obstacle, a detour direction of the mobile device 10 is planned, and the detour direction is opposite to the moving direction of the obstacle;

[0131] According to the location information and size information of the obstacle, a safe path is planned for the mobile device 10 to bypass the obstacle.

[0132] For example, obstacle information may include the direction of movement of the obstacle, such as whether the obstacle moves to the left or right of the mobile device 10, and may include the position information of the obstacle, such as the relative position and relative distance between the obstacle and the mobile device 10, and may also include the size information of the obstacle, etc.

[0133] Continuing with the example, the direction opposite to the moving direction of the obstacle can be determined as the direction for the mobile device 10 to bypass the obstacle, thereby facilitating planning of a safe direction for the mobile device 10 to bypass the obstacle. Furthermore, a safe path for the mobile device 10 to bypass the obstacle can be determined based on the calculation of the path planning based on the location information and size information of the obstacle.

[0134] In the above process, by determining the obstacle information, a safe detour path can be planned more accurately, and the safety of the detour can be ensured to avoid collisions.

[0135] In step S700 , the automatic moving device 10 may be controlled to leave the magnetic stripe unit 35 according to the planned safe path, and after completing the detour, the automatic moving device 10 may be controlled to continue walking along the magnetic stripe unit 35 .

[0136] For example, when the obstacle moves toward the right side of the automatic moving device 10, the automatic moving device 10 can follow the planned safe path on its left side, first keep a safe distance from the obstacle and leave the magnetic stripe unit 35, then go around the obstacle and return to the magnetic stripe unit 35, and continue moving along the magnetic stripe unit 35.

[0137] In the above process, by collecting image information in the direction in front of the moving device 10 and performing obstacle detection while the moving device 10 is moving along the magnetic stripe unit 35, path planning can be further performed based on the obstacle information corresponding to the detected obstacle, so that the moving device 10 can bypass the obstacle along the planned safe path, and continue to move along the magnetic stripe unit 35 after completing the bypass, thereby avoiding collision of the moving device 10 while walking along the magnetic stripe unit 35 and improving safety during walking.

[0138] like Figure 8As shown, another embodiment of the present disclosure provides another method for controlling a self-moving device, comprising the following steps:

[0139] Step S800: When a magnetic signal from the magnetic stripe unit 35 is detected, walking along the magnetic stripe unit 35, the magnetic stripe unit 35 is used to mark a specific area located on the boundary;

[0140] Step S900, collecting image information in front of the mobile device 10 in the walking direction;

[0141] Step S1000 , in response to the image information satisfying a preset separation condition, controlling the mobile device 10 to leave the magnetic stripe unit 35 .

[0142] In step S800, the magnetic stripe unit 35 is used to mark a specific area located on the boundary, and the magnetic stripe unit 35 can release a magnetic signal. When the self-moving device 10 approaches the magnetic stripe unit 35, the self-moving device 10 detects the magnetic signal released by the magnetic stripe unit 35 through the magnetic induction sensor 11, and walks along the magnetic stripe unit 35. When the self-moving device 10 walks and / or works in the working area 33 defined by the boundary, obstacles such as pools and stones may appear at the boundary of the working area 33; in order to bypass the obstacles, the self-moving device 10 can set a magnetic stripe unit 35 for marking a specific area located on the boundary in the working area 33 around the obstacles.

[0143] In step S900, when the mobile device 10 moves along the magnetic stripe unit 35, the information collection module on the mobile device 10 starts to work and collects image information in front of the path of the mobile device 10; for example, real-time images are captured by a camera or three-dimensional images are captured by laser scanning, etc. The method of collecting image information from the mobile device 10 is not limited here.

[0144] In step S1000, the collected image information is used to determine whether the self-mobile device 10 meets the pre-set separation condition, wherein the separation condition includes: information about the presence of non-working objects in front of the magnetic stripe unit 35. In this embodiment, the information about the non-working objects is a non-grass image, such as a pool, a pit, a tree, a wall, a cliff, etc. If the non-grass image appears in the image information, it is determined that the self-mobile device 10 has reached the boundary line 31, and the self-mobile device 10 is controlled to leave the magnetic stripe unit 35. Avoid collision or walking outside the boundary of the self-mobile device 10, thereby causing unnecessary losses.

[0145] In the above process, by collecting image information in front of the mobile device, it is determined whether the separation condition of the mobile device is met according to the image information; when the separation condition is met, the mobile device leaves the magnetic stripe unit. When the mobile device leaves the magnetic stripe unit, it is prevented from colliding with the mobile device or walking outside the boundary.

[0146] In one embodiment, controlling the self-moving device 10 to leave the magnetic stripe unit 35 includes: controlling the self-moving device 10 to leave in a preset direction. Further, controlling the self-moving device 10 to leave in a direction from where it arrived at the magnetic stripe unit 35 .

[0147] In one embodiment, according to the configuration of the charging station, the mobile device 10 walks counterclockwise along the boundary line 31 .

[0148] When the self-moving device 10 moves along the F1 direction, after the self-moving device 10 detects the magnetic stripe unit 35, the self-moving device 10 moves to the left, enters the magnetic stripe unit 35 from its left side, and moves along the magnetic stripe unit 35. When the self-moving device 10 leaves the magnetic stripe unit 35, it also leaves from the left side of the self-moving device 10 and returns to the boundary line 31.

[0149] When the self-moving device 10 moves along the F2 direction, the self-moving device 10 needs to be rotated 180 degrees, and the rotated self-moving device 10 enters the magnetic stripe unit 35 from its left side, and the self-moving device 10 leaves the magnetic stripe unit 35 from the left side of the self-moving device 10 and returns to the boundary line 31. The self-moving device 10 is prevented from walking outside the boundary, so that the self-moving device 10 can quickly reach the designated position.

[0150] In another embodiment, according to the configuration of the charging station, the mobile device 10 moves clockwise along the boundary line 31. When the mobile device 10 moves along the F2 direction, after the mobile device 10 detects the magnetic stripe unit 35, the mobile device 10 moves to the right and enters the magnetic stripe unit 35 from the right side to walk along the magnetic stripe unit 35. When the mobile device 10 leaves the magnetic stripe unit 35, it also leaves from the right side of the mobile device 10 and returns to the boundary line 31.

[0151] When the self-moving device 10 moves along the F1 direction, it is necessary to rotate the self-moving device 10 180 degrees, and the rotated self-moving device 10 enters the magnetic stripe unit 35 from its right side, and the self-moving device 10 leaves the magnetic stripe unit 35 from the right side of the self-moving device 10 and returns to the boundary line 31. The self-moving device 10 is prevented from walking outside the boundary, so that the self-moving device 10 can quickly reach the designated position.

[0152] In another embodiment, the route that the self-mobile device 10 takes when it leaves the magnetic stripe unit 35 can be a specific route. The specific route can be pre-set or manually entered, and the route can be flexibly adjusted according to the user's usage requirements. For example, after the self-mobile device 10 collects information that there is a non-working object in front of the magnetic stripe unit 35, the self-mobile device 10 moves to a set route and walks along the route. Alternatively, when the self-mobile device 10 moves on the magnetic stripe unit 35 and reaches a certain position on the magnetic stripe unit 35, the self-mobile device 10 will move to the set route. The flexibility of use of the self-mobile device 10 is effectively improved.

[0153] like Fig. 9 As shown, an embodiment of the present disclosure provides another method for controlling a self-moving device, comprising the following steps:

[0154] Step S1100: During the process of walking along the magnetic stripe unit, if the motor of the self-moving device is blocked, the self-moving device is controlled to stop moving and wait for a first preset time.

[0155] Step S1200: Record the time when the motor stalls and / or the position of the self-moving device when the motor stalls.

[0156] Step S1300: Record the number of motor stalls that occur within a second preset time period and / or preset distance of the mobile device.

[0157] Step S1400: If the number of stalls is greater than or equal to the preset number, the self-moving device is controlled to stop; if the number of stalls is less than the preset number, the self-moving device is controlled to continue moving along the magnetic stripe unit.

[0158] In step S1100 , the stalling of the motor of the self-moving device 10 can be detected in real time while the self-moving device 10 is moving along the magnetic stripe unit 35 .

[0159] In this embodiment, the first preset duration and the second preset duration may be the same or different in length, and the two are independent of each other and have no correlation.

[0160] In this embodiment, the first preset length may be 2 seconds.

[0161] In this embodiment, the preset distance may be 50 centimeters.

[0162] In some implementations of this embodiment, motor stalling may be manifested as the moving speed of the self-moving device being reduced to less than or equal to a preset stalling speed, or the speed reduction rate of the self-moving device being greater than or equal to a preset rate.

[0163] It is understandable that the reasons causing the motor to stall may include, but are not limited to: the self-moving device encounters tall grass and / or dense grass, the self-moving device collides with an obstacle, and the like.

[0164] In some implementations of this embodiment, when the self-moving device moves along the magnetic stripe unit, if the motor of the self-moving device is stalled, the control module of the self-moving device can control the self-moving device to stop moving. In another implementation of this embodiment, when the self-moving device moves along the magnetic stripe unit, if the motor of the self-moving device is stalled, the control module of the self-moving device can first control the self-moving device to retreat a preset retreat distance, and then control the self-moving device to stop moving and wait for a first preset time.

[0165] In some implementations of this embodiment, in response to the self-moving device stopping moving and waiting for a first preset time, the control module records the time when the motor stalls and / or the position of the self-moving device when the motor stalls.

[0166] In some implementations of this embodiment, in response to the control module recording the moment when the motor stall occurs and / or the position of the self-moving device when the motor stalls, the control module also records the number of motor stalls that occur in the self-moving device within a second preset time length and / or preset distance.

[0167] In this embodiment, the control module can query the number of motor stalls of the mobile device in a historical time period starting from the current motor stall, based on the current motor stall of the mobile device, wherein the duration of the historical time period is equal to the second preset duration.

[0168] In another embodiment of the present invention, the control module may query the number of times the motor of the mobile device has been stalled in the historical distance length starting from the current motor stall location based on the current motor stall location of the mobile device, wherein the historical distance length is equal to the above-mentioned preset distance. The preset distance may be 50 centimeters.

[0169] In this embodiment, the preset number of times may be 3 times.

[0170] In this embodiment, if the number of motor stalls of the self-moving device within the second preset time length and / or preset distance is less than the preset number, the control module controls the self-moving device to continue to move along the magnetic stripe unit. In one embodiment, the control module can control the self-moving device to continue to move along the magnetic stripe unit at a first speed. The first speed is less than the moving speed of the self-moving device when it moves normally. In another embodiment, the control module can control the self-moving device to move along the magnetic stripe unit at a second speed, wherein the second speed is equal to the moving speed of the self-moving device when it moves normally.

[0171] like Fig.10 As shown, another embodiment of the present disclosure provides another method for controlling a self-moving device, including:

[0172] Step S1500: When the mobile device moves along the magnetic stripe unit, the visual component collects image information in front of the moving direction of the mobile device.

[0173] Step S1600: Acquire image information collected by the information collection module, perform obstacle detection based on the collected image information, and determine whether there is an obstacle in front of the moving direction of the mobile device.

[0174] Step S1700: If there is an obstacle in front of the moving device, and the distance between the obstacle and the moving device is less than or equal to the preset obstacle distance, the control module can control the moving device to stop moving and wait for a first preset time.

[0175] Step S1800: Record the time when the mobile device stops moving and / or the position when the mobile device stops moving.

[0176] Step 1900: Record the number of times the mobile device stops moving within a second preset time period and / or preset distance.

[0177] Step S2000: If the number of times the self-moving device stops moving is greater than or equal to the preset number of times, the self-moving device is controlled to stop; if the number of times the self-moving device stops moving is less than the preset number of times, the self-moving device is controlled to continue moving along the magnetic stripe unit.

[0178] In this embodiment, when the self-mobile device moves along the magnetic stripe unit, the information acquisition module collects image information in front of the self-mobile device 10 in the walking direction through the visual component, and the information acquisition module sends the image information collected by the visual component to the control module. The control module can perform obstacle detection based on the collected image information to determine whether there is an obstacle in front of the self-mobile device in the walking direction.

[0179] In some other implementations of this embodiment, the control module may also perform tall grass and / or dense grass detection based on the collected image information to determine whether tall grass and / or dense grass exists in the direction in which the self-moving device is moving. In one implementation, the control module may perform tall grass and / or dense grass detection based on the collected image information to determine whether tall grass and / or dense grass exists within a preset width in the direction in which the self-moving device is moving.

[0180] In one implementation manner, the preset width may be equal to the width of the mobile device body.

[0181] In another embodiment, the preset width may be equal to the wheelbase of the left and right wheels of the self-moving device, wherein the wheelbase may be the distance between the outer sides of the left and right wheels of the self-moving device, or the distance between the horizontal centers of the left and right wheels of the self-moving device.

[0182] In this embodiment, when the self-moving device moves along the magnetic stripe unit, if there is tall grass and / or dense grass in front of the moving direction of the self-moving device, the control module may determine the tall grass and / or dense grass as an obstacle.

[0183] In some of the embodiments, when the self-moving device is moving along the magnetic stripe unit, in response to the presence of tall grass and / or dense grass in front of the moving direction of the self-moving device, if the distance between the tall grass and / or dense grass and the magnetic stripe unit is less than or equal to half of the preset width, the control module may determine the tall grass and / or dense grass as an obstacle.

[0184] In one implementation manner, the preset width may be equal to the width of the mobile device body.

[0185] In another embodiment, the preset width may be equal to the wheelbase of the left and right wheels of the self-moving device, wherein the wheelbase may be the distance between the outer sides of the left and right wheels of the self-moving device, or the distance between the horizontal centers of the left and right wheels of the self-moving device.

[0186] In some implementations of this embodiment, in response to the self-moving device waiting for a preset time, the visual component sends real-time image information to the control module, and the control module detects obstacles based on the image information collected by the visual component. If it is determined that there is still an obstacle in the direction of movement of the self-moving device, and the distance between the obstacle and the self-moving device is less than or equal to the preset obstacle distance, the control module can control the self-moving device to continue to move along the magnetic stripe unit at a first speed. The first speed is less than the moving speed of the self-moving device when it moves normally.

[0187] In some other implementations of this embodiment, the control module may control the self-moving device to move along the magnetic stripe unit at a second speed, wherein the second speed is equal to the moving speed of the self-moving device when it moves normally.

[0188] In this embodiment, the first preset length may be 2 seconds.

[0189] In this embodiment, the preset distance may be 50 centimeters.

[0190] In this embodiment, if the self-moving device is triggered to stop moving during its movement along the magnetic stripe unit, the current time and / or current position are used to query the number of times the self-moving device stops moving within a historical time period starting from the current time and / or within a historical distance length starting from the current position. The historical time period is equal to the second preset time length, and the historical distance length is equal to the preset distance. If the number of times the self-moving device stops moving is greater than or equal to the preset number, the self-moving device is controlled to stop moving. If the number of times the self-moving device stops is less than the preset number, the control module controls the self-moving device to continue moving along the magnetic stripe unit at the first speed or the second speed.

[0191] In this embodiment, the preset distance may be 50 centimeters.

[0192] In this embodiment, the preset number of times may be 3 times.

[0193] In summary, the control method and self-moving working system of the self-moving device provided by the present disclosure set a magnetic stripe unit to mark a specific area on the boundary where the self-moving device is inconvenient to pass, and the self-moving device determines whether it is close to the specific area by detecting the magnetic signal from the magnetic stripe unit; when approaching the specific area, the self-moving device moves along the magnetic stripe unit. When the self-moving device returns along the boundary line, it can avoid the inconvenient area through the guidance of the magnetic stripe unit, which is simple, efficient, safe and reliable.

[0194] It should be noted that the above describes some embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0195] Based on the same inventive concept, corresponding to any of the above-mentioned implementation methods, the present disclosure also provides a self-moving working system, such as Figure 2 As shown, the self-mobile working system includes:

[0196] The self-equipping device 10 is moved and worked in the working area 33;

[0197] A boundary component 30 that defines the scope of a working area 33;

[0198] The boundary assembly 30 includes a boundary line 31, and a magnetic stripe unit 35 that can emit a signal to mark a specific area located on the boundary;

[0199] The magnetic stripe unit 35 includes at least a partial arc-shaped section, and two ends thereof are respectively disposed on the boundary line 31 .

[0200] Among them, the self-mobile device 10 includes a device body 13, a mobile module, a power supply unit, a control module, a working module, a magnetic induction sensor 11, an information collection module, etc., which have been stated in the previous text and will not be repeated here.

[0201] The boundary component 30 is used to define the scope of the working area 33 of the self-moving device 10, mainly through the boundary line 31; further, the boundary component 30 also includes a magnetic stripe unit 35 that can be used to mark a specific area located on the boundary line 31, and the magnetic stripe unit 35 can also emit a magnetic signal for communicating with the magnetic induction sensor of the self-moving device 10.

[0202] In order to enable the self-moving device 10 to better bypass obstacles, the magnetic stripe unit 35 includes at least a partial arc section. By designing the magnetic stripe unit 35 in an arc shape, the two ends of the magnetic stripe unit 35 can be respectively set on the boundary line 31, so that when the self-moving device 10 moves on the boundary line 31, it can directly move along the magnetic stripe unit 35, thereby bypassing obstacles, so as to quickly reach the designated position and provide guidance for the return of the self-moving device 10. Of course, the design of the magnetic stripe unit 35 can also be a rectangle or other shape that can bypass obstacles, and can be selected according to one's own needs, and is not specifically limited here.

[0203] For the convenience of description, the above system is described by dividing the functions into various modules. Of course, when implementing the present disclosure, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0204] The system of the above-mentioned embodiment is used to implement the control method of the corresponding self-moving device in any of the above-mentioned embodiments, and has the beneficial effects of the corresponding method implementation method, which will not be repeated here.

[0205] The embodiments of the present disclosure are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and principles of the embodiments of the present disclosure shall be included in the scope of protection of the present disclosure.

Claims

1. A control method for a self-moving device, characterized in that: The self-moving device walks and / or works in the working area defined by the boundary, including: detecting a magnetic signal from a magnetic stripe unit for marking a specific area located on the boundary; When the magnetic signal from the magnetic stripe unit is detected, the position information of the self-moving device is acquired, and based on the position information, the self-moving device is controlled to move along the magnetic stripe unit.

2. The control method of the self-moving device according to claim 1, characterized in that: Controlling the self-moving device to move along the magnetic stripe unit includes: controlling the self-moving device to move in a preset direction.

3. The control method of the self-moving device according to claim 2, characterized in that: The obtaining of the location information of the mobile device includes: Acquire historical track information of the mobile device in the working area; Obtaining map information of the work area; Based on the map information, the relative position relationship between the historical trajectory information and the current position of the self-moving device is determined.

4. The control method of the self-moving device according to claim 3, characterized in that: Determining the relative position relationship between the historical trajectory information and the current position of the self-moving device includes: It is determined whether the historical track information is on the left or right side of the current traveling direction of the mobile device.

5. The control method of the self-moving device according to claim 3, characterized in that: The historical track information includes the location of the mobile device before detecting the magnetic signal from the magnetic stripe unit.

6. The control method of the self-moving device according to claim 4, characterized in that: Controlling the self-moving device to move in a preset direction includes: Arriving at the magnetic stripe unit; When the historical track is on the right side of the self-moving device, the self-moving device is controlled to rotate a preset angle relative to the current traveling direction so that the historical track is located on the left side of the self-moving device, and then moves along the magnetic stripe unit; When the historical track is on the left side of the self-moving device, the self-moving device is controlled to move along the magnetic stripe unit.

7. The control method of the self-moving device according to claim 6, characterized in that: When the historical track is on the right side of the self-moving device, controlling the self-moving device to rotate a preset angle relative to the current traveling direction includes: When the historical track is on the right side of the self-moving device, image information in front of the walking direction of the self-moving device is collected; Perform obstacle detection based on the collected image information to determine whether there is an obstacle; In response to the self-moving device not colliding with the obstacle during the rotation process, the self-moving device is controlled to rotate by a preset angle relative to the current traveling direction.

8. The control method of the self-moving device according to claim 7, characterized in that: The method further comprises: In response to the self-moving device colliding with the obstacle during the rotation process, controlling the self-moving device to move in a backward direction; During the retreat process, when it is determined that the self-moving device does not collide with the obstacle during rotation, the self-moving device stops retreating, and is controlled to rotate a preset angle relative to the current direction of travel, and then moves along the magnetic stripe unit.

9. The control method of the self-moving device according to claim 1, characterized in that: The method further comprises: During the process of walking along the magnetic stripe unit, if the motor of the self-moving device is blocked, the self-moving device is controlled to stop moving and wait for a first preset time; Recording the time when the motor stalls and / or the position of the self-moving device when the motor stalls; Recording the number of motor stalls of the self-moving device within a second preset time period and / or preset distance; If the number of stalls is greater than or equal to a preset number, the self-moving device is controlled to stop; if the number of stalls is less than the preset number, the self-moving device is controlled to continue moving along the magnetic stripe unit.

10. A self-moving working system, characterized in that: include: Self-equipped equipment, walking and working in the work area; A boundary component, defining the scope of the working area; The boundary assembly includes a boundary line, and a magnetic stripe unit capable of emitting a signal to mark a specific area located on the boundary line; The magnetic stripe unit includes at least a partial arc-shaped section, and two ends thereof are respectively arranged on the boundary line.

Images