Method for self-moving device to leave docking station, method for self-moving device to return to docking station, and self-moving device

Abstract

The present disclosure provides a method for a self-moving device to leave a docking station, a method for a self-moving device to return to a docking station, and a self-moving device. The method for a self-moving device to leave a docking station comprises: in response to a departure instruction, controlling a moving assembly to rotate at a first turning angle, such that a self-moving device moves backward along a first path to leave a docking station, wherein the first path under the current departure instruction is different from a first path under the previous departure instruction; and in response to the self-moving device moving backward to the end point of the first path, controlling the self-moving device to turn and then continue to move. By controlling the paths for a self-moving device to enter and leave a docking station and configuring the docking station, lawn damage caused by the self-moving device repeatedly rolling over the grass in the same area near the docking station can be avoided, thereby enhancing the aesthetic appearance of a lawn.

Description

Method for exiting and returning a self-mobile device to a docking station and self-mobile device

[0001] This application claims priority to Chinese patent application filed on January 10, 2024, with application number 202410038335.6, the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present disclosure relates to the technical field of self-moving equipment, and in particular to a method for a self-moving equipment to exit a docking station, a method for a self-moving equipment to return to a docking station, and the self-moving equipment. Background Art

[0003] With the continuous advancement of computer technology and artificial intelligence, automated systems similar to intelligent robots have begun to enter people's lives. For example, autonomous vehicles used for lawn maintenance are typically compact and integrate a task execution system, drive system, battery, and charging system. They require no human control and autonomously navigate the lawn according to a pre-set program, performing tasks. When needed for charging or encountering other situations, such as thunderstorms, they automatically return to a docking station for charging or docking, then exit the docking station to continue mowing. These automated systems, once set up, require no further management, freeing users from tedious, time-consuming, and labor-intensive household tasks such as charging and lawn maintenance. However, with the advancement and development of technology, people's expectations for the performance of high-tech products are becoming increasingly high, and intelligent robots still have some imperfections that require further improvement.

[0004] In the process of conceiving and formulating the present disclosure, the applicant discovered at least the following problems: since the location of the docking station is fixed, the self-mobile equipment always enters and exits the docking station along the same path when working on the lawn, repeatedly rolling over the same piece of grass. Over time, very obvious wheel marks will be formed near the docking station, and the grass near the docking station may even be yellowed or killed, destroying the aesthetics of the lawn. Summary of the Invention

[0005] In a first aspect, in order to alleviate the above problems, the present disclosure provides a method for a self-mobile device to exit a docking station, wherein the self-mobile device includes a mobile component, including:

[0006] In response to an exit instruction, controlling the mobile component to rotate at a first turning angle so that the self-moving device retreats along a first path away from the docking station; the first path under the current exit instruction is different from the first path under the previous exit instruction;

[0007] In response to the self-moving device retreating to the end point of the first path, the self-moving device is controlled to turn and continue to move.

[0008] In a second aspect, in order to alleviate the above problems, the present disclosure provides a method for a self-mobile device to exit a docking station, wherein the self-mobile device includes a mobile component, including:

[0009] In response to an outbound instruction, controlling the moving component to retreat along a first sub-path in a first path, the first path further comprising a second sub-path, an end point of the first path being an end point of the second sub-path;

[0010] In response to the self-moving device moving to the end point of the first sub-path, controlling the moving component to rotate at a second turning angle to cause the self-moving device to retreat along the second sub-path and leave the docking station;

[0011] In response to the self-moving device moving to the end point of the first path, the self-moving device is controlled to turn and continue to move.

[0012] As some embodiments of the present disclosure, the first path is an arc-shaped path with a first curvature radius formed by the self-moving device retreating while maintaining the first turning angle.

[0013] As some embodiments of the present disclosure, the second sub-path is an arc-shaped path with a second curvature radius formed when the self-moving device retreats while maintaining the second turning angle.

[0014] In some embodiments of the present disclosure, controlling the moving component to retreat along the first sub-path includes:

[0015] The mobile component is controlled to rotate at a third turning angle to enable the self-moving device to retreat along the first sub-path and leave the docking station, wherein the third turning angle is smaller than the second turning angle.

[0016] As some embodiments of the present disclosure, the first sub-path is an arc-shaped path with a third curvature radius formed by the self-moving device retreating while maintaining the third turning angle.

[0017] As some embodiments of the present disclosure, the method includes:

[0018] The length of the first path is less than or equal to a product of a retreat speed and a retreat time threshold.

[0019] As some embodiments of the present disclosure, the mobile component includes mobile wheels arranged on both sides of the body of the self-moving device, and the distance between the end point of the first path under the current outbound instruction and the end point of the first path under the previous outbound instruction is greater than or equal to the wheel width of the mobile wheel located on one side of the body of the self-moving device.

[0020] As some embodiments of the present disclosure, the docking station includes a shelter, and when the self-moving device docks at the docking station, the shelter cover is arranged outside the self-moving device; the shelter includes at least one side wall and at least one opening for the self-moving device to enter and exit the docking station; the limit value of the angle between the first path and the long axis direction of the self-moving device when the self-moving device docks at the docking station is determined by the width of the self-moving device in the short axis direction and the side walls of the shelter that limit the movement of the self-moving device along the short axis direction.

[0021] As some embodiments of the present disclosure, the docking station includes a first base plate arranged outside the shelter, and the first base plate is arranged on the ground near the opening. When the self-moving device exits the docking station along the opening, the moving component presses over the first base plate.

[0022] As some embodiments of the present disclosure, controlling the mobile device to continue moving after turning includes:

[0023] Obtaining a starting point of the working path of the self-mobile device;

[0024] Determining the preset direction according to the end point of the first path and the starting point of the path to be worked;

[0025] Controlling the self-moving device to turn;

[0026] In response to the self-moving device heading towards the preset direction, the self-moving device is controlled to move toward the starting point of the path to be worked.

[0027] As some embodiments of the present disclosure, controlling the mobile device to turn and continue to move includes:

[0028] Controlling the self-moving device to rotate its body;

[0029] In response to the exit direction of the self-moving device toward a preset guidance path, the self-moving device is controlled to move away from the stop along the preset guidance path or a path at a preset distance from the preset guidance path; the path of the self-moving device moving away from the stop under the current exit instruction is different from the path of the self-moving device moving away from the stop under the previous exit instruction.

[0030] As some embodiments of the present disclosure, the distance between at least a portion of the path of the self-moving device away from the stop under the current exit instruction and at least a portion of the path of the self-moving device away from the stop under the previous exit instruction is greater than or equal to the single-side wheel width.

[0031] As some embodiments of the present disclosure, the self-moving device includes a positioning device for receiving location data of the self-moving device; the self-moving device includes a storage device, the storage device storing at least part of the location data of the preset guidance path;

[0032] The controlling the mobile device to turn and continue to move further includes:

[0033] The distance that the self-moving device follows the preset guidance path is controlled according to at least part of the position data of the preset guidance path and the position data of the self-moving device received by the positioning device.

[0034] As some embodiments of the present disclosure, the docking station includes a guiding module, the self-moving device includes a sensing device that can sense the guiding module, and the preset guiding path is the moving path of the self-moving device when the guiding module guides the self-moving device to exit the docking station.

[0035] As some embodiments of the present disclosure, the guidance module includes a magnetic stripe arranged near the docking station, the sensing device includes a magnetic signal detection sensor, and the preset guidance path includes at least one section of a moving path in which the self-moving device senses the magnetic stripe through the magnetic signal detection sensor and moves along the magnetic stripe.

[0036] In a third aspect, in order to alleviate the above problems, the present disclosure provides a method for returning a mobile device to a docking station, comprising:

[0037] In response to the return instruction, control the self-moving device to go to one of the return transfer points, the return transfer points including a first transfer point and a second transfer point, wherein a line connecting the first transfer point and the second transfer point forms an angle with a long axis direction of the self-moving device when the self-moving device is docked at the docking station;

[0038] In response to the self-moving device reaching one of the return transfer points, controlling the self-moving device to return to the guidance position of the stop along the transfer path, the return transfer point being the starting point of the transfer path;

[0039] In response to the self-moving device arriving at the guide position, controlling the self-moving device to enter the docking station along the docking path and dock with the docking station, the guide position being the end point of the transfer path and the starting point of the docking path respectively;

[0040] In response to the self-moving device being successfully docked with the docking station, the self-moving device is controlled to be in a docking position.

[0041] Some embodiments of the present disclosure further include:

[0042] Controlling the mobile device to return to the transfer point based on the first navigation signal;

[0043] controlling the self-mobile device to return to the guidance position of the stop along the transfer path based on the first navigation signal;

[0044] controlling the self-mobile device to enter the docking station along the docking path and dock with the docking station based on the second navigation signal;

[0045] The first navigation signal is different from the second navigation signal.

[0046] As some embodiments of the present disclosure, at least two transfer paths are provided between the first transfer point and the guide position, the at least two transfer paths have a preset curvature radius, and the at least two transfer paths do not overlap.

[0047] As some embodiments of the present disclosure, the angle between the line from the first transfer point to the guiding position and the orientation of the self-moving device in the docking position is less than 90°.

[0048] As some embodiments of the present disclosure, before controlling the mobile device to return to one of the transfer points, the method includes:

[0049] Among the first transfer point and the second transfer point, the point whose number of consecutive selections is lower than the transfer threshold is selected as the regression transfer point.

[0050] As some embodiments of the present disclosure, the self-propelled device further includes a moving component, wherein the moving component includes at least one moving rear wheel; and the method further includes:

[0051] The distance between the first transfer point and the second transfer point is greater than the wheel width of the movable rear wheel.

[0052] In some embodiments of the present disclosure, in response to the self-moving device reaching the guide position, controlling the self-moving device to enter the docking station along the docking path and dock with the docking station includes:

[0053] Before or after the self-moving device reaches the guiding position, the self-moving device is controlled to adjust its posture along the docking path so that the self-moving device enters the docking station in a roughly straight line and docks with the docking station; the docking station includes a second bottom plate arranged near the guiding position, and when the self-moving device enters the docking station along the docking path, the self-moving device presses over the second bottom plate.

[0054] As some embodiments of the present disclosure, the self-moving device further includes a moving assembly, the moving assembly including at least one moving rear wheel, the at least one moving rear wheel being a moving wheel located on the rear side of a body of the self-moving device when the self-moving device returns to the guide position;

[0055] When the self-moving device is in the guiding position, the rear moving wheels of the self-moving device are on the second bottom plate.

[0056] As some embodiments of the present disclosure, the self-moving device also includes a positioning device, which is used to receive position data of the self-moving device; the distance from the contour edge of the second base plate away from the stop to the guide position on the ground is greater than or equal to the distance from the positioning device to the at least one moving rear wheel on the ground.

[0057] As some embodiments of the present disclosure, the docking station includes a guiding module, the self-moving device includes a sensing device that can sense the guiding module, and the docking path is the moving path of the self-moving device when the guiding module guides the self-moving device into the docking station.

[0058] As some embodiments of the present disclosure, the guiding module includes a magnetic strip set on the ground, the sensing device includes a magnetic signal detection sensor, and the docking path includes at least one section of a moving path in which the self-moving device senses the magnetic strip through the magnetic signal detection sensor and moves along the magnetic strip.

[0059] As some embodiments of the present disclosure, the length of the second bottom plate is less than or equal to the length of the docking station, and the direction of the length is the direction in which the self-moving device enters the docking station.

[0060] As some embodiments of the present disclosure, the second base plate is movably connected to the docking station.

[0061] In a fourth aspect, in order to alleviate the above problems, the present disclosure provides a self-moving device, comprising:

[0062] a moving assembly configured to drive the self-moving device to move on the ground;

[0063] The control device is configured to, in response to an outbound instruction, control the mobile component to retreat along a first sub-path in a first path, the first path also including a second sub-path, and the end point of the first path is the end point of the second sub-path; in response to the self-moving device moving to the end point of the first sub-path, control the mobile component to rotate at a second turning angle to make the self-moving device retreat along the second sub-path and leave the docking station; in response to the self-moving device moving to the end point of the first path, control the self-moving device to continue moving after turning; or is used to: in response to a return instruction, control the self-moving device to go to one of the return transfer points, the return transfer point including a first transfer point and a second transfer point, the first transfer point The line connecting the transfer point and the second transfer point forms an angle with the long axis direction of the body of the self-moving device when the self-moving device is docked at the docking station; in response to the self-moving device reaching one of the return transfer points, the self-moving device is controlled to return to the guide position of the docking station along the transfer path, and the return transfer point is the starting point of the transfer path; in response to the self-moving device reaching the guide position, the self-moving device is controlled to enter the docking station along the docking path and dock with the docking station, and the guide positions are the end point of the transfer path and the starting point of the docking path respectively; in response to the self-moving device successfully docking with the docking station, the self-moving device is controlled to dock at the docking station.

[0064] In a fifth aspect, in order to alleviate the above problems, the present disclosure provides a method for exiting a station from a mobile device, comprising:

[0065] In response to an outbound instruction from a mobile device, obtaining environmental conditions of a stop;

[0066] Determining a first preset path planning strategy according to the environmental conditions;

[0067] Planning an outbound path according to the first preset path planning strategy, wherein the outbound path under the current outbound instruction is different from the outbound path under the previous outbound instruction;

[0068] Based on the outbound path, the outbound movement of the self-mobile device is controlled.

[0069] Optionally, the self-moving device includes a positioning device for receiving location data of the self-moving device; the environmental condition includes that a data quality parameter of the location data of the self-moving device is higher than a preset value or lower than a preset value.

[0070] Optionally, when the environmental condition includes a data quality parameter of the location data being higher than a preset value, the outbound path includes at least one random path or one of a plurality of preset paths.

[0071] Optionally, the docking station includes a second charging terminal, and the self-mobile device includes a first charging terminal arranged on the body. During the process of charging the self-mobile device at the docking station, the first charging terminal is docked with the second charging terminal; the first preset path planning strategy includes controlling the self-mobile device to exit the station directly along a random path or one of multiple preset paths; the angle between the starting tangent of the random path or one of the multiple preset paths and the body axis of the self-mobile device when it is docked at the docking station is limited to a first preset angle range.

[0072] Optionally, the body axis of the mobile device when docked at the charging station is taken as the 0 reference line, the rotation direction away from the charging pile is taken as the positive direction, and the first preset angle interval has a value range of [10°, 240°].

[0073] Optionally, the environmental conditions include that the docking station includes a fixed facility arranged outside the charging pile, and the value range of the first preset angle interval changes according to the limitation of the moving direction of the mobile device by the fixed facility.

[0074] Optionally, the fixed facility includes a shelter arranged outside the charging pile, and the shelter includes a roof and side walls on both sides supporting the roof; the fuselage axis of the self-moving device when docked at the docking station is taken as the 0 reference line, and the rotation direction of the tail of the self-moving device away from the charging pile is taken as the positive direction, and the value range of the first preset angle interval is [-10°, 10°].

[0075] Optionally, the fixed facility is determined to include a shelter arranged outside the charging pile in at least one of the following three ways: detecting the shelter by a non-contact obstacle detection sensor, detecting the shelter by a contact obstacle detection sensor, and determining the shelter by pre-set shelter information.

[0076] Optionally, the stop includes a charging pile and a guidance module arranged near the charging pile; the environmental conditions include a data quality parameter of the location data being lower than a preset value, controlling the self-mobile device to determine its own position according to the guidance module, and the exit path includes at least one section of a path located near the guidance module.

[0077] Optionally, with the axis of the self-moving device when it is docked at the docking station as the 0 reference line, and the rotation direction away from the charging pile as the positive direction, the path near the guidance module includes at least one path, and the angle between the starting tangent of the path and the axis of the self-moving device when it is docked at the charging station is limited to [-10, 10].

[0078] Optionally, the path located near the guiding module includes at least one section of the path offset by a preset distance along the guiding module.

[0079] Optionally, the path located near the guiding module includes at least one path with a preset length along the guiding module.

[0080] Optionally, the starting path of the outbound path is the path of a preset length along the guiding module.

[0081] Optionally, a bottom plate is provided in the area where the preset length is located.

[0082] Optionally, the preset distance is greater than a single-side wheel width of the self-moving device.

[0083] Optionally, the guiding module includes a magnetic strip, and the self-moving device includes a magnetic signal detection sensor; the self-moving device determines its relative position with the magnetic strip based on the magnetic signal detected by the magnetic signal detection sensor to determine its own position.

[0084] Optionally, the guidance module includes a magnetic stripe, and the self-moving device includes a magnetic signal detection sensor; the self-moving device stores at least part of the position data of the magnetic stripe, and the self-moving device determines its own position based on at least part of the position data received by the positioning device and at least part of the position data of the magnetic stripe.

[0085] Optionally, the environmental condition includes that the location of the docking station is within or outside the boundary of the working map of the self-moving device.

[0086] Optionally, obtaining the current position of the self-moving device and determining the positional relationship between the self-moving device and the boundary of the work map;

[0087] According to the position relationship, it is determined whether the position of the stop is inside or outside the boundary.

[0088] Optionally, the stop includes a charging pile and a guidance module arranged near the charging pile; the environmental conditions include, when the location of the stop is outside the boundary of the working map of the self-moving device, the exit strategy includes controlling the self-moving device to determine its own position according to the guidance module, and leaving the charging pile with a first random path, entering the boundary with a second random path, and ending the exit with a third random path; wherein: the first random path is a path that retreats a random distance; the second random path includes at least one path located near the guidance module; the third random path includes at least one path with a random arc.

[0089] In a sixth aspect, in order to alleviate the above problems, the present disclosure provides a method for entering a station by a mobile device, comprising:

[0090] In response to a stop-in instruction for a mobile device, obtaining environmental conditions of a stop;

[0091] Determining a second preset path planning strategy based on the environmental conditions;

[0092] Planning a station entry path according to the second preset path planning strategy, wherein the station entry path under the current station entry instruction is different from the station entry instruction under the previous station entry instruction;

[0093] Based on the entry path, the self-moving device is controlled to enter the station.

[0094] Optionally, the self-moving device includes a positioning device for receiving position data of the self-moving device;

[0095] The environmental condition includes that a quality parameter of the positioning data received by the positioning device is higher than a preset value or lower than a preset value.

[0096] Optionally, when the environmental condition includes a data quality parameter of the location data being higher than a preset value, the station entry path includes at least one random path or one of multiple preset paths.

[0097] Optionally, when the entry path includes at least one random path, the starting point of the at least one random path is any point, and the end point of the random path is the guiding position when the self-moving device docks with the stop.

[0098] Optionally, the stop includes a charging pile and a guidance module arranged near the charging pile. When the environmental conditions include a data quality parameter of the location data being lower than a preset value, the entry path also includes at least one section of the path located near the guidance module.

[0099] Optionally, the path located near the guiding module includes at least one section of the path offset by a preset distance along the guiding module.

[0100] Optionally, the path located near the guiding module includes at least one path with a preset length along the guiding module.

[0101] Optionally, the end path of the entry path is the path of a preset length along the guide module.

[0102] Optionally, a bottom plate is provided in the area where the path of the preset length is located.

[0103] Optionally, the preset distance is greater than a single-side wheel width of the self-moving device.

[0104] Optionally, the guiding module includes a magnetic strip, and the self-moving device includes a magnetic signal detection sensor; the self-moving device determines its relative position with the magnetic strip based on the magnetic signal detected by the magnetic signal detection sensor to determine its own position.

[0105] Optionally, the guidance module includes a magnetic stripe, and the self-moving device includes a magnetic signal detection sensor; the self-moving device stores at least part of the position data of the magnetic stripe, and the self-moving device determines its own position based on at least part of the positioning data received by the positioning and navigation module and at least part of the position data of the magnetic stripe.

[0106] Optionally, the environmental condition includes that the location of the docking station is within or outside the boundary of the working map of the self-moving device.

[0107] Optionally, the method further includes obtaining a current position of the self-moving device and determining a positional relationship between the self-moving device and a boundary of the work map;

[0108] According to the position relationship, it is determined whether the position of the stop is inside or outside the boundary.

[0109] Optionally, the environmental condition includes, when the location of the stop is outside the boundary of the working map of the self-moving device, the stop entry strategy includes controlling the self-moving device to determine its own location according to the guidance module, and traveling to the vicinity of the guidance module along a fourth random path, traveling out of the working map boundary along a fifth random path, and completing the stop entry along a sixth random path; wherein:

[0110] The fourth random path includes at least one randomly drawn arc path;

[0111] The fifth random path includes at least one path located near the guiding module;

[0112] The sixth random path is a path leading to the guidance position when docking with the docking station for charging.

[0113] Optionally, a plurality of regression points are preset within the boundary of the working map, the plurality of regression points including at least one of a preset point located on the guidance module and a preset point located at a preset distance near the guidance module, and the plurality of regression points are a plurality of starting points of the fifth random path;

[0114] The second preset path planning strategy includes controlling the self-mobile device to reach a selected regression point via the fourth random path.

[0115] In a seventh aspect, in order to alleviate the above problems, the present disclosure provides a self-moving device, comprising:

[0116] case;

[0117] A moving assembly, which supports and drives the self-moving device to move, wherein the moving assembly includes moving wheels;

[0118] A control device for controlling the movement and operation of the self-moving device;

[0119] The self-moving device further includes an environment detection device;

[0120] The environmental detection device is used to detect environmental conditions so that the control device executes the above-mentioned method for the mobile device to exit the station and / or executes the above-mentioned method for the mobile device to enter the station.

[0121] The present disclosure provides a method for a mobile device to exit a docking station, a method for a mobile device to return to a docking station, a mobile device, and a docking station. By controlling the path of the mobile device in and out of the docking station and setting the docking station configuration, the mobile device is prevented from repeatedly crushing the grass in the same area near the docking station and damaging the lawn, thereby beautifying the visual effect of the lawn. BRIEF DESCRIPTION OF THE DRAWINGS

[0122] The accompanying drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification, are used to explain the principles of the present disclosure. In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following is a brief introduction to the drawings required for describing the embodiments. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without inventive work.

[0123] FIG1 is a side view of a self-moving device in some embodiments.

[0124] FIG. 2 is a top view of a self-moving device in some embodiments.

[0125] FIG3 is a flow chart illustrating a first method for exiting a docking station from a mobile device in some embodiments.

[0126] FIG4 is a flow chart illustrating a method for exiting a docking station from a mobile device in some embodiments.

[0127] FIG5 is a first schematic diagram of exiting a docking station in some embodiments.

[0128] FIG6 is a second schematic diagram of exiting a docking station in some embodiments.

[0129] FIG7 is a first schematic diagram of an outbound path from a mobile device in some embodiments.

[0130] FIG8 is a third schematic diagram of exiting a docking station in some embodiments.

[0131] 9 is a flow chart illustrating a second method for exiting a docking station from a mobile device in some embodiments.

[0132] FIG. 10 is a fourth schematic diagram of exiting a docking station in some embodiments.

[0133] FIG. 11 is a fifth schematic diagram of exiting a docking station in some embodiments.

[0134] FIG. 12 is a sixth schematic diagram of exiting a docking station in some embodiments.

[0135] FIG. 13 is a flow chart of a method for returning a mobile device to a docking station in some embodiments.

[0136] FIG. 14 is a first schematic diagram of a return stop in some embodiments.

[0137] FIG. 15 is a second schematic diagram of a return stop in some embodiments.

[0138] FIG16 is a first schematic diagram of a path returning from a mobile device in some embodiments.

[0139] FIG17 is a flow chart of an outbound method from a mobile device in some embodiments.

[0140] FIG18 is a second schematic diagram of an outbound path from a mobile device in some embodiments.

[0141] FIG19 is a flow chart of a method for entering a station from a mobile device in some embodiments.

[0142] The purpose of this disclosure, its features, and advantages will be further described with reference to the accompanying drawings and examples. The accompanying drawings illustrate specific embodiments of this disclosure, which will be described in more detail below. These drawings and the accompanying description are not intended to limit the scope of the present disclosure in any way, but rather to illustrate the concepts of this disclosure to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0143] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

[0144] It should be noted that, in this article, the terms "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also includes other elements that are not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a..." does not exclude the presence of other identical elements in the process, method, article or device that includes the element. In addition, parts, features, and elements with the same name in different embodiments of the present disclosure may have the same meaning or different meanings, and their specific meanings need to be determined based on their explanation in the specific embodiment or further combined with the context of the specific embodiment.

[0145] The expressions of directions, angles, etc. mentioned in this document are defined as shown in the drawings, but these expressions and the drawings are only used to explain the present disclosure for a clear understanding of the present disclosure, but are not used to limit the present disclosure.

[0146] The terms "first" and "second" mentioned in this article are only used to avoid confusion and have nothing to do with order, importance or hierarchy.

[0147] It should be understood that the specific embodiments described herein are only used to illustrate the present disclosure and are not intended to limit the present disclosure.

[0148] The present disclosure does not limit the specific type of autonomous device 1. For example, the autonomous device 1 may be an automatic lawn mower, an automatic lawn mower, an automatic sprinkler, or other device that automatically performs specific tasks on a lawn. Figures 1 and 2 are schematic diagrams of the autonomous device 1. It should be understood that any structure, dimensions, components, and installation locations of the autonomous device 1 shown in Figures 1 and 2 are merely schematic diagrams and do not limit the autonomous device 1.

[0149] As shown in Figures 1 and 2, the self-moving device 1 includes a fuselage 10, and the fuselage 10 includes a virtual axis long axis X axis and a short axis Y axis. The self-moving device also includes a moving assembly 11 mounted on the fuselage 10, and the moving assembly 11 is used to support the self-moving device 1 and drive the self-moving device 1 to move on the ground. In some embodiments, the moving assembly 11 includes a moving front wheel 110 and a moving front wheel 111 located on the front side of the fuselage 10, and a moving rear wheel 112 and a moving rear wheel 113 located on the rear side of the fuselage 10. It should be understood that in other embodiments, the moving assembly may also include one moving front wheel and two moving rear wheels. Or it may include two moving front wheels and one moving rear wheel, or any other combination.

[0150] In some embodiments, as shown in Figures 1 and 2 , the self-mobile device 1 further includes a positioning device 12 mounted on the body 10 for receiving location data of the self-mobile device 1. Positioning device 12 includes at least one of the following positioning modules known in the art: a satellite positioning module, a visual positioning module, an IMU positioning module, an UWB positioning module, a laser positioning module, a radar positioning module, etc. In some embodiments, positioning device 12 includes an RTK positioning module, an IMU positioning module, and an ODO positioning module mounted on the mobile component 11. The fused positioning data from these three positioning modules is used as the location data of the self-mobile device 1.

[0151] In some embodiments, as shown in Figures 1 and 2, the self-mobile device 1 further includes a storage device 13 mounted on the body 10 for storing various information, such as various information and control programs required to control the self-mobile device 1. The storage device 13 may include a volatile or non-volatile storage medium.

[0152] In some embodiments, as shown in Figures 1 and 2 , the self-mobile device 1 further includes a sensing device 14 mounted on the body 10 for sensing the external environment. In some embodiments, the sensing device 14 includes a magnetic signal detection sensor 140, which can detect magnetic field signals in the environment in which the self-mobile device 1 is located. In some embodiments, the sensing device 14 can also include other sensors, such as ultrasonic receiving sensors, infrared receiving sensors, visual sensors, radar receiving sensors, laser receiving sensors, etc., for detecting the presence of specific signals in the external environment.

[0153] In some embodiments, as shown in FIG. 2 , the self-moving device 1 further includes a control device 15 mounted on the body 10 for controlling the movement and operation of the self-moving device 1 .

[0154] In some embodiments, as shown in FIG2 , the self-mobile device 1 further includes a navigation device 16 mounted on the body 1 for planning and navigating the self-mobile device 1. This device, in conjunction with the positioning device 12, can move the self-mobile device 1 along a pre-planned path. In some embodiments, the positioning device 12 and the navigation device 16 are integrated into one body; FIG2 is merely an example.

[0155] 2 , the self-propelled device 1 further includes a power device 17 mounted on the body 1 for providing power for the movement and operation of the self-propelled device 1. The power device 16 may be a battery or any other energy device capable of providing power for the self-propelled device.

[0156] In some embodiments, as shown in FIG2 , the self-mobile device 1 further includes a lawn maintenance device 18 mounted on the body 1 for performing specific lawn maintenance tasks. In some embodiments, the self-mobile device 1 is an automatic lawn mower, and the lawn maintenance device 18 includes a cutting disc for the automatic lawn mower to perform a lawn mowing task.

[0157] As shown in Figure 3, users typically set up a docking station 2 on the lawn so that when a mobile device 1 encounters a maintenance task on the lawn, it can stop and return to docking station 2, wait until the special situation is resolved, and then exit docking station 2 to continue maintenance. For example, if the power unit 17 of the mobile device 1 is low on power, the mobile device 1 can stop and return to docking station 2 to charge the power unit 17. In this case, docking station 2 includes a charging station. The user waits for the power unit 17 to charge before exiting docking station 2 and continuing to operate. For example, if the mobile device 1 encounters a thunderstorm or a device malfunction, the mobile device 1 cannot continue to operate normally. The mobile device 1 can return to docking station 2 and dock there, wait until the special situation is resolved, and then exit docking station 2 to continue operating. For example, the mobile device 1 needs to regularly return to docking station 2 for equipment maintenance and repair. For example, the mobile device 1 stops and returns to docking station 2 in response to a user instruction. Examples are not provided here.

[0158] In some embodiments, to enable the self-moving device 1 to efficiently and conveniently enter and exit the docking station 2, the docking station 2 includes a guide module 20, and the self-moving device includes a sensing device 14 capable of sensing the guide module 20. Since the self-moving device 1 may not strictly straddle the guide module 20 when exiting or entering the docking station 2, to better reflect the path of the self-moving device 1 as the guide module 20 senses its movement, the path of the self-moving device 1 as the guide module 20 guides the self-moving device 1 when exiting or returning to the docking station 2 can be referred to as a preset guide path. This preset guide path is related to the placement of the guide module 20. For example, the portion of the path along which the self-moving device 1 moves along the guide module 20 can be referred to as the preset guide path, and the path along which the self-moving device 1 moves parallel to the guide module 20 can also be referred to as the preset guide path. In short, any path related to or consistent with the placement of the guide module 20 can be referred to as a preset guide path.

[0159] In some embodiments, the guidance module 20 can emit a specific signal, and the sensing device 14 on the self-moving device 1 can detect the specific signal, allowing the self-moving device 1 to return to or exit the docking station 2 along a preset guidance path. In some embodiments, the guidance module 20 includes an infrared / laser / radar / ultrasonic transmitting sensor disposed on the docking station 2, and the sensing device 14 includes an infrared / laser / radar / ultrasonic receiving sensor capable of receiving the infrared / laser / radar / ultrasonic signal emitted by the infrared / laser / radar / ultrasonic transmitting sensor. In some embodiments, the guidance module 20 includes a guide wire disposed near the docking station 2, and the sensing device 14 includes a sensor capable of detecting the specific signal emitted by the guide wire. The specific signal can be a magnetic field signal. The guide wire can be an active guide wire, such as a wire laid within the lawn or a boundary wire laid at the edge of the lawn. The guide wire can also be a passive guide wire, such as a magnetic strip disposed at the front of the docking station 2, in which case the sensing device 14 is a magnetic signal detection sensor. In some embodiments, the guidance module 20 may also be a special mark set near the docking station 2, and the sensing device 14 includes a sensor that can sense the special mark. For example, the guidance module 20 may be a special graphic set on the docking station, and the sensing device 14 may be a visual sensor that can detect the special graphic. The special graphic is sensed by the visual sensor and the relative posture of the self-mobile device 1 is controlled to control the self-mobile device 1 to return to the docking station 2 or exit the docking station 2 along the preset guidance path under the guidance of the guidance module 20.

[0160] In some embodiments, the preset guidance path may also be a number of position points on a path located near the stop 2 stored in the storage device 13 of the self-moving device 1. When the self-moving device 1 exits the stop 2 or returns to the stop 2, the control device 15 controls the self-moving device 1 to pass through the number of position points so that the self-moving device 1 exits the stop 2 or returns to the stop 2 along the preset guidance path.

[0161] In some embodiments, the preset guiding path includes at least one moving path in which the mobile device 1 senses the magnetic stripe through the magnetic signal detection sensor and moves along the magnetic stripe.

[0162] If the self-moving device 1 exits the stop 2 or returns to the stop 2 too many times along the preset guide path, the moving component 11 of the self-moving device 1 will repeatedly crush the lawn near the stop 2, inhibiting the growth of the lawn in the area, and even turning the grass in the area yellow or killing it, causing the grass in the area to be destroyed and affecting the aesthetics of the lawn.

[0163] To address the above-mentioned issues, the present disclosure rationally designs a method for a mobile device 1 to exit or return to a docking station 2, or a method for a mobile device 2 to return to a docking station 2, or a method for a mobile device 2 to return to a docking station 2, or a method for a mobile device 1 to return to a docking station 2, so that the mobile device 1 can not only return or exit the docking station 2 efficiently and conveniently, but also avoid damaging the lawn near the docking station 2, thereby improving the overall aesthetics of the lawn. It should be noted that the various technical features in the following aspects and embodiments may be arbitrarily combined. To simplify the description, not all possible combinations of the various technical features in the following embodiments are described. However, as long as there are no contradictions in the combination of these technical features, they should be considered to be within the scope of the present disclosure.

[0164] In a first aspect, the present disclosure provides a method for exiting a docking station 2 from a mobile device 1. FIG4 is a flow chart of a first method for exiting a docking station from a mobile device in some embodiments. The method includes:

[0165] S41: In response to an exit instruction, controlling the mobile component to rotate at a first turning angle so that the self-moving device retreats along a first path and leaves the docking station; the first path under the current exit instruction is different from the first path under the previous exit instruction.

[0166] It should be understood that in order to efficiently and conveniently return to docking station 2, self-moving device 1 should return to docking station 2 in the forward direction. The forward direction is the direction indicated by the arrow on the long axis X-axis shown in Figure 2, and is also the normal movement direction of self-moving device 1 when performing lawn maintenance tasks on the lawn. Correspondingly, in order to efficiently and conveniently exit docking station 2, self-moving device 1 should exit docking station 2 in the reverse direction, which is the opposite of the forward direction. It should be understood that the terms forward and reverse are relative terms. What is certain is that when self-moving device 1 moves in the forward direction, its moving assembly 11 rotates in the opposite direction to when self-moving device 1 moves in the reverse direction.

[0167] As shown in the first schematic diagram of a docking station exit in Figure 5, in response to an exit instruction, mobile assembly 11 is controlled to rotate in a first direction so that self-moving device 1 exits docking station 2 along a first path. As shown in Figure 5, the first path indicated by the solid line represents the first path for the current exit instruction, while the first path indicated by the dashed line represents the first path for exit instructions from other time periods. By controlling the first path for the current exit instruction to be different from the first path for the previous exit instruction, self-moving device 1 is prevented from frequently exiting docking station 2 along the same path, thereby resolving the aforementioned issue of mobile assembly 1 damaging the turf.

[0168] The present disclosure does not specifically limit the first path. For example, as shown above, the self-mobile device 1 includes a storage device 13, a control device 15, a positioning device 12 and a navigation device 16. The first path is the planned path for exiting the stop 2 planned by the navigation device 16. With the cooperation of the positioning device 12 and the navigation device 16, the control device 15 controls the self-mobile device 1 to exit the stop 2 along the first path. The above-mentioned planned path can be a path immediately planned by the navigation device 16 in response to the exit instruction, or it can be a planned path pre-stored in the storage device 13. For example, the stop 2 includes a guidance module 20 arranged nearby, and the self-mobile device 1 correspondingly includes a sensing device 14 for sensing the guidance module 20. The first path is the path of the self-mobile device 1 when the guidance module 20 guides the self-mobile device 1 to exit the stop 2. For example, the first path can also be a combination of the above two examples.

[0169] The present disclosure does not impose any specific restrictions on how the first path under the current exit instruction of the self-mobile device 1 differs from the first path under the previous exit instruction. Exemplarily, the storage device 13 records the first path under the previous exit instruction, and under the current exit instruction, the navigation device 16 plans a first path under the current exit instruction that does not overlap with the first path under the previous exit instruction with reference to the first path under the previous exit instruction. Exemplarily, several non-overlapping first paths are pre-stored in the storage device 13, and the control device 15 controls the self-mobile device 1 to exit the stop 2 along different first paths under different exit instructions. Exemplarily, the first path is the moving path planned by the navigation device 16 in response to the exit instruction, and under different exit instructions, the steering angle of the first path controlled and planned by the navigation device 16 is different from the axis of the stop 2. Exemplarily, the first path is a random path planned by the navigation device 16 in response to the exit instruction, and the randomness determines that the first path under the current exit instruction is different from the first path under the previous exit instruction. Exemplarily, docking station 2 includes several guidance modules 20 disposed nearby, and correspondingly, self-moving device 1 includes sensing devices 14 for sensing guidance modules 20. The first paths are several non-overlapping paths that self-moving device 1 follows when guided by guidance modules 20 to exit docking station 2. Control device 15 controls self-moving device 1 to exit docking station 2 along the guidance of different guidance modules 20 under different exit instructions. Exemplarily, a combination of the above methods is also possible.

[0170] As shown in FIG6 , the second schematic diagram of the exit stop is illustrated in conjunction with FIG7 . In some embodiments, due to the limited range of the opening 211 of the stop, the range of the first path is limited. Therefore, in order to allow the opening 211 of the stop 2 to accommodate more non-overlapping first paths, the first path can be designed to have a shape different from a straight line. In the present disclosure, the first path is an arc-shaped path with a first radius of curvature formed by the mobile device 1 maintaining a first turning angle and retreating. This method allows the opening 211 to accommodate more first paths, and the combination of multiple arcs can enhance the aesthetics compared to a straight line first path.

[0171] S42: In response to the self-moving device retreating to the end point of the first path, controlling the self-moving device to turn and continue moving.

[0172] As shown in Figures 5 and 6, when the self-moving device 1 retreats to the end point of the first path, the self-moving device 1 rotates the body 10 to adjust the posture, and then controls the moving component 11 to rotate so that the self-moving device 1 continues to move forward. The forward movement can make the self-moving device 1 more efficient and convenient in subsequent movements.

[0173] In some embodiments, in order to further improve the efficiency of the self-moving device 1 leaving the station, the distance between the end point of the first path and its starting point is approximately equal to the body length of the self-moving device 1 in the long axis X-axis direction. This allows the self-moving device to rotate its body as early as possible to move in the forward direction to improve efficiency, and will not hinder the self-moving device 1 from adjusting its posture at the end point of the first path.

[0174] In some embodiments, since the obstacle avoidance sensor of the mobile device 1 is typically located at the front, to prevent the mobile device 1 from continuously reversing and hitting an obstacle, the present disclosure may limit the maximum length of the first path to enhance safety during the reversal of the mobile device 1. In the present disclosure, the length of the first path is typically set to be less than or equal to the product of the reversal speed and the reversal time threshold. Specifically, the speed of the mobile device 1 during reversal can be set. Since the speeds of the two wheels differ when the mobile device 1 is rotating, the present disclosure may use the speed of the slower wheel as the reversal speed. Similarly, the speed of the faster wheel can also be used as the reversal speed, or the average speed of the two wheels can also be used as the reversal speed, though this disclosure does not impose any restrictions. Depending on safety requirements, the reversal time threshold may be 2-10 seconds. Accordingly, the speed of the faster wheel can be used as the reversal speed, and the reversal time threshold can be set to 5 seconds. In the present disclosure, when the mobile device 1 is reversing along a first path, the faster wheel speed can be 0.5 m / s, so the length of the first path needs to be less than 2.5 m.

[0175] It is understandable that if the end points under different outbound instructions are too close together, and it is necessary to turn to adjust the posture when reaching the end point, then the self-moving device 1 will not only crush the grass near the end point, but its rotation will also grind the grass. In order to alleviate the problem of damaging the lawn at the end point, in some embodiments, the distance between the end point of the first path under the current outbound instruction and the end point of the first path under the previous outbound instruction is controlled to be greater than or equal to the wheel width d of the moving wheel located on one side of the body 10 of the self-moving device 1. For ease of understanding, an example of the wheel width d is given as shown in Figure 2. When the mobile component 11 passes over the lawn, it will leave two indentations on the lawn with a width approximately equal to the single-side wheel width d. The distance between the end points of the first path under different outbound instructions is controlled to be greater than the wheel width d, so that the indentations generated by the mobile component 11 under different outbound instructions near the end point of the first path can be staggered to solve the above problem.

[0176] In some embodiments, the outbound instruction can be triggered by power, time, or active instruction, specifically:

[0177] When the battery level of the mobile device 1 is greater than the threshold, an outbound instruction is triggered; or

[0178] When the time meets the time threshold, the outbound instruction is triggered; or,

[0179] When the mobile device 1 receives an active instruction sent by the user terminal, an outbound instruction is triggered.

[0180] In some embodiments, the self-mobile device 1 includes a positioning device 12 for receiving the location data of the self-mobile device 1. Before leaving the station, the self-mobile device 1 needs to determine that the positioning device 12 can receive the location data of the positioning device 12 and the data quality parameter is higher than the preset value. Only then can the self-mobile device respond to the exit instruction to exit the docking station 2. Conversely, even if the self-mobile device 1 receives an exit instruction, as long as the location data received by the positioning device 12 is lower than the preset value, it is not necessary to exit the docking station 2. This is to determine that the positioning device 12 can work normally and the current positioning signal is good, to ensure that the self-mobile device 1 can be accurately positioned after leaving the station, and to avoid the self-mobile device 1 from falling into a dangerous situation due to inability to locate or inaccurate positioning after leaving the station.

[0181] In some embodiments, docking station 2 includes a shelter 21, as shown in the first schematic diagram of the path for a mobile device to exit the station in FIG7 . When the mobile device 1 is docked at docking station 2, the shelter 21 is positioned over the mobile device 1 to shield it from sunlight, rain, snow, and the like. The shelter 21 includes at least one sidewall 210 and at least one opening 211 for the mobile device 1 to enter and exit docking station 2. In some embodiments, as shown in FIG7 , the shelter also includes a roof 212 to further shield the mobile device 1 from wind and rain. It should be understood that the presence of the sidewalls 210 may restrict the path for the mobile device 1 to enter and exit docking station 2. In some embodiments, the angle limit between the first path and the long axis (X-axis) of the body 10, as shown in FIG7 , is determined by the width of the body 10 along the short axis (Y-axis), as shown in FIG2 , and the restriction imposed by the shelter 21 on the movement of the mobile device 1 along the short axis (Y-axis). As shown in FIG7 , this restriction is imposed by the sidewalls 210.

[0182] As can be seen from the above, the restriction imposed by the shelter 21 on the self-moving device 1 will limit the maximum value of the offset angle of the first path along the X-axis. As a result, the movement path of the self-moving device 1 will be relatively dense near the starting point of the first path, and accordingly, the damage to the lawn caused by the mobile assembly 11 will be more severe. To address the above problem, in some embodiments, as shown in Figure 7, the docking station 2 includes a first base plate 22 disposed outside the shelter 21. The first base plate 22 is disposed on the ground near the opening 211. When the self-moving device 1 exits the docking station 2 or returns to the docking station 2 along the opening 211, the mobile assembly 11 will press over the first base plate 22. Because the first base plate 22 covers the area with relatively dense first path, there will be no yellow or dead grass in this area, improving the aesthetics of the lawn. In some embodiments, the first base plate 22 can be a hollow base plate. Such a hollow base plate not only does not affect the normal growth of grass on the first base plate 22, but also prevents the mobile assembly 11 from directly pressing on the grass roots and damaging the lawn.

[0183] In some embodiments, as shown in FIG7 , the length B of the first base plate 22 along the long axis X-axis of the fuselage 10 is determined by the number of paths in the first path where the indentations created by the moving assembly 11 on the lawn do not overlap. This length B increases as the number of such paths increases. As can be seen, the greater the number of paths with non-overlapping indentations, the denser the movement paths before the docking station 2, and the longer the path-dense region along the X-axis. Therefore, the required length B of the first base plate 22 along the X-axis also increases.

[0184] In some embodiments, in order to achieve rapid online work, the present disclosure provides different embodiments corresponding to different data qualities of location data. As shown in Figures 5 and 6, when the self-mobile device 1 retreats to the end point of the first path, if the data quality parameter of the location data received by the positioning device 12 of the self-mobile device 1 at this time is higher than the preset value, the self-mobile device 1 can be controlled to directly go to the waiting path for work. Specifically:

[0185] Controlling the mobile device 11 to continue moving after turning, including:

[0186] Obtain the starting point of the path to be worked on from mobile device 1;

[0187] Determine a preset direction according to the end point of the first path and the starting point of the path to be worked;

[0188] Control the direction of the mobile device 1;

[0189] In response to the self-moving device 1 being directed toward a preset direction, the self-moving device is controlled to move toward a starting point of the path to be worked on.

[0190] In the present disclosure, the starting point of the path to be worked can be the point when the mobile device 1 returns to the stop before the current exit instruction. It can be any point on the path to be worked, or any point on the boundary of the working area. The present disclosure does not limit this.

[0191] In the present disclosure, going online is a process of moving from the mobile device 1 to a waiting path for work.

[0192] When the self-moving device 1 retreats to the end of the first path, it is necessary to obtain the point where it returned to the stop before the current exit instruction and use it as the starting point of the path to be worked on by the self-moving device 1 under the current exit instruction. Then, the end of the first path and the starting point of the path to be worked are connected to determine the preset direction. Then, the self-moving device 1 is controlled to turn. In order to increase the speed of the self-moving device 1 to go online, the present disclosure can control the self-moving device 1 to rotate in place by rotating the left and right side wheels forward and reverse. Of course, in order to minimize the wear of the lawn, the self-moving device 1 can also be controlled to make an arc turn. For convenience of explanation, the present disclosure uses the method of rotating in place to adjust the direction of the self-moving device 1. When the self-moving device 1 rotates in place, it is determined whether the direction of the self-moving device 1 is consistent with the preset direction. If the direction of the self-moving device 1 is consistent with the preset direction, the self-moving device 1 is controlled to move toward the starting point of the path to be worked. For ease of understanding, the long axis X in Figure 2 can be used as the direction of the self-moving device 1.

[0193] In some embodiments, as shown in the third schematic diagram of exiting a docking station in FIG8 , for safety reasons, after the self-mobile device 1 retreats along the first path and reaches the end point, it is required to move a certain distance around the preset guide path 81 and then leave the preset guide path 81 to go online. This allows the self-mobile device 1 to go online even if it encounters some unresolvable problems, such as a malfunction of the positioning device 12 of the self-mobile device 1 or a failure of the positioning device 12 to receive a good positioning signal, resulting in the self-mobile device 1 being unable to locate itself in real time, or the self-mobile device 1 encountering obstacles around the docking station 2 and failing to avoid them. For example, as shown in FIG8 , when the docking station 2 is located outside the working area boundary of the self-mobile device 1, the self-mobile device 1 will first retreat a certain distance along the first path, then turn to the preset guide path 81, and then go online when it moves along the preset guide path 81 to within the working area boundary. This ensures that the self-mobile device 1 can still go online and operate normally even if it encounters the above problems when moving outside the working area boundary or in areas with many unknown factors and dangerous factors.

[0194] Therefore, S42 controls the mobile device to turn and continue moving, including: controlling the mobile device 1 to rotate; in response to the mobile device's long axis X-axis pointing in the exit direction of the preset guide path 81, controlling the mobile device to move away from the docking station along the preset guide path 81 or a path separated by a preset distance from the preset guide path 81; and controlling the mobile device's path away from the docking station under the current exit instruction to be different from the path it took to move away from the docking station under the previous exit instruction. As shown in Figure 8, in the above steps, controlling the path away from docking station 2 under the current exit instruction to be different from the path it took to move away from docking station 2 under the previous exit instruction ensures that the moving component 11 of the mobile device 1 does not damage the lawn during step S42.

[0195] In some embodiments, the distance between the path away from the stop 2 under the current exit instruction of the self-mobile device 1 and the path away from the stop 2 under the previous exit instruction is controlled to be greater than or equal to the wheel width d. In combination with the above content, it should be understood that this can make the indentations generated by the mobile component 11 of the self-mobile device 1 under different exit instructions staggered, further solving the problem of the mobile component 11 damaging the lawn.

[0196] The present disclosure does not specifically limit the control of the self-moving device to move away from the stop 2 along the preset guide path 81 or a path separated by a preset distance from the preset guide path 81, nor does it specifically limit how to control the path under the current exit instruction to be different from the path under the previous exit instruction. Exemplarily, the self-moving device 1 includes a positioning device 11 and a storage device 13. The storage device 13 stores at least part of the position data of the preset guide path 81. The position data of the preset guide path 81 can be collected by the mapping device passing through the preset guide path 81 before the self-moving device 1 is working, or it can be collected by the self-moving device 1 passing through the preset guide path 81 while the self-moving device 1 is working. Based on the above-mentioned at least part of the position data of the preset guide path 81 and the position data of the self-moving device 1 received by the positioning device 11, the distance that the self-moving device 1 follows the preset guide path 81 is controlled so that the above-mentioned paths under different exit instructions are different. In some embodiments, the distance between the above-mentioned path under the current exit instruction and the above-mentioned path under the previous exit instruction can be further controlled to be greater than the wheel width d. For example, the docking station 2 includes a guidance module 20, and the self-moving device 1 includes a sensing device 14 that can sense the guidance module 20. The preset guidance path 81 is the movement path of the self-moving device 1 when the guidance module 20 guides the self-moving device 1 to exit the docking station 2. The distance that the self-moving device 1 follows the preset guidance path 81 can be controlled by controlling the strength of the signal emitted by the guidance module 20 sensed by the sensing device 14. For example, when the guidance module 20 includes a magnetic stripe, and the sensing device 14 correspondingly includes a magnetic signal detection sensor, the strength of the magnetic signal emitted by the magnetic stripe detected by the magnetic signal detection sensor can be controlled to control the distance that the self-moving device 1 follows the magnetic stripe.

[0197] In some embodiments, the path away from the docking station 2 includes a path parallel to the preset guide path 81 .

[0198] In a second aspect, the present disclosure provides a method for exiting a docking station from a mobile device. FIG9 is a flow chart of a second method for exiting a docking station from a mobile device in some embodiments. The method includes:

[0199] S51: In response to an outbound instruction, control the moving component to retreat along a first sub-path in a first path, the first path further comprising a second sub-path, and an end point of the first path is an end point of the second sub-path.

[0200] It should be understood that in order to efficiently and conveniently return to docking station 2, self-moving device 1 should return to docking station 2 in the forward direction. The forward direction is the direction indicated by the arrow on the long axis X-axis shown in Figure 2, which is also the normal movement direction of self-moving device 1 when performing lawn maintenance tasks on the lawn. Correspondingly, in order to efficiently and conveniently exit docking station 2, self-moving device 1 should exit docking station 2 in the reverse direction. The reverse direction is the direction opposite to the forward direction. It should be understood that the terms forward and reverse are relative terms. What is certain is that when self-moving device 1 moves in the forward direction, its moving assembly 11 rotates in the opposite direction to when self-moving device 1 moves in the reverse direction.

[0201] In the present disclosure, for a more concise description, the first path can be divided into a first sub-path and a second sub-path. The first sub-path is closer to the stop than the second sub-path. The starting point of the first path is the starting point of the first sub-path, and the end point of the first path is the end point of the second sub-path.

[0202] In response to the exit instruction, the mobile assembly 11 is controlled to retreat along the first sub-path of the first path. In the present disclosure, the starting point of the first sub-path is located inside the docking station, and the end point of the first sub-path is located near the opening of the docking station 2. In this way, the self-moving device 1 can be guided out of the narrow interior of the docking station, allowing the self-moving device 1 to have more space to exit.

[0203] In the present disclosure, there are two ways to guide the self-mobile device 1 out of the docking station:

[0204] As shown in Figure 10, the fourth schematic diagram of exiting the stop is the first method:

[0205] The first path 94 may be divided into a first sub-path 941 and a second sub-path 943 ;

[0206] The first sub-path 941 is a straight line or a nearly straight line, and can control the self-moving device 1 to exit straightly from the docking station 2. This situation is applicable when the size of the opening 211 of the docking station 2 is almost the same as the width of the short axis Y of the mobile device 1. Using this method can prevent the self-moving device 1 from generating friction with the docking station 2.

[0207] As shown in Figure 11, the fifth schematic diagram of exiting the stop is the second method:

[0208] The first path 94 may be divided into a first sub-path 941 and a second sub-path 943 ;

[0209] The first sub-path 941 is an arc. The first sub-path 941 is an arc path with a third curvature radius formed when the self-moving device maintains the third turning angle and retreats. In this way, the self-moving device 1 can be slightly adjusted when coming out of the docking station 2, which can leave more adjustment space for the second sub-path 943. This situation is suitable for when the size of the opening 211 of the docking station 2 is larger than the short axis Y-axis width of the mobile device 1. Using this method can prevent the self-moving device 1 from generating friction with the docking station 2 and can accommodate more non-overlapping first paths 94 when the size of the opening 211 is fixed.

[0210] S52: In response to the self-moving device moving to the end point 942 of the first sub-path, controlling the moving component to rotate at a second turning angle so that the self-moving device retreats along the second sub-path 943 and leaves the docking station;

[0211] The second sub-path 943 is an arc-shaped path with a second curvature radius formed when the mobile device maintains a second turning angle and moves backward. The first sub-path 941 is an arc-shaped path with a third curvature radius formed when the mobile device maintains a third turning angle and moves backward.

[0212] The mobile device 1 is rotated at a second turning angle to reverse along second sub-path 943 and then exit dock 2. As shown in FIG11 , second sub-path 943 indicated by a solid line is the second sub-path 943 for the current exit instruction, and second sub-path 943 indicated by a dashed line is the second sub-path for exit instructions at other time periods. By controlling second sub-path 943 for the current exit instruction to be different from second sub-path 943 for the previous exit instruction, the mobile device 1 is prevented from frequently exiting the charging station along the same path, thereby resolving the aforementioned issue of mobile component 11 damaging the turf.

[0213] The present disclosure does not specifically limit the first path 94. Exemplarily, as previously shown, the self-mobile device 1 includes a storage device 13, a control device 15, a positioning device 12, and a navigation device 16. The first path 94 is the planned path for exiting the docking station 2 planned by the navigation device 16. In cooperation with the positioning device 12 and the navigation device 16, the control device 15 controls the self-mobile device 1 to exit the docking station 2 along the first path 94. The above-mentioned planned path can be either a path promptly planned by the navigation device 16 in response to an exit instruction, or a planned path pre-stored in the storage device 13. Exemplarily, the docking station 2 includes a guidance module 20 disposed nearby, and the self-mobile device 1 correspondingly includes a sensing device 14 that senses the guidance module 20. The first path 94 is the path of the self-mobile device 1 when the guidance module 20 guides the self-mobile device 1 to exit the docking station 2. Exemplarily, the first path 94 can also be a combination of the above two examples.

[0214] This disclosure does not specifically limit how to control the first path 94 of the current exit instruction from the mobile device 1 to be different from the first path 94 of the previous exit instruction. Exemplarily, the storage device 13 records the first path of the previous exit instruction. Under the current exit instruction, the navigation device 16 refers to the first path 94 of the previous exit instruction and plans a first path 94 for the current exit instruction that does not overlap with the first path of the previous exit instruction. Exemplarily, several non-overlapping first paths 94 are pre-stored in the storage device 13, and the control device 15 controls the mobile device 1 to exit the docking station 2 along different first paths 94 under different exit instructions. Exemplarily, the first path 94 is the movement path planned by the navigation device 16 in response to the exit instruction. Under different exit instructions, the steering angle of the first path 94 planned by the navigation device 16 with respect to the axis of the docking station 2 varies. Exemplarily, the first path 94 is a random path planned by the navigation device 16 in response to the exit instruction. This randomness determines that the first path of the current exit instruction is different from the first path of the previous exit instruction. Illustratively, docking station 2 includes several guide modules 20 disposed nearby, and mobile device 1 correspondingly includes sensing devices 14 for sensing guide modules 20. First paths 94 are several non-overlapping paths that mobile device 1 follows when guided by guide modules 20 to exit docking station 2. Control device 15 controls mobile device 1 to exit docking station 2 along the guidance of different guide modules 20 under different exit instructions. Illustratively, a combination of the aforementioned methods is also possible.

[0215] S53: In response to the mobile device moving to the end point 944 of the first path, controlling the mobile device to turn and continue moving.

[0216] As shown in Figures 10 and 11, when the self-mobile device 1 retreats to the end point 944 of the first path, the self-mobile device 1 rotates the body 10 to adjust the posture, and then controls the moving component 11 to turn to make the self-mobile device 1 move forward. The forward movement can make the self-mobile device 1 more efficient and convenient in subsequent movements.

[0217] In some embodiments, in order to further improve the efficiency of the self-moving device 1 leaving the station, the distance between the end point 944 of the first path and its starting point is approximately equal to the body length of the self-moving device 1 in the long axis X-axis direction. This allows the self-moving device to rotate its body as early as possible to move in the forward direction to improve efficiency, and will not hinder the self-moving device 1 from adjusting its posture at the end point of the first path.

[0218] In some embodiments, since the obstacle avoidance sensor of the mobile device 1 is typically located at the front, to prevent the mobile device 1 from continuously reversing and hitting an obstacle, the present disclosure may limit the maximum length of the first path 94 to enhance safety during the reversal of the mobile device 1. In the present disclosure, the length of the first path 94 is typically set to be less than or equal to the product of the reversal speed and the reversal time threshold. Specifically, the speed of the mobile device 1 during reversal can be set. Since the speeds of the two wheels are different when the mobile device 1 is in differential motion, the present disclosure may use the speed of the slower wheel as the reversal speed. Similarly, the speed of the faster wheel can also be used as the reversal speed, or the average speed of the two wheels can also be used as the reversal speed, although this disclosure does not limit this. Depending on safety requirements, the reversal time threshold may be 2-10 seconds. For example, the speed of the faster wheel can be used as the reversal speed, and the reversal time threshold is set to 5 seconds. In the present disclosure, when the mobile device 1 is reversing along a first path, the faster wheel speed can be 0.5 m / s, so the length of the first path needs to be less than 2.5 m.

[0219] It is understandable that if the end points under different outbound instructions are too close together, and the end point needs to be rotated to adjust the posture, then the self-moving device 1 will not only crush the grass near the end point, but its rotation will also grind the grass. In order to alleviate the problem of damaging the lawn at the end point, in some embodiments, the distance between the end point 944 of the first path under the current outbound instruction and the end point 944 of the first path under the previous outbound instruction is controlled to be greater than or equal to the wheel width d of the moving wheel located on one side of the body 10 of the self-moving device 1. For ease of understanding, an example of the wheel width d is given as shown in Figure 2. When the mobile component 11 passes over the lawn, it will leave two indentations on the lawn with a width approximately equal to the single-side wheel width d. The distance between the end points of the first path under different outbound instructions is controlled to be greater than the wheel width d, so that the indentations generated by the mobile component 11 under different outbound instructions near the end point of the first path can be staggered to solve the above problem.

[0220] In some embodiments, the outbound instruction can be triggered by power, time, or active instruction, specifically:

[0221] When the battery level of the mobile device 1 is greater than the threshold, an outbound instruction is triggered; or

[0222] When the time meets the time threshold, the outbound instruction is triggered; or,

[0223] When the mobile device 1 receives an active instruction sent by the user terminal, an outbound instruction is triggered.

[0224] In some embodiments, the self-mobile device 1 includes a positioning device 12 for receiving the location data of the self-mobile device 1. Before leaving the station, the self-mobile device 1 needs to determine that the positioning device 12 can receive the location data of the positioning device 12 and the data quality parameter is higher than the preset value. Only then can the self-mobile device respond to the exit instruction to exit the docking station 2. Conversely, even if the self-mobile device 1 receives the exit instruction, as long as the location data received by the positioning device 12 is lower than the preset value, it cannot exit the docking station 2. This is to ensure that the positioning device 12 can work normally and the current positioning signal is good, to ensure that the self-mobile device 1 can be accurately positioned after leaving the station, and to avoid the self-mobile device 1 from falling into a dangerous situation due to inability to locate or inaccurate positioning after leaving the station.

[0225] In some embodiments, the docking station 2 includes a shelter 21, as shown in FIG7 . When the mobile device 1 is docked at the docking station 2, the shelter 21 extends over the mobile device 1, shielding it from sunlight, rain, snow, and the like. The shelter 21 includes at least one sidewall 210 and at least one opening 211 for the mobile device 1 to enter and exit the docking station 2. In some embodiments, as shown in FIG7 , the shelter also includes a roof 212 to enhance its ability to shield the mobile device 1 from wind and rain. It should be understood that the presence of the sidewalls 210 may restrict the path the mobile device 1 can take in and out of the docking station 2. In some embodiments, the angle limit between the first path and the long axis (X-axis) of the body 10, as shown in FIG7 , is determined by the width of the body 10 along the short axis (Y-axis), as shown in FIG2 , and the restriction imposed by the shelter 21 on the movement of the mobile device 1 along the short axis (Y-axis), as shown in FIG7 , by the sidewalls 210.

[0226] As can be seen from the above, the restriction imposed by the shelter 21 on the self-moving device 1 will limit the maximum value of the offset angle of the first path along the X-axis. As a result, the movement path of the self-moving device 1 will be relatively dense near the starting point of the first path, and accordingly, the damage to the lawn caused by the mobile assembly 11 will be more severe. To address the above problem, in some embodiments, as shown in Figure 7, the docking station 2 includes a first base plate 22 disposed outside the shelter 21. The first base plate 22 is disposed on the ground near the opening 211. When the self-moving device 1 exits the docking station 2 or returns to the docking station 2 along the opening 211, the mobile assembly 11 will press over the first base plate 22. Because the first base plate 22 covers the area with relatively dense first path, there will be no yellow or dead grass in this area, improving the aesthetics of the lawn. In some embodiments, the first base plate 22 can be a hollow base plate. Such a hollow base plate not only does not affect the normal growth of grass on the first base plate 22, but also prevents the mobile assembly 11 from directly pressing on the grass roots and damaging the lawn.

[0227] In some embodiments, as shown in FIG7 , the length B of the first base plate 22 along the long axis X-axis of the fuselage 10 is determined by the number of paths in the first path where the indentations created by the moving assembly 11 on the lawn do not overlap. This length B increases as the number of such paths increases. As can be seen, the greater the number of paths with non-overlapping indentations, the denser the movement paths before the docking station 2, and the longer the path-dense region along the X-axis. Therefore, the required length B of the first base plate 22 along the X-axis also increases.

[0228] In some embodiments, in order to achieve rapid online work, the present disclosure provides different embodiments corresponding to different data qualities of location data. As shown in Figures 10 and 11, when the self-mobile device 1 retreats to the end point 944 of the first path, if the data quality parameter of the location data received by the positioning device 12 of the self-mobile device 1 at this time is higher than a preset value, the self-mobile device 1 can be controlled to directly go to the waiting path for work. Specifically:

[0229] Controlling the mobile device 11 to continue moving after turning, including:

[0230] Obtain the starting point of the path to be worked on from mobile device 1;

[0231] Determine a preset direction according to the end point 944 of the first path and the starting point of the path to be worked on;

[0232] Control the direction of the mobile device 1;

[0233] In response to the self-moving device 1 being directed toward a preset direction, the self-moving device is controlled to move toward a starting point of the path to be worked on.

[0234] In the present disclosure, the starting point of the path to be worked can be the point when the mobile device 1 returns to the stop before the current exit instruction. It can be any point on the path to be worked, or any point on the boundary of the working area. The present disclosure does not limit this.

[0235] In the present disclosure, going online is a process of moving from the mobile device 1 to a waiting path for work.

[0236] When the self-moving device 1 retreats to the end point 944 of the first path, it is necessary to obtain the point at which it returned to the stop before the current exit instruction and use it as the starting point of the path to be worked on by the self-moving device 1 under the current exit instruction. The end point of the first path and the starting point of the path to be worked on are then connected to determine the preset direction. The self-moving device 1 is then controlled to turn. In order to increase the speed of the self-moving device 1 to go online, the present disclosure can control the self-moving device 1 to rotate in place by rotating the left and right side wheels forward and reverse. Of course, in order to minimize the wear of the lawn, the self-moving device 1 can also be controlled to make an arc turn. For ease of explanation, the present disclosure uses an in-place rotation method to adjust the orientation of the self-moving device 1. When the self-moving device 1 rotates in place, it is determined whether the orientation of the self-moving device 1 is consistent with the preset direction. If the orientation of the self-moving device 1 is consistent with the preset direction, the self-moving device 1 is controlled to move toward the starting point of the path to be worked on. For ease of understanding, the long axis X in Figure 2 can be used as the orientation of the self-moving device 1.

[0237] In some embodiments, as shown in the sixth schematic diagram of exiting a docking station in FIG12 , for safety reasons, after the mobile device 1 retreats along the first path and reaches the endpoint 944, it is required to move a certain distance around the preset guide path 81 before leaving the preset guide path 81 to go online. Problems that cannot be solved include a malfunction of the positioning device 12 of the mobile device 1 or a failure of the positioning device 12 to receive a good positioning signal, resulting in the inability of the mobile device 1 to locate itself in real time, or the failure of the mobile device 1 to avoid obstacles around the docking station 2. For example, as shown in FIG12 , if the docking station 2 is located outside the working area boundary of the mobile device 1, the mobile device 1 will first retreat along the first path 94 for a certain distance, then turn toward the preset guide path 81. Then, when it moves along the preset guide path 81 to within the working area boundary, it will go online. This ensures that the mobile device 1 can continue to work online even if it encounters the above-mentioned problems when moving outside the working area boundary, such as in areas with many unknown and dangerous factors.

[0238] Therefore, S53 controls the mobile device to turn and continue moving, including: controlling the mobile device 1 to rotate; in response to the long axis of the mobile device pointing in the exit direction of the preset guide path 81, controlling the mobile device to move away from the docking station 2 along the preset guide path 81 or a path separated by a preset distance from the preset guide path 81; and controlling the mobile device to move away from the docking station 2 in the current exit instruction to be different from the path the mobile device took in the previous exit instruction. As shown in Figure 12, in the above steps, the path the mobile device 1 takes away from the docking station 2 in the current exit instruction is different from the path the mobile device 1 took away from the docking station 2 in the previous exit instruction, ensuring that the moving component 11 of the mobile device 1 does not damage the lawn in step S53.

[0239] In some embodiments, the distance between the path away from the stop 2 under the current exit instruction of the self-moving device 1 and the path away from the stop 2 under the previous exit instruction is controlled to be greater than or equal to the wheel width d. In combination with the above content, it should be understood that this can make the indentations generated by the mobile component 11 of the self-moving device 1 under different exit instructions staggered, further solving the problem of the mobile component 11 damaging the lawn.

[0240] The present disclosure does not specifically limit the control of the self-moving device to move away from the stop 2 along the preset guide path 81 or a path separated by a preset distance from the preset guide path 81, nor does it specifically limit how to control the path under the current exit instruction to be different from the path under the previous exit instruction. Exemplarily, the self-moving device 1 includes a positioning device 11 and a storage device 13. The storage device 13 stores at least part of the position data of the preset guide path. The position data of the preset guide path 81 can be collected by the mapping device through the preset guide path before the self-moving device 1 works, or can be collected by the self-moving device 1 through the preset guide path while the self-moving device 1 works. Based on the above-mentioned at least part of the position data of the preset guide path 81 and the position data of the self-moving device 1 received by the positioning device 11, the distance that the self-moving device 1 follows the preset guide path is controlled so that the above-mentioned paths under different exit instructions are different. In some embodiments, it is also possible to further control the distance between the above-mentioned path under the current exit instruction and the above-mentioned path under the previous exit instruction to be greater than the wheel width d. For example, the docking station 2 includes a guidance module 20, and the self-moving device 1 includes a sensing device 14 that can sense the guidance module 20. The preset guidance path is the movement path of the self-moving device 1 when the guidance module 20 guides the self-moving device 1 to exit the docking station 2. The distance that the self-moving device 1 follows the preset guidance path can be controlled by controlling the strength of the signal emitted by the guidance module 20 sensed by the sensing device 14. For example, when the guidance module 20 includes a magnetic stripe, and the sensing device 14 correspondingly includes a magnetic signal detection sensor, the strength of the magnetic signal emitted by the magnetic stripe detected by the magnetic signal detection sensor can be controlled to control the distance that the self-moving device 1 follows the magnetic stripe.

[0241] In some embodiments, the path away from the docking station 2 includes a path parallel to the preset guide path 81 .

[0242] In a third aspect, the present disclosure provides a method for returning a mobile device 1 to a docking station 2. FIG13 is a flow chart of a method for returning a mobile device to a docking station in some embodiments. The method includes:

[0243] S131: In response to the return instruction, control the self-moving device to go to one of the return transfer points, the return transfer point includes a first transfer point and a second transfer point, and the line connecting the first transfer point and the second transfer point forms an angle with the long axis direction of the self-moving device when the self-moving device is docked at the docking station.

[0244] As shown in the first schematic diagram of the return stop in FIG14 , in response to the return instruction, the self-moving device 1 first returns to one of the transfer points 141 near the stop 2. The present disclosure does not limit the specific setting of the transfer point. For example, the transfer point can be pre-stored at several position points in the self-moving device 1, or it can be any point in a preset transfer area. The transfer point 141 under the current instruction is controlled to be different from the transfer point 141 under the previous return instruction to avoid damaging the turf by moving the component 11 near the return point. Specifically, at the first transfer point and the second transfer point, a point that has been selected continuously for a number of times lower than the transfer threshold can be selected as the return transfer point 141. In the present disclosure, the transfer threshold can be 2 times, 3 times, or 4 times, etc., which is specifically determined according to the hardness of the lawn.

[0245] In the present disclosure, the first transfer point and the second transfer point can be points near the stop 2. The self-moving device 1 also includes a moving component 11, and the moving component 11 includes at least one moving rear wheel. In order to ensure that the first transfer point and the second transfer point do not interfere with each other, the distance between the first transfer point and the second transfer point can be greater than the wheel width d of the moving rear wheel. In this way, when the self-moving device 1 is at the first transfer point or the second transfer point, mutual friction can be prevented to avoid damaging the turf. Of course, the above-mentioned first transfer point and second transfer point are only examples. If the area is sufficiently open, more transfer points can be designed, such as a third transfer point, a fourth transfer point, and a fifth transfer point.

[0246] In the present disclosure, the line connecting the first transfer point and the second transfer point forms an angle with the long axis direction of the mobile device when the mobile device is docked at the docking station, which can prevent the mobile devices from driving along the same path and prevent damage to the lawn.

[0247] In the present disclosure, the self-mobile device 1 may be equipped with a camera, a positioning module, and an inertial navigation system. The self-mobile device 1 may travel to the return transit point 141 based on a first navigation signal. In the present disclosure, the first navigation signal may generally be one or more of a visual signal, a real-time dynamic positioning signal, and / or an inertial navigation signal. The positioning module is a module that receives the real-time dynamic positioning signal and determines its own absolute position. Generally speaking, the positioning module may be a global navigation satellite system that receives the real-time dynamic positioning signal.

[0248] S132: In response to the self-moving device reaching one of the return transfer points, controlling the self-moving device to return to the guidance position of the stop along the transfer path, the return transfer point being the starting point of the transfer path;

[0249] In the present disclosure, corresponding to the first transfer point and the second transfer point, taking the first transfer point as an example, at least two transfer paths 142 are provided between the first transfer point and the guide position, and the end points of the two transfer paths 142 are the guide position R, wherein at least two transfer paths have a preset curvature radius, wherein at least two transfer paths do not overlap. For example, a first transfer path and a second transfer path are provided between the first transfer point and the guide position, the first transfer path has a first curvature radius, and the second transfer path has a second curvature radius, wherein the first curvature radius is different from the second curvature radius, and the first transfer path and the second transfer path do not overlap, or the first transfer path and the second transfer path have different starting points, and both end at the guide position R.

[0250] As shown in FIG14 , in response to the self-mobile device 1 having reached the return transfer point 141, the self-mobile device 1 is controlled to return to a guide position R preset near or on the docking station 2 along the transfer path 142. The present disclosure does not specifically limit the setting of the guide position R. Exemplarily, the self-mobile device 1 includes a positioning device 12, a storage device 13, a navigation device 16, and a control device 15. The guide position R is a location point pre-stored in the storage device 13. The self-mobile device 1 includes the positioning device 12 and the navigation device 16. With the cooperation of the positioning device 12 and the navigation device 16, the control device 15 controls the self-mobile device 1 to return to the guide position R from the return transfer point 141 along the planned transfer path 142. Exemplarily, the guide position R is a point on the docking path 143 (see the above description for details, which will not be repeated here). The self-mobile device 1 is controlled to search for the docking path 143 and move along the docking path 143 to reach the guide position R. Controlling the transfer path 142 of the self-moving device 1 under the current return instruction to be different from the transfer path 142 under the previous return instruction can prevent the moving component 11 from damaging the turf during the process.

[0251] This disclosure does not limit the transfer path 142 or how the transfer path 142 under the current return instruction is controlled to be different from the transfer path 142 under the previous return instruction. For example, as previously shown, the self-moving device 1 includes a storage device 13, a control device 15, a positioning device 12, and a navigation device 16. The second path is a planned path for returning to the guidance position R planned by the navigation device 16. In cooperation with the positioning device 12 and the navigation device 16, the control device 15 controls the self-moving device 1 to reach the guidance position R along the transfer path. The planned path can be a path promptly planned by the navigation device 16 in response to the return instruction, or a planned path pre-stored in the storage device 13. For example, the stop 2 includes a nearby guidance module 20, and the self-moving device 1 correspondingly includes a sensing device 14 that senses the guidance module 20. The transfer path is the path of the self-moving device 1 when the guidance module 20 guides the self-moving device 1 back to the guidance position R. For example, the transfer path 142 can also be a combination of the above two examples.

[0252] For example, in some embodiments, when a docking path 143 is included, the storage device 13 illustratively records the transfer path 142 from the previous return instruction. During the current return instruction, the navigation device 16 references the transfer path 142 from the previous return instruction and the transfer path 142 from the previous return instruction for the current outbound instruction that does not overlap. Illustratively, several non-overlapping transfer paths 142 are pre-stored in the storage device 13, and the control device 15 controls the self-mobile device 1 to return to the guidance position R along different transfer paths 142 in response to different return instructions. Illustratively, the transfer path 142 is the movement path planned by the navigation device 16 in response to the return instruction. Under different return instructions, the deflection angle of the transfer path 142 planned by the navigation device 16 with respect to the axis of the docking station 2 varies. Illustratively, the transfer path 142 is a random path planned by the navigation device 16 in response to the return instruction. The randomness of the randomness determines that the transfer path under the current return instruction is different from the transfer path 142 under the previous return instruction. Illustratively, the docking station 2 includes several guidance modules 20 disposed nearby, and the self-moving device 1 correspondingly includes a sensing device 14 for sensing the guidance modules 20. The transfer paths 142 are several non-overlapping paths that the self-moving device 1 takes when the guidance modules 20 guide the self-moving device 1 back to the guidance position R. The control device 15 controls the self-moving device 1 to return to the guidance position R along different guidance modules 20 under different return instructions. Illustratively, a combination of the above methods is also possible.

[0253] In the present disclosure, the self-mobile device can be controlled to return to the guidance position R of the docking station 2 along the transfer path 142 based on a first navigation signal. In the present disclosure, the first navigation signal can generally be one or more of a visual signal, an RTK signal, and / or an inertial navigation signal. This means that the same navigation signal can be used from the time the self-mobile device is controlled to return to the transfer point 141 to the time the self-mobile device 1 is controlled to return along the transfer path 142, without switching navigation signals, thereby ensuring the efficiency and speed of the return process.

[0254] S133: In response to the self-moving device arriving at the guide position R, controlling the self-moving device 1 to enter the docking station along the docking path 143 and dock with the docking station, wherein the guide position R is the end point of the transfer path 142 and the starting point of the docking path 143;

[0255] As shown in FIG14 , in response to the self-moving device 1 reaching the guiding position R, the self-moving device 1 further docks with the docking station 2. The present disclosure does not limit the docking method of the self-moving device 1 and the docking station 2. Exemplarily, as shown in FIG14 , the docking station 2 includes a docking path 143 as described above, and the self-moving device 1 can further dock with the docking station 2 along the docking path 143. Exemplarily, the docking station 2 includes a guiding module 20, and the self-moving device 1 includes a sensing device 14. The sensing device 14 senses the signal emitted by the guiding module 20 so that the self-moving device further docks with the docking station 2 along the docking path. Exemplarily, the guiding module 20 includes a magnetic strip provided on or near the docking station 2, and the sensing device 14 includes a magnetic signal sensor. The magnetic signal sensor detects the magnetic signal emitted by the magnetic strip so that the self-moving device 1 docks with the docking station 2 along the magnetic strip.

[0256] In the present disclosure, the self-moving device 1 can be simultaneously provided with a magnetic sensor, an infrared sensor and an ultrasonic transceiver. The self-moving device 1 can enter the docking station 2 along the docking path 143 based on the second navigation signal and dock with the docking station 2. The second navigation signal can generally be one or more of a magnetic field signal, an infrared signal and / or an ultrasonic signal. Since the docking station 2 may be set in an area where the signal is blocked, resulting in the failure of the first navigation signal, in order to cover all working scenarios as much as possible, the second navigation signal in the present disclosure can be a signal that will not be blocked and cause failure. Generally speaking, after the self-moving device 1 reaches the guiding position R of the docking station 2, it is necessary to switch the navigation signal, and then enter the docking station 2 along the docking path 143. Although switching the navigation signal in this way reduces efficiency, it can cover all working scenarios and can be compatible with the docking station set in any area, ensuring the success of docking.

[0257] S134: In response to the successful docking of the self-moving device with the docking station, control the self-moving device to be in a docking position.

[0258] When the self-moving device 1 is successfully docked with the docking station 2, the self-moving device 1 is controlled to be in the docking position.

[0259] For example, successful docking can be achieved by the self-mobile device 1 moving to a preset position on the docking station 2. For example, as shown in FIG14 , the self-mobile device 1 includes a first charging terminal 19, and the docking station 2 includes a second charging terminal 23. When the first charging terminal 19 is electrically connected to the second charging terminal 23, the docking station 2 can charge the self-mobile device 1. At this point, the docking is successful, and the self-mobile device 1 is in the docking position. The first charging terminal 19 of the self-mobile device 1 in the docked position can be electrically connected to the second charging terminal 23. The present disclosure does not limit the installation position of the first charging terminal 19 and the second charging terminal 23. Any position that ensures that the first charging terminal 19 of the self-mobile device 1 can be electrically connected to the second charging terminal 23 can be used as the docking position. For example, the first charging terminal 19 can be installed on one side of the X-axis of the body 10 of the self-mobile device 1, or on the front side of the body 10. The second charging terminal 23 is installed on the docking station 2 to facilitate the alignment with the first charging terminal 19.

[0260] In some embodiments, in order to ensure better docking efficiency and avoid a "U-turn" turn of the self-moving device 1, in the present disclosure, the angle between the line connecting the first transfer point 141 to the guide position R and the orientation of the self-moving device 1 in the docking position is less than 90°. In the present disclosure, the orientation of the self-moving device 1 in the docking position can be the orientation of its long axis X-axis when it is in the docking position.

[0261] In some embodiments, as shown in FIG14 , before or after the self-mobile device 1 reaches the guide position R, the posture is adjusted so that the self-mobile device 1 can dock with the docking station 2 in a roughly linear motion. It should be understood that linear motion docking is a more efficient and convenient docking method.

[0262] In some embodiments, as shown in FIG14 , the docking station 2 includes a second floor 24 disposed near the guiding position R. When the self-moving device 1 returns to the docking station along the docking path 143, the self-moving device 1 presses over the second floor 24. Providing the second floor 24 near the guiding position R can prevent the lawn from being damaged when the self-moving device 1 returns to the guiding position R.

[0263] In some embodiments, the self-moving device 1 includes a positioning device 12 and a moving assembly 11. As previously described, as shown in FIG2 , the moving assembly 11 includes at least one moving rear wheel. When the self-moving device is in the guiding position R, the moving rear wheel of the self-moving device is located on the second base plate 24. Specifically, the distance on the ground from the contour edge of the second base plate 24 away from the docking direction 2 to the guiding position R is greater than or equal to the distance L on the ground from the positioning device 12 to the at least one moving rear wheel. The self-moving device 1 reaches the guiding position R with the assistance of the positioning device 12. At this time, the positioning device 12 is located at the guiding position R. If the position needs to be adjusted, the body 10 is rotated at this location, and the moving assembly 11 will grind the grass. Setting the distance on the ground from the contour edge of the second base plate 24 away from the docking direction 2 to the guiding position R is greater than or equal to the distance L on the ground from the positioning device 12 to the at least one moving rear wheel can avoid the problem of grass grinding and damaging the lawn at this location.

[0264] It should be understood that the second base plate 24 and the first base plate 22 can be the same base plate as required.

[0265] In some embodiments, to facilitate packaging and transportation, the length of the second base plate 24 is less than or equal to the length of the docking station 2. The length is oriented in the direction from the mobile device 1 into the docking station 2, i.e., in the direction of the long axis X-axis when the mobile device 1 enters the docking station 2 and docks. The second base plate 24 is movably connected to the docking station 2. In other words, the second base plate 24 can be removably attached to the docking station 2 by means of a hinged connection, a snap connection, or a magnetic connection.

[0266] As shown in the second schematic diagram of the return docking station in Figure 15, the docking station 2 includes the guidance module 20 as mentioned above. For example, when the guidance module 20 is a magnetic strip, the magnetic field signal generated by the magnetic strip can control the mobile device 1 to enter the docking station 2. At this time, the path of movement from the mobile device 1 to the docking station 2 is the docking path 143.

[0267] The docking path 143 may include two types:

[0268] 1. Overlapping with the magnetic stripe, but only a portion of the magnetic stripe. For example, if the magnetic stripe is five meters long, when the self-mobile device 1 enters the docking station 2, only two meters extending backward from the docking station 2 are used to complete the return. The path formed by the return of the portion of the magnetic stripe used by the self-mobile device 1 can be called the docking path 143.

[0269] Second, the self-mobile device 1 is parallel to the magnetic stripe and overlaps with it at a certain distance. For example, the magnetic stripe is five meters long. When the self-mobile device 1 enters the docking station 2, the signal extending to both sides of the magnetic stripe is used to complete the regression. The path formed by the regression of the part of the magnetic stripe used by the self-mobile device 1 is parallel to the magnetic stripe. The self-mobile device 1 does not move along the magnetic stripe, but the trend of its path is the same as that of the magnetic stripe. At this time, the path formed by the regression of the magnetic stripe can be called the docking path 143.

[0270] In the present disclosure, the docking path 143 is used to guide the self-moving device 1 to dock with the docking station 2 , and the guiding position R is located on the docking path 143 .

[0271] In some embodiments, as shown in FIG15 , for safety reasons, in some special circumstances, docking path 143 may be extended. The mobile device 1 will not return along the intermediate path 142, but will instead return directly along the extended docking path 143. Since the docking path 143 can be guided by magnetic signals, replacing the intermediate path 142 with the extended docking path 143 offers the advantage of allowing the mobile device 1 to accurately return to the docking station 2 when the first navigation signal fails due to obstructions near the docking station 2. Therefore, when returning to the docking station 2, the mobile device 1 must first return to the vicinity of the extended docking path 143, then move along the perimeter of the docking path 143 to the guiding position R. After passing the guiding position R, the mobile device 1 can continue along the docking path 143 to return to the docking station 2. This allows the mobile device 1 to safely return to the docking station 2 along the docking path 143 even when encountering unresolvable problems. These problems may include a malfunction of the positioning device 12 of the mobile device 1, a failure of the positioning device 12 to receive a reliable positioning signal, and the inability of the mobile device 1 to locate itself in real time. Alternatively, the mobile device 1 may fail to avoid obstacles near the docking station 2. For example, as shown in Figure 15, when the docking station 2 is set outside the boundary of the working area of ​​the self-moving device 1, the self-moving device 1 will first return to the vicinity of the docking path 143, and then return to the docking station 2 along the docking path 143. This ensures that if the self-moving device 1 encounters the above-mentioned problems when moving in areas with many unknown factors and dangerous factors such as outside the boundary of the working area, it can return to the docking station 2 along the docking path 143 and be in the docking position.

[0272] Therefore, controlling the self-moving device 1 to return to the guide position R includes controlling the self-moving device 1 to return to the guide position R along the docking path 143 or a path spaced a preset distance from the docking path 143, and the path of returning to the guide position under the current return instruction is different from or partially different from the path of returning to the guide position R under the previous return instruction, so as to avoid overlapping paths of the self-moving device 1 and causing damage to the lawn.

[0273] In some embodiments, the distance between the path of the return guide position R under the current return instruction of the self-moving device 1 and the path of the return guide position R under the last outbound instruction is controlled to be greater than or equal to the single-side wheel width d. In combination with the above content, it should be understood that this can make the indentations generated by the mobile component 11 of the self-moving device 1 under different return instructions staggered, further solving the problem of the mobile component 11 damaging the lawn.

[0274] The present disclosure does not specifically limit the control of the self-moving device 1 to return to the guide position R along the docking path 143 or a path separated by a preset distance from the docking path 143, nor does it specifically limit how to control the path under the current return instruction to be different from the path under the previous return instruction. Exemplarily, the self-moving device 1 includes a positioning device 11 and a storage device 13. The storage device 13 stores at least partial position data of the docking path 143. The position data of the docking path 143 can be collected by the mapping device passing through the docking path 143 before the self-moving device 1 is in operation, or it can be collected by the self-moving device 1 passing through the docking path 143 while the self-moving device 1 is in operation. Based on the at least partial position data of the docking path 143 and the position data of the self-moving device 1 received by the positioning device 11, the distance that the self-moving device 1 follows the docking path 143 is controlled so that the paths under different return instructions are different. In some embodiments, the distance between the path under the current return instruction and the path under the previous return instruction can be controlled to be greater than the single-side wheel width d. For example, the docking station 2 includes a guidance module 20, and the self-moving device 1 includes a sensing device 14 that can sense the guidance module 20. The docking path 143 is the movement path of the self-moving device 1 when the guidance module 20 guides the self-moving device 1 to exit or return to the docking station 2. The distance that the self-moving device 1 follows the docking path 143 can be controlled by controlling the strength of the signal emitted by the guidance module 20 sensed by the sensing device 14. For example, when the guidance module 20 includes a magnetic stripe, and the sensing device 14 correspondingly includes a magnetic signal detection sensor, the strength of the magnetic signal emitted by the magnetic stripe detected by the magnetic signal detection sensor can be controlled to control the distance that the self-moving device 1 follows the magnetic stripe.

[0275] As can be seen from the foregoing, the docking station 2 includes a shelter 21. When the mobile device 1 is docked at the docking station 2, the shelter 21 extends over the mobile device 1, shielding it from sunlight, rain, snow, and the like. The shelter 21 includes at least one sidewall 210 and at least one opening 211 for the mobile device 1 to enter and exit the docking station 2. In some embodiments, the shelter also includes a roof 212 to enhance its ability to shield the mobile device 1 from wind and rain. It should be understood that the presence of the sidewalls 210 may restrict the path for the mobile device 1 to enter and exit the docking station 2. In some embodiments, the limit of the angle between the first path and the long axis (X-axis) of the body 10, as shown in FIG7 , is determined by the width of the body 10 of the mobile device 1 along the short axis (Y-axis), as shown in FIG2 , and the restriction imposed by the shelter 21 on the movement of the mobile device 1 along the short axis (Y-axis). As shown in FIG7 , this restriction is imposed by the sidewalls 210. Accordingly, when the self-moving device 1 returns to the docking station 2, as shown in the first schematic diagram of the path of the self-moving device's return in FIG16 , in some embodiments, the limit value of the angle between the docking path 143 and the long axis X-axis direction of the fuselage 10, as shown in FIG16 , is determined by the width of the self-moving device 1 in the short axis Y-axis direction of the fuselage 10, as shown in FIG2 , and the restriction of the canopy 21 on the movement of the self-moving device 1 along the short axis Y-axis direction of the fuselage 10.

[0276] As can be seen from the above, the restriction of the self-moving device 1 by the canopy 21 will also limit the limit value of the offset angle of the transfer path 142 on the X-axis. In this way, near the guide position R, the movement path of the self-moving device 1 will be relatively dense, and accordingly, the damage to the lawn by the mobile component 11 will be more serious. In order to solve the above problem, the second bottom plate 24 is set on the ground near the opening 211. When the self-moving device 1 exits the docking station 2 or returns to the docking station 2 along the opening 211, the mobile component 11 will press over the second bottom plate 24. Since the second bottom plate 24 covers the area where the transfer path 142 is relatively dense, there will be no yellow or dead grass in this area, which improves the aesthetics of the lawn. In some embodiments, the second bottom plate 22 can be a hollow bottom plate. This hollow bottom plate not only does not affect the normal growth of grass on the second bottom plate 24, but also prevents the mobile component 11 from directly pressing on the grass roots and damaging the grass.

[0277] As can be seen from the foregoing, the length B of the first base plate 22 along the X-axis, the long axis of the fuselage 10, is determined by the number of paths in the first path where the indentations created by the moving assembly 11 on the lawn do not overlap, and length B increases as the number of such paths increases. It can be seen that the greater the number of paths with non-overlapping indentations, the denser the movement paths before the docking station 2, and the longer the path-dense area along the X-axis. Therefore, the length B of the first base plate 22 along the X-axis needs to be longer. Correspondingly, the length b of the second base plate 24 along the X-axis, the long axis of the fuselage 10, is determined by the number of paths in the transfer path where the indentations created by the moving assembly 11 on the lawn do not overlap, and length b increases as the number of such paths increases. It can be seen that the greater the number of paths with non-overlapping indentations, the denser the movement paths before the docking station 2, and the longer the path-dense area along the X-axis. Therefore, the length b of the second base plate 24 along the X-axis needs to be longer.

[0278] In some embodiments, the distance from the guiding position R to the above-mentioned opening 211 is greater than or equal to the distance from the positioning device 12 to the front edge of the body 10 of the self-moving device 1 to the ground when the self-moving device 1 returns to the docking station 2. This allows the self-moving device 1 to have sufficient space to adjust its posture at the guiding position R before entering the opening 211.

[0279] In some embodiments, the first base plate 22 and the second base plate 24 can be the same base plate as required.

[0280] In a fourth aspect, in order to solve the above problems, the present disclosure provides a self-moving device 1, comprising:

[0281] The mobile component 11 is configured to drive the mobile device 1 to move on the ground;

[0282] The control device 15 is configured to, in response to an outbound instruction, control the mobile component to retreat along a first sub-path in the first path, the first path also including a second sub-path, and the end point of the first path is the end point of the second sub-path; in response to the self-moving device moving to the end point of the first sub-path, control the mobile component to rotate at a second turning angle so that the self-moving device retreats along the second sub-path and leaves the docking station; in response to the self-moving device moving to the end point of the first path, control the self-moving device to continue moving after turning; or to, in response to a return instruction, control the self-moving device to go to one of the return transfer points, the return transfer points including the first transfer point and the second transfer point. Two transfer points, the line connecting the first transfer point and the second transfer point forms an angle with the long axis direction of the body of the self-mobile device when the self-mobile device is docked at the docking station; in response to the self-mobile device reaching one of the return transfer points, the self-mobile device is controlled to return to the guide position of the docking station along the transfer path, and the return transfer point is the starting point of the transfer path; in response to the self-mobile device reaching the guide position, the self-mobile device is controlled to enter the docking station along the docking path 143 and dock with the docking station, and the guide positions are the end point of the transfer path and the starting point of the docking path 143 respectively; in response to the self-mobile device successfully docking with the docking station, the self-mobile device is controlled to dock at the docking station.

[0283] In a fifth aspect, in order to alleviate the above problems, the present disclosure provides a docking station 2 for docking a self-mobile device 1, and the docking station 2 includes:

[0284] A canopy 21 is provided outside the self-moving device 1 when the self-moving device 1 is docked at the docking station 2. The canopy 21 includes at least one sidewall 210 and at least one opening 211 for the self-moving device 1 to enter and exit the docking station 2. The limit of the angle between the path of entry and exit opening 211 of the docking station 2 and the long axis X-axis of the self-moving device 1 when the self-moving device 1 is docked at the docking station 2 is determined by the width of the self-moving device 1 in the short axis Y-axis direction and the sidewall 210 of the canopy 21 that limits the movement of the self-moving device 1 along the short axis Y-axis direction.

[0285] The first bottom plate 22 is set on the ground. When the mobile device 1 exits the docking station 2 along the opening 211, the mobile component 11 presses over the first bottom plate 22; the length of the first bottom plate 22 along the direction of the mobile device 1 entering and exiting the docking station 2 is determined by the number of paths where the indentations of the mobile component 11 do not overlap, and this length increases as the number of paths increases; the indentation of the mobile component 11 is the indentation formed by the mobile component 11 rolling over the ground when the mobile device 1 exits the docking station 2.

[0286] In a sixth aspect, in order to alleviate the above problems, the present disclosure provides a docking station 2 for docking a self-moving device 1. The self-moving device 1 further includes a positioning device 12 and a mobile component 11. The positioning device 12 is used to receive position data of the self-moving device 1. The docking station includes:

[0287] The self-propelling device 1 docks with the docking station 2 in a substantially linear manner at the guiding position R; the moving assembly 11 includes at least one movable rear wheel, which is located on the rear side of the body 10 of the self-propelling device 1 when the self-propelling device 1 returns to the guiding position R;

[0288] The second base plate 24 is provided on the ground. When the self-moving device 1 returns to the guiding position R, the self-moving device 1 presses over the second base plate 24. The distance from the contour edge of the second base plate 24 away from the docking station 2 to the guiding position R on the ground is greater than or equal to the distance from the positioning device 12 to at least one of the rear moving wheels on the ground.

[0289] In a seventh aspect, in order to alleviate the above problems, the present disclosure provides a method for exiting a station from a mobile device. FIG17 is a flow chart of the method for exiting a station from a mobile device according to some embodiments of the present disclosure, including:

[0290] S300: In response to an outbound instruction from a mobile device, obtain environmental conditions of a stop.

[0291] Optionally, the environmental condition of the stop 2 may be a positioning data quality parameter, whether a shelter 21 exists, or whether the stop 2 is inside or outside a map boundary.

[0292] S302: Determine a first preset path planning strategy according to environmental conditions.

[0293] Different path planning strategies can be used for different environmental conditions. For example, if Stop 2 is within the map boundary and is open and unobstructed, you can directly plan a large-angle exit. If Stop 2 is within the map boundary and has a shelter 21, you can plan a small-angle direct random exit, or you can first exit the shelter 21 and then plan a large-angle random exit. If Stop 2 is outside the boundary, you can first exit Stop 2, plan to enter the boundary, and then use a random path to mow the grass.

[0294] S304: Planning an outbound path according to a first preset path planning strategy, wherein the outbound path under the current outbound instruction is different from the outbound path under the previous outbound instruction.

[0295] For example, according to the determined path planning strategy, a specific outbound path is planned, and specific control parameters are determined so that each outbound path is not unique.

[0296] S306: Based on the outbound path, control the outbound movement from the mobile device.

[0297] For example, according to the determined control parameters, a lawn mower or other self-moving device is caused to exit the station along a non-unique exit path, thereby avoiding the formation of wheel marks on the lawn and beautifying the appearance of the lawn.

[0298] By obtaining the environmental conditions of stop 2: determining the path planning strategy according to the environmental conditions to plan a non-unique exit path, and controlling the exit of mobile device 1, it is possible to avoid wheel marks on the lawn near stop 2 and beautify the lawn visual effect.

[0299] Optionally, the self-moving device 1 includes a positioning device 12 for receiving positioning data; the environmental condition includes that a data quality parameter of the position data of the self-moving device 1 received by the positioning device 12 is higher than a preset value or lower than a preset value.

[0300] Optionally, when the environmental condition includes a data quality parameter of the location data being higher than a preset value, the outbound path includes at least one random path.

[0301] Optionally, docking station 2 includes a second charging terminal 23. Mobile device 1 includes a first charging terminal 19 disposed on body 10. During charging of mobile device 1 by docking station 2, first charging terminal 19 and second charging terminal 23 are docked. The first preset path planning strategy includes controlling mobile device 1 to exit the station directly along a random path; the angle between the starting tangent of the random path and the X-axis of body 10 when mobile device 1 is docked at docking station 2 is limited to a first preset angle range.

[0302] For example, if the stop 2 is within the map boundary and is open and unobstructed, you can directly plan your exit at a large angle. Figure 13 is a schematic diagram of exiting a station from a mobile device 1 according to some embodiments of the present disclosure.

[0303] As shown in the second schematic diagram of the path for the self-mobile device to exit the station, when the stop 2 is within the boundary, open, and not constrained by the shelter 21, the self-mobile device 1 exits the station by a random path within a large angle range toward the side without the second charging terminal 23, thereby solving the problem of wheel marks formed by grinding the grass.

[0304] Please refer to Figures 5 and 13 at the same time. For example, the self-moving device 1 can be charged by front charging (the first charging terminal 19 at the end of the self-moving device 1 is set at the front end of the self-moving device 1. When docked with the docking station 2, the front of the device faces the second charging terminal 23 on the docking station 2), side charging (the first charging terminal 19 is set on the side of the self-moving device 1. When docked with the docking station 2, the side faces the second charging terminal 23 on the docking station 2), or rear charging (the first charging terminal 19 is set at the rear end of the self-moving device 1. When docked with the docking station 2, the rear of the device faces the second charging terminal 23). Optionally, if the self-moving device 1 is front-charged, it can first retreat a suitable distance and then perform the exit operation.

[0305] Optionally, as shown in FIG13 , when the self-moving device 1 is side-charged, the long axis X-axis of the body 10 of the self-moving device 1 when docked at the docking station 2 is taken as the 0 reference line, the rotation direction away from the second is taken as the positive direction, and the value range of the first preset angle interval is [10°, 240°].

[0306] Continuing with Figure 13 , considering the location constraints of stop 2, when planning the exit path, the starting tangent angle of the fitting arc can be controlled to be any angle within the range of (10° to 240°). Within this angle, the self-mobile device 1 will not collide with the second charging terminal 23 when exiting the stop.

[0307] Optionally, the environmental conditions include that the docking station 2 includes a shelter 21; the long axis X-axis of the fuselage 10 of the self-mobile device 1 when docked at the docking station 2 is taken as the 0 reference line, the rotation direction away from the docking station 2 is taken as the positive direction, and the first preset angle interval has a value range of [-10°, 10°].

[0308] For example, considering the location limitation of the shelter 21, when planning the exit path, the starting tangent angle of the fitting arc can be controlled to be any angle within the range of (-10° to 10°). When exiting the station within this angle, the self-moving device 1 will not collide with the shelter 21.

[0309] Optionally, the stop 2 is determined to include a shelter 21 in at least one of the following three ways: detecting the shelter 21 through a non-contact obstacle detection sensor, detecting the shelter 21 through a contact obstacle detection sensor, and determining the shelter 21 through pre-set shelter 21 information.

[0310] For example, a non-contact obstacle sensor, such as a radar or ultrasonic sensor, can detect the presence of an obstacle at a certain distance. For example, a contact sensor, such as a pressure sensor, can sense the presence of an obstacle when it touches the obstacle. For example, the self-moving device 1 can also pre-store information about the shelter 21 within the working area so that the self-moving device 1 can read and obtain information about the presence of the shelter 21.

[0311] Optionally, the stop 2 includes a guidance module 20 arranged nearby; the environmental conditions include the data quality parameters of the above-mentioned location data being lower than a preset value, and the self-mobile device 1 is controlled to determine its own position according to the guidance module 20, and the outbound path includes at least one section of the path located near the guidance module 20.

[0312] Optionally, with the X-axis line of the body 10 of the self-moving device 1 docked at the docking station 2 as the 0 reference line, and the rotation direction away from the docking station 2 as the positive direction, the path near the guide module 20 includes at least one path, and the angle between the starting tangent of the path and the X-axis of the body 10 when the self-moving device 1 docked at the docking station 2 is limited to [-10°, 10°].

[0313] For example, considering the limitation of weak satellite positioning signals causing inability to properly locate the vehicle, when planning the exit route, the starting tangent angle of the fitting arc can be controlled to any angle within the range of (-10° to 10°) to avoid straying away from the guidance signal of the guidance module 20. Within this angle, the self-moving device 1 will not stray away from the guidance module 20, preventing the self-moving device 1 from encountering unknown dangers and being unable to return to the docking station 2.

[0314] Optionally, the path near the guidance module 20 includes at least one section offset from the guidance module 20 by a preset distance. Optionally, the path near the guidance module 20 includes at least one section along the guidance module 20 for a preset length to ensure that the autonomous driving device 1 does not stray too far from the guidance module 20 and avoids contact with unknown obstacles.

[0315] For example, in order to prevent the self-moving device 1 from repeatedly crushing the lawn on the preset length path along the guide module 20 to form grass grinding wheel marks, this section of the path can be fine-tuned so that the preset length path along the guide module 20 is offset by a preset distance each time to maintain the growth of the grass on this section of the preset length path.

[0316] Optionally, the starting path of the outbound path is a path of a preset length along the guiding module 20 .

[0317] For example, considering the limitation that the satellite positioning signal is too weak to be positioned normally, when planning the outbound path, in order to avoid being far away from the guidance signal of the guidance module 20, the starting path of the mobile device 1 can be controlled to travel a preset distance along the guidance signal of the guidance module 20.

[0318] Optionally, a hollow bottom plate is provided in the area where the preset length is located.

[0319] Exemplarily, the preset length path near the docking station 2 can be provided with a hollow bottom plate, and a short magnetic strip can be installed on or under the bottom plate, so that grass for maintaining the turf can grow in the hollow part, and the setting of the bottom plate also prevents the lawn mower wheels from grinding the grass.

[0320] Optionally, the preset distance is greater than a single-side wheel width d of the self-moving device 1 .

[0321] For example, to prevent the self-propelled vehicle 1 from repeatedly rolling over the lawn along a preset length of path along the guide module 20, thereby forming wheel tracks, fine-tuning can be performed on this path, offsetting each preset length of path along the guide module 20 by a preset distance. This helps maintain the growth of the lawn along this preset length of path. The lateral fine-tuning distance can be greater than the wheel width d of the self-propelled vehicle 1 on one side, so that the wheel tracks of the self-propelled vehicle 1 do not repeatedly roll over the same path.

[0322] Optionally, the guiding module 20 includes a magnetic stripe, and the self-moving device 1 includes a magnetic signal detection sensor; the self-moving device 1 determines its relative position with the magnetic stripe according to the magnetic signal detected by the magnetic signal detection sensor to determine its own position.

[0323] For example, to account for the limitation of weak satellite positioning signals that prevent normal positioning, when planning the exit route, a magnetic stripe is often installed in front of stop 2 to facilitate docking of self-moving device 1 with stop 2. Accordingly, self-moving device 1 includes a magnetic sensor capable of detecting magnetic signals. The strength of the magnetic signal can be used to control the relative position of self-moving device 1 and the magnetic stripe, thereby controlling self-moving device 1 to leave stop 2 along the magnetic stripe.

[0324] Optionally, the environmental condition includes whether the location of the docking station 2 is within or outside the boundary of the working map of the mobile device 1 .

[0325] Before the mobile device 1 performs the mowing task on the lawn, it controls the mapping device to first establish a virtual boundary along the lawn boundary. The mobile device 1 then operates within the boundary using the map and positioning device 12 and navigation device 16. The mapping device can be a dedicated mapping device or the mobile device 1 itself. The location of the stop 2 can be set inside or outside the boundary. Different planning strategies need to be selected to deal with different stop 2 locations when planning the route. Optionally, the current location of the mobile device 1 is obtained to determine the positional relationship between the mobile device 1 and the boundary of the working map; based on the positional relationship, the location of the stop 2 is determined to be inside or outside the boundary. For example, the location of the stop 2 can be set inside or outside the boundary of the working map. When planning the route, the relationship between the marked location of the stop 2 and the boundary of the working map can be used for judgment. If the location of the stop 2 is within the range enclosed by the boundary of the working map, then it is located inside the boundary; otherwise, it is located outside the boundary.

[0326] Optionally, the docking station 2 includes a guidance module 20; the environmental conditions include: when the docking station 2 is located outside the boundary of the work map of the self-mobile device 1, the exit strategy includes controlling the self-mobile device 1 to determine its own position according to the guidance module 20, and to leave the docking station 2 along a first random path, enter the boundary along a second random path, and finally exit the station along a third random path; wherein: the first random path is a path that retreats a random distance; the second random path includes at least one path located near the guidance module 20; and the third random path includes at least one path that draws a random arc. As shown in Figure 7, in some embodiments, since the docking station 2 is located outside the boundary, when exiting the station, the self-mobile device 1 must first exit the docking station 2 along the first random path, then follow the second random path to enter the boundary of the work map, and finally follow the third random path to proceed to work. For example, the first random path may be a random distance backward to exit the docking station 2. The second random path may be a random distance offset from the docking station 2 and a random length. The third random path may be a random arc that enters the work area.

[0327] In an eighth aspect, the present disclosure further provides a method for a self-mobile device to enter a station. FIG19 is a flow chart of the method for a self-mobile device to enter a station according to some embodiments of the present disclosure, including:

[0328] S400: In response to a stop entry instruction for a self-moving device, obtain environmental conditions of a stop.

[0329] The environmental conditions at stop 2 are the same as before.

[0330] S402: Determine a second preset path planning strategy according to environmental conditions.

[0331] Different path planning strategies can be used for different environmental conditions. For example, if Stop 2 is within the map boundary and is open and unobstructed, you can directly plan a large-angle approach. If Stop 2 is within the map boundary and has a shelter 21, you can plan a small-angle, random approach to the station. You can also first plan a large-angle, random approach to the vicinity of the shelter 21, then enter the shelter 21 at a small angle. If Stop 2 is outside the boundary, you can first draw a random arc to the guidance area, then follow the guidance area to the vicinity of Stop 2, and finally enter Stop 2 to charge.

[0332] S404: Planning a station entry path according to a second preset path planning strategy, where the station entry path of the current station entry instruction is different from the station entry path of the previous station entry instruction.

[0333] For example, according to the determined path planning strategy, a specific entry path is planned and specific control parameters are determined so that the path for each entry is not unique.

[0334] S406: Based on the entry path, control the mobile device to enter the station.

[0335] For example, according to the determined control parameters, the self-moving device 1 is caused to enter the station along a non-unique entry path, thereby avoiding the formation of wheel marks on the lawn and beautifying the appearance of the lawn.

[0336] By obtaining the environmental conditions of the docking station 2 and determining a path planning strategy based on the environmental conditions to plan a non-unique entry path, the entry of the self-mobile device 1 can be controlled to avoid wheel marks on the lawn near the charging docking station 2 and beautify the lawn visual effect.

[0337] Optionally, the self-moving device 1 includes a positioning device 12 for receiving positioning data; the environmental condition includes a data quality parameter of the location data of the self-moving device 1 received by the positioning device 12 being higher than or lower than a preset value. Optionally, when the environmental condition includes the data quality parameter of the location data being higher than a preset value, the inbound path includes at least one random path.

[0338] Optionally, it is characterized in that the starting point of at least one random path is any point, and the end point of the random path is the above-mentioned guide position R.

[0339] For example, the stop 2 is located within the map boundary and is open and unobstructed. One or more random paths can be directly planned for the entry path of the self-mobile device 1, and the self-mobile device 1 can directly enter the stop to charge, so as to avoid forming grass wheel marks on the lawn.

[0340] Optionally, docking station 2 includes a second charging terminal 23, and mobile device 1 includes a first charging terminal 19 disposed on body 10. During charging of mobile device 1 by docking station 2, first charging terminal 19 docks with second charging terminal 23. The second preset path planning strategy includes the following: the entry path of mobile device 1 includes at least one random path, with the endpoint of the random path being near the X-axis of the mobile device 1 when docked at docking station 2.

[0341] For example, when stop 2 is within the map boundary and is open and unobstructed, you can directly plan to enter the stop at a large angle.

[0342] As shown in Figure 9, when docking station 2 is within its boundaries, open, and unobstructed by awning 21, the self-mobile device 1 can enter the station at a random path within a wide angle, oriented toward the side without the second charging terminal 23, thus eliminating the problem of wheel marks caused by grinding the grass. Optionally, the self-mobile device 1 can be used for side charging or rear charging.

[0343] Optionally, the environmental conditions include that the docking station 2 includes a shelter 21 , and the shelter 21 is determined in the same manner as above.

[0344] Optionally, the stop 2 includes a guidance module 20 arranged near the stop 2. When the environmental conditions include the data quality parameters of the above-mentioned location data being lower than a preset value, the self-mobile device 1 is controlled to determine its own position according to the guidance module 20, and the entry path also includes at least one section of the path located near the guidance module 20.

[0345] For example, considering the limitation of weak satellite positioning signals causing inability to properly locate the vehicle, when planning the route to the station, a guidance module 20 is often installed in front of the stop 2 to facilitate docking of the self-moving device 1 with the stop 2. Accordingly, the self-moving device 1 includes a device capable of detecting the guidance signal emitted by the guidance module 20. The relative position of the self-moving device 1 and the guidance module 20 can be controlled by the strength of the guidance signal, thereby controlling the self-moving device 1 to enter and exit the stop 2 along the guidance module 20.

[0346] Optionally, the X-axis of the body of the self-moving device 1 when it is docked at the docking station 2 is taken as the 0 reference line, the rotation direction away from the docking station 2 is taken as the positive direction, and the path near the guidance module 20 includes at least one path, and the angle between the end tangent of the path and the X-axis of the body of the self-moving device 1 when it is docked at the docking station 2 is limited to [-10°, 10°].

[0347] For example, considering the limitation of weak satellite positioning signals that prevent normal positioning, when planning the approach route, the tangent angle of the end of the fitting arc can be controlled to any angle within the range of (-10° to 10°) to avoid straying away from the guidance signal of the guidance module 20. When approaching the station within this angle, the self-moving device 1 will not stray away from the guidance module 20, avoiding encountering positional hazards.

[0348] Optionally, the path near the guiding module 20 includes at least one section of the path offset by a preset distance along the guiding module 20 .

[0349] For example, in order to prevent the self-moving device 1 from repeatedly crushing the lawn on the preset length path along the guide module 20 to form grass grinding wheel marks, this section of the path can be fine-tuned so that the preset length path along the guide module 20 is offset by a preset distance each time to maintain the growth of the grass on this section of the preset length path.

[0350] Optionally, the path near the guide module 20 includes at least one path of a preset length along the guide module 20. Optionally, the end path of the inbound path is a path of a preset length along the guide module 20.

[0351] For example, considering the limitation that normal positioning cannot be performed due to the weak satellite positioning signal, when planning the route to the station, in order to avoid being far away from the guidance signal of the guidance module 20, the self-mobile device 20 can be controlled to travel a preset distance along the guidance signal of the guidance module 20 in the last section of the end path to ensure that the self-mobile device 20 will not be far away from the guidance module 20.

[0352] Optionally, a hollow bottom plate is provided in the area where the preset length is located.

[0353] Exemplarily, the preset length path of the docking station 2 can be provided with a hollow bottom plate, and the short magnetic strip can be installed on or under the bottom plate, so that the grass for maintaining the turf can grow in the hollow part, and the setting of the bottom plate also prevents the lawn mower wheels from grinding the grass.

[0354] Optionally, the preset distance is greater than the wheel width of one side of the self-propelling device 1. For example, to prevent the self-propelling device 1 from repeatedly rolling over the lawn along the preset length of the guide module 20, thereby forming wheel tracks, fine-tuning can be performed on this section of the path, offsetting each section of the preset length along the guide module by a preset distance to maintain grass growth along this preset length. The lateral fine-tuning distance can be greater than the wheel width d on one side, so that the self-propelling device does not repeatedly roll over the same path each time it passes.

[0355] Optionally, the guidance module 20 includes a magnetic stripe, and the self-moving device 1 includes a magnetic signal detection sensor. The self-moving device 1 determines its relative position with the magnetic stripe based on the magnetic signal detected by the magnetic signal detection sensor. The relative position of the self-moving device 1 with the magnetic stripe can be controlled by the strength of the magnetic signal, thereby controlling the self-moving device 1 to return to the docking station 2 along the magnetic stripe.

[0356] [Corrected 26.01.2025 in accordance with Rule 91] Optionally, the environmental conditions include whether the location of Stop 2 is within or outside the boundary of the working map of the self-mobile device 1. The method for determining the location of Stop 2 is as described above. Optionally, the environmental conditions include: when Stop 2 is outside the boundary of the working map of the self-mobile device 1, the entry strategy includes controlling the self-mobile device 1 to determine its own position based on the guidance module 20, and to travel along a fourth random path to the vicinity of the guidance module 20, to exit the working map boundary along a fifth random path, and to complete the entry along a sixth random path; wherein: the fourth random path includes at least one randomly drawn arc; the fifth random path includes at least one path located near the guidance module 20; and the sixth random path is the path to the guidance position R for charging and docking with Stop 2. As shown in Figure 15, if Stop 2 is located in the shaded area outside or inside the boundary, the self-mobile device 1 can return to the stop by selecting multiple preset points and a preset point pre-aiming strategy, then adjusting the compensation distance along the magnetic stripe, and finally entering the stop along the magnetic stripe, thereby resolving the problem of grass grinding. In some embodiments, since the stop 2 is set outside the boundary, when the self-mobile device 1 enters the station, it first draws a random arc according to the fourth random path, moves to the vicinity of the guidance module 20, then moves out of the boundary along the guidance module 20 according to the fifth random path, offset by a random distance, and then returns to the guidance position R according to the sixth random path.

[0357] Optionally, multiple preset points are preset within the boundary of the work map, and the multiple preset points are multiple starting points of the second random path; the second preset path planning strategy includes controlling the mobile device 1 to reach the selected preset point through the fourth random path.

[0358] Continuing with FIG. 15 , for example, when the stop 2 is located in the shaded area outside or inside the boundary, a predetermined point among a plurality of predetermined points is selected. The self-mobile device 1 can first follow a random path, such as a random arc, to reach the predetermined entry point. It can then follow an arc to reach the predetermined point, preparing to follow the fitted path to arrive near the stop.

[0359] Optionally, the first random path includes taking a selected preset point as a point on the arc, calculating a target arc with a random radius and a random center; controlling the self-moving device 1 to first move to any point on the target arc, so that the self-moving device 1 can reach the target preset point along the target arc.

[0360] Please continue to refer to Figure 15. For example, with the selected preset point as any point on the arc, a circle is drawn with a random radius and a random center, and the self-mobile device 1 first reaches any point on the circle as a pre-aiming relay point. At this time, the self-mobile device 1 can first regress and select any point on the variable radius circle as the relay point. After the self-mobile device 1 reaches the regressed pre-aiming relay point, it pre-aims the station entry preset point. Then it reaches the preset point along the arc line to prepare to arrive near the front of the station along the fitting path. Optionally, the selected preset point is located on a path of a preset length along the guidance module 20. Please continue to refer to Figure 15. For example, the preset point is located on a path of a preset length along the guidance module 20, which can enable the self-mobile device 1 to detect the guidance signal emitted by the guidance module 20, thereby traveling a path of a preset length to arrive at the stop 2.

[0361] In a ninth aspect, the present disclosure further provides a self-moving device 1, comprising:

[0362] A moving assembly 11 supports and drives the self-moving device 1 to move, and the moving assembly 11 includes moving wheels;

[0363] A control device 15 for controlling the movement and operation of the self-moving device 1;

[0364] The environment detection device 20 is used to detect environmental conditions so as to enable the control device 15 to execute the above-mentioned method for the mobile device 1 to leave the station and / or execute the above-mentioned method for the mobile device 1 to enter the station.

[0365] It is understood that the above scenarios are merely examples and do not limit the application scenarios of the technical solutions provided by the embodiments of the present disclosure. The technical solutions of the present disclosure can also be applied to other scenarios. For example, those skilled in the art will appreciate that as system architectures evolve and new business scenarios emerge, the technical solutions provided by the embodiments of the present disclosure will also be applicable to similar technical problems.

[0366] The serial numbers of the above-mentioned embodiments of the present disclosure are for description only and do not represent the advantages or disadvantages of the embodiments.

[0367] The steps in the method of the embodiment of the present disclosure can be adjusted in order, combined, or deleted according to actual needs.

[0368] The units in the device of the embodiment of the present disclosure can be merged, divided, and deleted according to actual needs.

[0369] In the present disclosure, the same or similar terminology concepts, technical solutions and / or application scenario descriptions are generally only described in detail the first time they appear. When they appear again later, they are generally not repeated for the sake of brevity. When understanding the technical solutions and other contents of the present disclosure, for the same or similar terminology concepts, technical solutions and / or application scenario descriptions that are not described in detail later, you can refer to the previous relevant detailed descriptions.

[0370] In the present disclosure, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0371] The various technical features of the technical solution disclosed in the present invention can be combined arbitrarily. In order to make the description concise, not all possible combinations of the various technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of the present disclosure.

[0372] The above are only preferred embodiments of the present disclosure and are not intended to limit the patent scope of the present disclosure. Any equivalent structure or equivalent process transformation made using the contents of the present disclosure and the drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present disclosure.

Claims

1. A method for a self - moving device to exit a docking station, the self - moving device comprising a moving component, wherein, The method includes: In response to an outbound instruction, controlling the moving component to rotate at a first steering angle so that the self - moving device retreats along a first path away from the docking station; the first path under the current outbound instruction is different from the first path under the previous outbound instruction; In response to the self - moving device retreating to the end of the first path, controlling the self - moving device to turn and then continue to move.

2. A method for a self - moving device to exit a docking station, the self - moving device comprising a moving component, wherein, It includes: In response to an outbound instruction, controlling the moving component to retreat along a first sub - path in the first path, the first path further includes a second sub - path, and the end of the first path is the end of the second sub - path; In response to the self - moving device moving to the end of the first sub - path, controlling the moving component to rotate at a second steering angle so that the self - moving device retreats along the second sub - path away from the docking station; In response to the self - moving device moving to the end of the first path, controlling the self - moving device to turn and then continue to move.

3. A method for a self - moving device to exit a docking station according to claim 1, wherein, The first path is an arc path with a first radius of curvature formed by the self - moving device retreating while maintaining the first steering angle.

4. A method for a self - moving device to exit a docking station according to claim 2, wherein, The second sub - path is an arc path with a second radius of curvature formed by the self - moving device retreating while maintaining the second steering angle.

5. A method for a self - moving device to exit a docking station according to claim 2 or 4, wherein, Controlling the moving component to retreat along the first sub - path includes: Controlling the moving component to rotate at a third steering angle so that the self - moving device retreats along the first sub - path away from the docking station, where the third steering angle is less than the second steering angle.

6. A method for a self - moving device to exit a docking station according to claim 5, wherein, The first sub - path is an arc path with a third radius of curvature formed by the self - moving device retreating while maintaining the third steering angle.

7. A method for a self - moving device to exit a docking station according to claim 1 or 2, wherein, The length of the first path is less than or equal to the product of the retreat speed and the retreat time threshold.

8. A method for a self - moving device to exit a docking station according to claim 1 or 2, wherein, The moving component includes moving wheels arranged on both sides of the fuselage of the self - moving device, and the distance between the end of the first path under the current outbound instruction and the end of the first path under the previous outbound instruction is greater than or equal to the wheel width of the moving wheel on one side of the fuselage of the self - moving device.

9. A method for a self - moving device to exit a docking station according to claim 8, wherein, The docking station includes a shelter. When the self - moving device is docked at the docking station, the shelter covers the outside of the self - moving device; the shelter includes at least one side wall and at least one opening for the self - moving device to enter and exit the docking station; the limit value of the angle between the first path and the long axis direction of the fuselage of the self - moving device when the self - moving device is docked at the docking station is determined by the width of the short axis direction of the fuselage of the self - moving device and the side wall of the shelter that restricts the self - moving device from moving in the short axis direction of the fuselage.

10. A method for a self - moving device to exit a docking station according to claim 8, wherein, The docking station includes a first bottom plate arranged outside the shelter, the first bottom plate is arranged on the ground near the opening, and when the self - moving device exits the docking station along the opening, the moving component presses over the first bottom plate.

11. A method for a self - moving device to exit a docking station according to claim 8, wherein, Controlling the self - moving device to turn and then continue to move includes: Obtaining the starting point of the working path to be followed by the self - moving device; Determining the preset direction according to the end of the first path and the starting point of the to - be - worked path; Controlling the self - moving device to turn; In response to the self - moving device facing the preset direction, control the self - moving device to move towards the starting point of the path to be worked on.

12. A method for a self - moving device to exit a docking station according to claim 8, wherein, The controlling the self - moving device to turn and then continue moving includes: Controlling the self - moving device to rotate its body; In response to the self - moving device facing the outbound direction of the preset guiding path, control the self - moving device to move away from the docking station along the preset guiding path or a path at a preset distance from the preset guiding path; the path of the self - moving device moving away from the docking station under the current outbound instruction is different from the path of the self - moving device moving away from the docking station under the previous outbound instruction.

13. A method for a self - moving device to exit a docking station according to claim 12, wherein, The distance between at least part of the path of the self - moving device moving away from the docking station under the current outbound instruction and at least part of the path of the self - moving device moving away from the docking station under the previous outbound instruction is greater than or equal to the single - side wheel width.

14. A method for a self - moving device to exit a docking station according to claim 12, wherein, The self - moving device includes a positioning device for receiving the position data of the self - moving device; the self - moving device includes a storage device, and the storage device stores at least part of the position data of the preset guiding path. The controlling the self - moving device to turn and then continue moving further includes: According to at least part of the position data of the preset guiding path and the position data of the self - moving device received by the positioning device, control the distance of the self - moving device following the preset guiding path.

15. A method for a self - moving device to exit a docking station according to any one of claims 12 - 14, wherein, The docking station includes a guiding module, the self - moving device includes an induction device capable of sensing the guiding module, and the preset guiding path is the moving path of the self - moving device when the guiding module guides the self - moving device to exit the docking station.

16. A method for a self - moving device to exit a docking station according to claim 15, wherein, The guiding module includes a magnetic stripe arranged near the docking station, the induction device includes a magnetic - signal detection sensor, and the preset guiding path includes at least one section of the moving path where the self - moving device senses the magnetic stripe through the magnetic - signal detection sensor and moves along the magnetic stripe.

17. A method for a self - moving device to return to a docking station, wherein, Includes: In response to a return instruction, control the self - moving device to go to one of the return transfer points. The return transfer points include a first transfer point and a second transfer point, and the line connecting the first transfer point and the second transfer point forms an angle with the long - axis direction of the body of the self - moving device when the self - moving device is docked at the docking station; In response to the self - moving device reaching one of the return transfer points, control the self - moving device to return to the guiding position of the docking station along the transfer path, and the return transfer point is the starting point of the transfer path; In response to the self - moving device reaching the guiding position, control the self - moving device to enter the docking station along the docking path and dock with the docking station. The guiding position is respectively the end point of the transfer path and the starting point of the docking path; In response to the self - moving device successfully docking with the docking station, control the self - moving device to be in the docking position.

18. A method for a self - moving device to return to a docking station according to claim 17, wherein, Also includes: Control the self - moving device to go to the return transfer point based on the first navigation signal; Control the self - moving device to return to the guiding position of the docking station along the transfer path based on the first navigation signal; Based on the second navigation signal, control the self - moving device to enter the docking station along the docking path and dock with the docking station; The first navigation signal is different from the second navigation signal.

19. A method for a self - moving device to return to a docking station according to claim 17 or 18, wherein, There are at least two transfer paths between the first transfer point and the guiding position. The at least two transfer paths have a preset radius of curvature, and the at least two transfer paths do not overlap.

20. A method for a self - moving device to return to a docking station according to any one of claims 17 - 19, wherein, The angle between the line connecting the first transfer point and the guiding position and the orientation of the self - moving device at the docking position is less than 90°.

21. A method for a self - moving device to return to a docking station according to any one of claims 17 - 20, wherein, Before controlling the self - moving device to go to one of the return transfer points, it includes: Among the first transfer point and the second transfer point, select the point with the number of consecutive selections lower than the transfer threshold as the return transfer point.

22. A method for a self - moving device to return to a docking station according to any one of claims 17 - 21, wherein, The self - moving device further includes a moving component, and the moving component includes at least one moving rear wheel; the method further includes: The distance between the first transfer point and the second transfer point is greater than the wheel width of the moving rear wheel.

23. A method for a self - moving device to return to a docking station according to any one of claims 17 - 22, wherein, The controlling the self - moving device to enter the docking station along the docking path and dock with the docking station in response to the self - moving device reaching the guiding position includes: Before or after the self - moving device reaches the guiding position, control the self - moving device to adjust its pose along the docking path so that the self - moving device enters the docking station and docks with the docking station in a substantially straight - line moving manner; the docking station includes a second bottom plate arranged near the guiding position. When the self - moving device enters the docking station along the docking path, the self - moving device presses over the second bottom plate.

24. A method for a self - moving device to return to a docking station according to claim 23, wherein, The self - moving device further includes a moving component, and the moving component includes at least one moving rear wheel. The at least one moving rear wheel is the moving wheel located at the rear side of the body of the self - moving device when the self - moving device returns to the guiding position; When the self - moving device is at the guiding position, the moving rear wheel of the self - moving device is on the second bottom plate.

25. A method for a self - moving device to return to a docking station according to claim 24, wherein, The self - moving device further includes a positioning device for receiving the position data of the self - moving device; the distance from the contour edge of the second bottom plate away from the docking station direction to the guiding position on the ground is greater than or equal to the distance from the positioning device to the at least one moving rear wheel on the ground.

26. A method for a self - moving device to return to a docking station according to any one of claims 17 - 25, wherein, The docking station includes a guiding module, and the self - moving device includes an induction device capable of sensing the guiding module. The docking path is the moving path of the self - moving device when the guiding module guides the self - moving device into the docking station.

27. A method for a self - moving device to return to a docking station according to claim 26, wherein, The guiding module includes a magnetic stripe arranged on the ground, and the induction device includes a magnetic signal detection sensor. The docking path includes at least one section of the moving path where the self - moving device senses the magnetic stripe through the magnetic signal detection sensor and moves along the magnetic stripe.

28. A method for a self - moving device to return to a docking station according to claim 22, wherein, The length of the second bottom plate is less than or equal to the length of the docking station, and the direction of the length is the direction in which the self - moving device enters the docking station.

29. A method for a self - moving device to return to a docking station according to claim 22, wherein, The second bottom plate is movably connected to the docking station.

30. A self - moving device, wherein, It includes: A moving component configured to drive the self - moving device to move on the ground; The control device is configured to, in response to an outbound instruction, control the mobile component to retreat along a first sub-path in a first path, the first path further including a second sub-path, and the end point of the first path being the end point of the second sub-path; in response to the self-mobile device moving to the end point of the first sub-path, control the mobile component to rotate at a second steering angle so that the self-mobile device retreats along the second sub-path away from the docking station; in response to the self-mobile device moving to the end point of the first path, control the self-mobile device to turn and then continue to move; or be used for: in response to a return instruction, control the self-mobile device to go to one of the return transfer points, the return transfer points including a first transfer point and a second transfer point, and the line connecting the first transfer point and the second transfer point forms an angle with the longitudinal axis direction of the fuselage of the self-mobile device when the self-mobile device is docked at the docking station; in response to the self-mobile device reaching one of the return transfer points, control the self-mobile device to return to the guiding position of the docking station along a transfer path, the return transfer point being the starting point of the transfer path; in response to the self-mobile device reaching the guiding position, control the self-mobile device to enter the docking station along a docking path and dock with the docking station, the guiding position being respectively the end point of the transfer path and the starting point of the docking path; in response to the self-mobile device successfully docking with the docking station, control the self-mobile device to dock at the docking station.

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