Automatic Working System, Self-Moving Device And Control Method Thereof

Abstract

The present invention relates to a self-moving device moving and working in a work area defined by a border, includes: a housing; a moving module, mounted in the housing, and driven by a drive motor to drive the self-moving device to move; a control module, controlling the self-moving device to move and work; a satellite navigation device, receiving a satellite signal; at least one position sensor, detecting a feature related to a position of the self-moving device; and a fusion processing unit comprising at least two inputs, one is the satellite signal, and the other is an output of the position sensor; the fusion processing unit performs operation on the satellite signal and the output of the position sensor, and outputs position information of the self-moving device; and the control module controls the moving module to drive the self-moving device to move based on the position information.

What is claimed is: 
     
         1 . A self-moving device, moving and working in a work area defined by a border, comprising:
 a housing;   a moving module, mounted in the housing, and driven by a drive motor to drive the self-moving device to move;   a control module, configured to control the self-moving device to move and work;   a satellite navigation device, configured to receive a satellite signal;   a position sensor, configured to detect a feature related to a position of the self-moving device; wherein the self-moving device further comprises a fusion processing unit, the fusion processing unit comprises at least two inputs, one of which is the satellite signal, and the other of which is an output of the position sensor;   the fusion processing unit performs operation on the satellite signal and the output of the position sensor, and outputs position information of the self-moving device;   the position sensor comprises a surface recognition sensor, configured to detect a position relationship of the self-moving device relative to the border base on an absence or presence of a surface to be processed; and   wherein the control module controls the moving module to drive the self-moving device to move based on the position information of the self-moving device output by the fusion processing unit.   
     
     
         2 . The self-moving device according to  claim 1 , wherein the position sensor comprises a motion or state sensor, which detects a motion parameter or a state parameter of the self-moving device. 
     
     
         3 . The self-moving device according to  claim 2 , wherein the motion or state sensor comprises an inertial navigation sensor. 
     
     
         4 . The self-moving device according to  claim 3 , wherein the inertial navigation sensor comprises at least one of an accelerator, an odometer, a gyroscope and an attitude detection sensor. 
     
     
         5 . The self-moving device according to  claim 3 , wherein the control module judges an output error of the inertial navigation sensor, and when the error is larger than or equal to a preset value, the satellite signal is used to correct the output error of the inertial navigation sensor. 
     
     
         6 . The self-moving device according to  claim 3 , wherein the self-moving device comprises at least two position sensors, at least one of which is independent from the inertial navigation sensor; and the control module judges an output error of the inertial navigation sensor, and when the error is larger than or equal to a preset value, the output of the position sensor independent from the inertial navigation sensor is used to correct the output error of the inertial navigation sensor. 
     
     
         7 . The self-moving device according to  claim 3 , wherein the control module judges an output error of the inertial navigation sensor, and when the error is larger than or equal to a preset value, the moving module is controlled to drive the self-moving device to change a moving manner to correct the output error of the inertial navigation sensor. 
     
     
         8 . The self-moving device according to  claim 7 , wherein the control module controls the moving module to drive the self-moving device to change a moving manner comprises controlling the self-moving device to stop moving. 
     
     
         9 . The self-moving device according to  claim 2 , wherein the moving module comprises a wheel set, and the motion or state sensor comprises a wheel speed meter, which detects a rotary speed of the wheel set. 
     
     
         10 . The self-moving device according to  claim 1 , wherein the surface sensor comprises at least one of a capacitance sensor, a camera and an infrared sensor. 
     
     
         11 . The self-moving device according to  claim 1 , wherein the environmental detection sensor comprises an obstacle detection sensor, which detects whether an obstacle exists in the moving direction of the self-moving device. 
     
     
         12 . The self-moving device according to  claim 11 , wherein the obstacle detection sensor comprises at least one of an ultrasonic sensor and a laser sensor. 
     
     
         13 . The self-moving device according to  claim 1 , wherein when the fusion processing unit performs operation on the position information of the self-moving device, the weight of the satellite signal and the weight of output from the position sensor are adjusted according to whether the satellite signal received by the satellite navigation device is reliable or not. 
     
     
         14 . The self-moving device according to  claim 13 , wherein when the satellite signal received by the satellite navigation device is reliable, the weight of the output from the position sensor is zero. 
     
     
         15 . An automatic working system comprising the self-moving device according to  claim 1 .