CN114096930B

CN114096930B - Self-moving device and automatic moving and working method thereof

Info

Publication number: CN114096930B
Application number: CN202080051160.2A
Authority: CN
Inventors: 李晓菲; 孙云红
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2019-09-19
Filing date: 2020-09-18
Publication date: 2023-11-07
Anticipated expiration: 2040-09-18
Also published as: CN114096930A; CN112540600A; WO2021052468A1

Abstract

A self-moving device and method, wherein the self-moving device (100) comprises a contact sensor (15), a positioning module (18), a detection module (17) and a control module (16), the control module (16) being configured to: if the touch sensor (15) is not triggered, controlling movement and operation within an area defined by an initial operating area boundary, the initial operating area boundary comprising an initial outer boundary and an initial inner boundary; if the touch sensor (15) is triggered, correcting the initial working area boundary to generate a corrected boundary, and controlling automatic movement and working in an area defined by the corrected boundary; the control detection module (17) detects whether an obstacle exists in the initial inner boundary, if the detection module (17) detects that the obstacle exists in the initial inner boundary, the control self-moving equipment (100) is controlled to move in a decelerating mode until the control self-moving equipment contacts the obstacle, the position of the obstacle is determined through the positioning module (18), and the initial inner boundary is corrected according to the position of the obstacle; if the detection module (17) detects that no obstacle exists in the initial inner boundary, the initial inner boundary is deleted.

Description

Self-moving device and automatic moving and working method thereof

The present application claims priority from chinese patent application No. 201910887190.6, having application date 2019, 09, and 19, the entire contents of which are incorporated herein by reference.

Technical Field

The application relates to the technical field of robots, in particular to self-moving equipment and an automatic moving and working method thereof.

Background

Currently, more and more self-mobile devices move or operate within a work area based on virtual work area boundaries. The method for generating the boundary of the working area from the mobile device specifically comprises the following steps: the mobile device runs round the working area, extracts the position data of each position point in the running process, takes the extracted position data of each position point as boundary position data, and generates the boundary of the working area according to the boundary position data.

However, in practical situations, the boundary position data collected from the mobile device may have errors, which cause the extracted boundary of the working area to be inaccurate, thereby affecting the normal operation of the mobile device.

Disclosure of Invention

The present application aims to solve at least one of the technical problems in the related art to some extent.

Therefore, a first objective of the present application is to provide a method for correcting a boundary of a working area of a self-mobile device, which is used for solving the problem that in the prior art, the boundary position data acquired from the self-mobile device may be erroneous, resulting in inaccurate boundary of the extracted working area.

A second object of the present invention is to propose a self-mobile device.

To achieve the above object, an embodiment of a first aspect of the present invention provides a boundary correction method for a working area of a self-mobile device, where the self-mobile device collects boundary position data of the working area and generates a boundary of the working area, and the boundary correction method includes:

detecting an obstacle in front of the self-mobile device and acquiring position information of the obstacle in the moving and/or working process of the self-mobile device;

and correcting the position information of the working area boundary according to the position information of the obstacle and the position relation between the position of the obstacle and the working area boundary, so that the self-moving equipment moves and works in the working area according to the corrected working area boundary.

In one possible implementation manner, the position of the obstacle and the position of the working area boundary are related by a preset distance between a point and/or a line segment corresponding to the obstacle in the working area boundary and the obstacle.

In one possible implementation manner, the correcting the boundary position information of the working area according to the position information of the obstacle and the position relationship between the position of the obstacle and the boundary of the working area includes:

Determining target position information of points and/or line segments corresponding to the obstacle in the boundary of the working area according to the position information of the obstacle and the preset distance;

acquiring current position information of points and/or line segments corresponding to the obstacle from the boundary of the working area;

judging whether the current position information of the point and/or the line segment corresponding to the obstacle is consistent with the target position information;

and if the current position information of the points and/or the line segments corresponding to the barriers in the boundary of the working area is inconsistent, adjusting the current position information to the target position information.

In one possible implementation manner, the acquiring the position information of the obstacle includes:

and acquiring the position information of the obstacle in front of the self-mobile device through a ranging sensor mounted on the self-mobile device.

In one possible implementation manner, the acquiring the position information of the obstacle includes: the position information of the obstacle is determined by the position information of the self-moving device and the position relationship between the self-moving device and the obstacle.

In one possible implementation, the ranging sensor includes an ultrasonic sensor, and the acquiring the position information of the obstacle in front of the self-mobile device includes:

Controlling the ultrasonic sensor to send an ultrasonic signal to the front of the self-moving equipment;

when an echo returned from an obstacle in front of a mobile device is detected, judging the distance between the obstacle in front and the mobile device according to the ultrasonic signal and the echo;

and determining the position information of the obstacle according to the position information of the self-mobile device and the distance.

In one possible implementation manner, the self-mobile device includes a positioning module and a collision sensor disposed at a front end, and the acquiring the position information of the obstacle in front of the self-mobile device includes:

and when the collision sensor detects that the front end of the self-moving device collides with the obstacle, determining the position information of the obstacle in front of the self-moving device according to the position information of the self-moving device and the distance between the positioning module and the front end.

In one possible implementation, the method further includes:

and setting the position relation between the position of the obstacle and the boundary of the working area according to the width of the self-moving equipment.

According to the boundary correction method for the working area of the self-mobile equipment, in the moving and/or working process of the self-mobile equipment, an obstacle in front of the self-mobile equipment is detected, and the position information of the obstacle is obtained; and correcting the position information of the working area boundary according to the position information of the obstacle and the position relation between the position of the obstacle and the working area boundary, so that the self-moving equipment moves and works in the working area according to the corrected working area boundary. Therefore, the automatic correction device can automatically correct the position information of the boundary of the working area stored in the automatic mobile device according to the position information of the detected obstacle in the moving and/or working process of the automatic mobile device, so that the boundary of the working area is more and more accurate, normal movement or working of the automatic mobile device along the boundary of the working area is ensured, and collision with the obstacle is avoided as much as possible.

To achieve the above object, an embodiment of a second aspect of the present invention provides a self-mobile device, which collects boundary position data of a working area from the self-mobile device, and generates a working area boundary. As shown in fig. 3, the self-mobile device includes a detection module and a correction module;

the detection module is used for detecting an obstacle in front of the self-mobile device and acquiring position information of the obstacle in the moving and/or working process of the self-mobile device;

and the correction module is used for correcting the boundary position information of the working area according to the position information of the obstacle and the position relation between the position of the obstacle and the boundary of the working area, so that the self-moving equipment moves and works in the working area according to the corrected boundary.

In one possible implementation manner, the correction module is specifically configured to:

In one possible implementation manner, the detection module is specifically configured to:

In one possible implementation, the ranging sensor includes an ultrasonic sensor, and the detection module is specifically configured to:

when detecting an echo returned from an obstacle in front of a mobile device, judging the distance between the obstacle in front and the mobile device according to the ultrasonic signal and the echo;

In one possible implementation manner, the self-mobile device comprises a positioning module and a collision sensor arranged at the front end, and the detection module is specifically configured to:

In one possible implementation, the apparatus further includes:

and the setting module is used for setting the position relation between the position of the obstacle and the boundary of the working area according to the width of the self-moving equipment.

The present invention provides a self-moving device moving and working within a working area, comprising:

a contact sensor for being triggered to detect the presence of an obstacle when the self-mobile device contacts the obstacle;

the positioning module is used for recording the current position information of the self-mobile device when the contact sensor is triggered by the angle so as to determine the position information of the obstacle;

the detection module is used for detecting whether the obstacle exists in the distance from the mobile equipment;

A control module configured to:

if the touch sensor is not triggered, controlling the self-mobile device to move and work in an area defined by an initial work area boundary, wherein the initial work area boundary comprises an initial outer boundary and an initial inner boundary;

if the contact sensor is triggered, correcting the boundary of the initial working area according to the position information of the obstacle and the information of the boundary of the initial working area so as to generate a corrected boundary, and controlling the self-moving equipment to automatically move and work in the area limited by the corrected boundary;

controlling the detection module to detect whether the obstacle exists in the initial inner boundary, if the detection module detects that the obstacle exists in the initial inner boundary, controlling the self-moving equipment to move slowly towards the obstacle until the self-moving equipment contacts the obstacle, determining the position of the obstacle through the positioning module, judging whether the initial inner boundary needs to be corrected according to the position of the obstacle, and if so, correcting the initial inner boundary to generate the corrected boundary; and if the detection module detects that the obstacle does not exist in the initial inner boundary, deleting the initial inner boundary to generate the correction boundary.

The present invention also provides a self-moving device moving and working within a working area, comprising:

the positioning module is used for recording the current position information of the self-mobile device when the contact angle touch sensor is triggered so as to determine the position information of the obstacle:

a control module configured to: if the contact sensor is not triggered, controlling the self-moving device to move and work in an area limited by an initial working area boundary; and if the contact sensor is triggered, correcting the boundary of the initial working area according to the position information of the obstacle and the information of the boundary of the initial working area so as to generate a corrected boundary, and controlling the self-moving device to automatically move and work in the area limited by the corrected boundary.

Further, the initial working area boundary includes an initial outer boundary, and the control module is configured to: and if the contact sensor is triggered, correcting the initial outer boundary and/or generating the inner boundary of the working area according to the position information of the obstacle and the information of the initial working area boundary.

Further, the initial working area boundary includes an initial outer boundary and an initial inner boundary located within the initial outer boundary, the control module configured to: and if the contact sensor is triggered, correcting the initial outer boundary and/or the initial inner boundary according to the position information of the obstacle and the information of the initial outer boundary and the initial inner boundary.

Further, the initial work area boundary includes an initial outer boundary and an initial inner boundary located within the initial outer boundary, the self-mobile device further includes a detection module for detecting whether an obstacle is present within the initial inner boundary, the control module is configured to: if the detection module detects that the obstacle exists in the initial inner boundary, judging whether the initial inner boundary needs to be corrected according to the position relation between the position of the obstacle and the initial inner boundary, and if so, correcting the initial inner boundary to generate the corrected boundary.

Further, the control module is configured to: and if the detection module detects that the obstacle does not exist in the initial inner boundary, deleting the initial inner boundary to generate the correction boundary.

Further, the control module is configured to: and if the detection module detects that the obstacle does not exist in the initial boundary, judging whether the obstacle is detected at the position before, and if the obstacle is detected before, deleting the initial inner boundary to generate the correction boundary.

Further, the control module is configured to: and when detecting whether an obstacle exists in the initial inner boundary, controlling the self-moving equipment to detect whether the obstacle exists in a certain range in the initial inner boundary outside the initial inner boundary, and if not, controlling the self-moving equipment to move towards the inside of the initial inner boundary so as to continuously detect whether the obstacle exists in the initial inner boundary.

Further, if the detection module detects that the obstacle exists in the initial inner boundary, determining whether the initial inner boundary needs to be corrected according to a positional relationship between a position of the obstacle and the initial inner boundary, and if so, correcting the initial inner boundary to generate the corrected boundary, including:

and if the detection module detects that the obstacle exists in the initial inner boundary, controlling the self-moving equipment to move towards the obstacle until the self-moving equipment contacts the obstacle, determining the position of the obstacle through the positioning module, judging whether the initial inner boundary needs to be corrected according to the position of the obstacle, and if so, correcting the initial inner boundary according to the position of the obstacle to generate the correction boundary.

Further, the control module is configured to: and controlling the self-moving device to move towards the obstacle in a decelerating way when the detection module detects that the obstacle exists in the initial inner boundary.

if the detection module detects that the obstacle exists in the initial inner boundary, the detection module obtains the position information of the obstacle so as to obtain the target position of the obstacle in the boundary of the working area;

and judging whether the position of the part corresponding to the obstacle in the initial inner boundary is consistent with the target position, and if so, adjusting the part to the target position to correct the initial inner boundary so as to generate the corrected boundary.

Further, the detection module is a non-contact sensor.

Further, when the initial working area boundary is corrected according to the position information of the obstacle to generate a corrected boundary, the corrected boundary is located outside the actual position of the obstacle, and the distance between the part corresponding to the obstacle in the corrected boundary and the obstacle is not smaller than a preset distance.

Further, the contact sensor is disposed at a front end of the self-mobile device, the positioning module is a certain distance from the front end of the self-mobile device, and the control module is configured to: and when the contact sensor detects that the front end of the self-mobile device is in contact with the obstacle, determining the position information of the obstacle in front of the self-mobile device according to the current position information of the positioning module and the distance between the positioning module and the front end, which are acquired by the positioning module.

Further, the contact sensor includes a collision sensor.

The invention also provides a method for automatically moving and working the self-moving equipment, which comprises the following steps:

controlling the self-mobile device to move and work in an area limited by an initial working area boundary;

judging whether the contact sensor contacts an obstacle; if not, continuing to move and work in the area limited by the boundary of the initial working area; if so, recording the current position information of the self-mobile equipment when the self-mobile equipment is contacted to calculate the position information of the obstacle, correcting the boundary of the initial working area according to the position information of the obstacle to generate a corrected boundary, and controlling the self-mobile equipment to move and work in the working area limited by the corrected boundary.

Further, the initial working area boundary comprises an initial outer boundary;

the controlling the self-mobile device to move and operate within an area defined by an initial operating area boundary includes:

controlling the self-moving device to move and operate within the initial outer boundary;

if the contact sensor contacts the obstacle, recording current position information when the self-mobile device contacts so as to generate position information of the obstacle, and correcting the initial outer boundary and/or generating the inner boundary of the working area according to the position information of the obstacle and the information of the initial working area boundary.

Further, the initial working area boundary comprises an initial outer boundary and an initial inner boundary;

controlling the self-mobile device to move and operate within an area defined by the initial outer boundary and the initial inner boundary;

if the contact sensor contacts the obstacle, recording current position information when the self-mobile device contacts to generate position information of the obstacle, and correcting the initial outer boundary and/or the initial inner boundary according to the position information of the obstacle and the information of the initial outer boundary and the initial inner boundary.

Further, the initial working area boundary comprises an initial outer boundary and an initial inner boundary positioned in the initial outer boundary;

the method further comprises the steps of:

detecting whether an obstacle exists within the initial inner boundary; and if the obstacle exists, correcting the initial inner boundary according to the position relation between the position of the obstacle and the initial inner boundary so as to generate the corrected boundary.

Further, the method further comprises:

and if the obstacle is detected to be absent in the initial inner boundary, deleting the initial inner boundary to generate a correction boundary.

Further, the detecting whether an obstacle exists in the initial inner boundary includes:

and controlling the self-mobile device to detect whether an obstacle exists in the internal range of the initial inner boundary outside the initial inner boundary, and if the obstacle does not exist, controlling the self-mobile device to move towards the internal of the initial inner boundary so as to continuously detect whether the obstacle exists in the initial inner boundary.

Further, if the obstacle is detected to exist in the initial inner boundary, the correcting the initial inner boundary according to the position relationship between the position of the obstacle and the initial inner boundary to generate the corrected boundary includes:

And if the obstacle exists in the initial inner boundary, controlling the self-moving equipment to move towards the obstacle until the self-moving equipment contacts the obstacle, recording the position information of the self-moving equipment to determine the position of the obstacle, and correcting the initial inner boundary according to the position of the obstacle to generate the corrected boundary.

Further, upon detecting the presence of the obstacle within the initial inner boundary, the self-moving device is controlled to move at a reduced speed toward the obstacle.

Further, the correction boundary is located outside the actual position of the obstacle, and the distance between the part of the correction boundary corresponding to the obstacle and the obstacle is not smaller than a preset distance.

Further, the contact sensor includes a collision sensor.

The self-moving equipment detects an obstacle in front of the self-moving equipment and acquires the position information of the obstacle in the moving and/or working process of the self-moving equipment; and correcting the position information of the working area boundary according to the position information of the obstacle and the position relation between the position of the obstacle and the working area boundary, so that the self-moving equipment moves and works in the working area according to the corrected working area boundary. Therefore, the automatic correction device can automatically correct the position information of the boundary of the working area stored in the automatic mobile device according to the position information of the detected obstacle in the moving and/or working process of the automatic mobile device, so that the boundary of the working area is more and more accurate, normal movement or working of the automatic mobile device along the boundary of the working area is ensured, and collision with the obstacle is avoided as much as possible.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The foregoing and/or additional aspects and advantages of the invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:

fig. 1 is a flow chart of a method for correcting a boundary of a working area of a self-mobile device according to an embodiment of the present invention;

FIG. 2 is an exemplary work area;

fig. 3 is a schematic structural diagram of a self-mobile device according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of another self-mobile device according to an embodiment of the present invention.

Fig. 5 is a schematic block diagram of a self-mobile device according to an embodiment of the present invention;

Detailed Description

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.

The following describes a boundary correction method for a working area of a self-mobile device and the self-mobile device according to an embodiment of the present invention with reference to the accompanying drawings.

Fig. 1 is a flowchart of a method for correcting a boundary of a working area of a self-mobile device according to an embodiment of the present invention. As shown in fig. 1, the method for correcting the boundary of the working area of the self-mobile device includes the following steps:

s101, detecting an obstacle in front of the self-mobile device and acquiring position information of the obstacle in the moving and/or working process of the self-mobile device.

The execution main body of the boundary correction method of the working area of the self-mobile equipment is the self-mobile equipment or software and the like installed in the self-mobile equipment. The self-moving device may be, for example, an intelligent mower, a cleaning robot, or the like. In this embodiment, a self-moving device is taken as an example of an intelligent mower.

Wherein, before step S101, boundary position data of the working area is collected from the mobile device, and a working area boundary is generated. Specifically, the boundary position data of the self-mobile device includes outer boundary data and inner boundary data, the self-mobile device runs around the working area, the position data of each position point is extracted in the running process, the extracted position data of each position point is used as the outer boundary position data, the boundary of the working area is generated according to the boundary position data, and when the self-mobile device walks in the working area, island areas which do not need to be processed exist in the working area, such as barriers, flower beds and the like, the inner boundary is generated by acquiring the position data of the inner boundary, so that the self-mobile device avoids processing the area surrounded by the inner boundary in the walking process. The shape of the boundary of the working area is not limited, and is, for example, a polygon.

Specifically, if the obstacle in front is detected during the movement and/or operation of the self-mobile device, the position information of the obstacle is acquired, so that the position information of the boundary of the working area stored in the self-mobile device is corrected according to the position information of the obstacle.

In different application scenarios, the manner of acquiring the position information of the obstacle is not limited, for example, as follows

First example: position information of an obstacle in front of the mobile device is acquired by a range sensor mounted on the mobile device.

Taking a ranging sensor as an ultrasonic sensor as an example, the specific way of acquiring the position information of the obstacle in front of the mobile device is as follows: controlling the ultrasonic sensor to send an ultrasonic signal to the front of the self-moving equipment; when an echo returned from an obstacle in front of a mobile device is detected, judging the distance between the obstacle in front and the mobile device according to the ultrasonic signal and the echo; and determining the position information of the obstacle according to the position information of the self-mobile device and the distance.

Taking a ranging sensor as an infrared range finder as an example, the specific mode of acquiring the position information of the obstacle in front of the mobile device is as follows: controlling an infrared range finder to send an infrared signal to the front of a self-moving device, and judging the distance between the front obstacle and the self-moving device according to the infrared signal and the reflected signal when detecting the reflected signal returned from the obstacle in front of the self-moving device; position information of the obstacle is determined according to position information of the self-mobile device and the distance.

It should be noted that the location information of the mobile device itself may be obtained through a positioning module, such as a global positioning system (Global Positioning System, GPS) or a beidou satellite navigation system (BeiDou Navigation Satellite System, BDS), but not limited thereto.

For example, the position information of the self-mobile device is (x 1, y 1), the distance Δx, and the position information of the obstacle is (x 2, y 2), where x1+Δx=x2, y1=y2.

A second example: in order to acquire the position information of the obstacle ahead of the mobile device more accurately, the timing of acquiring the position information of the obstacle ahead of the mobile device is set at the timing at which the obstacle is collided with by the mobile device.

Specifically, the self-moving device comprises a positioning module and a collision sensor arranged at the front end, and the specific implementation mode of acquiring the position information of the obstacle in front of the self-moving device is as follows: and when the collision sensor detects that the front end of the self-moving device collides with the obstacle, determining the position information of the obstacle in front of the self-moving device according to the position information of the self-moving device and the distance between the positioning module and the front end.

The self-moving equipment can calculate the distance L between the positioning module and the front end of the self-moving equipment according to the installation position of the positioning module.

Specifically, after the location information (x 1, y 1) of the self-mobile device and the distance L between the location module and the front end thereof are obtained by the location module, the location information of the obstacle in front of the self-mobile device can be determined to be (x 2, y 2), wherein x1+l=x2, y1=y2.

Third example: the obtaining of the position information of the obstacle includes: the position information of the obstacle is determined by the position information of the self-moving device and the position relationship between the self-moving device and the obstacle.

S102, correcting the position information of the working area boundary according to the position information of the obstacle and the position relation between the position of the obstacle and the working area boundary, so that the self-mobile device moves and works in the working area according to the corrected working area boundary.

The position relation between the position of the obstacle and the boundary of the working area is that a preset distance is reserved between a point and/or a line segment corresponding to the obstacle in the boundary of the working area and the obstacle. The preset distance is calibrated according to a large amount of test data, and the preset distance can ensure that the self-moving equipment moves or works normally along the boundary of the working area, so that collision with obstacles is avoided as much as possible.

As an example, before step S102, the positional relationship of the position of the obstacle and the boundary of the work area is set according to the width of the self-moving device.

For example, the width of the mobile device is D, and the position relationship between the position of the obstacle and the boundary of the working area is set to be that the distance between the point and/or line segment corresponding to the obstacle in the boundary of the working area and the obstacle is 0.5D.

Fig. 2 is an exemplary work area. Wherein, inside the working area boundary 1 is a working area, outside the working area boundary 1 is a non-working area (not shown in the figure), and the obstacle is in the non-working area. In fig. 2, the distance between the point and/or line segment corresponding to the obstacle and the obstacle of the working area boundary 1 is 0.5D.

Further, the specific implementation manner of step S102 includes the following steps:

s1021, determining the daily mark position information of points and/or line segments corresponding to the obstacle in the boundary of the working area according to the position information of the obstacle and the preset distance.

Continuing with fig. 2 as an example, if the position information of the obstacle is (x 2, y 2), the target position information of the point and/or line segment corresponding to the obstacle in the boundary of the working area is (x 3, y 3), where x3+0.5d=x2, y3=y2.

And S1022, acquiring current position information of points and/or line segments corresponding to the obstacle from the boundary of the working area.

S1023, judging whether the current position information of the point and/or the line segment corresponding to the obstacle is consistent with the self-labeling position information.

And S1024, if the points and/or line segments corresponding to the obstacle in the boundary of the working area are inconsistent, the current position information of the points and/or line segments corresponding to the obstacle is adjusted to the target position information.

For example, if the current position information of the point and/or line segment corresponding to the obstacle is acquired from the boundary of the work area, it is (x 4, y 4). If (x 4, y 4) is different from (x 3, y 3), adjusting the current position information of points and/or line segments corresponding to the obstacle in the boundary of the working area to (x 3, y 3); if (x 4, y 4) is the same as (x 3, y 3), the process ends.

According to the boundary correction method for the working area of the self-mobile equipment, which is provided by the embodiment of the invention, in the moving and/or working process of the self-mobile equipment, an obstacle in front of the self-mobile equipment is detected, and the position information of the obstacle is acquired; and correcting the position information of the working area boundary according to the position information of the obstacle and the position relation between the position of the obstacle and the working area boundary, so that the self-moving equipment moves and works in the working area according to the corrected working area boundary. Therefore, the automatic correction device can automatically correct the position information of the boundary of the working area stored in the automatic mobile device according to the position information of the detected obstacle in the moving and/or working process of the automatic mobile device, so that the boundary of the working area is more and more accurate, normal movement or working of the automatic mobile device along the boundary of the working area is ensured, and collision with the obstacle is avoided as much as possible.

Fig. 3 is a schematic structural diagram of a self-mobile device according to an embodiment of the present invention. Boundary position data of a working area is collected from mobile equipment, and a working area boundary is generated. As shown in fig. 3, the self-mobile device includes a detection module and a correction module;

The correction module may also be referred to as a control module, which may be separate or integrated into one of the control modules for controlling the automatic movement and operation of the self-moving device.

The collision sensor is merely exemplary, and in other embodiments, the collision sensor may be other contact sensors for being triggered when an obstacle is touched to detect the presence of the obstacle.

In one possible implementation, the apparatus further includes:

It should be noted that the foregoing explanation of the embodiment of the method for correcting the boundary of the working area of the self-mobile device is also applicable to the self-mobile device of this embodiment, and will not be repeated here.

In one embodiment, as shown in fig. 5, the self-moving device 100 moves and works in the working area, and includes a contact sensor 15, a positioning module 18, and a control module 16 for controlling the self-moving device to automatically move and work in the working area. Wherein the contact sensor is for being triggered when the self-moving device contacts an obstacle to detect the presence of the obstacle. A positioning module, configured to record current position information of the self-mobile device when the contact sensor 15 is triggered, so as to determine position information of the obstacle. The control module is configured to: if the touch sensor is not triggered, controlling the self-moving device to move and work in an area limited by the boundary of an initial working area; if the touch sensor is triggered, the initial working area boundary is corrected according to the position information of the obstacle and the information of the initial working area boundary, so as to generate a corrected boundary, and the self-moving device is controlled to automatically move and work in the area limited by the corrected boundary. In this embodiment, by adopting the contact sensor, the position of the obstacle can be accurately detected, and the boundary of the working area can be accurately updated in the moving process.

Typically, the self-moving device moves and operates within a work area that has at least an outer boundary to prevent intrusion out of the work area. An outer boundary may be provided for defining an outer edge of the lawn to control movement and operation of the self-moving device within the lawn without running outside the lawn. In order to avoid running out of a certain working area from the mobile device, an initial outer boundary may be preset in a certain manner, i.e. the initial working area boundary at least includes an initial outer boundary, and the control module is configured to: if the touch sensor is triggered, the initial outer boundary is modified and/or the inner boundary of the working area is generated according to the position information of the obstacle and the information of the initial working area boundary.

In some cases, the lawn may also include obstacles such as flower beds, ponds, steps, trees, etc., and at this time, the inner boundary may be defined by setting the inner boundary within the boundary of the working area, and the working area of the mobile device may be an area defined by the outer boundary and the inner boundary, that is, an area within the outer boundary and outside the inner boundary. To avoid intrusion from the mobile device into an obstacle in the lawn, the control module may be configured to, by setting an initial inner boundary within an initial outer boundary in the initial work area: if the touch sensor is triggered, the initial outer boundary and/or the initial inner boundary is modified based on the position information of the obstacle and the information of the initial outer boundary and the initial inner boundary.

When the initial operating area boundary includes an initial inner boundary, the control module controls movement and operation of the self-moving device within the area defined by the initial outer boundary and the initial inner boundary, i.e., movement and operation of the self-moving device within the initial inner boundary is not performed when the touch sensor is not triggered. Since the contact sensor can only be triggered when it is in contact with an obstacle, the obstacle can only be detected by contact, and when not in contact, the self-moving device always moves and works outside the initial inner boundary. At this time, if the obstacle is removed from the initial inner boundary, the self-moving device cannot move and work in the area where the obstacle has been removed because of the existence of the initial inner boundary, and thus the local cutting of the grass is incomplete. For example, a table may be originally present within the initial inner boundary and the self-moving device may not be able to enter under the table to work. When the table is removed, the area is cut but is always cut out because the mobile device considers that there is an obstacle within the initial inner boundary. Alternatively, if the obstacle is moved, for example, the obstacle moves in a direction toward the inside of the initial inner boundary, and the obstacle is not contacted by the self-moving device within the initial inner boundary, the initial inner boundary cannot be corrected according to the contact point, and the cutting may be incomplete.

To solve the above problem, the self-mobile device 100 further comprises a detection module 17 for detecting whether an obstacle is present within the initial inner boundary, the control module 16 being configured to: if the detection module 17 detects that an obstacle exists in the initial inner boundary, judging whether the initial inner boundary needs to be corrected according to the position relation between the position of the obstacle and the initial inner boundary, and if so, correcting the initial inner boundary to generate a corrected boundary. If the detection module 17 detects that the obstacle is not present within the initial inner boundary, the initial inner boundary may be deleted to generate the modified boundary. Of course, since the detection accuracy of the detection module 17 is limited, if the detection module detects that there is no obstacle in the initial inner boundary, there is a possibility that the initial inner boundary is still an obstacle, at this time, whether there is a real obstacle in the initial inner boundary may be determined according to the situation, for example, compared with the situation that there is an obstacle in the initial inner boundary in the previous period of time. Specifically, the control module may be configured to: if the detection module detects that the obstacle does not exist in the initial boundary, judging whether the obstacle is detected at the position before, and if so, deleting the initial inner boundary to generate a correction boundary.

When the detection module detects whether the obstacle exists in the initial inner boundary, the detection module can only detect whether the obstacle exists in a certain distance, and if the area of the initial inner boundary is large, the detection module cannot judge whether the obstacle exists in the whole initial inner boundary at one time. In order to ensure safety, the detection module can detect the obstacle in a certain range from the outside of the initial inner boundary to the inside of the initial inner boundary, if the obstacle is not in the certain range, the detection module considers that the range is safe, moves from the mobile equipment to the range, continuously detects whether the obstacle is further inside the initial inner boundary, and slowly progresses until the detection of whether the whole initial inner boundary is completely free of the obstacle. Specifically, the control module may be configured to: when detecting whether the obstacle exists in the initial inner boundary, controlling the self-moving device to detect whether the obstacle exists in a certain range in the initial inner boundary outside the initial inner boundary, and if the obstacle does not exist, controlling the self-moving device to move towards the inside of the initial inner boundary so as to continuously detect whether the obstacle exists in the initial inner boundary.

When the detection module detects that the obstacle exists in the initial inner boundary, the position of the obstacle can be directly determined according to the detection module, then whether the initial inner boundary needs to be corrected or not is judged according to the position relation between the position of the obstacle and the initial inner boundary, and if so, the initial inner boundary is corrected to generate the corrected boundary. More accurate obstacle positions may also be obtained in combination with the contact sensor, in particular the control module is configured to: and if the detection module detects that the obstacle exists in the initial inner boundary, controlling the self-moving equipment to move towards the obstacle until the self-moving equipment contacts the obstacle, determining the position of the obstacle through the positioning module, judging whether the initial inner boundary needs to be corrected according to the position of the obstacle, and if so, correcting the initial inner boundary according to the position of the obstacle to generate a corrected boundary. In order to ensure safety, the self-moving device can be controlled to move slowly towards the obstacle when the detection module detects that the obstacle exists in the initial inner boundary. Moreover, in order to further ensure safety, when the self-moving device moves to the position near the initial outer boundary or the initial inner boundary, the self-moving device can be controlled to move at a reduced speed so as to avoid danger caused by collision with obstacles.

If the detection module detects that an obstacle exists in the initial inner boundary, judging whether the initial inner boundary needs to be corrected according to the position relation between the position of the obstacle and the position relation of the initial inner boundary, and if so, correcting the initial inner boundary to generate a corrected boundary, wherein various methods are used for judging whether the initial inner boundary needs to be corrected or not. In an embodiment, if the detection module detects that the obstacle exists in the initial inner boundary, the target position of the obstacle corresponding to the boundary of the working area may be obtained through the obtained position information of the obstacle; and judging whether the position of the part corresponding to the obstacle in the initial inner boundary is consistent with the target position, and if so, adjusting the part to the target position to correct the initial inner boundary so as to generate a corrected boundary.

In the above embodiment, the detection module may be a non-contact sensor capable of detecting whether an obstacle exists within a certain range from the mobile device, so as to avoid the direct impact of the mobile device into the dangerous area.

When the boundary of the initial working area is corrected according to the position information of the obstacle to generate a corrected boundary, a certain safety margin can be reserved to avoid collision with the obstacle caused by the angle, azimuth adjustment or positioning accuracy error of the mobile device. Specifically, the correction boundary is located outside the actual position of the obstacle, and the distance between the part of the correction boundary corresponding to the obstacle and the obstacle is not smaller than the preset distance.

In an embodiment, the contact sensor may include a collision sensor or the like, which may be provided at a front end of the self-moving device so as to contact an obstacle at a first time. In order to ensure the accuracy of the positioning module, the positioning module may be disposed at a certain distance from the front end of the mobile device, and at this time, the positioning position of the positioning module deviates from the actual position of the obstacle, and specifically, the deviation between the positioning module and the actual position of the obstacle is related to parameters such as the distance between the contact point and the positioning module, and the course angle of the mobile device. Thus, the control module may be configured to: when the contact sensor detects that the front end of the self-mobile device is in contact with the obstacle, the position information of the obstacle in front of the self-mobile device is determined according to the current position information of the positioning module acquired by the positioning module and the distance between the positioning module and the front end.

controlling the self-moving device to move and work in an area limited by an initial working area boundary;

judging whether the contact sensor contacts an obstacle; if not, continuing to move and work in the area limited by the boundary of the initial working area; if so, recording the current position information of the self-mobile device when the self-mobile device contacts to calculate the position information of the obstacle, correcting the boundary of the initial working area according to the position information of the obstacle to generate a corrected boundary, and controlling the self-mobile device to move and work in the working area limited by the corrected boundary. The contact sensor may be a collision sensor or the like.

In an embodiment, the initial working area boundary comprises an initial outer boundary; controlling movement and operation of the self-moving device within an area defined by an initial operating area boundary, comprising:

if the contact sensor contacts the obstacle, recording current position information when the contact sensor contacts the mobile equipment so as to generate position information of the obstacle, and correcting the initial outer boundary and/or generating the inner boundary of the working area according to the position information of the obstacle and the information of the initial working area boundary.

In one embodiment, the initial working area boundary comprises an initial outer boundary and an initial inner boundary;

controlling movement and operation of the self-moving device within an area defined by an initial operating area boundary, comprising:

controlling the self-mobile device to move and operate within an area defined by an initial outer boundary and the initial inner boundary;

In one embodiment, the initial working area boundary includes an initial outer boundary and an initial inner boundary located within the initial outer boundary; the method further comprises the steps of:

If it is detected that the obstacle is not present within the initial inner boundary, the initial inner boundary may be deleted to generate a revised boundary. It is also possible to further judge whether the initial inner boundary is truly clear, for example, compared with the case where there is an obstacle at the initial inner boundary for a previous period of time. Specifically, the control module may be configured to: if the detection module detects that the obstacle does not exist in the initial boundary, judging whether the obstacle is detected at the position before, and if so, deleting the initial inner boundary to generate a correction boundary.

And controlling the self-moving device to move towards the inside of the initial inner boundary to continuously detect whether the obstacle exists in the initial inner boundary or not if the obstacle does not exist in the internal range of the initial inner boundary.

And when the obstacle exists in the initial inner boundary, the self-moving equipment can be controlled to move towards the obstacle in a decelerating way until the self-moving equipment contacts the obstacle, the position information of the self-moving equipment is recorded to determine the position of the obstacle, and the initial inner boundary is corrected according to the position of the obstacle to generate the corrected boundary.

When the correction boundary is generated, the correction boundary is positioned outside the actual position of the obstacle, and the distance between the part corresponding to the obstacle in the correction boundary and the obstacle is not smaller than the preset distance.

Fig. 4 is a schematic structural diagram of another self-mobile device according to an embodiment of the present invention. The self-mobile device includes:

memory 1001, processor 1002, and a computer program stored on memory 1001 and executable on processor 1002.

The processor 1002 implements the boundary correction method for the working area of the self-mobile device provided in the above-described embodiment when executing the program.

Further, the self-mobile device further includes:

a communication interface 1003 for communication between the memory 1001 and the processor 1002.

Memory 1001 for storing computer programs that may be run on processor 1002.

Memory 1001 may include high-speed RAM memory and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.

The processor 1002 is configured to implement the method for correcting the boundary of the working area of the self-mobile device according to the above embodiment when executing the program.

If the memory 1001, the processor 1002, and the communication interface 1003 are implemented independently, the communication interface 1003, the memory 1001, and the processor 1002 may be connected to each other through a bus and perform communication with each other. The bus may be an industry standard architecture (Industry Standard Architecture, abbreviated ISA) bus, an external device interconnect (Peripheral Component, abbreviated PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated EISA) bus, among others. The buses may be classified as address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 4, but not only one bus or one type of bus.

Alternatively, in a specific implementation, if the memory 1001, the processor 1002, and the communication interface 1003 are integrated on a chip, the memory 1001, the processor 1002, and the communication interface 1003 may complete communication with each other through internal interfaces.

The processor 1002 may be a central processing unit (Central Processing Unit, abbreviated as CPU) or an application specific integrated circuit (Application Specific Integrated Circuit, abbreviated as ASIC) or one or more integrated circuits configured to implement embodiments of the present invention.

The present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of boundary correction from a working area of a mobile device as described above.

The invention also provides a computer program product which, when executed by an instruction processor in the computer program product, implements a method for boundary correction of a working area of a self-mobile device as described above.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and additional implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order from that shown or discussed, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present invention.

Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.

It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.

Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored on a computer readable storage medium, where the program, when executed, includes one or a combination of the steps of the method embodiments.

In addition, each functional unit in the embodiments of the present invention may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.

The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.

Claims

1. A self-moving device for movement and operation within a work area, characterized by: comprising the following steps:

a contact sensor for being triggered when the self-mobile device contacts an obstacle to detect the presence of the obstacle

In the process of;

a positioning module for recording the current position information of the self-mobile device when the contact sensor is triggered,

to determine location information of the obstacle;

the detection module is used for detecting whether the obstacle exists in a certain distance from the mobile equipment;

a control module configured to:

if the touch sensor is not triggered, controlling the self-mobile device to be limited by an initial working area boundary

Moving and working in an area, wherein the initial working area boundary comprises an initial outer boundary and an initial inner boundary;

If the contact sensor is triggered, correcting the initial working area boundary according to the position information of the obstacle and the information of the initial working area boundary to generate a corrected boundary, and controlling the self-mobile device to correct the position of the obstacle

Automatically moving and working in a region limited by the boundary;

controlling the detection module to detect whether the obstacle exists in the initial inner boundary, if the detection module detects that the obstacle exists in the initial inner boundary, controlling the self-moving equipment to move slowly towards the obstacle until the self-moving equipment contacts the obstacle, determining the position of the obstacle through the positioning module, judging whether the initial inner boundary needs to be corrected according to the position of the obstacle, and if so, correcting the initial inner boundary to generate the corrected boundary; if the detection module detects that the obstacle is not present within the initial inner boundary,

the initial inner boundary is deleted to generate the revised boundary.

2. A self-moving device for movement and operation within a work area, characterized by: comprising the following steps:

In the process of;

to determine location information of the obstacle;

a control module configured to: if the contact sensor is not triggered, controlling the self-moving device to move and work in an area limited by an initial working area boundary; if the touch sensor is triggered, correcting the initial operating area boundary according to the position information of the obstacle and the information of the initial operating area boundary to generate a corrected boundary,

and controlling the self-moving device to automatically move and work in the area limited by the correction boundary;

the initial work area boundary including an initial outer boundary and an initial inner boundary located within the initial outer boundary, the self-moving device further including a detection module for detecting whether an obstacle is present within the initial inner boundary, the control module configured to: if the detection module detects that the obstacle exists in the initial inner boundary, the detection module is used for detecting the obstacle

Judging whether the initial inner boundary needs to be corrected according to the position relation between the initial inner boundary and the position relation of the initial inner boundary, and if so, repairing

The initial inner boundary is positive to generate the revised boundary.

3. The self-mobile device of claim 2, wherein the initial work area boundary comprises an initial outer boundary, the control module configured to: if the contact sensor is triggered, according to the position information of the obstacle

And information of the initial working area boundary, correcting the initial outer boundary and/or generating the inner boundary of the working area.

4. The self-mobile device of claim 2, wherein the initial work area boundary comprises an initial outer boundary and an initial inner boundary located within the initial outer boundary, the control module configured to: if the contact sensor is triggered, correcting according to the position information of the obstacle and the information of the initial outer boundary and the initial inner boundary

The initial outer boundary and/or the initial inner boundary.

5. The self-mobile device of claim 2, wherein the control module is configured to: deleting the initial inner boundary to generate the obstacle if the detection module detects that the obstacle does not exist in the initial inner boundary

And correcting the boundary.

6. The self-mobile device of claim 2, wherein the control module is configured to: if the detection module detects that the initial inner boundary does not exist the obstacle, judging whether the obstacle is detected at the position before,

if previously detected, deleting the initial inner boundary to generate the modified boundary.

7. The self-mobile device of claim 2, wherein the control module is configured to: when detecting whether an obstacle exists in the initial inner boundary, controlling the self-mobile device to detect whether the obstacle exists in a certain range in the initial inner boundary outside the initial inner boundary, and if not, controlling the self-mobile device to face the initial inner boundary

The inner boundary moves in order to continue detecting whether an obstacle exists within the inner boundary.

8. The self-mobile device of claim 2, wherein if the detection module detects the presence of the obstacle within the initial inner boundary, determining whether the initial inner boundary needs to be modified based on a positional relationship between a position of the obstacle and the initial inner boundary, and if so, modifying the initial inner boundary to generate the modified boundary,

Comprising the following steps:

if the detection module detects that the obstacle exists in the initial inner boundary, the self-moving equipment is controlled to move towards the obstacle until the self-moving equipment contacts the obstacle, the position of the obstacle is determined by the positioning module, whether the initial inner boundary needs to be corrected or not is judged according to the position of the obstacle, if yes,

the initial inner boundary is modified based on the obstacle position to generate the modified boundary.

9. The self-mobile device of claim 8, wherein the control module is configured to: controlling the self-mobile device to face the obstacle when the detection module detects that the obstacle exists in the initial inner boundary

And decelerating the movement.

10. The self-mobile device of claim 2, wherein if the detection module detects the presence of the obstacle within the initial inner boundary, based on a positional relationship of the position of the obstacle and the initial inner boundary,

judging whether the initial inner boundary needs to be corrected, if so, correcting the initial inner boundary to generate the correction edge

A interface, comprising:

if the detection module detects that the obstacle exists in the initial inner boundary, the detection module obtains the obstacle

Position information of the obstacle to obtain a target position of the obstacle in the boundary of the working area;

judging whether the position of the part corresponding to the obstacle in the initial inner boundary is consistent with the target position, if

If not, then adjusting it to the target position to correct the initial inner boundary to generate the corrected boundary.

11. The self-moving device of claim 2, wherein the detection module is a non-contact sensor.

12. The self-moving device as claimed in claim 2, wherein when the initial operating area boundary is corrected based on the position information of the obstacle to generate a corrected boundary, the corrected boundary is located outside the actual position of the obstacle, and a distance between a portion of the corrected boundary corresponding to the obstacle and the obstacle is not less than a preset distance

And (5) separating.

13. The self-moving device of claim 2, wherein the contact sensor is disposed at a front end of the self-moving device, the positioning module is a distance from the front end of the self-moving device, the control module is configured to: determining according to current position information of the positioning module and the distance between the positioning module and the front end, which are acquired by the positioning module, when the contact sensor detects that the front end of the self-mobile device is in contact with the obstacle

Position information of an obstacle in front of the self-mobile device.

14. The self-moving device of claim 2, wherein the contact sensor comprises a collision sensor.

15. A method for automatically moving and operating from a mobile device, comprising:

judging whether the contact sensor contacts an obstacle; if not, continuing to move and work in the area limited by the boundary of the initial working area; if yes, recording the current position information of the self-mobile device when the self-mobile device contacts to calculate the position information of the obstacle, and correcting the boundary of the initial working area according to the position information of the obstacle to generate a repair

A positive boundary and controlling the self-moving device to move and operate in a working area defined by the modified boundary;

the initial working area boundary comprises an initial outer boundary and an initial inner boundary positioned in the initial outer boundary;

the method further comprises the steps of:

detecting whether an obstacle exists within the initial inner boundary; if present, based on the position of the obstacle and the initial position

The initial inner boundary is corrected according to the position relation of the initial inner boundary so as to generate the corrected boundary.

16. The method of claim 15, wherein:

the initial working area boundary comprises an initial outer boundary;

if the contact sensor contacts the obstacle, recording the current position of the self-mobile device when the contact occurs

Information to generate position information of the obstacle, and based on the position information of the obstacle and the initial working area

Boundary information, modifying the initial outer boundary and/or generating an inner boundary of the working area.

17. The method of claim 15, wherein:

the initial working area boundary comprises an initial outer boundary and an initial inner boundary;

If the contact sensor contacts the obstacle, recording current position information of the self-mobile device when the contact occurs to generate position information of the obstacle, and according to the position information of the obstacle and the initial outer boundary

And information of an initial inner boundary, and correcting the initial outer boundary and/or the initial inner boundary.

18. The method of claim 15, wherein: the method further comprises the steps of:

deleting the initial inner boundary to generate a correction edge if the obstacle is detected to be absent in the initial inner boundary

And (5) a boundary.

19. The method of claim 15, wherein: said detecting whether there is a barrier within said initial inner boundary

An obstruction, comprising:

controlling the self-mobile device to detect whether an obstacle exists within a certain range in the initial inner boundary outside the initial inner boundary, and if not, controlling the self-mobile device to move towards the inside of the initial inner boundary so as to continuously detect the initial

Whether an obstacle is present within the inside boundary.

20. The method of claim 15, wherein: said if present, according to the position of said obstacle

Correcting the initial inner boundary to generate the corrected boundary according to the position relation between the corrected boundary and the initial inner boundary, comprising:

if the obstacle exists in the initial inner boundary, controlling the self-moving device to move towards the obstacle until the self-moving device contacts the obstacle, recording position information of the self-moving device to determine the position of the obstacle, and correcting the initial inner boundary according to the position of the obstacle to generate the correction

A boundary.

21. The method of claim 19, wherein: the barrier is present within the initial inner boundary detected

And controlling the self-moving device to move in a decelerating way towards the obstacle when the obstacle exists.

22. The method of claim 15, wherein the correction boundary is located outside the actual position of the obstacle, and a distance between a portion of the correction boundary corresponding to the obstacle and the obstacle is not less than a preset value

Distance.

23. The method of claim 15, wherein the contact sensor comprises a collision sensor.