CPC G05D 1/0255 (2013.01) | 18 Claims |
1. A self-moving device comprising:
a housing;
a moving module;
a working module;
at least two non-contact obstacle detection modules, respectively located on two sides of the housing in a moving direction, and configured to transmit and receive detection signals, and detect an obstacle in the moving direction of the self-moving device;
a control module, configured to:
control the moving module to drive the self-moving device to move and control the working module to perform a work task;
determine a location of the obstacle based at least in part on detection data;
control the self-moving device to move and/or turn to avoid the obstacle based at least in part on the determined location of the obstacle;
determine that the obstacle is located in a right first region of a right region if the detection data comprises a detection signal transmitted and received by a left obstacle detection module of the at least two non-contact obstacle detection modules and does not comprise any detection signal transmitted and received by a right obstacle detection module of the at least two obstacle detection modules;
determine that the obstacle is located in a left first region of a left region if the detection data comprises a detection signal transmitted and received by a right obstacle detection module of the at least non-contact two obstacle detection modules and does not comprise any detection signal transmitted and received by the left obstacle detection module; and
determine that the obstacle is located in the right region or a middle region in the moving direction of the self-moving device if the left obstacle detection module transmits a first detection signal, and the detection data comprises the first detection signal reflected by the obstacle and received by the left obstacle detection module.
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