Self-moving device and control method therefor
First Claim
1. A self-moving device, moving and working in a working area defined by a limit, and comprising:
- a shell, a moving module, a task executing module and a control module,the control module controlling the moving module to drive the self-moving device to move and controlling the task executing module to execute a work task;
the self-moving device comprising at least one capacitance sensor, which is mounted to the shell and electrically connected to the control module and detects whether a surface below the self-moving device or in front of a moving direction is a surface to be processed, wherein the self-moving device is characterized in thatthe capacitance sensor comprises at least one probe, the probe comprises a probing surface located on the outer surface of the probe, and a conductivity of at least part of the probing surface is larger than or equal to 10−
9 s/m.
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Accused Products
Abstract
The present invention relates to a self-moving device, which moves and works in a working area defined by a limit and comprises a shell, a moving module, a task executing module and a control module; the control module controls the moving module to drive the self-moving device to move and controls the task executing module to execute a work task; the self-moving device comprising at least one capacitance sensor, which is mounted in the shell and electrically connected to the control module and detects whether a surface below the self-moving device or in front of a moving direction is a surface to be machined; the capacitance sensor comprises at least one probe, the probe comprises a probing surface located on the outer surface of the probe, and a conductivity of at least part of the probing surface is larger than or equal to 10−9 s/m; or a distance between the probe and the surface below the self-moving device meets a first preset condition; or an area of the probing surface meets a second preset condition.
29 Citations
15 Claims
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1. A self-moving device, moving and working in a working area defined by a limit, and comprising:
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a shell, a moving module, a task executing module and a control module, the control module controlling the moving module to drive the self-moving device to move and controlling the task executing module to execute a work task; the self-moving device comprising at least one capacitance sensor, which is mounted to the shell and electrically connected to the control module and detects whether a surface below the self-moving device or in front of a moving direction is a surface to be processed, wherein the self-moving device is characterized in that the capacitance sensor comprises at least one probe, the probe comprises a probing surface located on the outer surface of the probe, and a conductivity of at least part of the probing surface is larger than or equal to 10−
9 s/m. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A control method for a self-moving device, wherein the self-moving device comprises at least one capacitance sensor for detecting whether a surface below the self-moving device or in front of a moving direction is a surface to be processed, the capacitance sensor comprises at least one probe, the probe comprises a probing surface located on the outer surface of the probe, and the control method for a self-moving device is characterized by comprising the following steps:
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providing the probing surface, part of which has a conductivity being larger than or equal to 10−
9 s/m;judging whether the surface below the self-moving device or in front of a moving direction is a surface to be machined according to an electric signal output by the capacitance sensor; controlling the self-moving device to continuously move when the surface is judged to be a surface to be machined; and controlling the self-moving device to change a moving manner when the surface is judged not to be a surface to be machined.
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Specification