Automatic working system, self-moving device, and methods for controlling same

A method for controlling a self-moving device, wherein the self-moving device comprises a satellite navigation apparatus, configured to receive a satellite signal and output current location information of the self-moving device, and the method for controlling a self-moving device comprises steps of:

• controlling the moving module to actuate the self-moving device to move along a preset path;
• determining a location at which quality of location information output by the satellite navigation apparatus satisfies a preset condition is referred to as an expected location;
• storing the expected location;
• determining whether quality of location information output by the satellite navigation apparatus at a current location satisfies the preset condition, and if the quality does not satisfy the preset condition, control the moving module to actuate the self-moving device to continue to move along the preset path for a preset time or by a preset distance;
• and
• controlling the moving module to actuate the self-moving device to move toward the expected location after the self-moving device moves along the preset path for the preset time or by the preset distance, to enable quality of location information output by the satellite navigation apparatus at a location after the movement to satisfy the preset condition.

A self-moving device, comprising:

• a moving module, a task execution module, and a control module, wherein the control module is electrically connected to the moving module and the task execution module, and is configured to control the moving module to actuate the self-moving device to move, and to control the task execution module to execute a working task;
• the self-moving device further comprises a satellite navigation apparatus, electrically connected to the control module and configured to receive a satellite signal and output current location information of the self-moving device, wherein
• the self-moving device comprises a storage unit, electrically connected to the control module and the satellite navigation apparatus;
• a location at which quality of location information output by the satellite navigation apparatus satisfies a preset condition is referred to as an expected location;
• the storage unit stores information of the expected location;
• wherein
• the control module is further configured to:
• determine whether quality of location information output by the satellite navigation apparatus at a current location satisfies the preset condition, and if the quality does not satisfy the preset condition, control the moving module to actuate the self-moving device to move toward the expected location, to enable quality of location information output by the satellite navigation apparatus at a location after the movement to satisfy the preset condition;
• and
• wherein the storage unit stores information of several expected locations, the control module is further configured to choose one of the several expected locations, and control the moving module to actuate the self-moving device to move toward the chosen expected location.

A self-moving device, comprising:

• a moving module, a task execution module, and a control module, wherein the control module is electrically connected to the moving module and the task execution module, and is configured to control the moving module to actuate the self-moving device to move, and to control the task execution module to execute a working task;
• the self-moving device further comprises a satellite navigation apparatus, electrically connected to the control module and configured to receive a satellite signal and output current location information of the self-moving device, wherein
• the self-moving device comprises a storage unit, electrically connected to the control module and the satellite navigation apparatus;
• a location at which quality of location information output by the satellite navigation apparatus satisfies a preset condition is referred to as an expected location;
• the storage unit stores information of the expected location;
• wherein
• the control module is further configured to:
• determine whether quality of location information output by the satellite navigation apparatus at a current location satisfies the preset condition, and if the quality does not satisfy the preset condition, control the moving module to actuate the self-moving device to move toward the expected location, to enable quality of location information output by the satellite navigation apparatus at a location after the movement to satisfy the preset condition;
• and
• wherein the control module is further configured to control the moving module to actuate the self-moving device to move toward the expected location directly, if the quality does not satisfy the preset condition.