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

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.