Self-moving apparatus and method for controlling same

Abstract

Embodiments of the present invention relates to a self-moving apparatus and a method for controlling same, the self-moving apparatus including: a housing; a movement module for driving the housing to move; an ultrasonic module configured to transmit an ultrasonic signal and receive an echo signal formed through reflection of an obstacle; and a control module installed on the housing and connected to the ultrasonic module, to implement an ultrasonic detection function by processing the echo signal, thereby controlling a movement mode of the movement module. The control module can control disabling of the ultrasonic detection function according to a received preset signal.

1 - 16 . (canceled) 
     
     
         17 . A self-moving apparatus, comprising:
 a housing;   a driving wheel, supporting the housing, for driving the housing to move;   an obstacle detection sensor configured to detect an obstacle; and   a main control board coupled to the obstacle detection sensor and configured to control a movement mode of the driving wheel, thereby controlling the self-moving apparatus to avoid the obstacle,   wherein when a preset signal is received by the main control board, the main control board is configured to disable detecting the obstacle, or to disable avoiding the obstacle; and to control the self-moving apparatus to return to a charging station.   
     
     
         18 . The self-moving apparatus according to  claim 17 , wherein the preset signal comprises a manual control signal. 
     
     
         19 . The self-moving apparatus according to  claim 18 , wherein the manual control signal is generated by a user operation. 
     
     
         20 . The self-moving apparatus according to  claim 18 , wherein the self-moving apparatus further comprises:
 a communication module connected to the main control board, the communication module receiving the manual control signal sent by a terminal.   
     
     
         21 . The self-moving apparatus according to  claim 18 , wherein the self-moving apparatus further comprises:
 an operating module connected to the main control board, the manual control signal being generated by the operating module.   
     
     
         22 . The self-moving apparatus according to  claim 17 , wherein the preset signal comprises an abnormal signal. 
     
     
         23 . The self-moving apparatus according to  claim 22 , wherein the self-moving apparatus further comprises:
 an energy module, connected to the main control board, the main control board receiving an energy signal of the energy module,   wherein the energy signal is the abnormal signal when the energy from the energy module is less than preset energy.   
     
     
         24 . The self-moving apparatus according to  claim 17 , wherein disabling detecting the obstacle comprises stopping operation of the obstacle detection sensor. 
     
     
         25 . The self-moving apparatus according to  claim 17 , wherein the obstacle detection sensor comprises an ultrasonic probe, configured to implement an ultrasonic detection function by processing an echo signal transmitted to the main control board from the ultrasonic probe, thereby controlling the movement mode of the driving wheel to avoid the obstacle. 
     
     
         26 . The self-moving apparatus according to  claim 25 , wherein disabling detecting the obstacle comprises stopping the processing of the echo signal by the main control board. 
     
     
         27 . The self-moving apparatus according to  claim 25 , wherein a detection range of the ultrasonic probe in a height direction is a first height range, and
 wherein the self-moving apparatus further comprises an auxiliary detecting module configured to detect an obstacle within a second height range.   
     
     
         28 . The self-moving apparatus according to  claim 27 , wherein the main control board controls the driving wheel according to an output signal of the ultrasonic probe or the auxiliary detecting module. 
     
     
         29 . A control method for controlling a self-moving apparatus, the self-moving apparatus comprising a driving wheel, an obstacle detection sensor, and a main control board; the obstacle detection sensor being configured to detect an obstacle, and the main control board being coupled to the obstacle detection sensor to control a movement mode of the driving wheel, thereby controlling the self-moving apparatus to avoid the obstacle, wherein the control method comprises:
 receiving, by the main control board a preset signal; and   disabling, by the main control board, in response to receiving the preset signal, detecting the obstacle or disabling avoiding the obstacle; and   controlling, by the main control board, the self-moving apparatus to return to a charging station.