1. US20190369629 - AUTOMATIC WORKING SYSTEM, SELF-MOVING APPARATUS AND CONTROL METHOD THEREOF

Embodiments of the present invention relates to a self-moving device, moving and working in a working region, and including: a housing; a movement module, mounted at the housing, and driven by a drive motor to enable the self-moving device to move; a control module, controlling movement and working of the self-moving device; and a detection unit, electrically connected to the control module, and detecting a movement and/or status parameter of the self-moving device, where when the detection unit detects that the movement and/or status parameter of the self-moving device satisfies a preset condition, the control module alternately decreases and increases an acceleration of the movement of the self-moving device, so as to keep a speed of the movement of the self-moving device in a preset range.