| 摘要 |
A self-moving device and a walking control method thereof are provided. The self-moving device comprises an outer frame (100), and a base body (200) rotatably connected on the outer frame (100). The base body (200) is provided with a control unit and a walking unit. A fixing pin (300) is connected to the base body (200). One end of the fixing pin (300) is movably fixed to the base body (200), and the other end is a pin head (320). A pin slot (110) is correspondingly provided in the outer frame (100). When the pin head (320) is engaged and fixed within the pin slot (110), the base body (200) is fixedly connected to and engaged with the outer frame (100). When the pin head (320) is separated from the pin slot (110), the base body (200) is able to rotate with respect to the outer frame (100). A detection mechanism is provided on the base body (200). When the detection mechanism detects that the pin head (320) is engaged and fixed within the pin slot (110), the control unit, according to a detection signal of the detection mechanism, controls the walking unit to execute a corresponding movement command. The present device and method thereof can accurately and effectively detect a connection state between the base body (200) and the outer frame (100), and can by means of detection and posture adjustment, ensure that the base body (200) and the outer frame (100) perform walking when in an engaged state. The structure is simple and sensitivity is high. |
