阅读说明：本技术 自移动设备 (Self-moving equipment ) 是由 泰斯托林费德里科 多尔夫达维德 于 2019-04-24 设计创作，主要内容包括：本发明涉及一种自移动设备,其在限定的工作区域内移动和执行预设工作,所述自移动设备包括为其提供能源的能源模块、电机、传感器电路以及控制电路,所述电机从能源模块获取能量,驱动自移动设备在工作区域内移动和/或工作；所述传感器电路检测自移动设备的工作参数及环境参数,并将检测结果传递给控制电路；所述控制电路根据传感器电路传递的信号控制所述电机的运转；所述电机为无传感无刷电机,在所述电机转动前,所述控制电路测量所述电机的电阻值,基于所述电机的电阻值估算所述电机的转子位置,从而控制所述电机的运转。(The invention relates to a self-moving device which moves and executes preset work in a limited work area, the self-moving device comprises an energy source module for providing energy for the self-moving device, a motor, a sensor circuit and a control circuit, wherein the motor acquires energy from the energy source module and drives the self-moving device to move and/or work in the work area; the sensor circuit detects working parameters and environmental parameters of the mobile equipment and transmits a detection result to the control circuit; the control circuit controls the operation of the motor according to the signal transmitted by the sensor circuit; the motor is a sensorless brushless motor, the control circuit measures a resistance value of the motor before the motor rotates, and estimates a rotor position of the motor based on the resistance value of the motor, thereby controlling the operation of the motor.)