Mobile device navigation methods, mobile devices, and storage media

Abstract

This invention discloses a mobile device navigation method, a mobile device, and a storage medium. The navigation method includes determining a first navigation path based on a target location corresponding to a cleaning instruction, and then controlling the mobile device to move along the first navigation path; acquiring a first distance between the current location of the mobile device and the target location, and acquiring obstacle information within a preset range of the target location; determining a target distance based on the obstacle information, wherein the target distance is configured as an effective distance between the location where the mobile device completes navigation and the target location; and completing navigation and / or returning navigation completion information when the first distance is less than or equal to the target distance. This embodiment of the invention can complete navigation even in scenarios with obstacles within a preset range of the target location, improving the navigation success rate and thus enhancing the usability and cleaning effect of the mobile device.

Description

Technical Field

[0001] This invention relates to the field of cleaning technology, and more particularly to a mobile device navigation method, a mobile device, and a storage medium. Background Technology

[0002] Mobile devices can be robots with drive modules or smart cars. When a mobile device receives a cleaning instruction, it plans a path based on the specified location corresponding to the instruction, navigates along the planned path, and determines that navigation is complete after reaching the specified location, so as to perform the work at that location. For example, if the mobile device is set as a cleaning robot, the cleaning robot will perform automatic cleaning or self-cleaning at the specified location.

[0003] The applicant discovered that during navigation, if the designated location is outside the mobile device's field of view, the mobile device cannot detect obstacles around the designated location; or if there are obstacles around the designated location that the mobile device cannot see, the mobile device cannot reach the designated location while moving according to the planned path; or if there are obstacles around the designated location, the mobile device may be unable to move to the designated location due to the obstacles. In such scenarios, the mobile device cannot complete navigation successfully because it cannot reach the designated location, and in response, the mobile device often returns a navigation failure message, preventing the mobile device from performing subsequent operations at the designated location. Summary of the Invention

[0004] The main objective of this invention is to provide a mobile device navigation method, a mobile device, and a storage medium, which aims to enable the mobile device to successfully complete navigation even when there are obstacles around the target location, thereby improving the navigation success rate.

[0005] To achieve the above objectives, the present invention provides a mobile device navigation method, the mobile device navigation method comprising the following steps:

[0006] After determining the first navigation path based on the target location corresponding to the cleaning instruction, the mobile device is controlled to move along the first navigation path.

[0007] Obtain a first distance between the current location of the mobile device and the target location, and obtain obstacle information within a preset range of the target location;

[0008] The target distance is determined based on the obstacle information, and the target distance is configured as the effective distance between the location of the mobile device when it completes navigation and the target location.

[0009] When the first distance is less than or equal to the target distance, navigation is completed and / or navigation completion information is returned.

[0010] Optionally, the step of determining the target distance based on the obstacle information includes:

[0011] Determine whether there are obstacles within a preset range of the target location based on the obstacle information;

[0012] If present, the preset distance is increased, and the increased preset distance is used as the target distance; or, the target distance is determined based on the second distance between the obstacle and the target location and the size information of the mobile device.

[0013] Optionally, after determining whether there is an obstacle within a preset range of the target location based on the obstacle information, the method further includes:

[0014] If it does not exist, the target distance is based on a preset distance.

[0015] Optionally, the step of determining the target distance based on the second distance between the obstacle and the target location and the size information of the mobile device includes:

[0016] Detect a second distance between the obstacle and the target location;

[0017] Obtain the difference between the body size of the mobile device and the second distance, wherein the size information includes the body size of the mobile device;

[0018] The difference is used as the target distance.

[0019] Optionally, after the step of obtaining the difference between the body size of the mobile device and the second distance, wherein the size information includes the body size of the mobile device, the method further includes:

[0020] When the difference is greater than the preset distance, the step of using the difference as the target distance is executed;

[0021] When the difference is less than the preset distance, the preset distance is used as the target distance.

[0022] Optionally, when the first distance is less than or equal to the target distance, the steps of completing navigation and / or returning navigation completion information include:

[0023] When the first distance is less than or equal to the target distance, control the mobile device to continue moving;

[0024] The path length between the current location and the target location of the mobile device is obtained during the movement of the mobile device;

[0025] The state of the mobile device is controlled based on the changing trend of the path length, and the state includes stopping or moving.

[0026] When the mobile device is in a stopped state, complete navigation and / or return navigation completion information.

[0027] When the mobile device is in a moving state, return to the step of obtaining the path length between the current location and the target location of the mobile device during the process of moving the mobile device.

[0028] Optionally, the step of controlling the state of the mobile device based on the changing trend of the path length includes:

[0029] When the path length shows a gradually decreasing trend, the mobile device is controlled to continue moving;

[0030] When the path length shows a gradually increasing trend, the mobile device is controlled to stop moving.

[0031] Optionally, after completing the steps of navigation and / or returning navigation completion information when the first distance is less than or equal to the target distance, the method further includes:

[0032] When the first distance is less than or equal to the target distance, control the mobile device to continue moving;

[0033] The path length between the current location and the target location of the mobile device is obtained during the movement of the mobile device;

[0034] When the trend of change of the mobile device is gradually decreasing, return to the step of controlling the mobile device to continue moving;

[0035] When the trend of change in the mobile device is gradually increasing, control the mobile device to stop moving.

[0036] Optionally, the mobile device navigation method further includes:

[0037] If the first distance is greater than the target distance, and an obstacle is detected based on a collision, a second navigation path is redefined;

[0038] Control the mobile device to move along the second navigation path;

[0039] Perform the steps of completing navigation and / or returning navigation completion information when the first distance is less than or equal to the target distance.

[0040] Optionally, the present invention also provides a mobile device, the mobile device comprising: a memory, a processor, and a navigation program stored in the memory and executable on the processor, wherein the navigation program, when executed by the processor, implements the steps of the mobile device navigation method as described above.

[0041] Optionally, the present invention also provides a storage medium storing a navigation program, which, when executed by a processor, implements the steps of the mobile device navigation method as described above.

[0042] To achieve the above objectives, the present invention provides a mobile device navigation method, a mobile device, and a storage medium. During the movement of the mobile device along a planned first navigation path, a target distance is determined based on obstacle information within a preset range of the target location to satisfy the navigation completion condition. When the first distance is less than or equal to the target distance, navigation is completed and / or navigation completion information is returned. The target distance, as a condition for determining navigation completion, can be adjusted based on obstacle information within the preset range of the target location. This allows the mobile device to meet the navigation completion condition even when there are obstacles within the preset range of the target location, preventing navigation failure and improving the navigation success rate. This enhances the usability and cleanliness of the mobile device. Attached Figure Description

[0043] Figure 1 A schematic diagram of the hardware architecture involved in the mobile device navigation method provided in the embodiments of the present invention;

[0044] Figure 2 This is a flowchart illustrating the first embodiment of the mobile device navigation method provided by the present invention.

[0045] Figure 3 This is a schematic diagram of a scenario for the mobile device navigation method provided in an embodiment of the present invention;

[0046] Figure 4 This is another scenario illustration of the mobile device navigation method provided in the embodiments of the present invention;

[0047] Figure 5 This is a flowchart illustrating a second embodiment of the mobile device navigation method provided in this invention.

[0048] Figure 6 This is another scenario illustration of the mobile device navigation method provided in an embodiment of the present invention;

[0049] Figure 7 This is a flowchart illustrating the fifth embodiment of the mobile device navigation method provided in this invention.

[0050] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0051] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0052] To better understand the above technical solutions, exemplary embodiments of this disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of this disclosure to those skilled in the art.

[0053] Mobile devices typically refer to devices with propulsion capabilities, such as robots with drive modules or intelligent vehicles. For ease of description of the inventive aspects of this invention, the following embodiments use cleaning equipment as an example.

[0054] In this application, the cleaning equipment can be a robotic vacuum cleaner, a robotic mop, etc. Based on their intelligent functions of cleaning floors and carpets, these cleaning devices are becoming increasingly widely used in homes. The process of the cleaning device performing a cleaning task is as follows: first, it determines the area to be cleaned according to the cleaning instructions; then, it plans a path to the designated location within the cleaning area; next, it navigates according to the planned path; and after moving to the designated location, it determines that navigation to the designated location is complete, thereby automatically cleaning that designated location.

[0055] If the designated location is outside the cleaning equipment's field of vision during navigation, the cleaning equipment will be unable to detect obstacles around the designated location.

[0056] Alternatively, if there are obstacles around the designated location that are not visible to the cleaning equipment, the cleaning equipment will not be able to reach the designated location when it moves along the planned path, such as when the cleaning equipment's path is interrupted by obstacles.

[0057] Alternatively, if there are obstacles around the designated location, the cleaning device may be unable to move there due to the obstacles, such as the distance between the obstacle and the designated location being too small to accommodate the device's body. In such scenarios, the cleaning device typically determines that navigation cannot be completed because it cannot reach the designated location, and therefore often returns a navigation failure message. Since the cleaning device cannot execute the cleaning command, the user needs to reset the cleaning command, thus affecting the use of the cleaning device and its cleaning effect.

[0058] Based on this, embodiments of the present invention provide a navigation method that enables cleaning equipment to complete navigation under the above circumstances, improves the navigation success rate, and thereby enhances the use effect and cleaning effect of the cleaning equipment.

[0059] like Figure 1 As shown, Figure 1 This is a schematic diagram of the hardware structure of a mobile device involved in the navigation method. The mobile device may include: a processor 101, such as a CPU, a memory 102, a communication bus 103, and a sensing unit 104. The communication bus 103 is used to establish communication between these components. The processor 102 is used to invoke a navigation program to execute the navigation process.

[0060] The memory 102 can be a high-speed RAM or a stable memory (non-volatile memory), such as a disk storage device.

[0061] The sensing unit 1006 includes various types of sensors, such as radar, collision sensors, distance sensors, drop sensors, counters, and gyroscopes.

[0062] The radar can be a lidar system, mounted on top of the robot's main body. During operation, the lidar rotates and scans. Specifically, a laser signal is emitted by the lidar's transmitter, reflected by obstacles, and then received by the lidar's receiver. The lidar's circuitry analyzes the received laser signal to obtain environmental information, such as obstacle information and distances. Alternatively, a camera can be used instead of lidar. By analyzing the images captured by the camera, the distance and angle of obstacles relative to the camera can also be determined.

[0063] Based on the hardware architecture of mobile devices, the present invention proposes a mobile device navigation method, which is illustrated by the following embodiments.

[0064] First Embodiment

[0065] Please refer to Figure 2 , Figure 2 The mobile device navigation method proposed in this embodiment of the invention includes the following steps:

[0066] Step S100: After determining the first navigation path according to the target location corresponding to the cleaning instruction, move according to the first navigation path;

[0067] When a mobile device, such as a cleaning device, receives a cleaning instruction, it determines the target location based on the instruction. The target location is the position where the cleaning device begins cleaning.

[0068] Cleaning instructions include cleaning modes such as whole-house cleaning, spot cleaning, and designated location cleaning, with different target locations depending on the mode. For example, in whole-house or spot cleaning, a specific location within a room or a specific area is designated as the target location. For designated location cleaning, the user-specified location is the target location. This embodiment uses the designated location cleaning mode as an example for explanation.

[0069] Users can set this designated location through the control panel or mobile app, and generate cleaning instructions based on this location, which are then sent to the controller of the cleaning equipment. Optionally, the user-designated location can be any location.

[0070] After receiving the cleaning instruction set by the user, the cleaning equipment determines the designated location based on the cleaning instruction and uses the designated location as the target location. Based on the target location and the current positioning of the cleaning equipment, it plans a first navigation path and then moves according to the first navigation path, so that the cleaning equipment moves towards the target location.

[0071] Optionally, during the process of planning a first navigation path based on the target location and the current location of the cleaning equipment, if an obstacle is detected between the cleaning equipment and the target location, the first navigation path avoids the obstacle, such as... Figure 4 As shown, C represents the target location, and the planned first navigation path allows the cleaning equipment to avoid obstacles. If no obstacles are detected between the cleaning equipment and the target location, the first navigation path is the shortest path between the cleaning equipment and the target location, as shown. Figure 3 As shown, C is the target location, and the straight-line path between the planned cleaning equipment and the target location is the first navigation path.

[0072] Step S200: Obtain the first distance between the current location of the mobile device and the target location, and obtain obstacle information within a preset range of the target location;

[0073] As the mobile device, such as a cleaning device, moves along the first navigation path, it detects the first distance between its current position and the target position in real time or periodically. This first distance is used to determine whether the conditions for navigation completion are met. If a preset distance is set, the cleaning device meets the conditions for navigation completion when it is within the preset distance of the target position.

[0074] In this embodiment of the invention, due to the influence of obstacle information within a preset range of the target location, the distance between the cleaning device and the target location cannot be reduced to less than or equal to the preset distance. Therefore, this embodiment of the invention detects obstacle information within a preset range of the target location before or during navigation, so as to make further judgments based on the obstacle information.

[0075] It is understandable that obstacle information includes two types: obstacles that exist within the preset range of the target location and obstacles that do not exist within the preset range of the target location.

[0076] It is worth noting that obstacles include both visible and invisible obstacles. Visible obstacles include sofas, stools, chairs, etc. Invisible obstacles include transparent objects, luminous objects, strongly light-absorbing objects, or low-lying obstacles that exceed the field of view (FOV) of the mobile device, such as glass and floor lamps.

[0077] Optionally, in one scenario, when the mobile device plans the first navigation path, it detects obstacle information within a preset range of the target location. If obstacle information is detected, it will be marked in the system.

[0078] In another scenario, when planning the first navigation path, the cleaning device cannot determine whether there are obstacles around the target location, or whether there are obstacles that are not visible to the cleaning device, because the target location is outside the cleaning device's field of vision. Therefore, the cleaning device continuously monitors obstacle information as it moves along the first navigation path.

[0079] It is worth mentioning that invisible obstacles include transparent objects, luminous objects, strongly light-absorbing objects, or low-lying obstacles that exceed the field of view (FOV) of the cleaning equipment, such as glass and ground lights.

[0080] Alternatively, the cleaning equipment can detect obstacle information using radar sensors or collision sensors.

[0081] Step S300: Determine the target distance based on obstacle information. The target distance is configured as the effective distance between the location of the mobile device when it completes navigation and the target location.

[0082] For mobile devices, taking cleaning equipment as an example, the target distance is configured as the effective distance between the mobile device's current location and the target location when navigation is completed. In other words, the target distance is the distance between the cleaning equipment and the target location when the navigation completion condition is met. The target distance is configured to ensure the cleaning equipment covers the target location. When the distance between the cleaning equipment and the target location reaches the target distance, it is determined that the cleaning equipment has reached the target location, thus completing navigation. The target distance is also configured to ensure the cleaning equipment approaches the target location.

[0083] Based on obstacle information, if it is determined that there are no obstacles within a preset range of the target location, the preset distance is used as the target distance.

[0084] Optionally, the preset distance is determined based on the distance between the location where the cleaning device can move closest to the target location and the target location. The preset distance may include positioning error.

[0085] When obstacles are found within a preset range of the target location based on obstacle information, the cleaning equipment cannot move to a position at a preset distance from the target location due to the obstruction of the obstacles. If the preset distance is used as the target distance, the cleaning equipment will never meet the condition for determining navigation completion (the first distance is less than or equal to the preset distance), such as the target location being around a sofa or coffee table.

[0086] Therefore, in this embodiment of the application, the preset distance is increased in this case, and the increased preset distance is used as the target distance. Increasing the target distance increases the range that the cleaning equipment can reach, thereby ensuring that the location of the cleaning equipment meets the conditions for determining navigation completion. Alternatively, a target distance is calculated based on the second distance between the obstacle and the target location and the size information of the cleaning equipment, ensuring that the closest location that the cleaning equipment can reach to the target location meets the conditions for determining navigation completion.

[0087] In other words, in this embodiment of the invention, the cleaning device adjusts the distance at which navigation is completed based on obstacle information within a preset range of the target location.

[0088] Step S400: When the first distance is less than or equal to the target distance, complete navigation and / or return navigation completion information.

[0089] In this embodiment, a first distance less than or equal to the target distance is used as the condition for determining navigation completion. Once navigation is complete, it ends or returns navigation completion information.

[0090] The target distance is determined based on obstacle information within a preset range of the target location. Therefore, the location of the cleaning equipment when completing navigation will differ in different scenarios. Examples of different scenarios are provided below.

[0091] like Figure 3 As shown, C is the target location, A is the location of the cleaning equipment when the navigation conditions are met, and L is the preset distance. In a scenario where there are no obstacles within the preset range of the target location, the target distance is equal to the preset distance. During the movement of the cleaning equipment along the first navigation path, if the first distance between the current position of the cleaning equipment and the target location is less than or equal to the preset distance, the navigation conditions are met, navigation ends, and the cleaning equipment can then perform cleaning work based on point A.

[0092] like Figure 4As shown, C represents the target location, A represents the location of the cleaning device when the navigation completion conditions are met, and L represents the preset distance. In scenarios where there are obstacles within the preset range of the target location, the preset distance L is increased so that the cleaning device can reach a location that meets the navigation completion conditions. For example, when the cleaning device is at point A, although the initial distance to the target location is relatively large, the increased target distance in the navigation completion conditions allows the initial distance to be less than or equal to the target distance. Thus, in this scenario, the cleaning device can trigger the navigation completion command. In other words, when the cleaning device moves along the first navigation path to point A, navigation can end, and cleaning work can begin based on point A.

[0093] Optionally, in scenarios where there are obstacles within a preset range of the target location, the cleaning device cannot reach a position that is a preset distance from the target location. In one implementation, the target distance can be directly increased by a preset threshold based on the preset distance. After the preset distance is increased by the preset threshold, the first distance between the position where the cleaning device completes navigation and the target location can be larger, thereby increasing the probability of successful navigation.

[0094] In another implementation, the target distance can be calculated based on a second distance between the obstacle and the target location, and the size information of the cleaning equipment. Optionally, the second distance between the obstacle and the target location is detected; the difference between the size of the cleaning equipment and the second distance is obtained, and the difference is used as the target distance.

[0095] In other words, by determining the second distance between the obstacle and the target position, the influence of the obstacle on the movement position of the cleaning equipment is determined, and then the target distance that meets the conditions for completing navigation is adjusted.

[0096] Optionally, the device dimensions include the horizontal width of the device, which is the distance from the center of the cleaning device to the point of collision in the direction of travel. For example, for a circular cleaning device, the dimensions include the radius. For a directional cleaning device, the dimensions include half the side length. Optionally, specific dimensions can be used as examples: if the distance between the obstacle and the target location is 8mm, the cleaning device's dimensions are 15mm (for a circular cleaning device, the radius is 15mm; for a directional cleaning device, the length and width are 30mm). The distance between the cleaning device's closest point to the target location and the target location is 7mm. This 7mm is taken as the target distance, representing the closest distance the cleaning device can reach to the target location. Using this target distance as a condition for navigation completion, the cleaning device can meet the requirements based on the scenario, thus avoiding navigation failure.

[0097] Optionally, in this embodiment, the data listed above is only for the purpose of understanding the examples. This embodiment also considers the allowable error when the cleaning equipment moves to the target position, such as positioning error, distance measurement error, etc. Therefore, the target distance is actually the sum of the difference between the size of the cleaning equipment and the second distance and the allowable error.

[0098] Optionally, the size information includes the dimensions of the cleaning equipment, which can be determined by referring to the size identification information.

[0099] In one possible implementation, the difference between the cleaning device's dimensions and the second distance may be greater than or equal to a preset distance. In this scenario, the maximum distance is used as the condition for determining navigation completion. For example, if the difference is greater than the preset distance, the difference is used as the target distance; if the difference is less than the preset distance, the preset distance is used as the target distance. Using the maximum distance as the condition for determining navigation completion expands the range within which the cleaning device can determine navigation completion. This allows the cleaning device to trigger navigation completion at a greater distance from the target location, resulting in a higher navigation success rate.

[0100] In this embodiment of the application, during the movement of the mobile device along the planned first navigation path, the target distance that meets the conditions for completing navigation is determined based on the obstacle information within the preset range of the target location. When the first distance is less than or equal to the target distance, navigation is completed and / or navigation completion information is returned.

[0101] Among them, the target distance serves as a condition for determining whether navigation is complete. It can be adjusted based on obstacle information within a preset range of the target location. This allows the mobile device to adjust the target distance based on obstacle information even when there are obstacles within the preset range of the target location. This ensures that the current location of the mobile device meets the conditions for determining whether navigation is complete, preventing navigation failure and improving the success rate of navigation. This, in turn, enhances the usability of the mobile device and improves its cleaning effect.

[0102] Second Embodiment

[0103] like Figure 5 As shown, in this embodiment, the navigation method includes:

[0104] Step S401: When the first distance is less than or equal to the target distance, control the mobile device to continue moving;

[0105] In the case of a mobile device, taking a cleaning device as an example, the navigation method of this embodiment, when the first distance is less than or equal to the target distance, even if the condition for completing navigation has been met, controls the cleaning device to continue moving in order to find a position closer to the target location and then stop moving.

[0106] When the initial distance is less than or equal to the target distance, due to allowable error and the relatively large size of the cleaning equipment, the location corresponding to the initial distance between the cleaning equipment and the target position may not be the closest position to the target position. To further improve the accuracy of the cleaning equipment in reaching the target position, after determining that navigation can be completed (navigation can be determined to be completed when the initial distance is less than or equal to the target distance), the movement of the cleaning equipment is continued.

[0107] Optionally, in this embodiment, the cleaning device can continue moving along the original first navigation path, such as... Figure 3 and Figure 4 As shown, after the cleaning equipment reaches point A, it determines that navigation can be completed, and the cleaning equipment continues to move towards the target location C along the first navigation path.

[0108] Optionally, in this embodiment, the cleaning device can also replan the third navigation path. The third navigation path is replanned based on the cleaning device's current position, the target position, and obstacle information, allowing the cleaning device to reach the closest position to the target position more quickly as it moves along the third navigation path.

[0109] Step S402: During the movement of the mobile device, obtain the path length between the current location and the target location of the mobile device;

[0110] For mobile devices, taking cleaning equipment as an example, the path length between the current location and the target location of the cleaning equipment after it reaches point A is calculated based on the first navigation path or the replanned third navigation path. For example... Figure 3 and Figure 4 The path length between point A and point C.

[0111] In some embodiments, the path length between the current position and the target position of the cleaning device is equal to the straight-line distance between the current position and the target position.

[0112] Step S403: Control the state of the mobile device based on the trend of path length changes; the state includes stopping or moving.

[0113] In this embodiment, as the mobile device, such as the cleaning device, continues to move, if the cleaning device gets closer and closer to the target location, the path length between the cleaning device and the target location becomes shorter and shorter; if the cleaning device moves away from the target location, the path length between the cleaning device and the target location becomes longer and longer.

[0114] Once the initial distance between the current position and the target position of the cleaning equipment is less than or equal to the target distance, the purpose of controlling the cleaning equipment to continue moving is to bring the cleaning equipment closer to the target position. Therefore, based on the aforementioned path length variation pattern, this embodiment controls the cleaning equipment to continue moving when the path length gradually decreases, and controls the cleaning equipment to stop moving when the path length gradually increases.

[0115] In other words, as the path length decreases, the cleaning equipment continues to move until the path length increases. This indicates that the current position is the closest distance between the cleaning equipment and the target position. At this point, the cleaning equipment stops moving, completes navigation, returns navigation information, and then performs cleaning operations based on cleaning instructions.

[0116] Optionally, in this embodiment, the path length variation trend is determined based on the path length between the current position and the target position of the cleaning equipment and the historical path length. The historical path length is obtained by sequentially collecting the first and second positions of the cleaning equipment during its movement. If the second position is the current position, the path length between the second position and the target position is the path length between the current position and the target position. The first position is a historical position, and the path length between the first position and the target position is the historical path length. When the path length is less than the historical path length, the path variation trend is determined to be gradually decreasing. When the path length is greater than the historical path length, the path variation trend is determined to be gradually increasing.

[0117] Step S404: Determine whether the mobile device is in a stopped state;

[0118] If so, that is, when the mobile device is in a stopped state, execute step S405: complete navigation and / or return navigation completion information;

[0119] If not, that is, when the mobile device is in the moving state, return to step S402.

[0120] Once the mobile device, such as the cleaning equipment, stops, navigation is complete, and a navigation completion message is returned. If the cleaning equipment is still moving, it indicates that the distance between the current location and the target location may not be the closest. Therefore, the cleaning equipment continues to move, while the path length between the current location and the target location is continuously acquired. The path length is then compared with historical path lengths to determine the trend of path length changes, thereby determining the status of the cleaning equipment.

[0121] like Figure 3 and Figure 4As shown, after the cleaning equipment reaches point A, navigation is deemed complete. The cleaning equipment continues to move towards the target location C along the first navigation path. During this movement, the trend of the path length between the current location and the target location is analyzed. If the path length gradually decreases, it indicates that the equipment is gradually approaching the target location C. The trend continues until it gradually increases, at which point the cleaning equipment stops at its current location. If the path length between the cleaning equipment and the target location is shortest at point B, then point B is chosen as the stopping point. The cleaning equipment is closest to the target location when it is at point B.

[0122] Optionally, in one possible implementation, if the first distance is less than or equal to the target distance, and an obstacle is detected during the movement of the cleaning equipment, the cleaning equipment is stopped. Alternatively, the cleaning equipment can be turned and continue moving, thereby executing steps 402, 403, 404, and 405.

[0123] In other words, if the cleaning equipment collides with an obstacle while continuing to move along the first navigation path, and cannot continue to move towards the target position, the cleaning equipment is controlled to turn and move towards the target position through other paths, so that the cleaning equipment is as close to the target position as possible.

[0124] Alternatively, in one possible implementation, this embodiment is based on the first embodiment described above.

[0125] In this embodiment, when the first distance between the current position of the cleaning device and the target position is less than or equal to the target distance, the cleaning device continues to move. This can make the target positioning of the cleaning device more accurate, and can also make the cleaning device as close as possible to the target position when it cannot reach the target position, thereby improving the accuracy of the cleaning device in cleaning the target position.

[0126] Third Embodiment

[0127] This embodiment is based on the above embodiment. In this embodiment, after completing the navigation and / or returning navigation completion information when the first distance is less than or equal to the target distance, the embodiment further includes:

[0128] Control the mobile device to continue moving, and obtain the path length between the mobile device's current location and the target location during the movement;

[0129] When the trend of change of the mobile device is gradually decreasing, return to the step of controlling the mobile device to continue moving and obtaining the path length between the current position and the target position of the mobile device during the movement;

[0130] When the trend of change in the mobile device is gradually increasing, control the mobile device to stop moving.

[0131] In this embodiment, when the first distance between the current position and the target position of the cleaning device is less than or equal to the target distance, the cleaning device completes navigation and returns navigation completion information. After completing navigation, the cleaning device continues to move, and its state is controlled based on the changing trend of the cleaning device, so that the cleaning device gets as close to the target position as possible.

[0132] Optionally, the method for determining the changing trend of the cleaning equipment is the same as that in the second embodiment described above, and will not be repeated here.

[0133] Fourth embodiment

[0134] This embodiment is based on all the above embodiments. The cleaning equipment navigation method provided in this embodiment further includes: when the first distance is greater than the target distance and an obstacle is detected based on collision, re-determining the second navigation path; and controlling the cleaning equipment to move along the second navigation path.

[0135] As the cleaning equipment moves along the second navigation path, it continues to execute the steps of completing navigation and / or returning navigation completion information when the first distance is less than or equal to the target distance.

[0136] In one scenario, if there are obstacles around the target location that are not visible to the cleaning equipment, such as transparent objects, luminous objects, strongly light-absorbing objects, or low-lying obstacles that exceed the cleaning equipment's field of view (FOV), the cleaning equipment cannot detect the obstacle non-contactly through sensors. Alternatively, if there are dynamic obstacles (temporary obstacles) around the target location, the first navigation path planned by the cleaning equipment will not bypass the obstacles, and the cleaning equipment will collide with the obstacles while moving along the first navigation path.

[0137] If the cleaning device collides with an obstacle while moving along the first navigation path, and the obstacle is detected by the collision sensor, and the first distance between the current position and the target position when the cleaning device collides with the obstacle is greater than the target distance, then the second navigation path is replanned based on the detected obstacle information, the current position, and the target position, so that the cleaning device can approach the target position along the second navigation path.

[0138] As the cleaning equipment moves along the second navigation path, the navigation methods described in the first and / or second embodiments are continued to be used to control the cleaning equipment, so that the cleaning equipment can get as close as possible to the target location.

[0139] like Figure 6 As shown, L represents the target location. An obstacle exists between the cleaning equipment and the target location, but this obstacle cannot be detected before the first navigation path is planned. Therefore, the cleaning equipment will collide with the obstacle as it moves along the first navigation path.

[0140] When encountering an obstacle, the cleaning equipment replans a second navigation path, bypassing the obstacle and moving towards the target location. As the cleaning equipment moves along the second navigation path, it determines the position where navigation is complete based on the first distance and the target distance. Figure 6 As shown, point A is the position where the cleaning equipment meets the navigation completion conditions during its movement along the second navigation path. The cleaning equipment can end navigation at point A, and the specific navigation process is described in the first embodiment above. Alternatively, after moving to point A, the cleaning equipment continues to move closer to the target position until it reaches point B, at which point it stops moving.

[0141] This embodiment is based on the cleaning equipment continuing to move by replanning the navigation path when it encounters an obstacle during its movement. After replanning the path, the distance between the cleaning equipment and the target location when navigation is completed is determined according to the target distance, so that the cleaning equipment can complete navigation in this scenario and improve the navigation success rate.

[0142] Optionally, the cleaning equipment can plan a second navigation path along the edge of the obstacle so that the cleaning equipment can quickly reach the target location.

[0143] Optionally, after completing navigation and / or returning navigation completion information, control the cleaning equipment to perform the corresponding cleaning operation according to the cleaning instructions.

[0144] Fifth embodiment

[0145] Based on the above embodiments, one implementation of the mobile device navigation method is provided. After the mobile device's operating system issues a navigation command, the mobile device plans a first navigation path to the target location according to the navigation command, and then moves according to the first navigation path. During the movement of the mobile device, when the target location is reached, an adaptive arrival determination process is executed.

[0146] Optionally, the adaptive arrival process in this embodiment is as follows: Figure 7 As shown, taking a circular mobile device as an example, the maximum allowable error err for the mobile device's arrival is preset, the arrival distance f when there are no obstacles, the initial allowable shortest path length l-max from the mobile device to the target location, and the shortest path length l-cur from the current mobile device's location to the target location are preset. The shortest path length l-max = r + err is a preset value that can be adjusted.

[0147] During the adaptive arrival process, if there are no obstacles within the preset range of the target location, the mobile device is assessed based on the arrival distance f to determine whether it meets the conditions for completing navigation. For example, it checks whether the shortest path length l-cur is less than the arrival distance f. If so, the mobile device is deemed to have reached the target location and navigation can be completed. If not, the mobile device continues to move until the shortest path length l-cur is less than the arrival distance f.

[0148] If obstacles exist within the preset range of the target location, the distance *d* to the nearest obstacle is calculated. Based on *d*, the maximum reachability distance for the mobile device is calculated as *f-max* = *max(f, *r-d* + *err*). The maximum reachability distance *f-max* is used to determine whether the mobile device meets the conditions for completing navigation. For example, it is checked whether the shortest path length *l-cur* is less than the maximum reachability distance *f-max*. If so, navigation is considered complete. Here, *f-max* is the maximum value of *f* and *r-d* + *err*.

[0149] Optionally, in possible implementations, after navigation is completed, in order to ensure the accuracy of arrival determination is as high as possible, the mobile device will continue to move and begin monitoring the path length from the moving mobile device to the target location: when the path length from the mobile device to the target location keeps decreasing, the mobile device continues to move; when the path length from the mobile device to the target location no longer decreases, the mobile device ends its movement and completes the arrival determination action.

[0150] Alternatively, in another determination embodiment, if there are obstacles within a preset range of the target location, the system determines whether the mobile device meets the conditions for completing navigation based on the shortest path length l-max. For example, if the shortest path length l-cur is less than the shortest path length l-max, the shortest path length l-max is reduced, and the mobile device continues to move. Then, the shortest path length l-cur is recalculated until it is greater than or equal to the shortest path length l-max. At this point, the system determines that the mobile device can complete navigation and stops moving the mobile device.

[0151] It is understandable that l-max is a preset reach path length. During actual movement, if the shortest path length l-cur is less than the shortest path length l-max, it means the mobile device can continue to move closer to the target location, and the preset reach path length l-max is not the optimal reach path. Therefore, l-max is adjusted to reduce the shortest path length l-max, and the mobile device continues to move until the shortest path length l-cur is detected to be greater than or equal to the shortest path length l-max, so that the mobile device gets as close to the target location as possible.

[0152] Alternatively, l-max can be set to equal l-cur, or l-max can be set to less than l-cur, to reduce the number of times l-max needs to be adjusted, allowing the mobile device to complete navigation quickly.

[0153] If the shortest path length l-cur from the current mobile device location to the target location is greater than or equal to the shortest path length l-max, navigation is complete.

[0154] Alternatively, in another determination embodiment, if there are obstacles within a preset range of the target location, the distance d to the nearest obstacle is calculated, and the maximum reachability distance f-max = max(f, r-d + err) is calculated based on d. The maximum reachability distance f-max is then used to determine whether the mobile device meets the conditions for completing navigation. For example, it is determined whether the shortest path length l-cur is less than the maximum reachability distance f-max; if so, navigation is determined to be possible. Here, f-max is the maximum value of f and r-d + err.

[0155] When the shortest path length l-cur is less than the maximum reach distance f-max, the system determines whether the mobile device meets the conditions for completing navigation based on the shortest path length l-max. For example, if the shortest path length l-cur is less than the maximum reach distance f-max, it checks whether the shortest path length l-cur is less than the shortest path length l-max. If so, the shortest path length l-max is reduced, and the mobile device continues to move. Then, the shortest path length l-cur is recalculated until it is greater than or equal to l-max. At this point, the mobile device is deemed capable of completing navigation, and its movement is stopped. By comparing l-max and l-cur, the system aims to bring the mobile device as close to the other mobile device as possible.

[0156] Optionally, the present invention also provides a mobile device, the mobile device comprising: a memory, a processor, and a navigation program stored in the memory and executable on the processor, wherein the navigation program, when executed by the processor, implements various embodiments of the mobile device navigation method described above.

[0157] Optionally, the present invention also provides a storage medium storing a navigation program that, when executed by a processor, implements various embodiments of the mobile device navigation method described above.

[0158] Optionally, the present invention also provides a computer program product, which includes a navigation program that, when executed by a processor, implements various embodiments of the mobile device navigation method described above.

[0159] It should be noted that the above are merely optional embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A navigation method for a mobile device, characterized in that, The mobile device navigation method includes the following steps: After determining the first navigation path based on the target location corresponding to the cleaning instruction, the mobile device is controlled to move along the first navigation path. Obtain a first distance between the current location of the mobile device and the target location, and obtain obstacle information within a preset range of the target location; Determine whether there are obstacles within a preset range of the target location based on the obstacle information; If present, the preset distance is increased, and the increased preset distance is used as the target distance. Alternatively, the target distance is determined based on the second distance between the obstacle and the target location and the size information of the mobile device. The target distance is configured as the effective distance between the location where the mobile device is when it completes navigation and the target location. When the first distance is less than or equal to the target distance, the mobile device is controlled to continue moving; The path length between the current location and the target location of the mobile device is obtained during the movement of the mobile device; When the path length shows a gradually decreasing trend, the mobile device is controlled to continue moving; When the path length shows a gradually increasing trend, control the mobile device to stop moving; When the mobile device is in a stopped state, complete navigation and / or return navigation completion information; When the mobile device is in a moving state, return to the step of obtaining the path length between the current location and the target location of the mobile device during the process of moving the mobile device.

2. The mobile device navigation method as described in claim 1, characterized in that, After determining whether there is an obstacle within a preset range of the target location based on the obstacle information, the method further includes: If it does not exist, the target distance is based on a preset distance.

3. The mobile device navigation method as described in claim 1, characterized in that, The step of determining the target distance based on the second distance between the obstacle and the target location and the size information of the mobile device includes: Detect a second distance between the obstacle and the target location; Obtain the difference between the body size of the mobile device and the second distance, wherein the size information includes the body size of the mobile device; The difference is used as the target distance.

4. The mobile device navigation method as described in claim 3, characterized in that, After the step of obtaining the difference between the device's body size and the second distance, wherein the size information includes the device's body size, the method further includes: When the difference is greater than the preset distance, the step of using the difference as the target distance is executed; Alternatively, when the difference is less than the preset distance, the preset distance is used as the target distance.

5. The mobile device navigation method according to any one of claims 1-4, characterized in that, When the mobile device is in a stopped state, after the steps of completing navigation and / or returning navigation completion information, the method further includes: Control the mobile device to continue moving, and obtain the path length between the current position and the target position of the mobile device during the movement; When the trend of change of the mobile device is gradually decreasing, return to the step of controlling the mobile device to continue moving and obtaining the path length between the current position and the target position of the mobile device during the movement; When the trend of change in the mobile device is gradually increasing, control the mobile device to stop moving.

6. The mobile device navigation method as described in claim 1, characterized in that, The mobile device navigation method further includes: If the first distance is greater than the target distance, and an obstacle is detected based on a collision, a second navigation path is redefined; Control the mobile device to move along the second navigation path; Perform the steps of completing navigation and / or returning navigation completion information when the first distance is less than or equal to the target distance.

7. A mobile device, characterized in that, The mobile device includes: a memory, a processor, and a navigation program stored in the memory and executable on the processor, wherein the navigation program, when executed by the processor, implements the steps of the mobile device navigation method as described in any one of claims 1 to 6.

8. A storage medium, characterized in that, The storage medium stores a navigation program, which, when executed by a processor, implements the steps of the mobile device navigation method as described in any one of claims 1 to 6.

Images