Control method of mobile device and related device

Abstract

The embodiment of the application discloses a kind of control method of mobile device and related equipment, method includes: control the mobile device moves along preset path;When the mobile device moves to the position where satellite positioning signal does not satisfy preset condition, control the mobile device continues to move first mileage or first time length along the preset path;After continuing to move the first mileage or the first time length along the preset path, if it is detected that the satellite positioning signal does not satisfy the preset condition, control the mobile device stops moving, and at least one direction is collected by camera image, target object is identified by the environment image, and the target object belongs to preset object;Control the mobile device moves towards the target object, so that the mobile device detects that the satellite positioning signal satisfies the preset condition in the position after moving.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a control method of a mobile device and related equipment. BACKGROUND

[0002] In the prior art, during the operation of a mowing robot, due to the shelter of houses, trees and the like on the lawn, the real-time dynamic satellite signal is poor, which affects the satellite positioning accuracy. Therefore, how to solve the problem of inaccurate satellite positioning when being sheltered and affecting the walking of the mowing robot needs to be solved urgently. SUMMARY

[0003] The embodiments of the present application provide a control method of a mobile device and related equipment, which can solve the problem of inaccurate satellite positioning when being sheltered and affecting the walking of the mowing robot.

[0004] In a first aspect, the embodiments of the present application provide a control method of a mobile device, which comprises:

[0005] controlling the mobile device to move along a preset path;

[0006] when the mobile device moves to a position where a satellite positioning signal does not satisfy a preset condition, controlling the mobile device to continue moving along the preset path for a first distance or for a first time length;

[0007] after continuing to move along the preset path for the first distance or the first time length, if it is detected that the satellite positioning signal does not satisfy the preset condition, controlling the mobile device to stop moving and collecting an environmental image in at least one direction through a camera, identifying a target object through the environmental image, the target object belonging to a preset object;

[0008] controlling the mobile device to move towards the target object, so that the position of the mobile device after moving detects that the satellite positioning signal satisfies the preset condition.

[0009] In a second aspect, the embodiments of the present application provide a control device of a mobile device, which comprises a first control unit, an identification unit and a second control unit, wherein,

[0010] the first control unit is configured to control the mobile device to move along a preset path, and when the mobile device moves to a position where a satellite positioning signal does not satisfy a preset condition, control the mobile device to continue moving along the preset path for a first distance or for a first time length;

[0011] The identification unit is configured to, after the mobile device continues to move for the first distance or the first time length, control the mobile device to stop moving if it is detected that the satellite positioning signal does not satisfy the preset condition, and capture an environmental image in at least one direction through a camera, and identify a target object through the environmental image, the target object belonging to a preset object.

[0012] The second control unit is configured to control the mobile device to move towards the target object, so that the mobile device detects that the satellite positioning signal satisfies the preset condition at a position after moving.

[0013] In a third aspect, an embodiment of the present application provides a mobile device, including a processor, a memory, a communication interface and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the programs include instructions for performing the steps in the first aspect of the present application.

[0014] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, which stores a computer program for electronic data exchange, wherein the computer program causes a computer to perform some or all of the steps described in the first aspect of the present application.

[0015] In a fifth aspect, an embodiment of the present application provides a computer program product, which includes a non-transitory computer readable storage medium storing a computer program, and the computer program is operable to cause a computer to perform some or all of the steps described in the first aspect of the present application. The computer program product can be a software installation package.

[0016] By implementing the embodiments of the present application, the following beneficial effects are achieved:

[0017] The control method of the mobile device and the related device described in the application control the mobile device to move along a preset path, when the mobile device moves to a position where the satellite positioning signal does not meet the preset condition, control the mobile device to continue moving along the preset path for a first distance or a first time length, after the mobile device continues to move along the preset path for the first distance or the first time length, if it is detected that the satellite positioning signal does not meet the preset condition, control the mobile device to stop moving, and collect environmental images in at least one direction through the camera, identify target objects through the environmental images, the target objects belong to preset objects, control the mobile device to move towards the target objects, so that the mobile device detects that the satellite positioning signal meets the preset condition after moving, can continue to position when the satellite positioning signal quality is poor, and when the satellite positioning signal quality is still poor when the positioning continues, the preset object is positioned by using the visual recognition technology, the preset object is used as a reference, which helps the preset object to realize accurate positioning, thereby helping to solve the problem that the satellite positioning is inaccurate when being blocked, and affecting the walking of the mowing robot. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0019] Figure 1A is a flowchart of a control method of a mobile device provided by an embodiment of the present application;

[0020] Figure 1B is a demonstration schematic diagram of a preset range of a preset object provided by an embodiment of the present application;

[0021] Figure 1C is a scene demonstration schematic diagram of a control method of a mobile device provided by an embodiment of the present application;

[0022] Figure 2 is a flowchart of another control method of a mobile device provided by an embodiment of the present application;

[0023] Figure 3 is a structural schematic diagram of a mobile device provided by an embodiment of the present application;

[0024] Figure 4 is a functional unit composition block diagram of a control device of a mobile device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0025] In the description of the application, the term "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. The appearances of the phrase "in one embodiment" or "in an embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily referring to a common or all embodiments.

[0026] The terms "first", "second", and the like in the description and in the claims of the present application and in the above description of the drawings are used for distinguishing between similar elements and not necessarily described in a specified order. Furthermore, the terms "comprising", "having", "including" or "containing" and any variations thereof in the present specification are intended to cover a non-exclusive inclusion. For example, a process, method, system, product, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements but can include other not expressly listed steps or elements.

[0027] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. The appearance of the phrase "in one embodiment" or "in an embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily referring to a common or all embodiments. It is explicitly contemplated that embodiments described herein can be combined with each other, unless expressly stated otherwise.

[0028] In the embodiments of the present application, the mobile device can include at least one of a mowing robot, a walking robot, an intelligent car, and the like, without limitation, or the mobile device can be another robot having the related functions described in the embodiments of the present application.

[0029] In the embodiments of the present application, the mobile device can be installed with a satellite positioning device, a non-satellite positioning device, and a camera. The satellite positioning device can be used to achieve positioning by using a satellite positioning technology. The non-satellite positioning device can be used to achieve positioning by using a non-satellite positioning technology. Specifically, when a satellite positioning signal does not satisfy a preset condition, the non-satellite positioning device can be used to achieve positioning by using a non-satellite positioning technology. Conversely, when the satellite positioning signal satisfies the preset condition, the satellite positioning device can be used to achieve positioning by using a satellite positioning technology. The camera can be used to collect environmental images. The camera can include a monocular camera or a binocular camera, without limitation.

[0030] The non-satellite positioning technology can include at least one of visual positioning, inertial measurement unit (IMU) positioning, visual-inertial odometry (VIO) positioning, and the like, without limitation.

[0031] The embodiments of the present application are described in detail below.

[0032] Please refer to Figure 1A , Figure 1A is a flowchart of a control method of a mobile device provided by the embodiments of the present application, as shown in the figure, the control method of the mobile device includes:

[0033] 101, control the mobile device to move along a preset path.

[0034]

[0034] The preset path can be a pre-planned or system default planned path. In specific implementation, the mobile device can be controlled to move along the preset path to perform a mowing task.

[0035] In specific implementation, when the mobile device moves to a position where the satellite positioning signal meets the preset condition, the satellite positioning technology is used to control the mobile device to move along the preset path. When the mobile device moves to a position where the satellite positioning signal does not meet the preset condition, the non-satellite positioning technology is used to control the mobile device to move along the preset path.

[0036] 102, when the mobile device moves to a position where the satellite positioning signal does not meet the preset condition, control the mobile device to continue moving along the preset path for a first distance or a first time length.

[0037] In the embodiments of the present application, the preset condition can be pre-set or system default. The signal quality of the satellite positioning signal will affect the accuracy of satellite positioning, and the preset condition is used to evaluate the signal quality. For example, if the signal strength of the satellite positioning signal is greater than a preset signal strength threshold, it means that the signal quality of the satellite positioning signal meets the preset condition, otherwise, if the signal strength of the satellite positioning signal is less than or equal to the preset signal strength threshold, it means that the signal quality of the satellite positioning signal does not meet the preset condition. The preset signal strength threshold can be pre-set or system default.

[0038] The satellite positioning signal can include a real-time kinematic (RTK) signal.

[0039] In specific implementation, the mobile device can include a mowing robot, and the mowing robot can be controlled to walk along the planned path and perform a mowing operation.

[0040] The first distance can be pre-set or system default, and the first time length can be pre-set or system default. The first distance can be understood as a distance that the mobile device continues to move within the life-continuing distance. The first time length can be understood as a time length of continuing to move. Specifically, the distance moved within the first time length can be pre-set to not exceed the life-continuing distance.

[0041] Optionally, the step 102 of controlling the mobile device to continue to move along the preset path for the first distance or the first time length can include the following steps:

[0042] The mobile device is controlled to continue to move along the preset path for the first distance or the first time length by the non-satellite positioning technology.

[0043] In the embodiments of the present application, the mobile device can be controlled to continue to move along the preset path for the first distance or the first time length by the non-satellite positioning technology, that is, to move within the life-continuing distance, so as to complete the movement and perform the mowing operation, which helps to ensure that the mobile device moves accurately along the preset path.

[0044] 103. After the mobile device continues to move along the preset path for the first distance or the first time length, if it is detected that the satellite positioning signal does not meet the preset condition, the mobile device is controlled to stop moving, and an environment image in at least one direction is collected by a camera, and a target object is identified from the environment image, the target object belonging to a preset object.

[0045] In the embodiments of the present application, when the mobile device moves to a position where the satellite positioning signal does not meet the preset condition, it indicates that the satellite positioning signal is poor, and then the life-continuing can be performed by the visual inertial odometer positioning to allow the mobile device to move for a preset life-continuing distance, which can be pre-set or system default. It can be considered that the positioning of the mobile device within the preset life-continuing distance is accurate. The preset object can be understood as an empty area object. The empty area can be understood as an area where the satellite positioning signal meets the preset condition.

[0046] For example, in the specific implementation, when the mobile device moves to a position where the RTK signal is poor, the life-continuing can be performed by the VIO positioning, for example, the mobile device can move for a life-continuing distance of 100 meters after the RTK signal becomes poor, and within the life-continuing distance, the mobile device can also obtain accurate positioning by the VIO. Specifically, after the RTK signal becomes poor, the mobile device is controlled to continue to move for a preset life-continuing distance, that is, 100 meters, and then, after continuing to move for the preset life-continuing distance, if the RTK signal is still poor, the mobile device is controlled to stop moving.

[0047] In a specific implementation, after the mobile device continues to move for a first distance or a first time duration along the preset path, if it is detected that the satellite positioning signal does not satisfy the preset condition, the mobile device is controlled to stop moving, and an environment image in at least one direction is collected by the camera, and a target object is identified from the environment image, and the target object belongs to a preset object.

[0048] Optionally, the satellite positioning signal in the preset range of the preset object satisfies the preset condition.

[0049] In an embodiment of the present application, the preset range can be pre-set or system default, and the satellite positioning signal in the preset range of the preset object satisfies the preset condition, which indicates that precise satellite positioning can be achieved within a certain range of the preset object. The preset object can include at least one of the following: a table, a chair, a house, a rock, a tree, and the like, without limitation. The preset range can be a point on the preset object in a circular shape, and a region within a certain radius range is regarded as the preset range, for example, Figure 1B , Figure 1B The black region in the middle can be regarded as the preset object, and the circular region (dotted line) around the black region can represent the preset range.

[0050] In a specific implementation, the satellite positioning signal in the preset range of the preset object satisfies the preset condition, and the preset object can be used as a reference to assist the mobile device to complete positioning.

[0051] Optionally, the method can further include the following steps:

[0052] During movement of the mobile device along the preset path, an object is detected by a sensor, and it is detected whether a satellite positioning signal in a preset range of the object satisfies the preset condition, and the object whose satellite positioning signal in the preset range satisfies the preset condition is stored as the preset object.

[0053] In an embodiment of the present application, the sensor can include at least one of the following: a camera, a proximity sensor, an infrared sensor, a distance sensor, an ultrasonic sensor, a radar, and the like, without limitation.

[0054] In a specific implementation, during movement of the mobile device along the preset path, an object is detected by a sensor, and it is detected whether a satellite positioning signal in a preset range of the object satisfies the preset condition, and the object whose satellite positioning signal in the preset range satisfies the preset condition is stored as the preset object, that is, the preset object can be used as a reference to assist the mobile device to complete positioning.

[0055] Optionally, the step 103 of collecting an environment image in at least one direction by the camera can be implemented in the following manner:

[0056] controlling the mobile device to rotate in place and turning on a camera of the mobile device to collect the environment image in at least one direction.

[0057] In the embodiments of the present application, the mobile device can be controlled to rotate in place and the camera of the mobile device can be turned on to collect the environment image in at least one direction. Different directions represent different orientations. In this way, the environment image can be collected in each orientation to quickly identify a preset object that can be used to assist positioning, and the preset object can be used as a reference to assist positioning.

[0058] For example, after the mobile device stops moving, the mobile device can be controlled to rotate in place and the rear camera can be turned on to follow the mobile device to rotate in place to collect the environment image in different directions. Specifically, at the end of the remaining mileage, the mobile device can be controlled to stop moving, the mobile device can be controlled to rotate in place, and the camera can be turned on to follow the robot to rotate in place to collect the environment image in different directions. The target object can be identified through the environment image, and the target object belongs to the preset object.

[0059] Optionally, the step 103 of identifying the target object through the environment image can be implemented in the following manner:

[0060] attribute information of the object in the environment image is identified to obtain a plurality of attribute information sets, each attribute information set corresponds to an object, and each attribute information set includes at least one attribute information. The attribute information includes at least one of the following: object category, object shape, object size, and object color.

[0061] The plurality of attribute information sets are matched with the attribute information set of the preset object to obtain at least one attribute information set that matches the attribute information set of the preset object successfully.

[0062] An object corresponding to one of the at least one attribute information set is selected as the target object.

[0063] In a specific implementation, each object corresponds to an attribute information set, and each attribute information set includes at least one attribute information. The attribute information can include at least one of the following: object category, object shape, object size, object color, and the like, which are not limited herein. The object category can include at least one of the following: stone, tree, table and chair, house, and the like, which are not limited herein.

[0064] The preset object can also include a corresponding attribute information set.

[0065] In specific implementation, the attribute information of the object in the environment image can be recognized by using visual recognition technology to obtain a plurality of attribute information sets, and then the plurality of attribute information sets are matched with the attribute information set of the preset object to obtain at least one attribute information set matched with the attribute information set of the preset object. One attribute information set in the at least one attribute information set can be selected as the target object. In this way, the visual recognition technology can be used to realize the positioning of the empty object. Since the object near the satellite signal of the empty area is better, the empty object is used as a reference object, which helps to realize accurate positioning by using the empty object, thereby helping to solve the problem that the satellite positioning is inaccurate when being blocked and affecting the movement of the mobile device.

[0066] For example, in the embodiment of the present application, objects in environment images of different directions can be recognized to find the empty area object. For example, the map can record the category (such as table and chair) and shape and size information of the empty area object. The category and / or shape and size of the target object in the environment image are recognized, and then matched with the category and / or shape and size of the empty area object in the map. If the matching is successful, it is confirmed that the target object belongs to the empty area object.

[0067] Optionally, at least one object belonging to the preset object is recognized through the environment image, and the target object is the one closest to the mobile device among the at least one object belonging to the preset object.

[0068] In specific implementation, at least one object belonging to the preset object can be recognized through the environment image, and the target object is the one closest to the mobile device among the at least one object belonging to the preset object. In this way, the object in the preset object can be selected nearby, and then the object is used to realize positioning. The object is used as a reference object, which helps to realize accurate positioning of the preset object.

[0069] 104. Control the mobile device to move towards the target object, so that the satellite positioning signal detected at the position of the mobile device after moving satisfies the preset condition.

[0070] In the embodiment of the present application, the mobile device can be controlled to move towards the target object to realize that the preset object is used as a reference object, so that the satellite positioning signal detected at the position of the mobile device after moving satisfies the preset condition. In this way, it is helpful to realize accurate positioning by using the preset object.

[0071] Optionally, the control of the mobile device moving towards the target object comprises:

[0072] The relative position relationship between the mobile device and the target object is determined by the camera, and the relative position relationship includes direction and distance.

[0073] According to the phase position relationship, the mobile device is controlled to move towards the target object.

[0074] The camera for determining the relative position can be a binocular camera, and the binocular camera can be used to implement a ranging function.

[0075] In a specific implementation, the camera for capturing the environment image and the camera for determining the relative position can be the same camera, or the camera for capturing the environment image and the camera for determining the relative position can be different cameras.

[0076] The phase position relationship can include a phase distance and a relative direction.

[0077] In the embodiments of the present application, the binocular camera can be used to determine the phase position relationship between the mobile device and the target object, and the mobile device is controlled to move towards the target object according to the phase position relationship.

[0078] For example, the mobile device can detect the direction and distance between the mobile device and the target object through the binocular camera, move towards the target object according to the direction and distance, stop moving when the mobile device is close to the target object by a certain distance, and then wait until the satellite positioning signal meets the preset condition, and then obtain an accurate satellite positioning position through satellite positioning, and calibrate the positioning position of the mobile device through the satellite positioning position. In this way, accurate positioning can be achieved, which helps to solve the problem that the satellite positioning is inaccurate when the mobile device is blocked and the movement of the mobile device is affected.

[0079] Optionally, the method can further include the following steps:

[0080] After the satellite positioning signal of the position of the mobile device after moving meets the preset condition, the mobile device is controlled to return to the initial point, and the mobile device is positioned during the return process. When the mobile device moves to a position where the satellite positioning signal meets the preset condition, satellite positioning technology is used for positioning, and when the mobile device moves to a position where the satellite positioning signal does not meet the preset condition, non-satellite positioning technology is used for positioning. The initial point is the position where the mobile device stops moving.

[0081] The initial point is the position where the mobile device stops moving.

[0082] In the embodiments of the present application, the mobile device can be controlled to return to the initial point, and during the returning process, the position (e.g., absolute position) of the initial point is determined. When the mobile device moves to a position where the satellite positioning signal meets the preset condition, it means that the satellite positioning signal is strong, and thus the satellite positioning technology can be used for positioning. When the mobile device moves to a position where the satellite positioning signal does not meet the preset condition, it means that the satellite positioning signal is poor, and thus the non-satellite positioning technology can be used for positioning. In this way, the problem of inaccurate satellite positioning when being blocked and the problem of affecting the movement of the mobile device can be solved.

[0083] Optionally, the method can further include the following steps:

[0084] After returning to the initial point, the mobile device is controlled to continue moving along the preset path.

[0085] In the embodiments of the present application, the mobile device starts from the initial point and continues to move along the preset path. If the satellite positioning signal does not meet the preset condition, the non-satellite positioning technology is used for positioning to obtain a positioning result, and the mobile device is positioned by using the position of the initial point and the positioning result, so as to control the movement of the mobile device along the preset path.

[0086] For example, taking a lawn mowing robot as the mobile device, the control method of the mobile device in the embodiments of the present application can include the following steps:

[0087] S1, control the lawn mowing robot to walk along the planned path and perform the mowing work.

[0088] S2, during the walking along the planned path, record the objects in the open area. The object in the open area is an object with good RTK signal in the vicinity of the object.

[0089] S3, when the lawn mowing robot walks to a position with poor RTK signal, VIO positioning is used for continuation, that is, the lawn mowing robot can walk a continuation mileage of 100 meters after the RTK signal becomes poor, and the lawn mowing robot can obtain accurate positioning through VIO within the continuation mileage. Specifically, after the RTK signal becomes poor, the lawn mowing robot is controlled to continue walking a preset continuation mileage of 100 meters, and then the lawn mowing robot is controlled to stop walking.

[0090] S4, after the lawn mowing robot stops walking, the lawn mowing robot is controlled to rotate in place, and the rear camera is turned on to rotate in place with the lawn mowing robot to collect environmental images in different directions.

[0091] S5. The lawnmower robot uses binocular cameras to detect the orientation and distance between itself and the target object. Based on this orientation and distance, it moves towards the target object and stops moving after approaching it within a certain distance. Then, the lawnmower robot waits for the RTK signal to recover and obtains an accurate satellite positioning position through RTK positioning. Next, it controls the lawnmower robot to return to its initial point (the position it rotated in place). During the return process, it first uses RTK positioning; if RTK positioning fails, it then uses visual positioning or IMU or VIO positioning. Combining this with the obtained accurate satellite positioning position, the absolute position of the initial point is obtained.

[0092] S6. Starting from the initial point, continue walking along the planned path to perform lawn mowing. If the RTK signal has not yet recovered, visual positioning, IMU, or VIO positioning will be used during the process. Combined with the absolute position of the initial point, the lawn mowing robot will be positioned to control it to walk along the planned path. If the RTK signal recovers during the continued operation, RTK positioning will be used. Furthermore, if a poor RTK signal is detected again starting from the initial point, return to step S3 and subsequent steps.

[0093] RTK signal recovery can be understood as a strong RTK signal, while RTK signal failure can be understood as a weak RTK signal.

[0094] For example, Figure 1C As shown, when the lawnmower robot travels along the planned path and reaches a position with poor RTK signal (position A), it will use VIO positioning to extend its life. Within the extended life range, the lawnmower robot can also obtain accurate positioning through VIO. The robot is controlled to continue walking for a preset extended range. It is then controlled to stop walking (position B), which is the initial point. The robot is controlled to rotate in place, and the rear camera follows the robot's rotation to collect environmental images from different directions. The robot uses its binocular cameras to detect the orientation and distance between itself and the target object. Based on this orientation and distance, it moves towards the target object (position C), i.e., from position B to position C. After approaching the target object to a certain distance, it stops moving. The robot waits for the RTK signal to recover and then obtains an accurate satellite positioning position through RTK positioning. It is then controlled to return to the initial point (position B), i.e., moving from position C to position B. During the return process, RTK positioning is used first; if RTK positioning fails, visual positioning, IMU, or VIO positioning is used. Combined with the obtained accurate satellite positioning position, the initial point is determined. From the initial point, the robot continues to walk along the planned path to perform the mowing operation.

[0095] The control method of the mobile device described in the application controls the mobile device to move along a preset path, controls the mobile device to continue moving a first distance or for a first time length along the preset path when the mobile device moves to a position where the satellite positioning signal does not meet the preset condition, controls the mobile device to stop moving and collect environmental images in at least one direction through a camera after the mobile device continues to move the first distance or for the first time length along the preset path, identifies a target object through the environmental images, the target object belongs to a preset object, controls the mobile device to move towards the target object, so that the mobile device detects that the satellite positioning signal meets the preset condition at the position after moving. When the satellite positioning signal quality is poor, the positioning continuation can be continued, and when the satellite positioning signal quality is still poor when the positioning continuation ends, the preset object is positioned by using the visual recognition technology, the preset object is used as a reference, which helps to accurately position the preset object, thereby helping to solve the problem that the satellite positioning is inaccurate when being blocked and affecting the walking of the mowing robot.

[0096] Please refer to Figure 2 , Figure 2 is another flowchart of the control method of the mobile device provided by the embodiment of the application, as shown in the figure, the control method of the mobile device includes:

[0097] 201, control the mobile device to move along a preset path.

[0098] 202, during the movement of the mobile device along the preset path, detect objects through a sensor and detect whether a satellite positioning signal in a preset range of the object meets a preset condition, and store the object whose satellite positioning signal in the preset range meets the preset condition as a preset object.

[0099] 203, when the mobile device moves to a position where the satellite positioning signal does not meet the preset condition, control the mobile device to continue moving a first distance or for a first time length along the preset path.

[0100] 204, after continuing to move the first distance or for the first time length along the preset path, if it is detected that the satellite positioning signal does not meet the preset condition, control the mobile device to stop moving, collect environmental images in at least one direction through a camera, identify a target object through the environmental images, and the target object belongs to the preset object.

[0101] 205, control the mobile device to move towards the target object, so that the mobile device detects that the satellite positioning signal meets the preset condition at the position after moving.

[0102] The specific description of the above steps 201-205 can be referred to Figure 1AThe related steps of the control method of the mobile device are not described here again.

[0103] The control method of the mobile device described in the present application controls the mobile device to move along a preset path, detects an object through a sensor during the movement of the mobile device along the preset path, and detects whether a satellite positioning signal in a preset range of the object meets a preset condition, stores the object in the preset range whose satellite positioning signal meets the preset condition as a preset object, controls the mobile device to continue moving along the preset path for a first distance or a first time length when the mobile device moves to a position where the satellite positioning signal does not meet the preset condition, controls the mobile device to stop moving after the first distance or the first time length, collects an environmental image in at least one direction through a camera, identifies a target object through the environmental image, the target object belongs to the preset object, controls the mobile device to move towards the target object, and makes the mobile device detect that the satellite positioning signal meets the preset condition at a position after the movement, so that the mobile device can continue positioning when the satellite positioning signal quality is poor, and the satellite positioning signal quality is still poor when the positioning is ended, the visual recognition technology is used to realize the positioning of the preset object, the preset object is used as a reference, which is helpful for the accurate positioning of the preset object, and thus helps to solve the problem that the satellite positioning is inaccurate when the mobile device is blocked and affects the walking of the mowing robot.

[0104] Consistent with the above embodiments, please refer to Figure 3 , Figure 3 is a structural schematic diagram of a mobile device provided by an embodiment of the present application, as shown in the figure, the mobile device includes a processor, a memory, a communication interface, and one or more programs, the above-mentioned one or more programs are stored in the above-mentioned memory, and are configured to be executed by the above-mentioned processor, in the present application embodiment, the program includes instructions for executing the following steps:

[0105] control the mobile device to move along a preset path;

[0106] When the mobile device moves to a position where the satellite positioning signal does not meet the preset condition, control the mobile device to continue moving along the preset path for a first distance or a first time length;

[0107] After the first distance or the first time length, if it is detected that the satellite positioning signal does not meet the preset condition, the mobile device is controlled to stop moving, and an environmental image in at least one direction is collected through a camera, a target object is identified through the environmental image, and the target object belongs to a preset object;

[0108] controlling the mobile device to move towards the target object, so that the mobile device detects that the satellite positioning signal meets the preset condition at a position after moving.

[0109] Optionally, the program further includes instructions for performing the following steps:

[0110] controlling the mobile device to return to the initial point after the mobile device detects that the satellite positioning signal meets the preset condition at the position after moving, and positioning the mobile device during the returning process, wherein when the mobile device moves to a position where the satellite positioning signal meets the preset condition, satellite positioning technology is used for positioning, and when the mobile device moves to a position where the satellite positioning signal does not meet the preset condition, non-satellite positioning technology is used for positioning, and the initial point is the position where the mobile device stops moving.

[0111] Optionally, the satellite positioning signal in the preset range of the preset object meets the preset condition.

[0112] Optionally, the program further includes instructions for performing the following steps:

[0113] detecting, by a sensor, an object during the movement of the mobile device along the preset path, and detecting whether the satellite positioning signal in a preset range of the object meets the preset condition, and storing the object whose satellite positioning signal in the preset range meets the preset condition as the preset object.

[0114] Optionally, in the aspect of collecting the environmental image in at least one direction by the camera, the program includes instructions for performing the following steps:

[0115] controlling the mobile device to rotate in place, and turning on the camera of the mobile device to collect the environmental image in at least one direction.

[0116] Optionally, in the aspect of identifying the target object by the environmental image, the program includes instructions for performing the following steps:

[0117] identifying attribute information of an object in the environmental image to obtain a plurality of attribute information sets, each attribute information set corresponding to an object, and each attribute information set including at least one attribute information, and the attribute information including at least one of the following: object category, object shape, object size, and object color.

[0118] matching the plurality of attribute information sets with attribute information sets of the preset object to obtain at least one attribute information set that matches the attribute information sets of the preset object successfully.

[0119] Select an object corresponding to one of the at least one set of attribute information as the target object.

[0120] Optionally, at least one object belonging to the preset object is recognized through the environment image, and the target object is one closest to the mobile device among the at least one object belonging to the preset object.

[0121] Optionally, in the control of the movement of the mobile device towards the target object, the program includes instructions for performing the following steps:

[0122] The relative positional relationship between the mobile device and the target object is determined through the camera, and the relative positional relationship includes orientation and distance.

[0123] The movement of the mobile device towards the target object is controlled according to the relative positional relationship.

[0124] Optionally, in the control of the movement of the mobile device along the preset path for the first distance or the first time length, the program includes instructions for performing the following steps:

[0125] The movement of the mobile device along the preset path for the first distance or the first time length is controlled through a non-satellite positioning technology.

[0126] Optionally, the program further includes instructions for performing the following steps:

[0127] After returning to the initial point, the movement of the mobile device along the preset path is controlled to continue.

[0128] The mobile device described in the present application is controlled to move along a preset path. When the mobile device moves to a position where a satellite positioning signal does not meet a preset condition, the mobile device is controlled to continue moving along the preset path for a first distance or a first time length. After the mobile device continues moving along the preset path for the first distance or the first time length, if it is detected that the satellite positioning signal does not meet the preset condition, the mobile device is controlled to stop moving, and an environment image in at least one direction is collected through a camera. A target object belonging to a preset object is recognized through the environment image, and the mobile device is controlled to move towards the target object, so that the position of the mobile device after the movement is detected to meet the preset condition. When the satellite positioning signal quality is poor, the positioning continues. When the satellite positioning signal quality is still poor at the end of the positioning, the preset object is positioned by using a visual recognition technology, and the preset object is used as a reference object, which is helpful for the accurate positioning of the preset object, thereby helping to solve the problem that the satellite positioning is inaccurate when blocked, and affecting the walking of the mowing robot.

[0129] Figure 4is a functional unit composition block diagram of a mobile device control apparatus 400 involved in an embodiment of the present application. The mobile device control apparatus 400 comprises a first control unit 401, an identification unit 402, and a second control unit 403, wherein,

[0130] The first control unit 401 is configured to control the mobile device to move along a preset path, and control the mobile device to continue moving along the preset path for a first distance or for a first time duration when the mobile device moves to a position where a satellite positioning signal does not satisfy a preset condition.

[0131] The identification unit 402 is configured to, after the mobile device continues to move for the first distance or for the first time duration, control the mobile device to stop moving if it is detected that the satellite positioning signal does not satisfy the preset condition, and control the mobile device to capture an environmental image in at least one direction through a camera, and identify a target object through the environmental image, the target object belonging to a preset object.

[0132] The second control unit 403 is configured to control the mobile device to move towards the target object, so that a position of the mobile device after moving detects that the satellite positioning signal satisfies the preset condition.

[0133] Optionally, the mobile device control apparatus 400 is further configured to:

[0134] After the position of the mobile device after moving detects that the satellite positioning signal satisfies the preset condition, control the mobile device to return to an initial point, and perform positioning on the mobile device during the returning process, wherein when the mobile device moves to a position where the satellite positioning signal satisfies the preset condition, satellite positioning technology is used for positioning, and when the mobile device moves to a position where the satellite positioning signal does not satisfy the preset condition, non-satellite positioning technology is used for positioning, and the initial point is the position where the mobile device stops moving.

[0135] Optionally, the satellite positioning signal in a preset range of the preset object satisfies the preset condition.

[0136] Optionally, the mobile device control apparatus 400 is further configured to:

[0137] During the movement of the mobile device along the preset path, an object is detected through a sensor, and it is detected whether a satellite positioning signal in a preset range of the object satisfies the preset condition, and the object whose satellite positioning signal in the preset range satisfies the preset condition is stored as the preset object.

[0138] Optionally, in the aspect of capturing an environmental image in at least one direction through a camera, the identification unit 402 is configured to:

[0139] controlling the mobile device to rotate in place and turn on a camera of the mobile device to capture the environment image in at least one direction.

[0140] Optionally, in the identifying the target object through the environment image, the identifying unit 402 is specifically configured to:

[0141] identify attribute information of objects in the environment image to obtain a plurality of attribute information sets, each attribute information set corresponding to an object, and each attribute information set including at least one attribute information, the attribute information including at least one of the following: object category, object shape, object size, and object color.

[0142] match the plurality of attribute information sets with attribute information sets of the preset objects to obtain at least one attribute information set that matches the attribute information sets of the preset objects successfully.

[0143] select an object corresponding to one of the at least one attribute information set as the target object.

[0144] Optionally, at least one object belonging to the preset objects is identified through the environment image, and the target object is one closest to the mobile device among the at least one object belonging to the preset objects.

[0145] Optionally, in the controlling the mobile device to move toward the target object, the second control unit 403 is specifically configured to:

[0146] determine a relative position relationship between the mobile device and the target object through the camera, the relative position relationship including a direction and a distance.

[0147] control the mobile device to move toward the target object according to the relative position relationship.

[0148] Optionally, in the controlling the mobile device to continue moving along the preset path for a first distance or for a first time length, the first control unit 401 is specifically configured to:

[0149] control the mobile device to continue moving along the preset path for the first distance or for the first time length through a non-satellite positioning technology.

[0150] Optionally, the control apparatus 400 of the mobile device is further specifically configured to:

[0151] after returning to the initial point, control the mobile device to continue moving along the preset path.

[0152] The control device of the mobile device described in the application controls the mobile device to move along a preset path, controls the mobile device to continue moving along the preset path for a first distance or a first time length when the mobile device moves to a position where the satellite positioning signal does not meet the preset condition, and controls the mobile device to stop moving and collect an environmental image in at least one direction through a camera after the mobile device continues to move along the preset path for the first distance or the first time length, identifies a target object through the environmental image, controls the mobile device to move towards the target object, and controls the mobile device to move to a position where the satellite positioning signal meets the preset condition after the mobile device moves. When the satellite positioning signal quality is poor, the positioning can be continued, and when the satellite positioning signal quality is still poor when the positioning is ended, the preset object is positioned by using the visual recognition technology, the preset object is used as a reference, which is helpful for the accurate positioning of the preset object, thereby helping to solve the problem that the satellite positioning is inaccurate when the mobile device is blocked and the walking of the mowing robot is affected.

[0153] It can be understood that the functions of the program modules of the control device of the mobile device in the embodiment can be specifically implemented according to the methods in the above method embodiments, and the specific implementation process can be referred to the related description of the above method embodiments, which will not be described here.

[0154] The embodiment of the application further provides a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, and the computer program causes a computer to execute part or all steps of any method described in the above method embodiments, and the computer includes a mobile device.

[0155] The embodiment of the application further provides a computer program product, and the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute part or all steps of any method described in the above method embodiments. The computer program product can be a software installation package, and the computer includes a mobile device.

[0156] It should be noted that, for each of the above method embodiments, in order to simply describe, each is described as a combination of a series of actions, but those skilled in the art should know that the application is not limited by the order of the described actions, because according to the application, certain steps can be performed in other order or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions and modules involved are not necessarily necessary for the application.

[0157] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0158] In several embodiments provided in the present application, it should be understood that the disclosed system can be implemented in other manners. For example, the above described system embodiments are merely illustrative, and for example, the division of the units is merely logical function division, and there can be another division manner in actual implementation, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, and can be electrical, or other forms.

[0159] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiments.

[0160] In addition, each functional unit in the various embodiments of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0161] The integrated unit, if realized in the form of a software functional unit and sold or used as an independent product, can be stored in a computer readable memory. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a memory, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the above described method of the various embodiments. The aforementioned memory includes: a U disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0162] Those of ordinary skill in the art can understand that all or part of the steps of the various methods of the above described embodiments can be completed by a program instructing relevant hardware, and the program can be stored in a computer readable memory, and the memory can include: a flash disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, etc.

[0163] The above has introduced the embodiments of the present application in detail, and the principle and implementation mode of the present application have been described by applying specific examples; the above embodiment description is only for helping to understand the method of the present application and its core idea; meanwhile, for the general technical personnel in the art, according to the idea of the present application, the specific implementation mode and application range will have changes; and in view of the above, the content of the specification should not be understood as the limitation of the present application.

Claims

1. A control method for a mobile device, characterized in that, The method includes: Control the mobile device to move along a preset path; When the mobile device moves to a location where the satellite positioning signal does not meet the preset conditions, the mobile device is controlled to continue moving along the preset path for a first mileage or a first duration. After continuing to move the first mileage or the first duration along the preset path, if it is detected that the satellite positioning signal does not meet the preset conditions, the mobile device is controlled to stop moving, and environmental images in at least one direction are captured by the camera. The target object is identified by the environmental images, and the target object belongs to the preset object. Control the mobile device to move toward the target object, so that the mobile device detects the satellite positioning signal at the position after the movement and the preset condition is met; The step of controlling the mobile device to move toward the target object includes: The relative positional relationship between the mobile device and the target object is determined by the camera, and the relative positional relationship includes orientation and distance; The mobile device is controlled to move toward the target object based on the relative positional relationship; The step of controlling the mobile device to continue moving along the preset path for a first mileage or a first duration includes: The mobile device is controlled to continue moving along the preset path for the first mileage or the first duration using non-satellite positioning technology; the non-satellite positioning technology includes at least one of the following: visual positioning, inertial measurement unit positioning, and visual inertial odometry positioning.

2. The method according to claim 1, characterized in that, The method further includes: After the mobile device detects that the satellite positioning signal meets the preset conditions at its new location, it controls the mobile device to return to the initial point. During the return process, the mobile device is located. When the mobile device moves to a location where the satellite positioning signal meets the preset conditions, satellite positioning technology is used for positioning. When the mobile device moves to a location where the satellite positioning signal does not meet the preset conditions, non-satellite positioning technology is used for positioning. The initial point is the location where the movement stops.

3. The method according to claim 2, characterized in that, The satellite positioning signal within the preset range of the preset object satisfies the preset condition.

4. The method according to claim 3, characterized in that, The method further includes: During the movement of the mobile device along the preset path, the sensor detects objects and checks whether the satellite positioning signal within the preset range of the object meets the preset conditions. Objects whose satellite positioning signals within the preset range meet the preset conditions are stored as preset objects.

5. The method according to any one of claims 1-4, characterized in that, The acquisition of environmental images from at least one direction via a camera includes: The mobile device is controlled to rotate in place, and its camera is activated to capture environmental images in at least one direction.

6. The method according to any one of claims 1-4, characterized in that, The process of identifying the target object through the environmental image includes: The attribute information of objects in the environmental image is identified to obtain multiple attribute information sets. Each attribute information set corresponds to an object. Each attribute information set includes at least one attribute information, which includes at least one of the following: object category, object shape, object size, and object color. The plurality of attribute information sets are matched with the attribute information set of the preset object to obtain at least one attribute information set that successfully matches the attribute information set of the preset object. The object corresponding to one attribute information set in the at least one attribute information set is selected as the target object.

7. The method according to any one of claims 1-4, characterized in that, At least one object belonging to the preset object is identified through the environmental image, and the target object is the one closest to the mobile device among the at least one object belonging to the preset object.

8. The method according to any one of claims 2-4, characterized in that, The method further includes: After returning to the initial point, the mobile device is controlled to continue moving along the preset path.

9. A mobile device, characterized in that, It includes a processor and a memory, the memory being used to store one or more programs and configured to be executed by the processor, the programs including instructions for performing the steps of the method as described in any one of claims 1-8.

10. A computer-readable storage medium, characterized in that, A computer program for storing electronic data interchange is provided, wherein the computer program causes a computer to perform the method as described in any one of claims 1-8.

Images