Movement control method, self-moving device and computer readable storage medium

Abstract

The embodiment of the invention provides a movement control method, self-moving equipment and a computer readable storage medium, and the method comprises the steps: under the condition that the self-moving equipment is electrically connected with charging equipment, and a preset instruction is received, if a satellite signal of the self-moving equipment is unavailable, the self-moving equipment is electrically connected with the charging equipment; the self-moving device is positioned based on a preset positioning mode, so that the self-moving device moves along a preset path from the position of the charging device; and when the moving distance of the self-moving device along the preset path is smaller than or equal to a first preset distance, if it is detected that the satellite signal is available, positioning the self-moving device based on a satellite positioning mode, so that the self-moving device continues to move along the preset path. According to the embodiment of the invention, when the self-moving equipment needs to move from the position of the charging equipment, if the satellite signal is not available, the self-moving equipment is moved by a certain distance in a preset positioning mode independent of the satellite signal, so that the self-moving equipment can normally move after leaving the charging equipment.

Description

Technical Field

[0001] This application relates to the field of autonomous navigation technology, and in particular, to a mobile control method, a self-mobile device, and a computer-readable storage medium. Background Art

[0002] With the continuous progress of technology and the rapid development of artificial intelligence, using self-mobile devices (such as lawn mowing robots, cleaning robots, food delivery robots, etc.) to replace manual operations can greatly improve the operation efficiency.

[0003] Self-mobile devices usually perform positioning based on a Real-time kinematic (RTK) carrier phase differential system. When the self-mobile device finishes charging at a charging device and needs to continue working, since the charging device may be set in a location with relatively serious occlusion, thus, the self-mobile device cannot receive satellite signals, or the received satellite signals are weak and satellite positioning cannot be achieved, resulting in the self-mobile device being unable to perform mobile operations normally. Summary of the Invention

[0004] In view of this, embodiments of this application provide a mobile control method, a self-mobile device, and a computer-readable storage medium to solve the problem that the self-mobile device cannot receive satellite signals, or the received satellite signals are weak and satellite positioning cannot be achieved, resulting in the self-mobile device being unable to perform mobile operations normally.

[0005] In a first aspect, an embodiment of this application provides a mobile control method applied to a self-mobile device. The method includes: when the self-mobile device establishes an electrical connection with a charging device and receives a preset instruction, if the satellite signal of the self-mobile device is unavailable, the self-mobile device performs positioning on itself based on a preset positioning method, so that the self-mobile device moves along a preset path from the position of the charging device; when the distance that the self-mobile device moves along the preset path is less than or equal to a first preset distance, if it is detected that the satellite signal is available, positioning the self-mobile device based on a satellite positioning method, so that the self-mobile device continues to move along the preset path.

[0006] In a possible implementation manner, the method further includes: when the distance that the self-mobile device moves along the preset path is equal to the first preset distance and the satellite signal of the self-mobile device is still unavailable, the self-mobile device stops moving.

[0007] In a possible implementation manner, the method further includes: when the self-mobile device establishes an electrical connection with the charging device, positioning the self-mobile device to obtain a first position, and determining the first position as the position of the charging device.

[0008] In a possible implementation, the method further includes: comparing the first position with a second position of the charging device, where the second position is the position obtained by the self-mobile device when last locating the charging device; if the first position is different from the second position, updating the position of the charging device in the operation map of the self-mobile device based on the first position.

[0009] In a possible implementation, the method further includes: the self-mobile device determines whether it receives the satellite signal; if it does not receive the satellite signal, it determines that the satellite signal is unavailable; if it receives the satellite signal, it determines the intensity of the satellite signal; if the intensity of the satellite signal is greater than or equal to a preset intensity threshold, it determines that the satellite signal is available; if the intensity of the satellite signal is less than the preset intensity threshold, it determines that the satellite signal is unavailable.

[0010] In a possible implementation, the preset positioning method is at least one of a visual positioning method, a lidar positioning method, and an odometer positioning method.

[0011] In a possible implementation, the method further includes: when the self-mobile device establishes an electrical connection with the charging device and receives a preset instruction, if the satellite signal of the self-mobile device is unavailable, the self-mobile device preferentially selects the visual positioning method to position the self-mobile device; if the visual positioning method is unavailable, the self-mobile device selects the odometer positioning method to position the self-mobile device.

[0012] In a possible implementation, the preset path includes a first path and a second path, and the method further includes: when the distance that the self-mobile device moves along the preset path based on the visual positioning method is less than or equal to a first preset distance, if the self-mobile device is on the second path, it activates the operation mechanism of the self-mobile device; when the distance that the self-mobile device moves along the preset path based on the odometer positioning method is less than or equal to the first preset distance, the operation mechanism of the self-mobile device stops working; when the distance that the self-mobile device moves along the preset path based on the odometer positioning method is less than or equal to the first preset distance, if the satellite signal of the self-mobile device is available and the self-mobile device is on the second path, it activates the operation mechanism of the self-mobile device.

[0013] In a possible implementation, the method further includes: if the satellite signal is unavailable, moving based on a local feature map; if the self-moving device moves to the boundary of the local feature map and the satellite signal is still unavailable, moving the first preset distance from the boundary of the local feature map based on the preset positioning method.

[0014] In a second aspect, an embodiment of the present application provides a self-moving device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, where when the processor executes the computer program, the above-mentioned movement control method is implemented.

[0015] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor in a self-moving device, the self-moving device is enabled to implement the above-mentioned movement control method.

[0016] When the movement control method, self-moving device, and computer-readable storage medium provided by the embodiments of the present application are used for a self-moving device to perform a movement operation from the position of a charging device, if the satellite signal of the self-moving device is unavailable, a preset positioning method that does not rely on the satellite signal can be used to move a certain distance first, and when the satellite signal is available, the satellite positioning method can be used to perform the movement operation, thereby effectively ensuring that the self-moving device can perform the movement operation normally after leaving the charging device. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present application, and for those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0018] Figure 1 is a schematic diagram of the hardware structure of a self-moving device provided by an embodiment of the present application.

[0019] Figure 2 is a flowchart of a movement control method provided by an embodiment of the present application.

[0020] Figure 3 is a flowchart of determining whether a satellite signal is available provided by an embodiment of the present application.

[0021] Figure 4 is a flowchart of positioning a self-moving device based on a preset positioning method provided by an embodiment of the present application.

[0022] Figure 5It is a flowchart of a mobile control method provided by another embodiment of the present application.

[0023] Figure 6 It is a schematic diagram of the mobile control of a self-mobile device provided by an embodiment of the present application.

[0024] Figure 7 It is a schematic diagram of the mobile control of a self-mobile device provided by another embodiment of the present application. Detailed implementation manners

[0025] In order to make the objectives, technical solutions, and advantages of the present application clearer, the present application will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] It should be noted that in the present application, "at least one" means one or more, and "a plurality" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone, where A and B may be singular or plural. The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims, and drawings of the present application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0027] In the embodiments of the present application, words such as "exemplary" or "for example" are used to represent examples, illustrations, or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner. Without conflict, the following embodiments and the features in the embodiments may be combined with each other.

[0028] With the continuous progress of technology and the rapid development of artificial intelligence, using self-mobile devices (such as lawn mowing robots, cleaning robots, food delivery robots, etc.) to replace manual work can greatly improve work efficiency.

[0029] Self-mobile devices usually rely on satellite positioning methods, that is, Real-time kinematic (RTK) carrier phase differential systems for positioning and movement, and have a strong dependence on satellite signals. To avoid damage to the charging device due to bad weather or other reasons, the charging device is usually set in a position with relatively serious occlusion. Thus, when the self-mobile device finishes charging at the charging device and needs to continue working, it may not be able to receive satellite signals, or the received satellite signals are weak and satellite positioning cannot be achieved, resulting in the self-mobile device being unable to perform normal mobile operations.

[0030] To solve the problem that the self - moving device cannot receive satellite signals, or the received satellite signals are weak and satellite positioning cannot be achieved, resulting in the self - moving device being unable to perform mobile operations normally, the embodiments of the present application provide a mobile control method. When the self - moving device needs to perform mobile operations from the position of the charging device, if the satellite signal of the self - moving device is unavailable, a preset positioning method that does not rely on satellite signals can be used to move a certain distance first. When the satellite signal is available, the satellite positioning method is used to perform mobile operations, so as to effectively ensure that the self - moving device can perform mobile operations normally after leaving the charging device.

[0031] Refer to Figure 1 As shown, it is a schematic diagram of the hardware structure of a self - moving device provided by an embodiment of the present application. The mobile control method in the embodiments of the present application is applied to a self - moving device 1 as Figure 1 shown. The self - moving device 1 includes a body, and a memory 11, a processor 12, a power supply 13, a sensor 14, a working mechanism 15, a communication module 16, a positioning module 17, a driving wheel 18, and a bus 19 arranged on the body. The processor 12 is respectively coupled to the memory 11, the power supply 13, the sensor 14, the working mechanism 15, the communication module 16, the positioning module 17, and the driving wheel 18 through the bus 19. The self - moving device 1 is an electronic device with a self - moving function, such as a lawn mowing robot, a cleaning robot, a food delivery robot, etc.

[0032] The memory 11 may include one or more random access memories (RAM) and one or more non - volatile memories (NVM). The random access memory can be directly read and written by the processor 12, and can be used to store the operating system or executable programs (such as machine instructions) of other running programs, and can also be used to store user and application data, etc. The random access memory may include static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), etc.

[0033] The non-volatile memory can also store executable programs and data of users and applications, etc., which can be pre-loaded into the random access memory for direct reading and writing by the processor 12. The non-volatile memory can include disk storage devices, flash memory, etc.

[0034] The memory 11 is used to store one or more computer programs. The one or more computer programs are configured to be executed by the processor 12. The one or more computer programs include a plurality of instructions, and when the plurality of instructions are executed by the processor 103, a path planning method executable on the self-mobile device 1 can be implemented.

[0035] In other embodiments, the self-mobile device 1 further includes an external memory interface for connecting to an external memory to expand the storage capacity of the self-mobile device 1.

[0036] The processor 12 may include one or more processing units. For example, the processor 12 may include an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Among them, different processing units may be independent devices or integrated in one or more processors.

[0037] The processor 12 provides computing and control capabilities. For example, the processor 12 is used to execute the computer program stored in the memory 11 to implement the above path planning method.

[0038] The power supply 13 is used to supply power to the self-mobile device. In an embodiment of the present application, the power supply 13 may include any one or more of power supply devices such as batteries, fuel generators, solar power generation modules, and wind power generation modules.

[0039] The sensor 14 is used to obtain information for the self-mobile device 1, such as obtaining environmental information and movement information of the self-mobile device 1. In an embodiment of the present application, the sensor 14 may include one or more of sensors such as lidar, camera devices, infrared sensors, and encoders.

[0040] The working mechanism 15 is used to perform corresponding working tasks, for example, mowing, cruising, cleaning, spraying pesticides, etc. In some embodiments of the present application, the working mechanism 15 may include mechanisms such as a motor, a transmission mechanism, and a cutter head. In some embodiments of the present application, the motor can drive the cutter head to rotate through the transmission mechanism to achieve the mowing function. The motor can also control the movement of the blade to adjust the mowing height and mowing area.

[0041] The communication module 16 is used to realize the communication between the self - moving device and other devices. In an embodiment of the present application, the communication module 16 can perform data interaction with other devices based on wired communication and / or wireless communication. The above - mentioned wireless communication can include one or a combination of multiple communication methods such as Bluetooth communication, Wi - Fi communication, and Near Field Communication (NFC).

[0042] The positioning module 17 is used to determine the position of the self - moving device. In some embodiments of the present application, the positioning module 17 can include one or more of positioning modules of types such as the Global Positioning System (GPS), inertial navigation system, and Real - time kinematic (RTK) carrier phase differential system.

[0043] The drive wheels 18 are used to realize the movement of the self - moving device. In some embodiments of the present application, the drive wheels 18 can, according to the control of the processor 12, realize the movement function of the self - moving device. In some embodiments of the present application, the drive wheels 18 can include a left drive wheel and a right drive wheel.

[0044] The bus 19 is at least used to provide a communication channel for mutual communication among the memory 11, the processor 12, the power supply 13, the sensor 14, the working mechanism 15, the communication module 16, the positioning module 17, and the drive wheels 18 in the self - moving device 1.

[0045] In other embodiments of the present application, the self - moving device 1 may further include an anti - collision part and a steering component, etc. The anti - collision part can be used to prevent the drive wheels 18 from colliding with obstacles in front of the self - moving device. The steering component can be used to enable the drive wheels 18 to adjust the driving direction.

[0046] It can be understood that the structure schematically shown in the embodiments of the present application does not constitute a specific limitation on the self - moving device 1. In other embodiments of the present application, the self - moving device 1 may include more or fewer components than shown in the figure, or combine certain components, or split certain components, or have different component arrangements. The components shown in the figure can be implemented in hardware, software, or a combination of software and hardware.

[0047] Refer to Figure 2As shown in the figure, it is a flowchart of a mobile control method provided by an embodiment of the present application. The mobile control method can be applied to a self-mobile device 1 as shown in Figure 1 shown. Among them, the mobile control method includes the following steps: S101, when the self-mobile device establishes an electrical connection with the charging device and receives a preset instruction, determine whether the satellite signal of the self-mobile device is available. If the satellite signal of the self-mobile device is not available, the process proceeds to S102; if the satellite signal of the self-mobile device is available, the process proceeds to S105.

[0048] In an embodiment of the present application, when the self-mobile device is short of power, has completed operations, etc. and needs to be charged, it can move to the position of the charging device, establish an electrical connection with the charging device, and charge. The self-mobile device can receive a preset instruction during the charging process. The preset instruction is used to instruct the self-mobile device to move to the target operation area for operations. The preset instruction can be issued by the user through the self-mobile device control program in an intelligent terminal such as a smart phone. When receiving the preset instruction, the self-mobile device determines whether the satellite signal is available. Among them, the satellite signal is an RTK signal.

[0049] Refer to Figure 3 shown, it is a flowchart for determining whether the satellite signal is available provided by an embodiment of the present application.

[0050] S1011, determine whether a satellite signal is received. If a satellite signal is received, the process proceeds to S1012; if a satellite signal is not received, the process proceeds to S1015.

[0051] In an embodiment of the present application, a reference station is set near the operation area of the self-mobile device. The reference station is located at a position with known coordinates and is used to receive satellite signals in real time and calculate error correction values. In the satellite positioning mode, that is, the RTK positioning mode, the self-mobile device serves as a mobile station, communicates with the satellite and the reference station, can receive satellite signals, determine the observed value of its own position, and receive the error correction value sent by the reference station. Based on the error correction value, the observed value is calibrated to obtain an accurate position coordinate. The self-mobile device can realize automatic navigation based on the accurate position coordinate and the operation map and perform mobile operations in the operation area.

[0052] In an embodiment of the present application, during the process of the self-mobile device establishing an electrical connection with the charging device for charging, if a preset instruction is received, it is determined whether a satellite signal is received.

[0053] S1012, determine the intensity of the satellite signal.

[0054] In an embodiment of the present application, if a satellite signal is received by a mobile device, the strength of the satellite signal is obtained by calculating the RSSI (Received Signal Strength Indication) value of the received satellite signal. Among them, the calculation formula for the RSSI value is: (1). In the above calculation formula (1), P rx is the received signal power, and P tx is the transmitted signal power.

[0055] S1013, determine whether the strength of the satellite signal is greater than or equal to a preset strength threshold. If the strength of the satellite signal is greater than or equal to the preset strength threshold, the process proceeds to S1014; if the strength of the satellite signal is less than the preset strength threshold, the process proceeds to S1015.

[0056] S1014, determine that the satellite signal is available.

[0057] In an embodiment of the present application, if a satellite signal is received by a mobile device and the strength of the received satellite signal is strong, it is determined that the satellite signal is available, and satellite positioning can be used for navigation.

[0058] S1015, determine that the satellite signal is unavailable.

[0059] In an embodiment of the present application, if the automatic device does not receive a satellite signal, or the strength of the received satellite signal is weak, it is determined that the satellite signal is unavailable, and satellite positioning cannot be used for navigation temporarily.

[0060] Based on the embodiment shown in the present application Figure 3 it is possible to accurately determine whether the satellite signal of the mobile device is available.

[0061] S102, the mobile device positions itself based on a preset positioning method, so that the mobile device moves along a preset path from the position of the charging device.

[0062] In an embodiment of the present application, the preset positioning method is at least one of a visual positioning method, a lidar positioning method, and an odometer positioning method. The preset path includes a first path and a second path. The second path is the operation path for the mobile device to perform operations in the operation area, and the first path is the path for the mobile device to move from the position of the charging device to the starting point of the operation path.

[0063] Refer to Figure 4 shown in the figure, which is a flowchart of positioning the mobile device based on a preset positioning method provided by an embodiment of the present application.

[0064] S1021, determine whether the visual positioning method is available. If the visual positioning method is available, the process proceeds to S1022; if the visual positioning method is not available, the process proceeds to S104.

[0065] In an embodiment of the present application, in the case where satellite signals are not available, the self-mobile device preferentially selects the visual positioning method for positioning. An image is captured by the camera device of the self-mobile device, for example, an image of the environment in front of the self-mobile device is captured, and the brightness of the captured image is detected. If the brightness of the image is greater than or equal to a preset brightness threshold, it indicates that the ambient light brightness of the environment where the self-mobile device is currently located is relatively bright, and it is determined that the visual positioning method is available; if the brightness of the image is less than the preset brightness threshold, it indicates that the ambient light brightness of the environment where the self-mobile device is currently located is relatively dark, and it is determined that the visual positioning method is not available. In an embodiment of the present application, the captured image can be converted into a grayscale image, and the brightness of the image can be obtained by calculating the grayscale value of the grayscale image.

[0066] In another embodiment of the present application, in the case where satellite signals are not available, an image is captured by the camera device of the self-mobile device, for example, an image of the environment in front of the self-mobile device is captured, and feature point recognition is performed on the image, for example, feature point recognition is performed on the image through a target detection algorithm or a deep learning model. If at least one feature point in the image is recognized, it indicates that the ambient light brightness of the environment where the self-mobile device is currently located is relatively bright, and it is determined that the visual positioning method is available; if no feature point in the image is recognized, it indicates that the ambient light brightness of the environment where the self-mobile device is currently located is relatively dark, and it is determined that the visual positioning method is not available.

[0067] S1022, move a second preset distance in a direction away from the charging device from the position of the charging device.

[0068] In an embodiment of the present application, when the self-mobile device establishes an electrical connection with the charging device, the self-mobile device is located to obtain a first position, and the first position is determined as the position of the charging device. For example, the first position can be obtained through satellite positioning.

[0069] In another embodiment of the present application, the first position is compared with the second position of the charging device. The second position is the position obtained by the self-mobile device when the charging device was last located. It is determined whether the first position is the same as the second position. If the first position is different from the second position, the position of the charging device in the operation map of the self-mobile device is updated based on the first position, that is, the position of the charging device in the operation map is updated from the second position to the first position. If the first position is the same as the second position, no operation is required.

[0070] In an embodiment of the present application, the self - moving device moves straight for a second preset distance in a direction away from the charging device with the first position as the starting position. For example, the second preset distance can be 2 meters, 5 meters, 10 meters or other distances.

[0071] S1023, move towards the starting point of the second path based on the visual positioning method and the first path. After reaching the starting point of the second path, move and operate along the second path until the cumulative movement from the position of the charging device reaches the first preset distance. Wherein, the second preset distance is less than the first preset distance. For example, the first preset distance can be 80 meters, 100 meters, 120 meters or other distances.

[0072] In an embodiment of the present application, after the self - moving device moves straight for a second preset distance in a direction away from the charging device, it moves towards the starting point of the second path based on the visual positioning method and the first path. The self - moving device captures images of the current environment in real - time through a camera device, performs feature matching on the captured images with the operation map, determines the position obtained by feature matching in the operation map as the position of the self - moving device obtained by visual positioning, and moves along the first path based on the located position.

[0073] In an embodiment of the present application, during the process of the self - moving device moving along the first path towards the starting point of the second path, it continuously detects whether the cumulative movement distance from the first position reaches the first preset distance. If the cumulative movement distance from the first position does not reach the first preset distance, it continues to move along the first path towards the starting point of the second path; if the cumulative movement distance from the first position reaches the first preset distance, it determines whether the satellite signal is restored to be available. If the satellite signal is restored to be available, the self - moving device moves based on the satellite positioning method and the preset path. If the satellite signal is still unavailable, the self - moving device stops moving.

[0074] In an embodiment of the present application, when the distance that the self - moving device moves along the preset path based on the visual positioning method is less than or equal to the first preset distance, if the self - moving device is on the second path, it starts the working mechanism and moves and operates along the second path until the cumulative movement from the position of the charging device reaches the first preset distance.

[0075] S1024, position the self - moving device based on the odometer positioning method so that the self - moving device moves along the preset path for a third preset distance from the position of the charging device. Wherein, the third preset distance is greater than the second preset distance and less than the first preset distance. For example, the third preset distance is 40 meters, 50 meters, 60 meters or other distances.

[0076] In an embodiment of the present application, if the visual positioning method is unavailable, the self - moving device selects the odometer positioning method for positioning. The self - moving device takes the first position as the starting position and moves straight away from the charging device for a second preset distance, and then moves to the starting point of the second path based on the odometer positioning method and the first path. After reaching the starting point of the second path, it moves along the second path until the cumulative movement from the position of the charging device reaches a third preset distance.

[0077] In an embodiment of the present application, the self - moving device uses an Inertial Measurement Unit (IMU) to detect the acceleration and angular velocity of the self - moving device in real - time, integrates the acceleration and angular velocity to obtain the position of the self - moving device, and moves along the first path based on the position obtained by the odometer positioning method.

[0078] In an embodiment of the present application, during the process of the self - moving device moving along the first path to the starting point of the second path, it detects in real - time whether the cumulative movement distance from the first position reaches the third preset distance. If the cumulative movement distance from the first position does not reach the third preset distance, it continues to move along the first path to the starting point of the second path; if the cumulative movement distance from the first position reaches the third preset distance, it determines whether the satellite signal is restored to be available. If the satellite signal is restored to be available, the self - moving device moves based on the satellite positioning method and the preset path. If the satellite signal is still unavailable, the self - moving device stops moving.

[0079] In an embodiment of the present application, when the distance that the self - moving device moves along the preset path based on the odometer positioning method is less than or equal to the first preset distance, the working mechanism stops working. Even after moving to the second path, the working mechanism will not be turned on, and it moves along the second path until the cumulative movement from the position of the charging device reaches the third preset distance.

[0080] In an embodiment of the present application, when the distance that the self - moving device moves along the preset path based on the odometer positioning method is less than or equal to the first preset distance, if the satellite signal of the self - moving device is available and the self - moving device is located on the second path, the working mechanism is started and it moves and operates along the second path.

[0081] Based on the present application Figure 4 In the shown embodiment, in the case where the satellite signal of the self - moving device is unavailable, it can be positioned based on the visual positioning method or the odometer positioning method, so that the self - moving device can move normally along the preset path.

[0082] S103, when the distance that the self - moving device moves along the preset path is less than or equal to the first preset distance, if it is detected that the satellite signal is available, the self - moving device is positioned based on the satellite positioning method so that the self - moving device continues to move along the preset path.

[0083] In one embodiment of the present application, the self-mobile device is positioned based on a visual positioning method. During the movement along a preset path, even if the distance moved along the preset path is less than or equal to a first preset distance, the self-mobile device continues to be detected whether the satellite signal has been restored to be available. If the satellite signal has been restored to be available, the self-mobile device is positioned based on the satellite positioning method so that the self-mobile device continues to move along the preset path. If the satellite signal is still unavailable, the self-mobile device continues to be positioned based on the visual positioning method.

[0084] S104: If the distance moved by the mobile device along the preset path is equal to the first preset distance and the satellite signal of the mobile device is still unavailable, the mobile device stops moving.

[0085] In one embodiment of the present application, when the distance moved by the mobile device along the preset path based on visual positioning is equal to the first preset distance, if the satellite signal is still unavailable, the mobile device stops moving and waits for manual intervention.

[0086] If the satellite signal is restored to be available, the self-moving device is positioned based on the satellite positioning method, so that the self-moving device continues to move along the preset path.

[0087] In another embodiment of the present application, if the visual positioning method is unavailable, the self-mobile device is positioned based on the odometer positioning method. During the movement along the preset path, even if the distance moved along the preset path is less than or equal to a third preset distance, the satellite signal continues to be detected to see if it has recovered to be available. If the satellite signal is recovered to be available, the self-mobile device is positioned based on the satellite positioning method so that the self-mobile device continues to move along the preset path. If the satellite signal is still unavailable, the self-mobile device continues to be positioned based on the visual positioning method.

[0088] In another embodiment of the present application, when the distance moved by the self-moving device along the preset path based on the odometer positioning method is equal to the third preset distance, if the satellite signal is still unavailable, the self-moving device stops moving and waits for manual intervention. If the satellite signal is restored to be available, the self-moving device is positioned based on the satellite positioning method so that the self-moving device continues to move along the preset path.

[0089] In another embodiment of the present application, if the satellite signal is restored to be available, the self-moving device performs a moving operation based on the satellite positioning method and the preset path. Since the self-moving device will not start the operating mechanism to perform the operation during the movement along the second path based on the odometer positioning method, the path of the self-moving device that interferes with the moving operation based on the satellite positioning includes a portion of the path in the second path that moves based on the odometer positioning method.

[0090] S105, Move along a preset path from the position of the charging device based on satellite positioning.

[0091] In an embodiment of the present application, if satellite signals are available, the self - moving device performs positioning based on satellite positioning, moves from the first position along the first path to the starting point of the second path, and performs a moving operation along the second path starting from the starting point of the second path based on satellite positioning.

[0092] Based on the present application Figure 3 In the embodiment shown, when the self - moving device needs to perform a moving operation from the position of the charging device, if the satellite signals of the self - moving device are unavailable, it can first move a certain distance using a preset positioning method that does not rely on satellite signals. When the satellite signals are available, it then uses satellite positioning to perform the moving operation, thus effectively ensuring that the self - moving device can perform normal moving operations after leaving the charging device.

[0093] Refer to Figure 5 As shown, it is a flowchart of a moving control method provided by another embodiment of the present application. The moving control method can be applied to a self - moving device 1 as shown in Figure 1 wherein, the moving control method includes the following steps: S201, When the self - moving device establishes an electrical connection with the charging device and receives a preset instruction, determine whether the satellite signals of the self - moving device are available. If the satellite signals of the self - moving device are unavailable, the process proceeds to S202; if the satellite signals of the self - moving device are available, the process proceeds to S206.

[0094] S202, Move based on a local feature map.

[0095] In an embodiment of the present application, a local feature map of the charging device is stored in the self - moving device. The local feature map is a map within a preset range around the charging device. For example, the preset range is a range with a radius of a preset value (such as 5 meters). If satellite signals are unavailable, the self - moving device takes a picture of the current environment through a camera device, performs feature matching between the taken picture and the local feature map, determines the position of the self - moving device in the local feature map, and moves towards the starting point of the second path based on the position in the local feature map and the local feature map.

[0096] In an embodiment of the present application, during the process of the self - moving device moving based on the local feature map, continue to determine whether the satellite signals are available. If the satellite signals are restored to be available, the self - moving device moves along a preset path based on satellite positioning. If the satellite signals are still unavailable, the self - moving device continues to move based on the local feature map.

[0097] S203. If the satellite signal is still unavailable when the self - moving device moves to the boundary of the local feature map, the self - moving device positions itself based on a preset positioning method so that the self - moving device moves along a preset path from the boundary of the local feature map.

[0098] S204. When the distance that the self - moving device moves along the preset path is less than or equal to the first preset distance, if it is detected that the satellite signal is available, the self - moving device is positioned based on the satellite positioning method so that the self - moving device continues to move along the preset path.

[0099] S205. If the distance that the self - moving device moves along the preset path is equal to the first preset distance and the satellite signal of the self - moving device is still unavailable, the self - moving device stops moving.

[0100] S206. Move along the preset path from the position of the charging device based on the satellite positioning method.

[0101] The specific implementation manners of S201, S203 - S206 are the same as those of S101 - S105 and will not be elaborated here.

[0102] Based on the embodiments of the present application Figure 5 As shown, when the self - moving device moves away from the charging device, it can move without relying on the position of the charging device, but move through the local feature map around the charging device. After moving to the boundary of the local feature map, it then moves along the preset path based on the preset positioning method.

[0103] Refer to Figure 6 As shown, it is a schematic diagram of the movement control of the self - moving device provided by an embodiment of the present application. The self - moving device is electrically connected to the charging device. When receiving a preset instruction, if the satellite signal is unavailable and the visual positioning method is available, the self - moving device positions itself based on the visual positioning method. Starting from the position A of the charging device, it moves along the first path L1 towards the starting point B of the second path L2. After reaching the starting point B, it moves along the second path L2 for the movement operation. During the process of positioning based on the visual positioning method, the self - moving device continuously judges whether the satellite signal is restored to be available. If the satellite signal is restored to be available, it continues to move along the preset path based on the satellite positioning method. If the satellite signal is still unavailable, it continues to move along the preset path based on the visual positioning method. If the distance that the self - moving device moves along the preset path based on the visual positioning method reaches the first preset distance, at this time the self - moving device reaches the position C. If the satellite signal is still unavailable, it stops moving and waits for manual intervention. If the satellite signal is restored to be available, it continues to move along the second path for the movement operation from the position C based on the satellite positioning method.

[0104] Refer to Figure 7As shown in the figure, it is a schematic diagram of the movement control of a self - moving device provided by another embodiment of the present application. The self - moving device is electrically connected to a charging device. When receiving a preset instruction, if the satellite signal is unavailable and the visual positioning method is unavailable, the self - moving device performs positioning based on the odometer positioning method. Starting from position A of the charging device, it moves along the first path L1 towards the starting point B of the second path L2. After reaching the starting point B, it moves along the second path L2. During the positioning process based on the odometer positioning method, the self - moving device continuously determines whether the satellite signal has recovered to be available. If the satellite signal has recovered to be available, it continues to move along the preset path based on the satellite positioning method. If the satellite signal is still unavailable, it continues to move along the preset path based on the odometer positioning method. If the distance that the self - moving device moves along the preset path based on the odometer positioning method reaches a third preset distance, at this time the self - moving device reaches position D. If the satellite signal is still unavailable, it stops moving and waits for manual intervention. If the satellite signal has recovered to be available, it starts to move and operate along the second path from position D based on the satellite positioning method, and the movement operation path includes a partial path that moves based on the odometer positioning method.

[0105] An embodiment of the present application also provides a computer - readable storage medium. A computer program is stored on the computer - readable storage medium, and the computer program includes program instructions. The method implemented when the program instructions are executed can refer to the methods in the above - mentioned various embodiments of the present application.

[0106] Among them, the computer - readable storage medium can be the internal memory of the self - moving device described in the above - mentioned embodiment, such as the hard disk or memory of the self - moving device. The computer - readable storage medium can also be an external storage device of the self - moving device, such as a plug - in hard disk equipped on the self - moving device, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc.

[0107] In an embodiment of the present application, the computer - readable storage medium may include a program storage area and a data storage area. Among them, the program storage area can store an operating system, application programs required for at least one function, etc.; the data storage area can store data created according to the use of the self - moving device, etc.

[0108] In the above - mentioned embodiments, the descriptions of each embodiment have their own focuses. For the parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0109] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. A professional technician can use different methods for each specific application to implement the described functions, but such implementation should not be considered to exceed the scope of this application.

[0110] In the embodiments provided in this application, it should be understood that the disclosed device / terminal device and method can be implemented in other ways. For example, the device / terminal device embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of the devices or units can be electrical, mechanical or other forms.

[0111] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place, or they can be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0112] The above-described embodiments are only used to illustrate the technical solutions of this application, rather than to limit it; although this application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included in the protection scope of this application.

Claims

1. A mobile control method, applied to a self-moving device, characterized in that: The method comprises: When the self-moving device is electrically connected to the charging device and a preset instruction is received, if the satellite signal of the self-moving device is unavailable, the self-moving device locates the self-moving device based on a preset positioning method so that the self-moving device moves along a preset path from the location of the charging device; When the distance moved by the self-moving device along the preset path is less than or equal to the first preset distance, if it is detected that the satellite signal is available, the self-moving device is positioned based on the satellite positioning method so that the self-moving device continues to move along the preset path.

2. The mobile control method according to claim 1, characterized in that: The method further comprises: If the distance moved by the self-moving device along the preset path is equal to the first preset distance and the satellite signal of the self-moving device is still unavailable, the self-moving device stops moving.

3. The mobile control method according to claim 1, characterized in that: The method further comprises: When the self-moving device establishes an electrical connection with the charging device, the self-moving device is positioned to obtain a first position, and the first position is determined as the position of the charging device.

4. The mobile control method according to claim 3, characterized in that: The method further comprises: Comparing the first position with a second position of the charging device, where the second position is a position obtained by the mobile device when locating the charging device last time; If the first position is different from the second position, the position of the charging device is updated in the operation map of the self-moving device based on the first position.

5. The mobile control method according to claim 1, characterized in that: The method further comprises: The mobile device determines whether the satellite signal is received; If the satellite signal is not received, determining that the satellite signal is unavailable; If the satellite signal is received, determining the strength of the satellite signal; If the strength of the satellite signal is greater than or equal to a preset strength threshold, determining that the satellite signal is available; If the strength of the satellite signal is less than the preset strength threshold, it is determined that the satellite signal is unavailable.

6. The mobile control method according to claim 2, characterized in that: The preset positioning method is at least one of a visual positioning method, a lidar positioning method, and an odometer positioning method.

7. The mobile control method according to claim 6, characterized in that: The method further comprises: When the self-moving device is electrically connected to the charging device and a preset instruction is received, if the satellite signal of the self-moving device is unavailable, the self-moving device preferentially selects the visual positioning method to locate the self-moving device; If the visual positioning method is not available, the self-moving device selects the odometer positioning method to position the self-moving device.

8. The mobile control method according to claim 7, characterized in that: The preset path includes a first path and a second path, and the method further includes: When the distance moved by the self-moving device along the preset path based on the visual positioning method is less than or equal to the first preset distance, if the self-moving device is located on the second path, the operating mechanism of the self-moving device is started; When the distance moved by the self-moving device along the preset path based on the odometer positioning method is less than or equal to the first preset distance, the operating mechanism of the self-moving device stops working; When the distance moved by the self-moving device along the preset path based on the odometer positioning method is less than or equal to the first preset distance, if the satellite signal of the self-moving device is available and the self-moving device is located on the second path, the operating mechanism of the self-moving device is started.

9. The mobile control method according to claim 1, characterized in that: The method further comprises: If the satellite signal is unavailable, move based on a local feature map; If the mobile device moves to the boundary of the local feature map and the satellite signal is still unavailable, the mobile device moves the first preset distance from the boundary of the local feature map based on the preset positioning method.

10. A self-propelled device, characterized in that: The self-mobile device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the self-mobile device implements the mobile control method as claimed in any one of claims 1 to 9.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor in a mobile device, the mobile control method according to any one of claims 1 to 9 is implemented.

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