Method for controlling mobile device, and related device

Abstract

Disclosed in the embodiments of the present application are a method for controlling a mobile device, and a related device. The method comprises: controlling a mobile device to move along a preset path; when the mobile device moves to a location where a satellite positioning signal does not meet a preset condition, controlling the mobile device to continue to move along the preset path for a first distance or a first duration; after the mobile device continues to move along the preset path for the first distance or the first duration, controlling the mobile device to move randomly, and during the random movement of the mobile device, when the mobile device moves to a location where the satellite positioning signal meets the preset condition, determining the distance between the current location of the mobile device and an initial point on the basis of the satellite positioning signal, wherein the initial point is an initial location of the random movement of the mobile device; when the distance is less than a preset distance, controlling the mobile device to move to the initial point; and after the mobile device returns to the initial point, controlling the mobile device to continue to move along the preset path.

Description

Control method of mobile device and related device

[0001] The present application claims priority to the Chinese patent application No. 2024108020810, filed on June 20, 2024, and entitled "Control method of mobile device and related device", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the field of robot technology, and particularly relates to a control method of mobile device and related device. BACKGROUND

[0003] In the prior art, during the operation of the mowing robot, due to the shelter of houses, trees and the like on the lawn, the satellite positioning signal is poor, which affects the satellite positioning accuracy. Therefore, how to solve the problem that the satellite positioning is inaccurate when being sheltered and affects the movement of the mowing robot needs to be solved urgently. SUMMARY

[0004] The embodiments of the present application provide a control method of mobile device and related device, which can solve the problem that the satellite positioning is inaccurate when being sheltered and affects the movement of the mowing robot.

[0005] In a first aspect, the embodiments of the present application provide a control method of mobile device, the method comprising: controlling the mobile device to move along a preset path; 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 a first time length; after continuing to move along the preset path for the first distance or the first time length, controlling the mobile device to move randomly, and during the random movement of the mobile device, when the mobile device moves to a position where the satellite positioning signal satisfies the preset condition, determining a distance between a current position of the mobile device and an initial point according to the satellite positioning signal, the initial point being an initial position of the random movement of the mobile device; when the distance is less than a preset distance, controlling the mobile device to move to the initial point; after returning to the initial point, controlling the mobile device to continue moving along the preset path.

[0006] In a second aspect, an embodiment of the present application provides a control device of a mobile device, which can include a first control unit, a determination unit and a second control unit. The first control unit is configured to control the mobile device to move along a preset path. When the mobile device moves to a position where a satellite positioning signal does not satisfy a preset condition, the first control unit is configured to control the mobile device to continue moving along the preset path for a first distance or for a first time length. The determination unit is configured to control the mobile device to move randomly after the mobile device continues moving along the preset path for the first distance or for the first time length. During the random movement of the mobile device, when the mobile device moves to a position where the satellite positioning signal satisfies the preset condition, the determination unit is configured to determine a distance between a current position of the mobile device and an initial point according to the satellite positioning signal, the initial point being an initial position of the random movement of the mobile device. The second control unit is configured to control the mobile device to move to the initial point when the distance is less than a preset distance. After the mobile device returns to the initial point, the second control unit is configured to control the mobile device to continue moving along the preset path.

[0007] 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. The one or more programs are stored in the memory and configured to be executed by the processor. The programs include instructions for performing the steps in the first aspect of the present application.

[0008] 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. The computer program causes a computer to perform some or all of the steps described in the first aspect of the present application.

[0009] 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. 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.

[0010] The embodiments of the present application have the following beneficial effects: The control method of the mobile device and the related device described in the present application control the mobile device to move along the preset path, control the mobile device to continue moving for a first distance or for a first time duration along the preset path when the mobile device moves to a position where the satellite positioning signal does not satisfy the preset condition, control the mobile device to move randomly after moving for the first distance or for the first time duration along the preset path, and when the mobile device moves to a position where the satellite positioning signal satisfies the preset condition in the process of the random movement of the mobile device, determine the distance between the current position of the mobile device and the initial point according to the satellite positioning signal, the initial point being the initial position of the random movement of the mobile device, control the mobile device to move to the initial point when the distance is less than the preset distance, and control the mobile device to continue moving along the preset path after returning to the initial point. Thus, the mobile device can maintain accurate positioning within a certain distance when the satellite positioning signal does not satisfy the preset condition, and the mobile device can move further along the preset path by using the non-satellite positioning technology after the satellite positioning signal does not satisfy the preset condition, and find a position where the satellite positioning signal satisfies the preset condition in the process of the random movement, so that satellite positioning calibration can be performed at the position, and when the distance between the position and the initial point is less than the preset distance, it indicates that the distance between the position and the initial point is within the preset distance, so that the mobile device can accurately reach the initial point and calibrate the position of the initial point, so that the mobile device can move along the preset path from the initial point based on the accurate positioning position again, and the problem that the satellite positioning is inaccurate when being blocked and affects the movement of the mowing robot can be solved. BRIEF DESCRIPTION OF DRAWINGS

[0011] 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 needed to be used in the embodiments or the prior art description. 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 any creative effort based on these drawings.

[0012] FIG. 1A is a flow diagram of a control method of a mobile device according to an embodiment of the present application.

[0013] FIG. 1B is a demonstration diagram of a sky region in an environment image according to an embodiment of the present application.

[0014] FIG. 1C is a demonstration diagram of a maximum inscribed circle according to an embodiment of the present application.

[0015] FIG. 1D is a schematic view of a first position according to an embodiment of the present application.

[0016] FIG. 1E is another schematic view of a first position according to an embodiment of the present application.

[0017] FIG. 1F is a schematic view of a scenario of a control method of a mobile device according to an embodiment of the present application.

[0018] FIG. 1G is a schematic view of a scenario of a control method of a mobile device according to an embodiment of the present application.

[0019] FIG. 2 is a flowchart of a control method of a mobile device according to an embodiment of the present application.

[0020] FIG. 3 is a schematic view of a structure of a mobile device according to an embodiment of the present application.

[0021] FIG. 4 is a block diagram of functional units of a control device of a mobile device according to an embodiment of the present application. DETAILED DESCRIPTION

[0022] In order to make the personnel in the technical field better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0023] The terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but can optionally include other steps or units not listed or can optionally include other steps or units inherent to the process, method, product or device.

[0024] In this document, the term "embodiment" means that a specific feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The phrase appears at various places in the specification does not necessarily all refer to the same embodiment, nor is it necessarily mutually exclusive of other embodiments. It is explicitly and implicitly understood that the embodiments described herein can be combined with other embodiments.

[0025] In the embodiments of the present application, the mobile device can include at least one of a mowing robot, a mobile robot (a robot with a mobile function), an intelligent vehicle, and the like, without limitation, or the mobile device can be another robot with the related functions described in the embodiments of the present application.

[0026] 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 implement positioning by using a satellite positioning technology, such as a real-time kinematic (RTK) technology. The non-satellite positioning device can be used to implement positioning by using a non-satellite positioning technology. In some embodiments, when the satellite positioning signal does not meet the preset condition, the non-satellite positioning device can be used to implement positioning by using the non-satellite positioning technology, and vice versa, when the satellite positioning signal meets the preset condition, the satellite positioning device can be used to implement positioning by using the satellite positioning technology. The camera can be used to collect environmental images. The camera can include a rear-view camera with a lens directed upward and backward of the mobile device.

[0027] 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.

[0028] The embodiments of the present application are described in detail below.

[0029] Referring to FIG. 1A, FIG. 1A is a flowchart of a control method of a mobile device according to an embodiment of the present application. As shown in the figure, the control method of the mobile device includes the following steps.

[0030] 101. Control the mobile device to move along a preset path.

[0031] The preset path can be a pre-planned or system default planned path.

[0032] In some embodiments, the mobile device can include a mowing robot, and the mowing robot can be controlled to move along a planned path and perform a mowing operation in a work area. When the mobile device moves to a position where the satellite positioning signal meets the preset condition, the mobile device can be controlled to move along the preset path in the work area by using a satellite positioning technology. When the mobile device moves to a position where the satellite positioning signal does not meet the preset condition, the mobile device can be controlled to move along the preset path in the work area by using a non-satellite positioning technology.

[0033] 102、when the mobile device moves to a position where the satellite positioning signal does not satisfy the preset condition, control the mobile device to continue moving for a first distance or for a first time duration along the preset path.

[0034] In some embodiments, the preset condition can be pre-set or system default. The signal quality of the satellite positioning signal can 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 satisfies the preset condition. Conversely, 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 satisfy the preset condition. The preset signal strength threshold can be pre-set or system default.

[0035] In some embodiments, the satellite positioning signal can include a real-time kinematic (RTK) signal.

[0036] For example, taking a mowing robot as an example, if the RTK signal is strong during the mowing robot performing mowing work along the preset path, the mowing robot can move along the preset path by using RTK positioning.

[0037] In some embodiments, the first distance can be pre-set or system default, and the first time duration can be pre-set or system default. The first distance can be understood as the distance that the mobile device continues to move within a preset distance. The first time duration can be understood as the time duration of continuing to move. In an example, the distance moved within the first time duration can be pre-set to not exceed the preset distance. The preset distance can be pre-set or system default.

[0038] In some embodiments, when the mobile device moves to a position where the satellite positioning signal does not satisfy the preset condition, it means that the satellite positioning signal is poor, and the visual-inertial odometer positioning can be used for distance continuation to allow the mobile device to move for a preset distance. It can be considered that the positioning of the mobile device is accurate within the preset distance.

[0039] 103、after the mobile device continues to move for the first distance or for the first time duration along the preset path, control the mobile device to move randomly, and during the random movement of the mobile device, when the mobile device moves to a position where the satellite positioning signal satisfies the preset condition, determine the distance between the current position of the mobile device and an initial point according to the satellite positioning signal, the initial point being the initial position of the random movement of the mobile device.

[0040] Since the mileage corresponding to the first mileage or the first duration is still within the preset extendable mileage, accurate positioning can still be achieved through non-satellite positioning technology. After moving along the preset path for the first mileage or the first duration, it indicates that the accuracy of non-satellite positioning technology can no longer meet the positioning requirements of the mobile device. Therefore, the mobile device can be controlled to move randomly within the work area. During the random movement of the mobile device, when the mobile device moves to a position where the satellite positioning signal meets the preset conditions, the distance between the current position of the mobile device and the initial point is determined. The initial point is the initial position of the random movement of the mobile device.

[0041] In some embodiments, in order to enable the mobile device to travel a longer distance along a preset path using non-satellite positioning technology after the satellite positioning signal fails to meet the preset conditions, the first mileage can be equal to the preset lifespan mileage. In this way, the number of times the mobile device switches to random movement during the movement along the preset path can be reduced, thereby improving the operating efficiency of the mobile device.

[0042] 104. When the distance is less than the preset distance, control the mobile device to move to the initial point.

[0043] The preset distance can be set in advance or set by the system default.

[0044] In some embodiments, when the distance is less than a preset distance, it can be understood that the distance is still within the preset endurance range, and accurate positioning can still be achieved using non-satellite positioning technology. Since the satellite positioning signal at the current location meets preset conditions, satellite positioning can be achieved, controlling the mobile device to move to the initial point. If the distance between the current location and the initial point is within the preset endurance range, satellite positioning technology can be used to achieve positioning when the satellite positioning signal meets the preset conditions. If the satellite positioning signal does not meet the preset conditions, non-satellite positioning technology is used to achieve positioning, thereby ensuring high-precision positioning during the journey from the current location to the initial point.

[0045] 105. After returning to the initial point, control the mobile device to continue moving along the preset path.

[0046] In some embodiments, after returning to the initial point, since the initial point is within a preset range of mileage, the initial point can maintain high-precision positioning, and the mobile device can be controlled to continue moving along the preset path, thus maintaining high-precision positioning within a certain mileage range (preset range of mileage).

[0047] In some embodiments, when the distance is greater than or equal to the preset distance, the mobile device is controlled to move along a first direction so that the mobile device moves closer to the initial point.

[0048] The first direction can be pre-set or system default, for example, the first direction can be southeast or northwest.

[0049] In some embodiments, when the distance is greater than or equal to the preset distance, it can be understood that the distance is not within the preset distance, and the mobile device is controlled to move in the first direction. Moving in the first direction is to find a position faster where the satellite positioning signal meets the condition and the distance is less than or equal to the preset distance.

[0050] For example, if the distance is greater than or equal to the preset distance, the mobile device can be controlled to move in the first direction, i.e. to move in the first direction to make the mobile device closer to the initial point. During the movement, the satellite signal quality is detected. If the satellite signal quality meets the preset condition, the satellite positioning technology can be used for positioning to determine whether the position of the mobile device is less than the preset distance from the initial point. If yes, the mobile device is controlled to return to the initial point.

[0051] In some embodiments, the first direction is a direction towards a circle with the initial point as the center and the preset distance as the radius.

[0052] In some embodiments, the first direction can be a direction towards a circle with the initial point as the center and the preset distance as the radius, i.e. to ensure that the mobile device can move in the working area and the circle at the same time, i.e. in the intersection area of the circle and the working area. During the movement, if the satellite signal quality of any position meets the preset condition, the position between the initial point can be used for high-precision positioning. Therefore, controlling the mobile device to move towards the circle with the initial point as the center and the preset distance as the radius can ensure high-precision positioning within the effective radius range of the initial point and the continuous mileage.

[0053] For example, in random movement, if it is detected that the satellite signal quality meets the preset condition and the distance between the mobile device and the initial point is greater than the preset distance, the mobile device is controlled to move towards the circle with the initial point as the center and the preset distance as the radius.

[0054] In some embodiments, during the movement in the first direction, when the mobile device moves to a position where the satellite positioning signal meets the preset condition, the mobile device is controlled to move in the first direction by satellite positioning technology. When the mobile device moves to a position where the satellite positioning signal does not meet the preset condition, the mobile device is controlled to move in the first direction by non-satellite positioning technology.

[0055] In some embodiments, when the mobile device moves to a position where the satellite positioning signal meets the preset condition during movement in the first direction, it indicates that the satellite positioning signal is strong, and the mobile device can be controlled to move in the first direction by the satellite positioning technology. 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 weak, and the satellite positioning may not be accurate, and thus the mobile device can be positioned by the non-satellite positioning technology to control the mobile device to move in the first direction by the non-satellite positioning technology, so as to ensure continuous accurate positioning and achieve accurate positioning within the preset continuous mileage.

[0056] For example, taking a mowing robot as the mobile device, if the satellite signal is good (meets the preset condition) during movement into the circle, the position of the mowing robot is determined by satellite positioning to control the mowing robot to move into the circle. If the satellite (RTK) signal becomes poor again (does not meet the preset condition), the mowing robot continues to move into the circle by VIO positioning. If the mowing robot is still within the preset continuous mileage (such as 100 meters) of VIO positioning after entering the circle, the mowing robot is controlled to move in the circle according to a preset strategy until the satellite signal quality becomes good (meets the preset condition), and then the position of the mowing robot is calibrated by RTK positioning, and the mowing robot is controlled to return to the initial point. The preset strategy is to control the mowing robot to move in any direction, turn when reaching the boundary of the circle or the boundary of the lawn, and avoid obstacles when encountering obstacles. The preset strategy can make the mowing robot still move in the circle and find a position with good satellite signal (meets the preset condition) and close to the initial point more quickly.

[0057] In some embodiments, after the mobile device is controlled to enter the circle by the non-satellite positioning technology, if the remaining continuous mileage is greater than 0, the mobile device is controlled to move in the circle by the non-satellite positioning technology, so that the position of the mobile device after movement detects that the satellite positioning signal meets the preset condition, and the remaining continuous mileage is obtained based on the preset continuous mileage and the mileage of the mobile device moving in the first direction by the non-satellite positioning technology.

[0058] In some embodiments, after the mobile device enters the circle, when the position of the mobile device is within the preset continuation distance, i.e., the remaining continuation distance is greater than 0, wherein the remaining continuation distance is obtained based on the preset continuation distance and the distance of moving the mobile device in the first direction controlled by the non-satellite positioning technology. In an example, the remaining continuation distance = preset continuation distance - distance of moving the mobile device in the first direction controlled by the non-satellite positioning technology, the continuation of accurate positioning can be ensured, the accurate positioning within the preset continuation distance is achieved, and the mobile device is controlled to continue moving in the circle so that the position of the mobile device after moving is detected to satisfy the preset condition, thereby helping to ensure that the mobile device moves in the circle and finds a position satisfying the preset condition of the satellite positioning signal and closer to the initial point more quickly.

[0059] For example, if the mobile device enters the circle and is still within the continuation distance preset by the non-satellite positioning technology (e.g., 100 meters), the mobile device is controlled to continue moving in the circle until the satellite positioning signal satisfying the preset condition is detected, and then the mobile device is controlled to return to the initial point after the position of the mobile device is calibrated by satellite positioning. The control of the mobile device moving in the circle can be performed in the following manner: the mobile device is controlled to move in an arbitrary direction, turn when reaching the boundary of the circle or the boundary of the lawn, and avoid obstacles when encountering obstacles. That is, the mobile device can still move in the circle and find a position satisfying the preset condition of the satellite positioning signal and closer to the initial point more quickly.

[0060] In some embodiments, after the mobile device enters the circle controlled by the non-satellite positioning technology or the mobile device does not enter the circle, the method can further include: if the remaining continuation distance is less than or equal to 0, controlling the mobile device to move randomly, and when the mobile device moves to a position where the satellite positioning signal satisfies the preset condition, performing the step of determining the distance between the current position of the mobile device and the initial point according to the satellite positioning signal.

[0061] In some embodiments, after the mobile device enters the circle, when the position of the mobile device is not within the preset continuation distance, i.e., the remaining continuation distance is less than or equal to 0, it is indicated that the mobile device cannot be kept moving in the circle due to inaccurate positioning, and therefore the mobile device can be controlled to move randomly, and when the mobile device moves to a position where the satellite positioning signal satisfies the preset condition, the step of determining the distance between the current position of the mobile device and the initial point is performed.

[0062] In some embodiments, when the mobile device does not enter the circle, if the remaining mileage is less than or equal to 0, it means that it is not within the preset mileage, and thus, if it is not within the preset mileage, it cannot be guaranteed to be accurately positioned, and it cannot be guaranteed that the mobile device can enter the circle, so it is randomly moved, but it can continue to maintain the original moving direction when it just exceeds the preset mileage, and it can turn when the turning trigger condition is met, that is, "just exceeding the preset mileage" can be relatively trusted by default positioning, and maintaining the original moving direction can have a greater possibility of entering the circle.

[0063] The trigger condition can be understood as the mobile device detecting through a sensor that the mobile device is about to reach the boundary, the forbidden area, or the obstacle, and then changing the moving direction to avoid the mobile device leaving the work area, or entering the forbidden area, or colliding with the obstacle. The sensor can include at least one of a camera, an ultrasonic sensor, an infrared sensor, an ultrasonic sensor, a laser radar, etc., without limitation.

[0064] The turning trigger condition can include detecting through a sensor that the distance between the mobile device and the preset area is less than a set distance value, and the preset area includes any one of the following: a boundary, a forbidden area, an area where an obstacle is located, wherein the set distance value can be pre-set or system default. The distance between the mobile device and the preset area detected by the sensor is less than the set distance value, which means that the mobile device is about to reach the boundary, the forbidden area, or the area where the obstacle is located.

[0065] In other embodiments, the above step 103 of controlling the mobile device to randomly move can be implemented as follows: controlling the mobile device to move in any direction, and when the first turning trigger condition is met, controlling the mobile device to change the moving direction.

[0066] In some embodiments, the mobile device can be controlled to move in any direction, for example, the mobile device can be controlled to randomly move along a preset path, so that the specified path random movement function can be completed, and for example, the mobile device can also be controlled not to randomly move along the preset path, for example, the random movement can not pass through the preset path, or the random movement can also pass through the preset path, so that the function of not moving randomly according to the specified path can be completed.

[0067] In some embodiments, the mobile device can also control the mobile device to change the moving direction when the first turning trigger condition is met, that is, when the sensor detects that the mobile device is about to reach the boundary, the forbidden area, or the obstacle, the moving direction can be changed to avoid the mobile device leaving the work area, or entering the forbidden area, or colliding with the obstacle.

[0068] The first turning trigger condition comprises that the distance between the mobile device and a preset area is detected by a sensor to be less than a first set distance value, and the preset area comprises any one of the following: a boundary, a forbidden area, and an area where an obstacle is located. The first set distance value can be pre-set or system default. When the distance between the mobile device and the preset area is detected by the sensor to be less than the first set distance value, it indicates that the mobile device is about to reach the boundary, the forbidden area, or the area where the obstacle is located.

[0069] In some embodiments, after the mobile device changes the moving direction, it continues to monitor whether the first turning trigger condition is met; and when the first turning trigger condition is met, the mobile device is controlled to change the moving direction again.

[0070] In some embodiments, after the mobile device changes the moving direction, it continues to monitor whether the first turning trigger condition is met; if the first turning trigger condition is met, the mobile device can change the moving direction again; otherwise, if the first turning trigger condition is not met, the mobile device can keep the moving direction unchanged. In this way, the mobile device can be constantly ensured not to collide, not to fall into a pit, and not to go out of the boundary of the lawn, thereby ensuring safety.

[0071] In some embodiments, the above step of controlling the mobile device to move randomly can be implemented in the following manner: an environment image in at least one direction is collected by a camera of the mobile device, a sky area is identified from the environment image, a relative positional relationship between the position of the mobile device and the ground projection position of the sky area is determined, the mobile device is controlled to move in the direction of the ground projection position of the sky area according to the relative positional relationship, and the mobile device is controlled to change the moving direction when a second turning trigger condition is met.

[0072] The relative positional relationship can comprise a relative distance and a relative angle.

[0073] In some embodiments, an environment image in at least one direction can be collected by a camera, and a sky area can be identified from the environment image. Since the sky area is not blocked by an obstacle, the ground projection position corresponding to the sky area has a high probability of having good satellite positioning signal quality. Therefore, a relative positional relationship between the position of the mobile device and the ground projection position of the sky area can be determined, and the mobile device is controlled to move in the direction of the ground projection position of the sky area according to the relative positional relationship. In this way, the mobile device can quickly find a position with good satellite positioning signal quality.

[0074] In some embodiments, the mobile device can also be controlled to change the moving direction when the second turning trigger condition is met, that is, when the mobile device is about to reach the boundary, the forbidden area, or the obstacle detected by the sensor, the moving direction can be changed to avoid the mobile device from leaving the working area, entering the forbidden area, or colliding with the obstacle.

[0075] The second turning trigger condition comprises that the distance between the mobile device and a preset area is detected by a sensor to be less than a second set distance value, and the preset area comprises any one of the following: a boundary, a forbidden area, and an area where an obstacle is located. The second set distance value can be pre-set or system default. When the distance between the mobile device and the preset area is detected by the sensor to be less than the second set distance value, it indicates that the mobile device is about to reach the boundary, the forbidden area, or the area where the obstacle is located.

[0076] The first turning trigger condition and the second turning trigger condition can be the same or different, and the first set distance value and the second set distance value can be the same or different.

[0077] For example, the environment image can be captured by the rear-view camera to find the sky area, the relative positional relationship (relative distance and relative angle) between the position of the mobile device and the position of the projection of the sky area on the ground can be determined according to the environment image, and then the mobile device can be moved forward in the direction of the projection position of the sky area on the ground, so that the lawn mower can find a position with good satellite signal quality faster.

[0078] In some embodiments, when there is at least one sky area in the environment image, a sky area with a radius of the largest inscribed circle greater than a preset radius can be selected, and the relative positional relationship between the position of the mobile device and the position of the projection of the sky area on the ground is determined. The preset radius can be pre-set or system default, and the preset radius is to ensure that the sky area is large enough and open enough. Some smaller sky areas are removed. In an example, after the mobile device continues to move for a first distance or for a first time along the preset path, and before the random movement, the camera of the mobile device rotates in place to capture environment images in at least one direction, and the sky area in the environment image is identified, or the camera of the mobile device rotates in place to capture environment images in at least one direction following the movement of the mobile device. Each environment image can have k sky areas, and the first position is extracted for each environment image. Then, the first position can also be one or more, and k is a natural number, for example, k is 0, 1, 2, etc. The largest inscribed circle of the sky area in the environment image is taken, and when the radius of the largest inscribed circle is greater than the preset radius, the center of the largest inscribed circle is projected on the ground to store the coordinate as the first position.

[0079] For example, if there is no object in the environment to block, the entire area in the environment image will be a sky area. Due to the existence of other objects (such as houses and trees) in the environment, a sky area can be separated into multiple sky areas by the other objects, as shown in FIG. 1B. There can be multiple sky areas in the environment image.

[0080] The center of the circle is taken because the satellite signal at the center of the circle is considered to be the best, and the surrounding sky region is the non-sky region. The satellite positioning in the non-sky region is poor due to the obstruction of the surrounding obstacles. The center of the circle is taken to the extent that the position corresponding to the circle point is less affected by the surrounding obstacles, and thus the satellite signal is the best.

[0081] For example, as shown in FIG. 1C, the rectangle can represent an environment image, the oval represents a sky region, and the circle can represent the maximum inscribed circle of the sky region. As shown in FIG. 1D, the mobile device can include a rear-view camera, and the sky region is photographed by using the rear-view camera to obtain an environment image. The center O of the inscribed circle of the sky region of the environment image is projected onto the ground coordinate O' and stored as a first position.

[0082] For example, before the mobile device randomly moves, a plurality of direction images are photographed by rotating in place, the sky region is identified from the images, and the projection position of the sky region is determined. For example, the projection position can be the projection coordinate of the center of the maximum inscribed circle of the sky region on the ground.

[0083] In some embodiments, the projection coordinate of the center of the inscribed circle of the sky region on the ground can be determined in the following manner. Specifically, the projection coordinate of the center of the inscribed circle of the sky region on the ground can be determined by identifying the spatial coordinates (X1, Y1, Z1) of the obstacle from the image, calculating the offset (ΔX, ΔY) between the pixel coordinates of the obstacle and the pixel coordinates of the center of the inscribed circle of the sky region, and determining the projection coordinate (X1+ΔX', Y1+ΔY') of the center of the inscribed circle on the ground according to the offset and the spatial coordinates (X1, Y1, Z1) of the obstacle. X1 and Y1 are ground coordinates, and Z1 is a height coordinate. (ΔX', ΔY') has a preset mapping relationship with the offset (ΔX, ΔY).

[0084] For example, in combination with FIGS. 1D and 1E, point T is the position of the obstacle, and the corresponding spatial coordinates are (X1, Y1, Z1). T' is the projection of the position of the obstacle on the ground, that is, (X1, Y1, 0). Since the final projection processing is required, the height can be ignored. The spatial two-dimensional coordinates of point O are (X2, Y2), and thus the spatial two-dimensional coordinates of point O' are also (X2, Y2). The offset (ΔX, ΔY) can be calculated in the following manner: ΔX is the X component of the pixel coordinates of point O minus the X component of the pixel coordinates of point T, and ΔY is the Y component of the pixel coordinates of point O minus the Y component of the pixel coordinates of point T. Further, according to the preset mapping relationship, the spatial coordinate offset (ΔX', ΔY') can be obtained according to the pixel coordinate offset (ΔX, ΔY), and then the coordinate of point O' can be obtained as (X1+ΔX', Y1+ΔY').

[0085] In some embodiments, in the case that the satellite positioning signal does not satisfy the preset condition, the mobile device is positioned by a non-satellite positioning technology to control the mobile device to continue moving along the preset path.

[0086] In some embodiments, in the case that the satellite positioning signal does not satisfy the preset condition, it indicates that the satellite positioning signal is weak, and the satellite positioning may not be accurate, and thus the mobile device can be positioned by a non-satellite positioning technology to control the mobile device to continue moving along the preset path, so as to ensure the continuation of accurate positioning and realize accurate positioning within the preset continuous mileage, and solve the problem of inaccurate satellite positioning when being blocked, which affects the movement of the mowing robot.

[0087] In some embodiments, when there are trees and houses in the working area of the mobile device, the height of the trees and the height of the houses in the working area can also be obtained; and the preset radius is determined according to the height of the trees and the height of the houses.

[0088] In some embodiments, when there are trees and houses in the working area of the mobile device, the height of the trees can refer to the average height of all trees, or the height of one of the trees. The height of the house can refer to the average height of all houses, or the height of one of the houses.

[0089] In some embodiments, when there are trees and houses in the working area of the mobile device, the height of the trees and the height of the houses can be used to determine the preset radius, so that the corresponding preset radius can be determined based on the actual environment, which helps to improve the accuracy of identifying open areas.

[0090] In some embodiments, the above step of determining the preset radius according to the height of the trees and the height of the houses can be implemented in the following manner: the preset radius is determined according to the following formula: preset radius = tree height / house height x π / 4.

[0091] In some embodiments, the preset radius = tree height / house height x π / 4. For example, the heights of trees or houses that will affect the signal in the working area can be obtained in advance, and the average height of these objects is calculated to calculate the preset radius, so that the corresponding preset radius can be determined based on the actual environment, which helps to improve the accuracy of identifying open areas.

[0092] In some embodiments, after the mobile device changes the moving direction, it continues to monitor whether the second turning trigger condition is satisfied; and when the second turning trigger condition is satisfied, the mobile device is controlled to change the moving direction again.

[0093] In some embodiments, after the mobile device changes the moving direction, the second turning trigger condition can be continuously monitored. If the second turning trigger condition is met, the mobile device can change the moving direction again. If the second turning trigger condition is not met, the mobile device can keep the moving direction unchanged. In this way, the mobile device can be ensured to avoid collision, falling into a pit, and going out of the lawn boundary, and safety can be ensured.

[0094] In some embodiments, when the preset area includes an area where an obstacle is located, after the mobile device changes the moving direction, the mobile device can be further controlled to keep the original direction before the obstacle area is bypassed.

[0095] The obstacle can include at least one of a stone, a tree, a shrub, a step, a sculpture, a stone tablet, a signboard, and the like, without limitation.

[0096] In some embodiments, when a preset object is identified by a sensor, the obstacle can be bypassed. The bypassing method can be turning or determining the area range of the obstacle first, bypassing the area range, and then controlling the mobile device to continue moving in the lawn range. For example, the mobile device can keep the original direction before the obstacle is bypassed. In this way, the mobile device can be ensured to avoid collision, falling into a pit, and going out of the lawn boundary, and safety can be ensured.

[0097] For example, during random movement of the mobile device, the sensor of the mobile device is turned on to identify obstacles, pits, lawn boundaries, and the like. When an obstacle or a pit is encountered, the mobile device can bypass the obstacle or the pit and then continue to move forward. When the lawn boundary is reached, the mobile device can turn to avoid going out of the lawn boundary. When no obstacle, pit, or lawn boundary is identified in front of the mobile device, the mobile device can continue to move forward. Of course, the mobile device can also directly turn when an obstacle or a pit is encountered and move forward in another direction. The random movement method is not limited, as long as the mobile device can be ensured to avoid collision, falling into a pit, and going out of the lawn boundary, and safety can be ensured.

[0098] For example, taking a mowing robot as the mobile device, a lens is installed on the mowing robot to serve as a rear-view camera that faces upward. The mowing robot can execute the control method of the mobile device according to the following steps S1-S5.

[0099] S1, if the (satellite) RTK signal is strong, that is, the RTK signal meets a preset condition, the mowing robot can be positioned by using the RTK positioning to move along the planned path.

[0100] S2, if RTK signal difference occurs during movement along the planned path, continue to move along the planned path through visual positioning or using IMU or VIO positioning, i.e. the mower robot can still move a preset continuation distance of 100 meters (100 meters is a hypothetical value, and the actual value depends on the performance of the robot) after the RTK signal difference occurs, and within the preset continuation distance, the mower robot can still obtain accurate positioning through VIO and the like. In some embodiments, after the RTK signal difference occurs, the mower robot is controlled to continue moving for a preset continuation distance, i.e. 100 meters.

[0101] S3, after moving the preset continuation distance (such as 100 meters), the mower robot is controlled to move randomly.

[0102] S4, if the mower robot finds that the satellite (RTK) signal meets the preset condition, i.e. the signal quality is good, during random movement, the current position of the robot is determined through RTK positioning, the distance between the current position and the initial point (the initial point can be the starting point of random movement, or the initial point can be the position after moving the preset continuation distance) is determined, and if the distance is less than a preset distance, the mower robot is controlled to return to the initial point (through RTK, VIO positioning when the satellite signal is poor (does not meet the preset condition)).

[0103] S5, after returning to the initial point, the mower robot is controlled to continue moving along the planned path.

[0104] In some embodiments, during random movement, the mower robot can or can not leave the planned path. For example, the mower robot can be controlled to move in any direction. Alternatively, the rear-view camera can be used to capture an image to find a sky area, the relative positional relationship (relative distance and relative angle) between the position of the mower robot and the projection of the sky area on the ground is determined through the image, and then the mower robot is controlled to move in the direction of the projection of the sky area on the ground, so that the mower robot can find a position with good satellite signal quality more quickly.

[0105] During random movement, the camera (or laser radar) is turned on to identify obstacles, pits, lawn boundaries, etc. If an obstacle or pit is encountered, the mower robot needs to be detoured and then continue to move forward, and when the lawn boundary is reached, the mower robot can turn to avoid moving out of the lawn boundary. When no obstacle, pit or lawn boundary is identified in front of the mower robot, the mower robot is controlled to continue moving forward. Of course, the mower robot can also be directly turned when an obstacle or pit is encountered, and then move in another direction. The random movement mode is not limited, and only needs to ensure that the mower robot does not collide, does not fall into a pit, and does not move out of the lawn boundary, and ensures safety.

[0106] For example, as shown in FIG. 1F, during the mowing operation along the planned path, if the RTK signal is poor during the movement along the planned path, the mowing robot continues to move along the planned path through visual positioning or IMU or VIO positioning. That is, after the RTK signal is poor, the mowing robot can still move a preset distance of 100 meters. After the preset distance is moved, the mowing robot is controlled to move randomly at the initial point (point A). During the random movement, if the mowing robot finds that the satellite (RTK) signal meets the preset condition, the current position (point B) of the mowing robot is determined through RTK positioning, the distance between the current position (point B) and the initial point (point A) is determined, and if the distance is less than a preset distance, the mowing robot is controlled to return to the initial point (point A). After returning to the initial point (point A), the mowing robot is controlled to continue to move along the planned path. The preset distance is r. The distance between point A and point B is within a circle with point A as the center and r as the radius.

[0107] If the distance between the current position and the initial point is greater than or equal to the preset distance, the mowing robot is controlled to move in a first direction (moving in the first direction makes the mowing robot closer to the initial point). During the movement, the satellite signal quality is detected. If the signal quality is good, that is, the signal meets the preset condition, RTK positioning is performed, and whether the position of the mowing robot is less than the preset distance from the initial point is determined. If so, the mowing robot is controlled to return to the initial point. For example, as shown in FIG. 1G, the first direction can be a direction from point B' to point A, or the first direction can also be a W direction at point B', that is, from position B' to the inside of the circle.

[0108] If the distance between the current position and the initial point is greater than or equal to the preset distance, the control of the lawn mowing robot moving towards the first direction includes: for example, in the random movement, if it is detected that the satellite signal meets the preset condition, the distance between the lawn mowing robot and the initial point is greater than the preset distance, and the lawn mowing robot is controlled to move forward in a circle with the initial point as the center and the preset distance as the radius. During the movement in the circle, if the satellite signal meets the preset condition, the position of the lawn mowing robot is determined by satellite positioning to control the lawn mowing robot to move forward in the circle, and if the satellite (RTK) signal becomes poor again, i.e., the signal does not meet the preset condition, the VIO positioning is continued to move forward in the circle. If the lawn mowing robot enters the circle and is still within the preset mileage (such as 100 meters) of the VIO positioning, the lawn mowing robot is controlled to move in the circle according to the preset strategy until the satellite signal quality meets the preset condition, and then the position of the lawn mowing robot is calibrated by RTK positioning, and the lawn mowing robot is controlled to return to the initial point. The preset strategy is to control the lawn mowing robot to move forward in any direction, turn when reaching the boundary of the circle or the boundary of the lawn, and avoid obstacles when encountering obstacles. The preset strategy can enable the lawn mowing robot to still move in the circle and find a position closer to the initial point with good satellite signal faster.

[0109] For example, as shown in FIG. 1G, during the execution of the mowing operation along the planned path, if the RTK signal is poor during the movement along the planned path, the VIO positioning or IMU positioning is used for continuation to continue moving along the planned path, i.e., after the RTK signal is poor, the lawn mowing robot can still move for a preset continuation mileage of 100 meters, and after the preset continuation mileage is moved, the lawn mowing robot is controlled to move randomly at the initial point (point A), and if the lawn mowing robot finds that the satellite (RTK) signal meets the preset condition during the random movement, the current position (point B') of the lawn mowing robot is determined by RTK positioning, the distance between the current position (point B') and the initial point (point A) is determined, and if the distance is greater than the preset distance (r), the lawn mowing robot is controlled to move forward in a circle with the initial point (point A) as the center and the preset distance as the radius.

[0110] If the lawn mowing robot enters the circle and is not within the preset continuation mileage (such as 100 meters) of the VIO positioning, the lawn mowing robot is controlled to move randomly, and during the random movement, the camera (or laser radar) is turned on to identify obstacles, pits, lawn boundaries, etc., and if obstacles, pits, etc. are encountered, the lawn mowing robot needs to bypass and then continue to move forward, and after reaching the boundary of the lawn, the lawn mowing robot can turn to avoid moving out of the boundary of the lawn. When no obstacles, pits, lawn boundaries, etc. are identified in front of the lawn mowing robot, the lawn mowing robot is controlled to continue to move forward. Then step S4 is executed. Since the preset continuation mileage is exceeded, the lawn mowing robot cannot be accurately positioned and cannot be guaranteed to move in the circle, so random movement is selected.

[0111] If it still does not enter the circle, it does not enter the VIO positioning within the preset continuation mileage (such as 100 meters), and enters the random movement mode. In the random movement process, the camera (or laser radar) is started to identify obstacles, pits, lawn boundaries, etc. If obstacles, pits, etc. are encountered, they need to be bypassed and then continue to move forward. When the lawn boundary is reached, it can turn to avoid the lawn robot from moving out of the lawn boundary. When no obstacles, pits, lawn boundaries, etc. are identified in front, the lawn robot continues to move forward. Of course, it can also directly turn when encountering obstacles or pits and move forward in another direction. Then return to step S4. Since the preset continuation mileage is exceeded, the lawn robot cannot be accurately positioned and cannot guarantee that the lawn robot enters the circle, so random movement is selected.

[0112] The control method of the mobile device described in the present application controls the mobile device to move along a preset path, and when the mobile device moves to a position where the satellite positioning signal does not satisfy a preset condition, controls the mobile device to continue moving along the preset path for a first distance or a first time length. After moving along the preset path for the first distance or the first time length, the mobile device is controlled to move randomly. In the process of random movement of the mobile device, when the mobile device moves to a position where the satellite positioning signal satisfies the preset condition, the distance between the current position of the mobile device and the initial point is determined according to the satellite positioning signal, the initial point being the initial position of the random movement of the mobile device. When the distance is less than a preset distance, the mobile device is controlled to move to the initial point. After returning to the initial point, the mobile device is controlled to continue moving along the preset path. In this way, when the satellite positioning signal does not satisfy the preset condition, the mobile device can still maintain accurate positioning within a certain distance, and then control the mobile device to move randomly. This indicates that the random movement does not require high-precision positioning, and obstacles, boundaries, and forbidden areas can be identified and avoided by sensors. Therefore, the preset continuation mileage provided by non-satellite positioning technology can be used to the maximum extent, so that the mobile device can move a longer distance along the preset path using non-satellite positioning technology after the satellite positioning signal does not satisfy the preset condition, and find a position where the satellite positioning signal satisfies the preset condition in the random movement process. Then, satellite positioning calibration can be performed at this position. When the distance between this position and the initial point is less than the preset distance, it indicates that the distance between this position and the initial point is within the preset continuation mileage. Therefore, it can be guaranteed that the mobile device can accurately reach the initial point and calibrate the position of the initial point, so that the mobile device can move along the preset path from the initial point based on the accurate positioning position again. This can solve the problem of inaccurate satellite positioning when blocked, which affects the movement of the lawn robot.

[0113] Please refer to FIG. 2, which is a flowchart of another control method of a mobile device provided by an embodiment of the present application. As shown in the figure, the control method of the mobile device includes the following steps.

[0114] 201、controlling the mobile device to move along a preset path.

[0115] 202、when the mobile device moves to a position where the 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 a first time length.

[0116] 203、after the first distance or the first time length, controlling the mobile device to move randomly, and during the random movement of the mobile device, when the mobile device moves to a position where the satellite positioning signal satisfies the preset condition, determining a distance between a current position of the mobile device and an initial point according to the satellite positioning signal, the initial point being an initial position of the random movement of the mobile device.

[0117] 204、when the distance is less than a preset distance, controlling the mobile device to move to the initial point.

[0118] 205、after returning to the initial point, controlling the mobile device to continue moving along the preset path.

[0119] 206、when the distance is greater than or equal to the preset distance, controlling the mobile device to move in a first direction to make the mobile device approach the initial point.

[0120] The specific description of steps 201-206 can be found in the related steps of the control method of the mobile device described in FIG. 1A, which will not be repeated here.

[0121] 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 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 move randomly after moving along the preset path for the first distance or the first time length, and when the mobile device moves to a position where the satellite positioning signal meets the preset condition in the process of the mobile device moving randomly, determines the distance between the current position of the mobile device and the initial point according to the satellite positioning signal, the initial point being the initial position of the mobile device moving randomly, controls the mobile device to move to the initial point when the distance is less than a preset distance, controls the mobile device to continue moving along the preset path after returning to the initial point, and controls the mobile device to move in a first direction to approach the initial point when the distance is greater than or equal to the preset distance. Thus, the mobile device can maintain accurate positioning within a certain distance when the satellite positioning signal does not meet the preset condition, and the mobile device can move randomly again, which indicates that high-precision positioning is not required for random movement, and the mobile device can avoid obstacles, boundaries and restricted areas by using sensors, so that the preset distance provided by non-satellite positioning technology can be used to the maximum extent, the mobile device can move a farther distance along the preset path after the satellite positioning signal does not meet the preset condition, and the position where the satellite positioning signal meets the preset condition can be found in the process of random movement, so that satellite positioning calibration can be performed at the position, the distance between the position and the initial point is less than the preset distance when the distance between the position and the initial point is less than the preset distance, which indicates that the distance between the position and the initial point is within the preset distance, so that the mobile device can accurately reach the initial point, the distance is greater than or equal to the preset distance when the distance is greater than or equal to the preset distance, so that the mobile device can approach the initial point and find the position where the satellite positioning signal meets the preset condition within a certain range to perform calibration, the distance between the current position and the initial point is within the preset distance again, the mobile device returns to the initial point, and the position of the initial point is calibrated, so that the mobile device can move from the initial point along the preset path based on the accurate positioning position again, which can solve the problem that the satellite positioning is inaccurate when blocked and affects the movement of the mowing robot.

[0122] Consistent with the above embodiments, referring to FIG. 3, FIG. 3 is a structural schematic diagram of a mobile device according to an embodiment of the present application. As shown in the figure, the mobile device comprises a processor, a memory, a communication interface, and one or more programs. The one or more programs are stored in the memory and configured to be executed by the processor. In the embodiment of the present application, the programs comprise instructions for performing the following steps: controlling the mobile device to move along a preset path; when the mobile device moves to a position where satellite positioning signals do 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; after the mobile device continues moving along the preset path for the first distance or for the first time length, controlling the mobile device to move randomly, and during the random movement of the mobile device, when the mobile device moves to a position where satellite positioning signals satisfy the preset condition, determining a distance between a current position of the mobile device and an initial point according to satellite positioning signals, the initial point being an initial position of the random movement of the mobile device; when the distance is less than a preset distance, controlling the mobile device to move to the initial point; and after returning to the initial point, controlling the mobile device to continue moving along the preset path.

[0123] In some embodiments, the programs further comprise instructions for performing the following steps: when the distance is greater than or equal to the preset distance, controlling the mobile device to move in a first direction to make the mobile device approach the initial point.

[0124] In some embodiments, the first direction is a direction towards an area with the initial point as the center and the preset distance as the radius.

[0125] In some embodiments, the programs further comprise instructions for performing the following steps: during the movement in the first direction, when the mobile device moves to a position where satellite positioning signals satisfy the preset condition, controlling the mobile device to move in the first direction by satellite positioning technology, and when the mobile device moves to a position where satellite positioning signals do not satisfy the preset condition, controlling the mobile device to move in the first direction by non-satellite positioning technology.

[0126] In some embodiments, the programs further comprise instructions for performing the following steps: after the mobile device is controlled to enter the area by the non-satellite positioning technology, if a remaining distance to be traveled is greater than 0, controlling the mobile device to move in the area by the non-satellite positioning technology, so that a position of the mobile device after the movement detects that satellite positioning signals satisfy the preset condition, the remaining distance to be traveled being obtained based on a preset distance to be traveled and a distance traveled by the mobile device in the first direction controlled by the non-satellite positioning technology.

[0127] In some embodiments, after the mobile device is controlled to enter the circle by the non-satellite positioning technology or when the mobile device does not enter the circle, the above program further comprises instructions for performing the following steps: if the remaining mileage is less than or equal to 0, controlling the mobile device to move randomly, when the mobile device moves to a position where the satellite positioning signal satisfies the preset condition, performing the step of determining the distance between the current position of the mobile device and the initial point according to the satellite positioning signal.

[0128] In some embodiments, in the aspect of controlling the mobile device to move randomly, the above program comprises instructions for performing the following steps: controlling the mobile device to move in an arbitrary direction, and when a first turning trigger condition is met, controlling the mobile device to change the moving direction.

[0129] In some embodiments, the above program further comprises instructions for performing the following steps: after the mobile device changes the moving direction, continuing to monitor whether the first turning trigger condition is met; when the first turning trigger condition is met, controlling the mobile device to change the moving direction again; or, after the mobile device changes the moving direction, continuing to monitor whether the second turning trigger condition is met; when the second turning trigger condition is met, controlling the mobile device to change the moving direction again.

[0130] In some embodiments, the first turning trigger condition comprises detecting, by a sensor, that the distance between the mobile device and a preset area is less than a first set distance value; and / or, the second turning trigger condition comprises detecting, by the sensor, that the distance between the mobile device and the preset area is less than a second set distance value; the preset area comprises any one of the following: a boundary, a forbidden area, an area where an obstacle is located.

[0131] In some embodiments, in the aspect of controlling the mobile device to move randomly, the above program comprises instructions for performing the following steps: acquiring, by a camera of the mobile device, an environmental image in at least one direction, identifying a sky area from the environmental image, and determining the relative positional relationship between the position of the mobile device and the ground projection position of the sky area; controlling the mobile device to move in the direction of the ground projection position of the sky area according to the relative positional relationship, and when a second turning trigger condition is met, controlling the mobile device to change the moving direction.

[0132] In some embodiments, when the preset area comprises an area where an obstacle is located, after the mobile device changes the moving direction, the above program further comprises instructions for performing the following steps: when the mobile device bypasses the area where the obstacle is located, controlling the mobile device to keep moving in the original direction before bypassing the obstacle.

[0133] In some embodiments, the mobile device further comprises a rearview camera, a lens of the rearview camera is disposed towards an obliquely rear upper side of the mobile device.

[0134] The mobile device described in the present application controls 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, controls 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, controls the mobile device to move randomly, when the mobile device moves to a position where the satellite positioning signal meets the preset condition in the process of the mobile device moving randomly, determines the distance between the current position of the mobile device and the initial point according to the satellite positioning signal, the initial point is the initial position of the mobile device moving randomly, when the distance is less than a preset distance, controls the mobile device to move to the initial point, after the mobile device returns to the initial point, controls the mobile device to continue moving along the preset path, thereby, when the satellite positioning signal does not meet the preset condition, the mobile device can also maintain accurate positioning within a certain distance, and then controls the mobile device to move randomly, which indicates that the random movement does not require high-precision positioning, and the sensor can identify obstacles, boundaries, restricted areas and avoid them, therefore, the preset distance of non-satellite positioning technology can be used to the maximum extent, so that the mobile device can move a farther distance along the preset path after the satellite positioning signal does not meet the preset condition by using non-satellite positioning technology, and find a position where the satellite positioning signal meets the preset condition in the process of random movement, then satellite positioning calibration can be performed at the position, when the distance between the position and the initial point is less than the preset distance, it indicates that the distance between the position and the initial point is within the preset distance, then it can be guaranteed that the mobile device can accurately reach the initial point and calibrate the position of the initial point, so that the mobile device can move from the initial point along the preset path based on the accurate positioning position again, which can solve the problem that the satellite positioning is not accurate when blocked, affecting the movement of the mowing robot.

[0135] Figure 4 is a functional unit composition block diagram of a control device 400 of a mobile device involved in an embodiment of the present application. The control device 400 of the mobile device can include a first control unit 401, a determination unit 402, and a second control unit 403, wherein the first control unit 401 is configured to control the mobile device to move along a preset path; when the mobile device moves to a position where satellite positioning signals do 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; the determination unit 402 is configured to, after the mobile device continues moving along the preset path for the first distance or for the first time length, control the mobile device to move randomly, and during the random movement of the mobile device, when the mobile device moves to a position where satellite positioning signals satisfy the preset condition, determine a distance between a current position of the mobile device and an initial point according to satellite positioning signals, the initial point being an initial position of the random movement of the mobile device; and the second control unit 403 is configured to, when the distance is less than a preset distance, control the mobile device to move in a first direction so as to make the mobile device approach the initial point.

[0136] In some embodiments, the first direction is a direction towards an inner circle with the initial point as the center and the preset distance as the radius.

[0137] In some embodiments, the control device 400 of the mobile device is further specifically configured to, during the movement in the first direction, when the mobile device moves to a position where satellite positioning signals satisfy the preset condition, control the mobile device to move in the first direction through satellite positioning technology, and when the mobile device moves to a position where satellite positioning signals do not satisfy the preset condition, control the mobile device to move in the first direction through non-satellite positioning technology.

[0138] In some embodiments, the control device 400 of the mobile device is further specifically configured to, after the mobile device is controlled to enter the inner circle through the non-satellite positioning technology, if a remaining distance to be traveled is greater than 0, control the mobile device to move in the inner circle through the non-satellite positioning technology, so that a position of the mobile device after the movement detects that satellite positioning signals satisfy the preset condition, the remaining distance to be traveled being obtained based on a preset distance to be traveled and a distance traveled by the mobile device in the first direction through the non-satellite positioning technology.

[0139] In some embodiments, after the mobile device is controlled to enter the circle by the non-satellite positioning technology or when the mobile device does not enter the circle, the control device 400 of the mobile device is further specific for: if the remaining mileage is less than or equal to 0, controlling the mobile device to move randomly, when the mobile device moves to a position where the satellite positioning signal satisfies the preset condition, performing the step of determining the distance between the current position of the mobile device and the initial point according to the satellite positioning signal.

[0140] In some embodiments, in the aspect of controlling the mobile device to move randomly, the determining unit 402 is specific for: controlling the mobile device to move in an arbitrary direction, and when a first turning trigger condition is met, controlling the mobile device to change the moving direction.

[0141] In some embodiments, in the aspect of controlling the mobile device to move randomly, the determining unit 402 is specific for: acquiring an environment image in at least one direction by a camera of the mobile device, identifying a sky region from the environment image, and determining a relative position relationship between the position of the mobile device and the ground projection position of the sky region; controlling the mobile device to move in a direction of the ground projection position of the sky region according to the relative position relationship, and when a second turning trigger condition is met, controlling the mobile device to change the moving direction.

[0142] In some embodiments, the control device 400 of the mobile device is further specific for: after the mobile device changes the moving direction, continuing to monitor whether the first turning trigger condition is met; when the first turning trigger condition is met, controlling the mobile device to change the moving direction again; or, after the mobile device changes the moving direction, continuing to monitor whether the second turning trigger condition is met; when the second turning trigger condition is met, controlling the mobile device to change the moving direction again.

[0143] In some embodiments, the first turning trigger condition comprises detecting, by a sensor, that the distance between the mobile device and a preset region is less than a first set distance value; and / or, the second turning trigger condition comprises detecting, by the sensor, that the distance between the mobile device and the preset region is less than a second set distance value; the preset region comprises any one of the following: a boundary, a forbidden area, and a region where an obstacle is located.

[0144] In some embodiments, when the preset region comprises a region where an obstacle is located, after the mobile device changes the moving direction, the control device 400 of the mobile device is further specific for: when the mobile device bypasses the region where the obstacle is located, controlling the mobile device to keep moving in the original direction before bypassing the obstacle.

[0145] 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, controls the mobile device to move randomly after the mobile device continues to move along the preset path for the first distance or the first time length, and when the mobile device moves to a position where the satellite positioning signal meets the preset condition in the process of the random movement of the mobile device, determines the distance between the current position of the mobile device and an initial point according to the satellite positioning signal, the initial point being the initial position of the random movement of the mobile device, controls the mobile device to move to the initial point when the distance is less than a preset distance, and controls the mobile device to continue moving along the preset path after the mobile device returns to the initial point. Thus, when the satellite positioning signal does not meet the preset condition, the mobile device can still maintain accurate positioning within a certain distance, and then the random movement of the mobile device indicates that the random movement does not require high-precision positioning, and the sensor can identify obstacles, boundaries, and forbidden areas and avoid them. Therefore, the preset distance of the non-satellite positioning technology can be maximally utilized, the mobile device can move a farther distance along the preset path by using the non-satellite positioning technology after the satellite positioning signal does not meet the preset condition, and the position where the satellite positioning signal meets the preset condition can be found in the process of the random movement, so that satellite positioning calibration can be performed at the position. When the distance between the position and the initial point is less than the preset distance, it indicates that the distance between the position and the initial point is within the preset distance, so that the mobile device can accurately arrive at the initial point and calibrate the position of the initial point, so that the mobile device can move from the initial point along the preset path based on the accurate positioning position again, and the problem that the satellite positioning is inaccurate when being blocked and affects the movement of the mowing robot can be solved.

[0146] 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 method embodiments, and the specific implementation process can be referred to the related description of the method embodiments, which will not be described here.

[0147] 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.

[0148] 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.

[0149] It should be noted that, for the foregoing method embodiments, the sequences of the described actions are not necessarily required to achieve the objects of the application, and certain steps can be performed in other sequences or even concurrently. Also, the aforementioned embodiments merely illustrate rather than limit the application.

[0150] In the above embodiments, the description of each embodiment is focused on different aspects, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0151] In several embodiments provided by the present application, it should be understood that the disclosed system can be implemented in other ways. For example, the above-described system embodiments are merely illustrative. For example, the division of the above units is only a logical function division. 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 coupling or direct coupling or communication connection between the units can be indirect coupling or communication connection through some interfaces, and can be electrical or other forms.

[0152] 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, they can be located in one place, or can be distributed on a plurality of network units. According to actual needs, part or all of the units can be selected to achieve the purpose of the embodiment.

[0153] In addition, each functional unit in each embodiment of the present application can be integrated into one processing unit, or each unit can exist physically, or two or more units can be integrated into one unit. The integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0154] If the above integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer readable memory. Based on this 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-mentioned method of each embodiment of the present application. The aforementioned memory includes: a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0155] A person of ordinary skill in the art can understand that all or part of the steps in the above-mentioned embodiments can be completed by instructing the relevant hardware through a program, which can be stored in a computer readable memory. The memory can include: a flash disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0156] The embodiments of the present application are described in detail above, and the specific examples are applied to the principles and implementation modes of the present application. The above embodiment description is only used to help understand the method of the present application and its core idea; at the same time, for those skilled in the art, according to the idea of the present application, the specific implementation mode and application range will be changed; in summary, the content of the specification should not be understood as a 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, the mobile device is controlled to move randomly. During the random movement of the mobile device, when the mobile device moves to a position where the satellite positioning signal meets the preset conditions, the distance between the current position of the mobile device and the initial point is determined according to the satellite positioning signal. The initial point is the initial position of the random movement of the mobile device. When the distance is less than a preset distance, control the mobile device to move to the initial point; After returning to the initial point, the mobile device is controlled to continue moving along the preset path.

2. The method according to claim 1, characterized in that, The method further includes: When the distance is greater than or equal to the preset distance, the mobile device is controlled to move along the first direction so that the mobile device is closer to the initial point.

3. The method according to claim 2, characterized in that, The first direction is the direction toward the circle centered at the initial point and with the preset distance as the radius.

4. The method according to claim 3, characterized in that, The method further includes: During the movement along the first direction, when the mobile device moves to a position where the satellite positioning signal meets the preset conditions, the mobile device is controlled to move along the first direction using satellite positioning technology; when the mobile device moves to a position where the satellite positioning signal does not meet the preset conditions, the mobile device is controlled to move along the first direction using non-satellite positioning technology.

5. The method according to claim 4, characterized in that, The method further includes: After the mobile device is controlled to enter the circle using the non-satellite positioning technology, if the remaining range is greater than 0, the mobile device is controlled to move within the circle using the non-satellite positioning technology so that the mobile device can detect a satellite positioning signal at the position after moving, which satisfies the preset condition. The remaining range is obtained based on the preset range and the mileage by which the mobile device moves along the first direction using the non-satellite positioning technology.

6. The method according to claim 5, characterized in that, After the mobile device is controlled to enter the circle using the non-satellite positioning technology, or when the mobile device does not enter the circle, the method further includes: If the remaining range is less than or equal to 0, the mobile device is controlled to move randomly. When the mobile device moves to a position where the satellite positioning signal meets the preset conditions, the step of determining the distance between the current position of the mobile device and the initial point based on the satellite positioning signal is executed.

7. The method according to any one of claims 1-6, characterized in that, The control of the mobile device to move randomly includes: The mobile device is controlled to move in any direction, and when the first turning trigger condition is met, the mobile device is controlled to change its moving direction.

8. The method according to any one of claims 1-6, characterized in that, The control of the mobile device to move randomly includes: The mobile device captures environmental images from at least one direction using its camera, identifies a sky region using the environmental images, and determines the relative positional relationship between the mobile device's location and the sky region's projection on the ground. The mobile device is controlled to move in the direction of the projection of the sky area on the ground according to the relative position relationship. When the second turning trigger condition is met, the mobile device is controlled to change the direction of movement.

9. The method according to claim 7 or 8, characterized in that, The method further includes: After the mobile device changes its direction of movement, it continues to monitor whether the first steering trigger condition is met; when the first steering trigger condition is met, it controls the mobile device to change its direction of movement again. or, After the mobile device changes its direction of movement, it continues to monitor whether the second steering trigger condition is met; when the second steering trigger condition is met, it controls the mobile device to change its direction of movement again.

10. The method according to any one of claims 7-9, characterized in that, The first steering trigger condition includes the sensor detecting that the distance between the mobile device and the preset area is less than a first preset distance value; And / or, The second steering trigger condition includes the sensor detecting that the distance between the mobile device and the preset area is less than a second preset distance value; The preset area includes any of the following: a boundary, a restricted area, or an area containing obstacles.

11. The method according to claim 10, characterized in that, When the preset area includes the area where the obstacle is located, after controlling the mobile device to change its direction of movement, the method further includes: When the mobile device bypasses the area where the obstacle is located, it is then controlled to maintain its original direction of movement before bypassing the obstacle.

12. 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 1-11.

13. The mobile device according to claim 12, characterized in that, The mobile device also includes a rear-view camera, the lens of which is positioned diagonally upward and rearward of the mobile device.

14. 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 1-11.

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