Control methods for mobile device and related device

Abstract

Disclosed in the present application are control methods for a mobile device and a related device. A method comprises: controlling a mobile device to move along a preset path; when the mobile device moves to a position where a satellite positioning signal does not meet a preset condition, controlling the mobile device to keep moving along the preset path and, during the process of keeping moving along the preset path, determining the distance between the position of the mobile device and a nearest first position; and, when the distance is equal to a remaining range, if it is detected that the satellite positioning signal does not meet the preset condition, controlling the mobile device to change a movement mode, such that the mobile device will detect that the satellite positioning signal meets the preset condition at a post-movement position, the remaining range being obtained on the basis of a preset range and the range of the mobile device keeping moving along the preset path.

Description

Control methods and related equipment for mobile devices

[0001] This application claims priority to Chinese Patent Application No. 202410802103.3, filed on June 20, 2024, entitled "Control Method and Related Equipment for Mobile Device", and to Chinese Patent Application No. 202410801985.1, filed on June 20, 2024, entitled "Control Method and Related Equipment for Mobile Device", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of robotics, specifically to a control method for a mobile device and related equipment. Background Technology

[0003] In existing technologies, during the operation of lawn mowing robots, the satellite signal is poor due to obstructions from houses, trees, etc. on the lawn, which affects the accuracy of satellite positioning. Therefore, it is urgent to solve the problem of inaccurate satellite positioning when obstructed, which affects the movement of lawn mowing robots. Summary of the Invention

[0004] This application provides a control method and related equipment for a mobile device, which can solve the problem of inaccurate satellite positioning when obstructed, affecting the movement of the lawnmower robot.

[0005] In a first aspect, embodiments of this application provide a method for controlling a mobile device, the method comprising:

[0006] Control the mobile device to move along a preset path;

[0007] 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, and during the process of continuing to move along the preset path, the distance between the location of the mobile device and the nearest first location is determined;

[0008] When the distance equals the remaining usable range, if the satellite positioning signal is detected to not meet the preset condition, the mobile device is controlled to move to the nearest first location so that the mobile device detects a satellite positioning signal that meets the preset condition at the new location. The remaining usable range is obtained based on the preset usable range and the mileage by which the mobile device continues to move along the preset path.

[0009] Secondly, embodiments of this application provide a control device for a mobile device, the device comprising: a first control unit, a determining unit, and a second control unit, wherein...

[0010] The first control unit is used to control the mobile device to move along a preset path;

[0011] The determining unit is configured to control the mobile device to continue moving along the preset path when the mobile device moves to a position where the satellite positioning signal does not meet the preset conditions, and to determine the distance between the position of the mobile device and the nearest first position during the process of continuing to move along the preset path;

[0012] The second control unit is configured to, when the distance is equal to the remaining range, if the satellite positioning signal is detected to not meet the preset condition, control the mobile device to move to the nearest first location, so that the mobile device can detect a satellite positioning signal that meets the preset condition at the new location. The remaining range is obtained based on the preset range and the mileage by which the mobile device continues to move along the preset path.

[0013] Thirdly, embodiments of this application provide a method for controlling a mobile device, the method comprising:

[0014] Control the mobile device to move along a preset path;

[0015] 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, and during the process of continuing to move along the preset path, the distance between the location of the mobile device and the nearest first location is determined;

[0016] When the distance equals the remaining usable range, if the satellite positioning signal does not meet the preset condition, the mobile device is controlled to stop moving, and a first environmental image in at least one direction is captured by the camera, the sky area in the first environmental image is identified, and the second position corresponding to the sky area is determined. The remaining usable range is obtained based on the preset usable range and the mileage by which the mobile device continues to move along the preset path.

[0017] If the distance between the mobile device and the second location is less than or equal to the remaining range, the mobile device is controlled to move to the second location so that the mobile device detects a satellite positioning signal at the new location, which satisfies the preset condition.

[0018] Fourthly, embodiments of this application provide a control device for a mobile device, the control device comprising: a first control unit, a determining unit, and a second control unit, wherein...

[0019] The first control unit is used to control the mobile device to move along a preset path; when the mobile device moves to a position where the satellite positioning signal does not meet the preset conditions, it controls the mobile device to continue moving along the preset path, and during the process of continuing to move along the preset path, it determines the distance between the position of the mobile device and the nearest first position;

[0020] The determining unit is configured to, when the distance is equal to the remaining extendable mileage, if the satellite positioning signal does not meet the preset condition, control the mobile device to stop moving, and acquire a first environmental image in at least one direction through a camera, identify the sky region in the first environmental image, and determine the second position corresponding to the sky region. The remaining extendable mileage is obtained based on the preset extendable mileage and the mileage by which the mobile device continues to move along the preset path.

[0021] The second control unit is configured to control the mobile device to move to the second location if the distance between the mobile device and the second location is less than or equal to the remaining range, so that the mobile device detects a satellite positioning signal at the new location and the preset condition is met.

[0022] Fifthly, embodiments of this application provide a mobile device, including a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the programs include instructions for performing the steps in the first or third aspects of embodiments of this application.

[0023] Sixthly, embodiments of this application provide a computer-readable storage medium storing a computer program for electronic data interchange, wherein the computer program causes a computer to perform some or all of the steps described in the first or third aspects of embodiments of this application.

[0024] In a seventh aspect, embodiments of this application provide a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps described in the first or third aspects of embodiments of this application. The computer program product may be a software installation package.

[0025] Implementing the embodiments of this application has the following beneficial effects:

[0026] The mobile device control method and related equipment described in this application control the mobile device to move along a preset path. When the mobile device moves to a position where the satellite positioning signal does not meet preset conditions, the mobile device continues to move along the preset path. During this continued movement, the distance between the mobile device's current position and the nearest first position is determined. If the distance equals the remaining usable range, and the satellite positioning signal does not meet the preset conditions, the mobile device is controlled to move to the nearest first position so that the mobile device detects a satellite positioning signal that meets the preset conditions at the new position. The remaining usable range is obtained based on the preset usable range and the distance the mobile device continues to move along the preset path. Therefore, even when the satellite positioning signal does not meet the conditions, the mobile device can still maintain accurate positioning within a certain distance. When the distance between the device and the nearest first location is equal to the remaining range, it means that if the mobile device does not go to the first location again, the distance to the next nearest first location may also be greater than the remaining range, causing the mobile device to be unable to accurately reach the first location. Therefore, if the satellite positioning signal still does not meet the condition when the distance between the mobile device and the nearest first location is equal to the remaining range, then the device should move to the nearest first location. This reduces the number of times the device needs to go to the first location, ensuring operational efficiency. In this way, the mobile device can also accurately reach the first location and use that first location to guide the mobile device to an open area (an area where the satellite positioning signal meets the preset condition). In other words, satellite positioning can be used again in an open area, which can solve the problem of inaccurate satellite positioning when obstructed, which affects the movement of the lawnmower robot. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1A is a flowchart illustrating a control method for a mobile device provided in an embodiment of this application;

[0029] Figure 1B is a schematic diagram illustrating the sky region in an environmental image provided in an embodiment of this application;

[0030] Figure 1C is a schematic diagram illustrating a maximum inscribed circle provided in an embodiment of this application;

[0031] Figure 1D is a schematic diagram illustrating a first position provided in an embodiment of this application;

[0032] Figure 1E is another schematic diagram illustrating a first position provided in an embodiment of this application;

[0033] Figure 1F is a schematic diagram illustrating a scenario of a control method for a mobile device provided in an embodiment of this application;

[0034] Figure 2 is a flowchart illustrating another mobile device control method provided in an embodiment of this application;

[0035] Figure 3A is a flowchart illustrating another control method for a mobile device provided in an embodiment of this application;

[0036] Figure 3B is a schematic diagram illustrating the sky region in an environmental image provided in an embodiment of this application;

[0037] Figure 3C is a schematic diagram illustrating a maximum inscribed circle provided in an embodiment of this application;

[0038] Figure 3D is a schematic diagram illustrating a first position provided in an embodiment of this application;

[0039] Figure 3E is another schematic diagram illustrating a first position provided in an embodiment of this application;

[0040] Figure 3F is a schematic diagram illustrating a scenario of a control method for a mobile device provided in an embodiment of this application;

[0041] Figure 4 is a flowchart illustrating another method for controlling a mobile device provided in an embodiment of this application;

[0042] Figure 5 is a schematic diagram of the structure of a mobile device provided in an embodiment of this application;

[0043] Figure 6 is a block diagram of the functional units of a control device for a mobile device provided in an embodiment of this application. Detailed Implementation

[0044] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0045] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0046] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0047] In this application embodiment, the mobile device may include at least one of the following: lawn mowing robot, walking robot, smart car, etc., without limitation. Alternatively, the mobile device may also be other robots with the relevant functions described in this application embodiment.

[0048] In this embodiment, the mobile device may be equipped with a satellite positioning device, a non-satellite positioning device, and a camera. The satellite positioning device can be used to achieve positioning using satellite positioning technology, such as real-time kinematic (RTK) technology. The non-satellite positioning device can be used to achieve positioning using non-satellite positioning technology. Specifically, when the satellite positioning signal does not meet preset conditions, positioning can be achieved using non-satellite positioning technology via the non-satellite positioning device; conversely, when the satellite positioning signal meets preset conditions, positioning can be achieved using satellite positioning technology via the satellite positioning device. The camera can be used to capture environmental images. This camera may include a rear-view camera with its lens facing the upper rear of the mobile device.

[0049] Among them, non-satellite positioning technologies may include at least one of the following: visual positioning, inertial measurement unit (IMU) positioning, visual-inertial odometry (VIO) positioning, etc., without limitation.

[0050] The embodiments of this application will be described in detail below.

[0051] Please refer to Figure 1A, which is a flowchart illustrating a control method for a mobile device provided in an embodiment of this application. As shown in the figure, the control method for this mobile device includes:

[0052] 101. Control the mobile device to move along a preset path.

[0053] The preset path can be a pre-planned path or a system default path.

[0054] In practice, the mobile device may include a lawnmower robot, which can be controlled to move along a planned path and perform lawnmowing operations. When the mobile device moves to a location where the satellite positioning signal meets preset conditions, satellite positioning technology is used to control the mobile device to move along the preset path. When the mobile device moves to a location where the satellite positioning signal does not meet preset conditions, non-satellite positioning technology is used to control the mobile device to move along the preset path.

[0055] 102. 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, and during the process of continuing to move along the preset path, the distance between the location of the mobile device and the nearest first location is determined.

[0056] In this embodiment, the preset conditions can be pre-set or defaulted to by the system. The signal quality of the satellite positioning signal affects the accuracy of satellite positioning, and the preset conditions are used to evaluate the signal quality. For example, if the signal strength of the satellite positioning signal is greater than a preset signal strength threshold, it means that the signal quality of the satellite positioning signal meets the preset conditions; 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 meet the preset conditions. The preset signal strength threshold can be pre-set or defaulted to by the system.

[0057] Among them, satellite positioning signals can include real-time kinematic (RTK) signals.

[0058] In practice, when the mobile device moves to a location where the satellite positioning signal does not meet the preset conditions, non-satellite positioning technology is used to control the mobile device to continue moving along a preset path. During this continued movement along the preset path, the distance between the mobile device's current location and the nearest first location is determined. The first location has an open sky above it, facilitating the reception of satellite positioning signals.

[0059] Among them, the most recent first position is the one that is closest to the mobile device among the multiple stored first positions. As the mobile device moves, the first position closest to the mobile device may change or may not change due to the change in the position of the mobile device.

[0060] For example, a mobile device can determine the distance between its location and multiple stored first locations. It can obtain at least one distance and select the minimum value among the at least one distance. The first location corresponding to the minimum value is the nearest first location. Since the location of the mobile device changes, the distance between the location of the mobile device and the first location also changes. Therefore, the first location closest to the mobile device may change or may not change.

[0061] Optionally, the first position is the projected coordinates of the sky region on the ground in the environmental image captured by the camera of the mobile device.

[0062] The mobile device may include a rear-view camera with its lens facing the upper rear of the mobile device, which can be used to find a location with open airspace that does not obstruct satellite signals.

[0063] In this embodiment, the camera of the mobile device can be controlled to take pictures at preset time intervals to obtain environmental images, and the projection coordinates of the sky area in the environmental image on the ground can be stored as a first location so as to guide the mobile device to an open area, that is, satellite positioning can be used again in the open area.

[0064] The preset time interval can be set in advance or set by the system default.

[0065] Optionally, the following steps may also be included:

[0066] As the mobile device moves along the preset path, it captures at least one image of the environment using the camera and stores at least one of the first locations.

[0067] In this embodiment of the application, during the movement of the mobile device along a preset path, at least one environmental image can be captured by a camera, the corresponding first position can be obtained using the environmental image, and at least one first position can be stored.

[0068] Optionally, the above steps, in which the mobile device captures at least one environmental image through the camera and stores at least one of the first locations while moving along the preset path, can be implemented in the following manner:

[0069] During the movement of the mobile device along the preset path, at least one environmental image is captured by the camera, and the largest inscribed circle of the sky area in the environmental image is taken. When the radius of the largest inscribed circle is greater than the preset radius, the coordinates of the center of the largest inscribed circle projected onto the ground are stored as the first position.

[0070] The preset radius can be set in advance or be the system default. The preset radius is to ensure that the sky area is large and open enough, while eliminating some smaller sky areas. In the specific implementation, as the mobile device moves along the preset path, it can capture at least one environmental image through the camera. Each environmental image can contain k sky areas. For each environmental image, a first position is extracted. There can be one or more first positions, where k is a natural number, such as k = 0, 1, 2, etc. The largest inscribed circle of the sky area in the environmental image is taken. If the radius of the largest inscribed circle is greater than the preset radius, the coordinates of the center of the largest inscribed circle projected onto the ground are stored as the first position.

[0071] For example, if there are no objects obstructing the view in the environment, the entire area in the environment image will be the sky. However, if there are other objects (such as houses or trees) obstructing the view, a sky area will be divided into multiple sky areas by these other objects, as shown in Figure 1B. Multiple sky areas can exist in the environment image.

[0072] The reason for choosing the center point is that the satellite signal at the center point is considered to be the best. Since the area around the sky is the non-sky area, satellite positioning is poor in this area due to the obstruction of surrounding obstacles. Choosing the center point can be understood to some extent as the location corresponding to the point is less affected by surrounding obstacles, and therefore has the best satellite signal.

[0073] For example, as shown in Figure 1C, a rectangle can represent the environmental image, an ellipse can represent the sky area, and a circle can represent the largest inscribed circle of the sky area. Further, as shown in Figure 1D, the mobile device can include a rear-view camera to capture the sky, obtain an environmental image, and store the coordinates O' of the projection of the center O of the inscribed circle of the sky area onto the ground as the first position.

[0074] For example, in the specific implementation, as the mobile device moves along a preset path, it can continuously capture environmental images through the rear-view camera to obtain the largest inscribed circle of the sky region in the environmental image. That is, it identifies the sky region in the environmental image and then determines the largest inscribed circle of the sky region. When the radius of the largest inscribed circle is greater than the preset radius, the center coordinates of the largest inscribed circle projected onto the grass are recorded as the first position. Conversely, when the radius of the largest inscribed circle is less than or equal to the preset radius, the center coordinates of the largest inscribed circle projected onto the grass do not need to be recorded.

[0075] In specific implementation, the projected coordinates of the center of the tangent circle in the sky region on the ground can be determined as follows: The method for determining the projected coordinates of the center of the tangent circle in the sky region on the ground is as follows: By recognizing the spatial coordinates (X1, Y1, Z1) of the obstacle from the image, calculate the offset (ΔX, ΔY) between the pixel coordinates of the obstacle and the pixel coordinates of the center of the inscribed circle in the sky region. Based on the offset and the spatial coordinates (X1, Y1, Z1) of the obstacle, determine the projected coordinates (X1+ΔX', Y1+ΔY') of the center of the inscribed circle on the ground. X1 and Y1 are ground coordinates, and Z1 is the altitude coordinate. (ΔX', ΔY') and the offset (ΔX, ΔY) have a preset mapping relationship.

[0076] For example, based on Figure 1D, please refer to Figure 1E. Point T represents the location of the obstacle, with spatial coordinates (X1, Y1, Z1); T' represents the projection of the obstacle's location onto the ground, i.e., (X1, Y1, 0). Since projection processing is required, height can be ignored. The spatial coordinates of point O are (X2, Y2), therefore, the spatial coordinates of point O' are also (X2, Y2). The offset (ΔX, ΔY) can be calculated as follows: ΔX = X component of pixel coordinates of point O - X component of pixel coordinates of point T, ΔY = Y component of pixel coordinates of point O - Y component of pixel coordinates of point T. Furthermore, through a preset mapping relationship, the spatial coordinate offset (ΔX', ΔY') can be obtained from the pixel coordinate offset (ΔX, ΔY). Then, the coordinates of point O' can be obtained as (X1 + ΔX', Y1 + ΔY').

[0077] Specifically, the rear-view camera can capture environmental images at preset time intervals. The preset time interval can be set in advance or is the system default. This is equivalent to obtaining the largest inscribed circle of the sky area in the environmental image at preset time intervals. That is, identifying the sky area in the environmental image and then determining the largest inscribed circle of the sky area. When the radius of the largest inscribed circle is greater than the preset radius, the center coordinates of the largest inscribed circle projected onto the grass are recorded as the first position. Because of continuous recording, a list of first positions will be recorded, consisting of multiple first positions that meet the requirements.

[0078] In practice, satellite positioning signals can include satellite signals. Taking a lawnmower robot as an example, if the satellite signal is strong during the lawnmower robot's operation along a preset path, satellite positioning is used to enable the lawnmower robot to walk along the preset path. While walking along the preset path, the lawnmower robot continuously captures environmental images through a rear-view camera, and takes the largest inscribed circle of the sky area in the image. If the inscribed circle is larger than a preset radius, the coordinates of the center of the inscribed circle are recorded as the first position. This first position specifically refers to the coordinates of the center coordinates projected onto the grass.

[0079] 103. When the distance is equal to the remaining usable range, if the satellite positioning signal is detected to not meet the preset condition, the mobile device is controlled to move to the nearest first position so that the mobile device can detect the satellite positioning signal at the new position and meet the preset condition. The remaining usable range is obtained based on the preset usable range and the mileage by which the mobile device continues to move along the preset path.

[0080] The preset endurance range can be set in advance or set by the system default. It can be assumed that within the preset endurance range, accurate positioning can be guaranteed using non-satellite positioning technology. For example, the preset endurance range can be determined to be 100 meters based on the performance of the IMU or VIO device.

[0081] In the specific implementation, the initial point is the location of the mobile device when the distance between the mobile device and the nearest first location is equal to the remaining range. For safety reasons, high-precision positioning needs to be maintained during the process from the initial point to the first location to prevent the mobile device from falling into restricted areas or walking out of the grass. Therefore, in this embodiment, the mobile device goes to the nearest first location when the distance is equal to the remaining range, which can ensure that the mobile device maintains high-precision positioning during the process from the initial point to the first location.

[0082] To illustrate, taking a mobile device as a lawnmower robot, even when the satellite positioning signal is not sufficient, the lawnmower robot can still maintain accurate positioning within a certain distance. When the distance between the lawnmower robot and the nearest first position is equal to the remaining range, it means that if the lawnmower robot does not go to the first position, the distance to the next nearest first position may also be greater than the remaining range, causing the lawnmower robot to be unable to accurately reach the first position.

[0083] Furthermore, to reduce the number of times the lawnmower robot travels from the preset path to the first location and ensure its efficiency while mowing along that path, if the robot continues to move a short distance along the preset path before heading to the first location when a poor satellite signal occurs, it will lead to frequent trips to the first location, resulting in low mowing efficiency. It's also unnecessary for the lawnmower robot to head to the first location immediately upon encountering a poor satellite signal, as the coordinates obtained at that point are still accurate, and there's no need to go to the first location to calibrate the current coordinates.

[0084] In this embodiment, the remaining extendable mileage is obtained based on the preset extendable mileage and the mileage the mobile device continues to move along the preset path. When the distance is equal to the remaining extendable mileage, if the satellite positioning signal is detected to not meet the preset conditions, the mobile device is controlled to move to the nearest first position so that the mobile device detects that the satellite positioning signal meets the preset conditions at the new position. The first position is used to guide the mobile device to an open area (an area where the satellite positioning signal meets the preset conditions). In other words, satellite positioning can be used again in the open area. In this way, the coordinates obtained by satellite positioning in the open area can be used to calibrate the position of the mobile device, improve the positioning accuracy, and solve the problem that the satellite positioning is inaccurate when it is blocked, which affects the walking of the lawnmower robot.

[0085] In this context, open areas can be understood as areas with good satellite positioning signal quality.

[0086] To illustrate, in the specific implementation, if a satellite signal failure occurs during the movement along the preset path, VIO positioning is used to extend the lifespan. That is, after a satellite signal failure, the mobile device can still travel a preset lifespan distance of 100 meters. Within this preset lifespan distance, the mobile device can still obtain accurate positioning via VIO. During the VIO positioning lifespan extension process (i.e., within the preset lifespan distance of 100 meters), the remaining lifespan distance (100 meters minus the distance already traveled) is calculated to determine the distance between the lawnmower robot's current position and the nearest first position.

[0087] Optionally, the remaining extendable mileage is equal to the difference between the preset extendable mileage and the mileage by which the mobile device continues to move along the preset path.

[0088] For example, the remaining remaining range can be calculated using the following formula:

[0089] Remaining extendable range = Preset extendable range - Distance the mobile device will travel along the preset path

[0090] If the remaining range is greater than or equal to 0, and since the remaining range is within the preset range, the mobile device's location can be considered accurate.

[0091] Optionally, the following steps may also be included:

[0092] After the mobile device detects a satellite positioning signal that meets the preset conditions at its new location, it is controlled to return to the initial point. During the return process, the mobile device is located. When the mobile device moves to a location where the satellite positioning signal meets the preset conditions, satellite positioning technology is used for positioning. When the mobile device moves to a location where the satellite positioning signal does not meet the preset conditions, non-satellite positioning technology is used for positioning. The initial point is the location of the mobile device when the distance is equal to the remaining range.

[0093] The initial point is the location of the mobile device when the distance equals the remaining range of service.

[0094] In practice, after the mobile device detects that the satellite positioning signal meets the preset conditions at the new location, it controls the mobile device to return to the initial point. During the return process, the mobile device is located. Specifically, when the mobile device moves to a location where the satellite positioning signal meets the preset conditions, satellite positioning technology is used for positioning. When the mobile device moves to a location where the satellite positioning signal does not meet the preset conditions, non-satellite positioning technology is used for positioning. In this way, the problem of inaccurate satellite positioning when obstructed, which affects the movement of the mobile device, can be solved.

[0095] Optionally, the following steps may also be included:

[0096] After the mobile device returns to the initial point, the step of controlling the mobile device to move along the preset path is executed again.

[0097] Specifically, after the mobile device returns to the initial point, steps 101-103 are executed again.

[0098] In this embodiment of the application, after the mobile device returns to the initial point, it can be controlled to move along a preset path. Since the mobile device is still within the remaining range of its lifespan while moving to the first location (center), the mobile device can still be accurately located to reach the nearest first location.

[0099] For example, in this embodiment of the application, after the mobile device reaches an open area, it is positioned using satellite positioning technology to obtain the location of the mobile device in the open area, and then the mobile device is controlled to return to the initial point. During the return process, satellite positioning is used first. If satellite positioning fails, visual positioning, inertial measurement unit (IMU) positioning, or visual-inertial odometry (VIO) positioning are used. Combined with the obtained location of the open area, the location of the initial point is obtained.

[0100] Specifically, after the mobile device reaches an open area (the nearest initial location), satellite positioning is used to obtain the absolute position of the mobile device within the open area. The mobile device is then controlled to return to the initial point. During the return process, satellite positioning is used first; if satellite positioning fails, visual positioning, IMU, or VIO positioning is then used. Combined with the obtained position in the open area, the position of the initial point is determined.

[0101] Optionally, the first position is the projected coordinates of the center of the largest inscribed circle of the sky region in the environmental image on the ground.

[0102] As shown in Figure 1D, the mobile device uses its rear-view camera to capture an image of the sky, obtaining an environmental image. The coordinates of the center of the inscribed circle of the sky region in the environmental image projected onto the ground are then determined, which is the first position. This first position is the projection coordinate of the center of the largest inscribed circle of the sky region in the environmental image onto the ground.

[0103] Optionally, step 103 above, controlling the mobile device to move to the nearest first location, can be implemented in the following manner:

[0104] Control the mobile device to stop moving, and then control the mobile device to move from the initial point to the nearest first position;

[0105] or,

[0106] The mobile device is controlled to first move to the nearest first position, and then stop moving;

[0107] or,

[0108] The mobile device is controlled to move to the projection range of the largest inscribed circle corresponding to the nearest first position on the ground. When the mobile device enters the projection range of the largest inscribed circle on the ground, the moving speed is reduced to a preset moving speed, and the device moves a first preset distance at the preset moving speed. The movement is then stopped to wait for the satellite positioning signal of the mobile device to meet the preset condition. If the satellite positioning signal of the mobile device meets the preset condition within a preset time period, the device returns to the initial point. If the satellite positioning signal of the mobile device does not meet the preset condition within the preset time period, the device continues to move a second preset distance and waits again for the satellite positioning signal of the mobile device to meet the preset condition.

[0109] The preset movement speed can be set in advance or left as the system default. The preset time period can also be set in advance or left as the system default.

[0110] In practice, the mobile device can be controlled to stop moving, and then moved from the initial point to the nearest first position. Alternatively, the mobile device can be controlled to move to the nearest first position first, and then stop moving. Another option is to control the mobile device to move to the projection range of the largest inscribed circle corresponding to the nearest first position on the ground. Once the mobile device enters the projection range of the largest inscribed circle on the ground, its moving speed is reduced to a preset moving speed, and it moves a first preset distance at the preset moving speed, then stops moving to wait for the mobile device's satellite positioning signal to meet preset conditions. If the mobile device's satellite positioning signal meets the preset conditions within a preset time period, it returns to the initial point. If the mobile device's satellite positioning signal does not meet the preset conditions within the preset time period, it continues to move a second preset distance, and waits again for the mobile device's satellite positioning signal to meet the preset conditions. For example, the mobile device can be controlled to quickly move to the projection range of the inscribed circle (the inscribed circle where the nearest first position is located) on the ground, slow down after entering the projection range, move a certain distance, and then stop moving to wait for the satellite signal to meet the preset conditions. If the satellite signal is detected to meet the preset conditions, it returns to the initial point; otherwise, it continues to move a certain distance, and then waits again for the satellite signal to meet the preset conditions. This means that the first location is used to guide the mobile device to an open area (an area where the satellite positioning signal meets the preset conditions). In this open area, satellite positioning can be used again, thus solving the problem of inaccurate satellite positioning when obstructed, which affects the movement of the lawnmower robot.

[0111] Optionally, the following steps may also be included:

[0112] When the distance is greater than or less than the remaining range, the mobile device is controlled to continue moving along the preset path.

[0113] In this embodiment of the application, when the distance is greater than the remaining range of the mobile device, the mobile device may not be able to accurately reach the nearest first location. Therefore, the mobile device is not stopped, but is controlled to continue moving until the satellite positioning signal meets the preset conditions.

[0114] In this embodiment of the application, when the distance is less than the remaining range of operation, the mobile device will frequently go to the first location from the preset path, resulting in low operation efficiency. In order to reduce the number of times the mobile device goes to the first location from the preset path and ensure the efficiency of the mobile device in performing operations on the preset path, the mobile device is controlled to continue moving along the preset path when the distance is less than the remaining range of operation.

[0115] For example, if a mobile device moves 1 meter along a preset path to the first location when the satellite signal is weak, it will cause the mobile device to frequently go to the first location, resulting in low work efficiency. It is also unnecessary for the mobile device to go to the first location as soon as the satellite signal is weak, because the coordinates obtained by the mobile device at the beginning of the satellite signal weakness are still accurate, and there is no need to go to the first location to calibrate the current coordinates.

[0116] For example, if the distance between the nearest first location and the mobile device's current location is greater than the remaining range, the mobile device will continue moving until the satellite signal meets the preset conditions. For instance, if the mobile device is at the starting point of the preset range of 100 meters (where the satellite signal difference just appears), and the nearest first location is found to be more than 100 meters away, the mobile device may not be able to accurately reach the nearest first location, so it will not stop moving.

[0117] Optionally, the following steps may also be included:

[0118] If the satellite positioning signal does not meet the preset conditions, the mobile device is located using non-satellite positioning technology to control the mobile device to continue moving along the preset path.

[0119] In this embodiment, if the satellite positioning signal does not meet the preset conditions, it indicates that the satellite positioning signal is weak and the satellite positioning may be inaccurate. Therefore, non-satellite positioning technology can be used to locate the mobile device and control the mobile device to continue moving along the preset path. In this way, accurate positioning can be guaranteed and accurate positioning can be achieved within the preset lifespan. This can solve the problem of inaccurate satellite positioning when obstructed, which affects the walking of the lawnmower robot.

[0120] Optionally, when trees and houses exist in the operating area of ​​the mobile device, the following steps may also be included:

[0121] Obtain the tree height and building height in the work area;

[0122] The preset radius is determined based on the height of the trees and the height of the houses.

[0123] When trees and houses are present in the robot's work area, tree height can refer to the average height of all trees, or it can refer to the height of a single tree. House height can refer to the average height of all houses, or it can refer to the height of a single house.

[0124] In this embodiment, when there are trees and houses in the working area of ​​the mobile device, a preset radius can be determined based on the height of the trees and the height of the houses. In this way, the corresponding preset radius can be determined based on the actual environment, which helps to improve the accuracy of identifying open areas.

[0125] Optionally, the above step of determining the preset radius based on the tree height and the house height can be implemented in the following manner:

[0126] The preset radius is determined according to the following formula:

[0127] Preset radius = tree height / house height × π / 4.

[0128] In practice, the preset radius is calculated as (tree height / house height) × π / 4. For example, the heights of trees or houses that might affect the signal within the work area can be pre-obtained, and the average height of these objects can be used to calculate the preset radius. In this way, the corresponding preset radius can be determined based on the actual environment, which helps improve the accuracy of identifying open areas.

[0129] For example, taking a robotic lawnmower as an example, the robotic lawnmower is equipped with a rear-view camera facing upwards and behind it. The robotic lawnmower can execute the control method of the mobile device according to the following steps:

[0130] S1. During the lawn mowing operation along the planned path, if the RTK signal is strong, the lawn mowing robot uses RTK positioning to enable it to walk along the planned path. While walking along the planned path, the lawn mowing robot continuously captures environmental images through a rear-view camera, takes the largest inscribed circle of the sky area in the image, and if the inscribed circle is larger than a preset radius, records the projection coordinates of the center of the inscribed circle on the ground as the first position.

[0131] S2. If an RTK signal failure occurs while walking along the planned path, the robot will continue its journey via VIO positioning. This means that even after an RTK signal failure, the lawnmower can still travel a preset extended range of 100 meters. Within this range, the robot can obtain accurate positioning via VIO. During the VIO positioning extension process (within the preset 100-meter range), the remaining extended range (100 meters minus the distance already traveled) is calculated, and the distance between the robot's current position and the nearest first position is determined. If the distance to the nearest first position is less than the remaining extended range, the robot continues walking. If the distance to the nearest first position is equal to the remaining extended range, the robot proceeds to step S3.

[0132] S3. If the distance between the robot and the nearest first position is equal to the remaining range of the robot, then control the lawnmower to move towards the nearest first position so that the lawnmower can reach an open area.

[0133] S4. After the lawnmower reaches the open area (the nearest first position), RTK positioning is performed to obtain the absolute position of the lawnmower in the open area, in order to calibrate the position of the lawnmower. Then, the lawnmower is controlled to return to the initial point.

[0134] S5. Starting from the initial point, continue walking along the planned path to perform lawn mowing. If the RTK signal has not yet recovered, use visual positioning or IMU or VIO positioning to control the lawn mowing robot to walk along the planned path. If the RTK signal recovers during the continued operation, use RTK positioning. Furthermore, if a poor RTK signal is detected again starting from the initial point, return to step S2 and subsequent steps.

[0135] RTK signal recovery can be understood as a strong RTK signal, while RTK signal failure can be understood as a weak RTK signal.

[0136] For example, as shown in Figure 1F, if the lawnmower robot encounters a poor RTK signal during its mowing operation along the planned path, such as at position A, it will use VIO positioning to extend its lifespan. This means that even when the satellite positioning signal is insufficient, the lawnmower robot can maintain accurate positioning within a certain distance (a preset extended lifespan mileage). Within the preset remaining extended lifespan mileage, the lawnmower robot can still obtain accurate positioning through VIO. During the VIO positioning extension process, the remaining extended lifespan mileage is calculated to determine the distance between the lawnmower robot's current position and the nearest first position. If the distance between the current position (position B) and the nearest first position (position C) equals the remaining extended lifespan mileage, the lawnmower robot is controlled to move towards the nearest first position, i.e., from position B to position C, so that the lawnmower robot reaches an open area. After reaching the open area (position C), the lawnmower robot performs RTK positioning again to obtain its position in the open area, and then moves from position C back to position B, starting from the initial point (position B) to continue walking along the planned path and performing the mowing operation.

[0137] The mobile device control method described in this 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 preset conditions, the mobile device continues to move along the preset path. During this continued movement, the distance between the mobile device's current position and the nearest first position is determined. If the distance equals the remaining usable range, and the satellite positioning signal does not meet the preset conditions, the mobile device moves to the nearest first position so that the mobile device detects a satellite positioning signal that meets the preset conditions at the new position. The remaining usable range is obtained based on the preset usable range and the distance the mobile device travels along the preset path. Therefore, even when the satellite positioning signal does not meet the conditions, the mobile device can maintain accurate positioning within a certain distance. When the distance to the nearest first location is equal to the remaining range, it means that if the mobile device does not go to the first location again, the distance to the next nearest first location may also be greater than the remaining range, causing the mobile device to be unable to accurately reach the first location. Therefore, if the satellite positioning signal still does not meet the condition when the distance between the mobile device and the nearest first location is equal to the remaining range, then the device should move to the nearest first location. This reduces the number of times the device needs to go to the first location, ensuring operational efficiency. In this way, the mobile device can also accurately reach the first location and use that first location to guide the mobile device to an open area (an area where the satellite positioning signal meets the preset condition). In other words, satellite positioning can be used again in an open area, which can solve the problem of inaccurate satellite positioning when obstructed, which affects the movement of the lawnmower robot.

[0138] Please refer to Figure 2, which is a flowchart illustrating another control method for a mobile device provided in an embodiment of this application. As shown in the figure, the control method for this mobile device includes:

[0139] 201. Control the mobile device to move along a preset path.

[0140] 202. During the movement of the mobile device along the preset path, at least one environmental image is captured by the camera, and the largest inscribed circle of the sky area in the environmental image is taken. When the radius of the largest inscribed circle is greater than the preset radius, the coordinates of the center of the largest inscribed circle projected onto the ground are stored as the first position.

[0141] 203. 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, and during the process of continuing to move along the preset path, the distance between the location of the mobile device and the nearest first location is determined.

[0142] 204. When the distance is equal to the remaining usable range, if the satellite positioning signal is detected to not meet the preset condition, the mobile device is controlled to move to the nearest first position so that the mobile device can detect the satellite positioning signal at the new position and meet the preset condition. The remaining usable range is obtained based on the preset usable range and the mileage by which the mobile device continues to move along the preset path.

[0143] The specific descriptions of steps 201-204 above can be found in the relevant steps of a mobile device control method described in Figure 1A, and will not be repeated here.

[0144] The mobile device control method described in this application controls the mobile device to move along a preset path. During the movement of the mobile device along the preset path, at least one environmental image is captured by a camera, and the largest inscribed circle of the sky region in the environmental image is taken. When the radius of the largest inscribed circle is greater than a preset radius, the coordinates of the center of the largest inscribed circle projected onto the ground are stored as a first position. When the mobile device moves to a position where the satellite positioning signal does not meet a preset condition, the mobile device is controlled to continue moving along the preset path. During this continued movement, the distance between the mobile device's current position and the nearest first position is determined. If the distance equals the remaining range, and the satellite positioning signal does not meet the preset condition, the mobile device is controlled to move to the nearest first position so that the mobile device detects a satellite positioning signal that meets the preset condition at the new position. The remaining range is calculated based on the preset range and the distance the mobile device continues to move along the preset path. Therefore, even when the satellite positioning signal does not meet the requirements, the mobile device can still maintain accurate positioning within a certain distance. When the distance between the mobile device and the nearest first location is equal to the remaining range, it means that if the mobile device does not go to the first location, the distance to the next nearest first location may also be greater than the remaining range, causing the mobile device to be unable to accurately reach the first location. Therefore, choosing to move to the nearest first location when the distance between the mobile device and the nearest first location is equal to the remaining range, and the satellite positioning signal still does not meet the requirements, can reduce the number of times to go to the first location and ensure work efficiency. In this way, it can also ensure that the mobile device can accurately reach the first location and use the first location to guide the mobile device to an open area (an area where the satellite positioning signal meets the preset conditions). That is, in an open area, satellite positioning can be used again, which can solve the problem of inaccurate satellite positioning when obstructed, which affects the movement of the lawnmower robot.

[0145] Please refer to Figure 3A, which is a flowchart illustrating a control method for a mobile device according to an embodiment of this application. As shown in the figure, the control method for this mobile device includes:

[0146] 301. Control the mobile device to move along a preset path.

[0147] The preset path can be a pre-planned path or a system default path.

[0148] In practice, the mobile device may include a lawnmower robot, which can be controlled to move along a planned path and perform lawnmowing operations. When the mobile device moves to a location where the satellite positioning signal meets preset conditions, satellite positioning technology is used to control the mobile device to move along the preset path. When the mobile device moves to a location where the satellite positioning signal does not meet preset conditions, non-satellite positioning technology is used to control the mobile device to move along the preset path.

[0149] 302. 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, and during the process of continuing to move along the preset path, the distance between the location of the mobile device and the nearest first location is determined.

[0150] In this embodiment, the preset conditions can be pre-set or defaulted to by the system. The signal quality of the satellite positioning signal affects the accuracy of satellite positioning, and the preset conditions are used to evaluate the signal quality. For example, if the signal strength of the satellite positioning signal is greater than a preset signal strength threshold, it means that the signal quality of the satellite positioning signal meets the preset conditions; 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 meet the preset conditions. The preset signal strength threshold can be pre-set or defaulted to by the system.

[0151] Among them, satellite positioning signals can include real-time kinematic (RTK) signals.

[0152] In practice, when the mobile device moves to a location where the satellite positioning signal does not meet the preset conditions, non-satellite positioning technology is used to control the mobile device to continue moving along a preset path. During this continued movement along the preset path, the distance between the mobile device's current location and the nearest first location is determined. The first location has an open sky above it, facilitating the reception of satellite positioning signals.

[0153] Among them, the most recent first position is the one that is closest to the mobile device among the multiple stored first positions. As the mobile device moves, the first position closest to the mobile device may change or may not change due to the change in the position of the mobile device.

[0154] For example, a mobile device can determine the distance between its location and multiple stored first locations. It can obtain at least one distance and select the minimum value among the at least one distance. The first location corresponding to the minimum value is the nearest first location. Since the location of the mobile device changes, the distance between the location of the mobile device and the first location also changes. Therefore, the first location closest to the mobile device may change or may not change.

[0155] Optionally, the first position is the projected coordinates of the sky region on the ground in the second environmental image captured by the camera of the mobile device.

[0156] The mobile device may include a rear-view camera with its lens facing the upper rear of the mobile device, which can be used to find a location with open airspace that does not obstruct satellite signals.

[0157] In this embodiment, the camera of the mobile device can be controlled to take pictures at preset time intervals to obtain environmental images, and the projection coordinates of the sky area in the environmental image on the ground can be stored as a first location so as to guide the mobile device to an open area, that is, satellite positioning can be used again in the open area.

[0158] The preset time interval can be set in advance or set by the system default.

[0159] The second environmental image can be an image taken when performing a task in the same area previously, or it can be an image taken when moving along a preset path during the current task.

[0160] Optionally, the first position is the projected coordinates of the center of the largest inscribed circle of the sky region in the second environmental image on the ground.

[0161] The first position can be the projection coordinates of the center of the largest inscribed circle of the sky region in the second environmental image onto the ground. The center is chosen because the satellite signal at the center position is considered to be the best.

[0162] Optionally, the following steps may also be included:

[0163] As the mobile device moves along the preset path, it captures at least one second environmental image using the camera and stores at least one first location.

[0164] In this embodiment of the application, during the movement of the mobile device along a preset path, at least one environmental image can be captured by a camera, the corresponding first position can be obtained using the environmental image, and at least one first position can be stored.

[0165] Optionally, the above steps, in which the mobile device captures at least one second environmental image through the camera and stores at least one first location while moving along the preset path, can be implemented in the following manner:

[0166] During the movement of the mobile device along the preset path, at least one second environmental image is captured by the camera, and the largest inscribed circle of the sky area in the second environmental image is taken. When the radius of the largest inscribed circle is greater than the first preset radius, the coordinates of the center of the largest inscribed circle projected onto the ground are stored as the first position.

[0167] The first preset radius can be pre-set or be a system default. The first preset radius ensures the sky area is large and open enough, eliminating smaller sky areas. Specifically, as the mobile device moves along a preset path, it can capture at least one environmental image using a camera. Each environmental image can contain k sky areas. A first position is extracted for each environmental image; there can be one or more first positions, where k is a natural number (e.g., k = 0, 1, 2, etc.). The largest inscribed circle of the sky area in the environmental image is taken. If the radius of this largest inscribed circle is greater than the first preset radius, the coordinates of the center of this largest inscribed circle projected onto the ground are stored as the first position.

[0168] For example, if there are no objects obstructing the view in the environment, the entire area in the environment image will be the sky. However, if there are other objects (such as houses or trees) obstructing the view, a sky area will be divided into multiple sky areas by these other objects, as shown in Figure 3B. Multiple sky areas can exist in the environment image.

[0169] The reason for choosing the center point is that the satellite signal at the center point is considered to be the best. Since the area around the sky is the non-sky area, satellite positioning is poor in this area due to the obstruction of surrounding obstacles. Choosing the center point can be understood to some extent as the location corresponding to the point is less affected by surrounding obstacles, and therefore has the best satellite signal.

[0170] For example, as shown in Figure 3C, the rectangle can represent the environmental image, the ellipse represents the sky area, and the circle can represent the largest inscribed circle of the sky area. Further, as shown in Figure 3D, the mobile device can include a rear-view camera to capture the sky, obtain an environmental image, and store the coordinates O' of the projection of the center O of the inscribed circle of the sky area onto the ground as the first position.

[0171] For example, in the specific implementation, as the mobile device moves along a preset path, it can continuously capture environmental images through the rear-view camera to obtain the largest inscribed circle of the sky region in the environmental image. That is, it identifies the sky region in the environmental image and then determines the largest inscribed circle of the sky region. When the radius of the largest inscribed circle is greater than a first preset radius, the center coordinates of the largest inscribed circle projected onto the grass are recorded as the first position. Conversely, when the radius of the largest inscribed circle is less than or equal to the first preset radius, the center coordinates of the largest inscribed circle projected onto the grass do not need to be recorded.

[0172] In specific implementation, the projected coordinates of the center of the tangent circle in the sky region on the ground can be determined as follows: The method for determining the projected coordinates of the center of the tangent circle in the sky region on the ground is as follows: By recognizing the spatial coordinates (X1, Y1, Z1) of the obstacle from the image, calculate the offset (ΔX, ΔY) between the pixel coordinates of the obstacle and the pixel coordinates of the center of the inscribed circle in the sky region. Based on the offset and the spatial coordinates (X1, Y1, Z1) of the obstacle, determine the projected coordinates (X1+ΔX', Y1+ΔY') of the center of the inscribed circle on the ground. X1 and Y1 are ground coordinates, and Z1 is the altitude coordinate. (ΔX', ΔY') and the offset (ΔX, ΔY) have a preset mapping relationship.

[0173] For example, based on Figure 3D, please refer to Figure 3E. Point T represents the position of the obstacle, with corresponding spatial coordinates (X1, Y1, Z1); T' represents the projection of the obstacle's position onto the ground, i.e., (X1, Y1, 0). Since projection processing is required, height can be ignored. The spatial two-dimensional coordinates of point O are (X2, Y2), therefore, the spatial two-dimensional coordinates of point O' are also (X2, Y2). The offset (ΔX, ΔY) can be calculated as follows: ΔX = X component of pixel coordinates of point O - X component of pixel coordinates of point T, ΔY = Y component of pixel coordinates of point O - Y component of pixel coordinates of point T. Furthermore, through a preset mapping relationship, the spatial coordinate offset (ΔX', ΔY') can be obtained from the pixel coordinate offset (ΔX, ΔY). Then, the coordinates of point O' can be obtained as (X1 + ΔX', Y1 + ΔY').

[0174] Specifically, the rear-view camera can capture environmental images at preset time intervals. The preset time interval can be set in advance or be the system default. This is equivalent to obtaining the largest inscribed circle of the sky area in the environmental image at preset time intervals. That is, identifying the sky area in the environmental image and then determining the largest inscribed circle of the sky area. When the radius of the largest inscribed circle is greater than the first preset radius, the center coordinates of the largest inscribed circle projected onto the grass are recorded as the first position. Because of continuous recording, a list of first positions will be recorded, consisting of multiple first positions that meet the requirements.

[0175] In practice, satellite positioning signals can include satellite signals. Taking a lawnmower robot as an example, if the satellite signal is strong during the lawnmower robot's operation along a preset path, satellite positioning is used to enable the lawnmower robot to walk along the preset path. While walking along the preset path, the lawnmower robot continuously captures environmental images through a rear-view camera, and takes the largest inscribed circle of the sky area in the image. If the inscribed circle is larger than a first preset radius, the coordinates of the center of the inscribed circle are recorded as the first position. This first position specifically refers to the coordinates of the center coordinates projected onto the grass.

[0176] Optionally, when trees and houses exist in the operating area of ​​the mobile device, the following steps may also be included:

[0177] Obtain the tree height and building height in the work area;

[0178] The first preset radius is determined based on the height of the trees and the height of the houses.

[0179] When trees and houses are present in the robot's work area, tree height can refer to the average height of all trees, or it can refer to the height of a single tree. House height can refer to the average height of all houses, or it can refer to the height of a single house.

[0180] In this embodiment, when there are trees and houses in the working area of ​​the mobile device, the first preset radius can be determined based on the height of the trees and the height of the houses. In this way, the corresponding first preset radius can be determined based on the actual environment, which helps to improve the accuracy of identifying open areas.

[0181] Optionally, the above step of determining the first preset radius based on the tree height and the house height can be implemented in the following manner:

[0182] The first preset radius is determined according to the following formula:

[0183] First preset radius = tree height / house height × π / 4.

[0184] In practice, the first preset radius is calculated as (tree height / house height) × π / 4. For example, the heights of trees or houses that may affect the signal within the work area can be obtained in advance, and the average height of these objects can be used to calculate the first preset radius. In this way, the corresponding first preset radius can be determined based on the actual environment, which helps to improve the accuracy of identifying open areas.

[0185] 303. When the distance is equal to the remaining usable range, if the satellite positioning signal does not meet the preset condition, the mobile device is controlled to stop moving, and a first environmental image in at least one direction is acquired through the camera, the sky region in the first environmental image is identified, and the second position corresponding to the sky region is determined. The remaining usable range is obtained based on the preset usable range and the mileage by which the mobile device continues to move along the preset path.

[0186] The preset endurance range can be set in advance or set by the system default. It can be assumed that within the preset endurance range, accurate positioning can be guaranteed using non-satellite positioning technology. For example, the preset endurance range can be determined to be 100 meters based on the performance of the IMU or VIO device.

[0187] In the specific implementation, the initial point is the location of the mobile device when the distance between the mobile device's location and the nearest first location is equal to the remaining range of the mobile device. For safety reasons, high-precision positioning needs to be maintained during the process from the initial point to the first location to prevent the mobile device from falling into restricted areas or walking out of the grass. Therefore, in this embodiment, the mobile device goes to the nearest first location when the distance is equal to the remaining range of the mobile device, which can ensure that the mobile device maintains high-precision positioning during the process from the initial point to the first location.

[0188] To illustrate, let's take a mobile device as a lawnmower robot. Even when the satellite positioning signal is not sufficient, the lawnmower robot can still maintain accurate positioning within a certain distance. When the distance between the lawnmower robot and the nearest first position is equal to the remaining range, the nearest first position can be used as a backup. Specifically, if a second position closer than the nearest first position can be found by rotating the robot in place and taking pictures of the environment, the mobile device will be controlled to move to the second position. If there is no closer second position, the lawnmower robot will be controlled to move to the nearest first position.

[0189] Furthermore, to reduce the number of times the lawnmower robot travels from the preset path to the first location and ensure its efficiency while mowing along that path, if the robot continues to move a short distance along the preset path before heading to the first location when a poor satellite signal occurs, it will lead to frequent trips to the first location, resulting in low mowing efficiency. It's also unnecessary for the lawnmower robot to head to the first location immediately upon encountering a poor satellite signal, as the coordinates obtained at that point are still accurate, and there's no need to go to the first location to calibrate the current coordinates.

[0190] In this embodiment, the remaining extendable mileage is obtained based on the preset extendable mileage and the mileage the mobile device continues to move along the preset path. When the distance is equal to the remaining extendable mileage, if the satellite positioning signal is detected to not meet the preset conditions, the mobile device is controlled to move to the nearest first position so that the mobile device detects that the satellite positioning signal meets the preset conditions at the new position. The first position is used to guide the mobile device to an open area (an area where the satellite positioning signal meets the preset conditions). In other words, satellite positioning can be used again in the open area. In this way, the coordinates obtained by satellite positioning in the open area can be used to calibrate the position of the mobile device, improve the positioning accuracy, and solve the problem that the satellite positioning is inaccurate when it is blocked, which affects the walking of the lawnmower robot.

[0191] In this context, open areas can be understood as areas with good satellite positioning signal quality.

[0192] To illustrate, in the specific implementation, if a satellite signal failure occurs during the movement along the preset path, VIO positioning is used to extend the lifespan. That is, after a satellite signal failure, the mobile device can still travel a preset lifespan distance of 100 meters. Within this preset lifespan distance, the mobile device can still obtain accurate positioning via VIO. During the VIO positioning lifespan extension process (i.e., within the preset lifespan distance of 100 meters), the remaining lifespan distance (100 meters minus the distance already traveled) is calculated to determine the distance between the lawnmower robot's current position and the nearest first position.

[0193] Optionally, the remaining extendable mileage is equal to the difference between the preset extendable mileage and the mileage by which the mobile device continues to move along the preset path.

[0194] For example, the remaining remaining range can be calculated using the following formula:

[0195] Remaining extendable range = Preset extendable range - Distance the mobile device will travel along the preset path

[0196] If the remaining range is greater than or equal to 0, and since the remaining range is within the preset range, the mobile device's location can be considered accurate.

[0197] Optionally, the second position is the projection coordinates of the sky region in the first environmental image onto the ground.

[0198] The sky region represents an unobstructed area. The second position is the projection coordinate of the sky region in the first environmental image onto the ground. The satellite positioning signal of the projection coordinate is likely to be unaffected by obstructing obstacles, and it is very likely to quickly find a position where the satellite positioning signal meets the preset conditions at the projection position.

[0199] Optionally, the second position is the projected coordinates of the center of the largest inscribed circle of the sky region in the first environmental image on the ground.

[0200] The second position is the projection coordinate on the ground of the center of the largest inscribed circle of the sky region in the first environmental image. The center is chosen because the satellite signal at the center position is considered to be the best.

[0201] Optionally, the following steps may also be included:

[0202] By controlling the mobile device to rotate in place, the camera is rotated so that the camera can capture the first environmental image in at least one direction.

[0203] In this embodiment of the application, after the mobile device stops moving, the camera mounted on the mobile device can be rotated in place to rotate with the mobile device, so that the camera can take at least one picture during the rotation to obtain an environmental image in at least one direction, and the corresponding second position can be obtained using the environmental image.

[0204] Optionally, the above step of determining the second location corresponding to the sky region can be implemented in the following manner:

[0205] Take the largest inscribed circle of the sky region in the first environmental image. When the radius of the largest inscribed circle is greater than the second preset radius, obtain the coordinates of the center of the largest inscribed circle projected onto the ground to obtain the second position.

[0206] The second preset radius can be pre-set or set by the system default. The second preset radius ensures the sky area is large and open enough, eliminating smaller sky areas. In the specific implementation, at least one environmental image can be captured by a camera. Each environmental image can contain k sky areas. For each environmental image, a second position is extracted. Furthermore, there can be one or more second positions, where k is a natural number (e.g., k = 0, 1, 2, etc.). The largest inscribed circle of the sky area in the environmental image is taken. When the radius of this largest inscribed circle is greater than the second preset radius, the coordinates of the center of this largest inscribed circle projected onto the ground are obtained to obtain the second position.

[0207] The second preset radius can be preset or set by the system default. The second preset radius can be the same as or different from the first preset radius.

[0208] The second location can be the location corresponding to a sky region identified from any of the first environment images. Taking first environment images from multiple directions can increase the probability of finding the sky region.

[0209] 304. If the distance between the mobile device and the second location is less than or equal to the remaining range, the mobile device is controlled to move to the second location so that the mobile device detects a satellite positioning signal at the new location, which satisfies the preset condition.

[0210] In practice, if the distance between the mobile device's location and the second location is less than or equal to the remaining range of operation, it means that the distance is still within the preset range of operation and high-precision positioning can continue. In addition, if the newly found second location is closer to the mobile device than the nearest first location or is as close as the first location, the positioning after returning to the initial point (the location where the mobile device stops moving) will be more accurate. Therefore, the mobile device is controlled to move to the second location so that the mobile device can detect satellite positioning signals at the new location and meet the preset conditions.

[0211] Optionally, step 304 above, controlling the mobile device to move to the second position, can be implemented in the following manner:

[0212] The mobile device is controlled to stop moving after reaching the second position;

[0213] or,

[0214] The mobile device is controlled to move to the projection range of the largest inscribed circle corresponding to the second position on the ground. When the mobile device enters the projection range of the largest inscribed circle on the ground, the moving speed is reduced to a preset moving speed, and the device moves a first preset distance at the preset moving speed. The movement is then stopped to wait for the satellite positioning signal of the mobile device to meet the preset condition. If the satellite positioning signal of the mobile device meets the preset condition within a preset time period, the device returns to the initial point. If the satellite positioning signal of the mobile device does not meet the preset condition within the preset time period, the device continues to move a second preset distance and waits again for the satellite positioning signal of the mobile device to meet the preset condition. The initial point is the position where the mobile device stops moving.

[0215] The preset movement speed can be set in advance or left as the system default. The preset time period can also be set in advance or left as the system default.

[0216] In a specific implementation, the mobile device can be controlled to stop moving after reaching the second position. Alternatively, the mobile device can be controlled to move to the projection range of the largest inscribed circle corresponding to the second position on the ground. Once the mobile device enters the projection range of the largest inscribed circle on the ground, its moving speed is reduced to a preset moving speed, and it moves a first preset distance at the preset moving speed. Then, it stops moving to wait for the satellite positioning signal of the mobile device to meet preset conditions. If the satellite positioning signal of the mobile device meets the preset conditions within a preset time period, it returns to the initial point. If the satellite positioning signal of the mobile device does not meet the preset conditions within the preset time period, it continues to move a second preset distance and waits again for the satellite positioning signal of the mobile device to meet the preset conditions. For example, the mobile device can be controlled to quickly move to the projection range of the inscribed circle (the inscribed circle where the second position is located) on the ground. After entering the projection range, it slows down, moves a certain distance, and then stops moving to wait for the satellite signal to meet the preset conditions. If the satellite signal is detected to meet the preset conditions, it returns to the initial point; otherwise, it continues to move a certain distance and then waits again for the satellite signal to meet the preset conditions. This means that the second location is used to guide the mobile device to an open area (an area where the satellite positioning signal meets the preset conditions). In this open area, satellite positioning can be used again, thus solving the problem of inaccurate satellite positioning when obstructed, which affects the movement of the lawnmower robot.

[0217] Optionally, the following steps may also be included:

[0218] When the distance between the location of the mobile device and the nearest first location is greater than or less than the remaining range, the mobile device is controlled to continue moving along the preset path.

[0219] In this embodiment of the application, when the distance between the location of the mobile device and the nearest first location is greater than the remaining range, the mobile device may not be able to accurately reach the nearest first location. Therefore, instead of stopping the movement, the mobile device is controlled to continue moving until the satellite positioning signal meets the preset conditions.

[0220] In this embodiment, when the distance between the location of the mobile device and the nearest first location is less than the remaining range, the mobile device will frequently travel to the first location from the preset path, resulting in low work efficiency. To reduce the number of times the mobile device travels to the first location from the preset path and ensure the efficiency of the mobile device in performing work on the preset path, the mobile device is controlled to continue moving along the preset path when the distance between the location of the mobile device and the nearest first location is less than the remaining range.

[0221] For example, if a mobile device moves 1 meter along a preset path to the first location when the satellite signal is weak, it will cause the mobile device to frequently go to the first location, resulting in low work efficiency. It is also unnecessary for the mobile device to go to the first location as soon as the satellite signal is weak, because the coordinates obtained by the mobile device at the beginning of the satellite signal weakness are still accurate, and there is no need to go to the first location to calibrate the current coordinates.

[0222] For example, if the distance between the nearest first location and the mobile device's current location is greater than the remaining range, the mobile device will continue moving until the satellite signal meets the preset conditions. For instance, if the mobile device is at the starting point of the preset range of 100 meters (where the satellite signal difference just appears), and the nearest first location is found to be more than 100 meters away, the mobile device may not be able to accurately reach the nearest first location, so it will not stop moving.

[0223] Optionally, the following steps may also be included:

[0224] When the distance between the mobile device and the nearest first location is equal to the remaining range, if the satellite positioning signal meets the preset condition, the mobile device is controlled to move along the preset path via satellite positioning.

[0225] In practice, when the distance between the mobile device's location and the nearest first location is equal to the remaining range, if the satellite positioning signal meets the preset conditions, it means that the satellite positioning signal is strong. In this way, the mobile device is controlled to move along the preset path through satellite positioning, thus ensuring that the mobile device moves accurately along the preset path.

[0226] Optionally, the following steps may also be included:

[0227] If the distance between the mobile device and the second location is greater than the remaining range, then the mobile device is controlled to move to the first location closest to the location of the mobile device.

[0228] In practice, if the distance between the mobile device's location and the second location is greater than the remaining range of operation, it means that it is not within the preset range of operation and cannot be accurately located. Therefore, the mobile device is controlled to move to the first location closest to the mobile device's location. This means that the mobile device can be moved to an open area, where satellite positioning can be used again. This solves the problem of inaccurate satellite positioning when the device is obstructed, which affects the movement of the lawnmower robot.

[0229] Optionally, the following steps may also be included:

[0230] After the mobile device detects that the satellite positioning signal meets the preset conditions at its new location, it controls the mobile device to return to the initial point. During the return process, the mobile device is located. When the mobile device moves to a location where the satellite positioning signal meets the preset conditions, satellite positioning technology is used for positioning. When the mobile device moves to a location where the satellite positioning signal does not meet the preset conditions, non-satellite positioning technology is used for positioning. The initial point is the location where the mobile device stops moving.

[0231] The initial point is the position where the mobile device stops moving.

[0232] In practice, after the mobile device detects that the satellite positioning signal meets the preset conditions at the new location, it controls the mobile device to return to the initial point. During the return process, the mobile device is located. Specifically, when the mobile device moves to a location where the satellite positioning signal meets the preset conditions, satellite positioning technology is used for positioning. When the mobile device moves to a location where the satellite positioning signal does not meet the preset conditions, non-satellite positioning technology is used for positioning. In this way, the problem of inaccurate satellite positioning when obstructed, which affects the movement of the mobile device, can be solved.

[0233] For example, taking a mobile device as a lawnmower robot, the lawnmower robot has a rear camera with a lens facing the upper rear of the robot. The lawnmower robot can execute the control method of the mobile device according to the following steps:

[0234] S1. During the lawn mowing operation along the planned path, if the satellite positioning signal meets the preset conditions, the lawn mowing robot will use satellite positioning to enable it to walk along the planned path. While walking along the planned path, the lawn mowing robot continuously captures environmental images through its rear camera, takes the largest inscribed circle of the sky area in the image, and if the radius of the inscribed circle is greater than the preset radius, records the coordinates of the center of the inscribed circle as the first position.

[0235] S2. If the satellite positioning signal fails to meet the preset conditions during the journey along the planned path, the robot will extend its lifespan using VIO positioning. This means that after the satellite positioning signal fails to meet the preset conditions, the lawnmower robot can continue walking for an additional 100 meters (not necessarily 100 meters, depending on the performance of Simultaneous Localization and Mapping (SLAM)). Within this extended lifespan, the lawnmower robot can obtain accurate positioning via VIO. During the VIO positioning extension process (i.e., within the 100-meter extended lifespan), the remaining extendable lifespan (100 meters minus the distance already traveled) is calculated, and the distance between the lawnmower robot's current position and the nearest first position is determined. If the distance to the nearest first position is less than the remaining extendable lifespan, the lawnmower robot continues walking. If the distance to the nearest first position is equal to the remaining extendable lifespan, the lawnmower robot stops walking and then proceeds to step S3.

[0236] If the distance between the nearest available location and the robot's current location is greater than the remaining range, the robot will continue moving until the satellite positioning signal meets a preset condition. (For example, a scenario where the robot is at the starting point of its 100-meter range, where the satellite positioning signal no longer meets the preset condition, and the nearest available location is found to be more than 100 meters away). In this case, the robot may not be able to accurately reach the nearest location, so it will not stop moving.

[0237] S3. If the distance to the nearest first position is equal to the remaining range, the lawnmower stops moving. Then, the lawnmower rotates in place, and the rear camera follows the rotation to collect environmental images from different directions. It identifies targets in each environmental image from different directions. If the sky is detected in an image, the largest inscribed circle of the sky area is taken. If the radius of the inscribed circle is greater than a preset radius, and the distance from the lawnmower to the center of the inscribed circle (i.e., the second position) is less than or equal to the remaining range, the lawnmower moves towards the center coordinates of the inscribed circle (this allows it to find an inscribed circle center closer than the recorded nearest position, improving positioning accuracy), enabling the lawnmower to reach an open area. Since the lawnmower is still within the remaining range while moving towards the center coordinates, it can still accurately locate itself to reach the center coordinates (i.e., the second position).

[0238] S4. After the lawnmower reaches the open area, it obtains its absolute position in the open area using satellite positioning signals. Then, it controls the lawnmower to return to the initial point (the position of rotation in place). During the return process, satellite positioning is used first. If the satellite positioning signal does not meet the preset conditions, visual positioning or IMU or VIO positioning is used. Combined with the obtained absolute position in the open area, the absolute position of the initial point is obtained.

[0239] S5. Starting from the initial point, continue walking along the planned path to perform lawn mowing. If the satellite positioning signal does not meet the preset conditions, visual positioning, IMU, or VIO positioning will be used during the process. Combined with the absolute position of the initial point, the lawn mowing robot will be positioned to control it to walk along the planned path. If the satellite positioning signal meets the preset conditions during the continued operation, satellite positioning will be used. Furthermore, if the satellite positioning signal is detected to no longer meet the preset conditions again starting from the initial point, return to steps S2-S5.

[0240] For example, as shown in Figure 3F, if the satellite positioning signal fails to meet preset conditions during the lawnmower operation along the planned path (e.g., at position A), the robot uses VIO positioning to extend its lifespan. It calculates the remaining extendable mileage and determines the distance between its current position and the nearest first position. If the distance to the nearest first position equals the remaining extendable mileage, the robot stops moving, returning to its initial position, position B. Then, the lawnmower robot is controlled to rotate in place, and the rear camera follows the robot's rotation to collect environmental images from different directions. Targets in each environmental image from different directions are identified. If the sky is detected in an environmental image, the largest inscribed circle of the sky region in the image is taken. If the radius of the inscribed circle is greater than a preset radius, and the distance from the lawnmower robot to the center of the inscribed circle (i.e., the second position, such as position C) is less than or equal to the remaining range, the lawnmower robot is controlled to move towards the center coordinates of the inscribed circle. If the distance from the lawnmower robot's position to the center of the inscribed circle (i.e., the second position, such as position C) is greater than the remaining range, it moves towards the nearest first position (position D). Here, position D represents the nearest first position, and position D is farther from position B than position C is from position B. In this way, the center of the inscribed circle can be found closer than the recorded nearest position, improving positioning accuracy and allowing the lawnmower robot to reach an open area. Since the lawnmower robot is still within the remaining range while moving towards the center coordinates, it can still accurately locate itself to reach the center coordinates, i.e., position C. Then return from position C to position B to calibrate position B and obtain its precise location. Starting from position B, continue walking along the planned path to perform the mowing operation.

[0241] The mobile device control method described in this application controls 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 preset conditions, the mobile device continues to move along the preset path. During this continued movement, the distance between the mobile device's current location and the nearest first location is determined. If the satellite positioning signal does not meet the preset conditions when the distance is equal to the remaining usable range, the mobile device stops moving and acquires a first environmental image in at least one direction using a camera. The sky region in the first environmental image is identified, and a second location corresponding to the sky region is determined. The remaining usable range is obtained based on the preset usable range and the distance the mobile device continues to move along the preset path. If the distance between the mobile device and the second location is less than or equal to the remaining usable range, the mobile device moves towards the second location. This ensures that the mobile device detects a satellite positioning signal that meets the preset conditions at the new location. Therefore, even when the satellite positioning signal does not meet the conditions, the mobile device can maintain accurate positioning within a certain distance. The first location is the closest open area that can be found within a certain distance. If the distance between the mobile device's current location and the first location is equal to the remaining range, it means that if the mobile device does not go to the first location, the distance to the next first location may also be greater than the remaining range, causing the mobile device to be unable to accurately reach the first location. Therefore, when the distance between the mobile device and the first location is equal to the remaining range, the satellite positioning signal still does not meet the condition. After the mobile device stops moving, it rotates in place to take pictures and finds the second location. If the distance between the mobile device and the second location is less than or equal to the remaining range, then it goes to the second location. The reason for finding the second location by rotating in place is to determine whether there is an open area closer than the stored closest first location. Going to a closer open area can make the positioning position when the mobile device returns to the initial point (the position where the mobile device stops moving) more accurate. That is, satellite positioning can be used again in the open area, which can solve the problem of inaccurate satellite positioning when obstructed, which affects the movement of the lawnmower robot.

[0242] Please refer to Figure 4, which is a flowchart illustrating another control method for a mobile device provided in an embodiment of this application. As shown in the figure, the control method for this mobile device includes:

[0243] 401. Control the mobile device to move along a preset path.

[0244] 402. 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, and during the process of continuing to move along the preset path, the distance between the location of the mobile device and the nearest first location is determined.

[0245] 403. When the distance is equal to the remaining usable range, if the satellite positioning signal does not meet the preset condition, the mobile device is controlled to stop moving, and a first environmental image in at least one direction is acquired through the camera, the sky region in the first environmental image is identified, and the second position corresponding to the sky region is determined. The remaining usable range is obtained based on the preset usable range and the mileage by which the mobile device continues to move along the preset path.

[0246] 404. If the distance between the mobile device and the second location is less than or equal to the remaining range, the mobile device is controlled to move to the second location so that the mobile device detects a satellite positioning signal at the new location, which satisfies the preset condition.

[0247] 405. If the distance between the mobile device and the second location is greater than the remaining range, then control the mobile device to move to the first location closest to the location of the mobile device.

[0248] The specific descriptions of steps 401-405 above can be found in the relevant steps of a mobile device control method described in Figure 3A, and will not be repeated here.

[0249] The mobile device control method described in this application can maintain accurate positioning within a certain distance even when the satellite positioning signal is unsatisfactory. Within this maintained distance, the mobile device can find a location in an open area, i.e., the nearest first location. When the distance between the mobile device's current location and the first location equals the remaining range, it indicates that if the mobile device does not move to the first location, the distance to subsequent first locations may also exceed the remaining range, preventing the mobile device from accurately reaching the first location. Therefore, when the distance between the mobile device and the first location equals the remaining range, and the satellite positioning signal still does not meet the condition, the mobile device stops moving and takes images by rotating in place to find a second location. If the distance between the mobile device and the second location is less than or equal to the remaining range, the mobile device moves to the second location. The rotation in place to find the second location is to determine if there is an open area closer than the stored nearest first location. Moving to a closer open area allows the mobile device to return to its initial location (the location where the mobile device stops moving) with greater accuracy. In other words, satellite positioning can be used again in an open area, solving the problem of inaccurate satellite positioning when obstructed, which affects the movement of the lawnmower robot.

[0250] Consistent with the above embodiments, please refer to FIG5, which is a schematic diagram of the structure of a mobile device provided in an embodiment of this application. As shown in the figure, the mobile device includes 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 this embodiment, the programs include instructions for performing the following steps:

[0251] Control the mobile device to move along a preset path;

[0252] 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, and during the process of continuing to move along the preset path, the distance between the location of the mobile device and the nearest first location is determined;

[0253] When the distance equals the remaining usable range, if the satellite positioning signal is detected to not meet the preset condition, the mobile device is controlled to move to the nearest first location so that the mobile device detects a satellite positioning signal that meets the preset condition at the new location. The remaining usable range is obtained based on the preset usable range and the mileage by which the mobile device continues to move along the preset path.

[0254] Optionally, the first position is the projected coordinates of the sky region on the ground in the environmental image captured by the camera of the mobile device.

[0255] Optionally, the first position is the projected coordinates of the center of the largest inscribed circle of the sky region in the environmental image on the ground.

[0256] Optionally, the above procedure may also include instructions for performing the following steps:

[0257] As the mobile device moves along the preset path, it captures at least one image of the environment using the camera and stores at least one of the first locations.

[0258] Optionally, in the step of capturing at least one environmental image via the camera and storing at least one of the first location aspects while the mobile device moves along the preset path, the above procedure includes instructions for performing the following steps:

[0259] During the movement of the mobile device along the preset path, at least one environmental image is captured by the camera, and the largest inscribed circle of the sky area in the environmental image is taken. When the radius of the largest inscribed circle is greater than the preset radius, the coordinates of the center of the largest inscribed circle projected onto the ground are stored as the first position.

[0260] Optionally, the remaining extendable mileage is equal to the difference between the preset extendable mileage and the mileage by which the mobile device continues to move along the preset path.

[0261] Optionally, the above procedure may also include instructions for performing the following steps:

[0262] After the mobile device detects a satellite positioning signal that meets the preset conditions at its new location, it is controlled to return to the initial point. During the return process, the mobile device is located. When the mobile device moves to a location where the satellite positioning signal meets the preset conditions, satellite positioning technology is used for positioning. When the mobile device moves to a location where the satellite positioning signal does not meet the preset conditions, non-satellite positioning technology is used for positioning. The initial point is the location of the mobile device when the distance is equal to the remaining range.

[0263] Optionally, the above procedure may also include instructions for performing the following steps:

[0264] After the mobile device returns to the initial point, the step of controlling the mobile device to move along the preset path is executed again.

[0265] Optionally, in controlling the mobile device to move to the nearest first location, the above procedure includes instructions for performing the following steps:

[0266] Control the mobile device to stop moving, and then control the mobile device to move from the initial point to the nearest first position;

[0267] or,

[0268] The mobile device is controlled to first move to the nearest first position, and then stop moving;

[0269] or,

[0270] The mobile device is controlled to move to the projection range of the largest inscribed circle corresponding to the nearest first position on the ground. When the mobile device enters the projection range of the largest inscribed circle on the ground, the moving speed is reduced to a preset moving speed, and the device moves a first preset distance at the preset moving speed. The movement is then stopped to wait for the satellite positioning signal of the mobile device to meet the preset condition. If the satellite positioning signal of the mobile device meets the preset condition within a preset time period, the device returns to the initial point. If the satellite positioning signal of the mobile device does not meet the preset condition within the preset time period, the device continues to move a second preset distance and waits again for the satellite positioning signal of the mobile device to meet the preset condition.

[0271] Optionally, the above procedure may also include instructions for performing the following steps:

[0272] When the distance is greater than or less than the remaining range, the mobile device is controlled to continue moving along the preset path.

[0273] Optionally, the above procedure may also include instructions for performing the following steps:

[0274] If the satellite positioning signal does not meet the preset conditions, the mobile device is located using non-satellite positioning technology to control the mobile device to continue moving along the preset path.

[0275] Optionally, the mobile device also includes a rear-view camera, the lens of which is positioned diagonally upward and rearward of the mobile device.

[0276] The mobile device described in this application is controlled to move along a preset path. When the mobile device moves to a location where the satellite positioning signal does not meet preset conditions, the mobile device continues to move along the preset path. During this continued movement, the distance between the mobile device's current location and the nearest first location is determined. If the satellite positioning signal does not meet the preset conditions when the distance equals the remaining usable range, the mobile device is controlled to move to the nearest first location so that the mobile device detects a satellite positioning signal that meets the preset conditions at the new location. The remaining usable range is obtained based on the preset usable range and the distance the mobile device travels along the preset path. Therefore, even when the satellite positioning signal does not meet the conditions, the mobile device can maintain accurate positioning within a certain distance. When the distance to the nearest first location equals the remaining range, it means that if the mobile device doesn't move to the first location, the distance to the next nearest first location might also be greater than the remaining range, preventing the mobile device from accurately reaching the first location. Therefore, if the satellite positioning signal still doesn't meet the condition when the distance between the mobile device and the nearest first location equals the remaining range, then the device should move to the nearest first location. This reduces the number of times the device needs to go to the first location, ensuring operational efficiency. In this way, the mobile device can also accurately reach the first location and use that location to guide it to an open area (an area where the satellite positioning signal meets the preset conditions). In other words, satellite positioning can be used again in an open area, which solves the problem of inaccurate satellite positioning when obstructed, affecting the movement of the lawnmower robot.

[0277] Accordingly, based on the electronic device shown in Figure 5, the above program may also include instructions for performing the following steps:

[0278] Control the mobile device to move along a preset path;

[0279] 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, and during the process of continuing to move along the preset path, the distance between the location of the mobile device and the nearest first location is determined;

[0280] When the distance equals the remaining usable range, if the satellite positioning signal does not meet the preset condition, the mobile device is controlled to stop moving, and a first environmental image in at least one direction is captured by the camera, the sky area in the first environmental image is identified, and the second position corresponding to the sky area is determined. The remaining usable range is obtained based on the preset usable range and the mileage by which the mobile device continues to move along the preset path.

[0281] If the distance between the mobile device and the second location is less than or equal to the remaining range, the mobile device is controlled to move to the second location so that the mobile device detects a satellite positioning signal at the new location, which satisfies the preset condition.

[0282] Optionally, the first position is the projected coordinates of the sky region on the ground in the second environmental image captured by the camera of the mobile device.

[0283] Optionally, the first position is the projected coordinates of the center of the largest inscribed circle of the sky region in the second environmental image on the ground.

[0284] Optionally, the above procedure may also include instructions for performing the following steps:

[0285] As the mobile device moves along the preset path, it captures at least one second environmental image using the camera and stores at least one first location.

[0286] Optionally, in the step of capturing at least one second environmental image via the camera and storing at least one first location image while the mobile device moves along the preset path, the above procedure includes instructions for performing the following steps:

[0287] During the movement of the mobile device along the preset path, at least one second environmental image is captured by the camera, and the largest inscribed circle of the sky area in the second environmental image is taken. When the radius of the largest inscribed circle is greater than the first preset radius, the coordinates of the center of the largest inscribed circle projected onto the ground are stored as the first position.

[0288] Optionally, the second position is the projection coordinates of the sky region in the first environmental image onto the ground.

[0289] Optionally, the second position is the projected coordinates of the center of the largest inscribed circle of the sky region in the first environmental image on the ground.

[0290] Optionally, the above procedure may also include instructions for performing the following steps:

[0291] By controlling the mobile device to rotate in place, the camera is rotated so that the camera can capture the first environmental image in at least one direction.

[0292] Optionally, regarding the determination of the second location corresponding to the sky region, the above procedure includes instructions for performing the following steps:

[0293] Take the largest inscribed circle of the sky region in the first environmental image. When the radius of the largest inscribed circle is greater than the second preset radius, obtain the coordinates of the center of the largest inscribed circle projected onto the ground to obtain the second position.

[0294] Optionally, the remaining extendable mileage is equal to the difference between the preset extendable mileage and the mileage by which the mobile device continues to move along the preset path.

[0295] Optionally, the above procedure may also include instructions for performing the following steps:

[0296] When the distance between the mobile device and the nearest first location is equal to the remaining range, if the satellite positioning signal meets the preset condition, the mobile device is controlled to move along the preset path via satellite positioning.

[0297] Optionally, the above procedure may also include instructions for performing the following steps:

[0298] If the distance between the mobile device and the second location is greater than the remaining range, then the mobile device is controlled to move to the first location closest to the location of the mobile device.

[0299] Optionally, the above procedure may also include instructions for performing the following steps:

[0300] After the mobile device detects that the satellite positioning signal meets the preset conditions at its new location, it controls the mobile device to return to the initial point. During the return process, the mobile device is located. When the mobile device moves to a location where the satellite positioning signal meets the preset conditions, satellite positioning technology is used for positioning. When the mobile device moves to a location where the satellite positioning signal does not meet the preset conditions, non-satellite positioning technology is used for positioning. The initial point is the location where the mobile device stops moving.

[0301] Optionally, the above procedure may also include instructions for performing the following steps:

[0302] When the distance between the location of the mobile device and the nearest first location is greater than or less than the remaining range, the mobile device is controlled to continue moving along the preset path.

[0303] Optionally, the above procedure may also include instructions for performing the following steps:

[0304] If the satellite positioning signal does not meet the preset conditions, the mobile device is located using non-satellite positioning technology to control the mobile device to continue moving along the preset path.

[0305] Optionally, the mobile device also includes a rear-view camera, the lens of which is positioned diagonally upward and rearward of the mobile device.

[0306] The mobile device described in this application is controlled to move along a preset path. When the mobile device moves to a location where the satellite positioning signal does not meet preset conditions, the mobile device continues to move along the preset path. During this continued movement, the distance between the mobile device's current location and the nearest first location is determined. If the satellite positioning signal does not meet the preset conditions when the distance is equal to the remaining usable range, the mobile device stops moving and acquires a first environmental image in at least one direction using a camera. The sky region in the first environmental image is identified, and a second location corresponding to the sky region is determined. The remaining usable range is obtained based on the preset usable range and the distance the mobile device travels along the preset path. If the distance between the mobile device and the second location is less than or equal to the remaining usable range, the mobile device moves towards the second location. This ensures that the mobile device detects a satellite positioning signal that meets the preset conditions at the new location. Therefore, even when the satellite positioning signal does not meet the conditions, the mobile device can maintain accurate positioning within a certain distance. Within a certain distance, an open area can be found, which is the nearest first location. When the distance between the mobile device's location and the first location is equal to the remaining range, it means that if the mobile device does not go to the first location, the distance to the next first location may also be greater than the remaining range, causing the mobile device to be unable to accurately reach the first location. Therefore, when the distance between the mobile device and the first location is equal to the remaining range, the satellite positioning signal still does not meet the condition. After the mobile device stops moving, it rotates in place to take pictures and finds a second location. If the distance between the mobile device and the second location is less than or equal to the remaining range, then it goes to the second location. The reason for finding the second location by rotating in place is to determine whether there is an open area closer than the stored nearest first location. Going to a closer open area can make the positioning position when the mobile device returns to the initial point (the position where the mobile device stops moving) more accurate. That is, satellite positioning can be used again in the open area, which can solve the problem of inaccurate satellite positioning when obstructed, which affects the movement of the lawnmower robot.

[0307] Figure 6 is a functional unit block diagram of a control device 600 for a mobile device according to an embodiment of this application. The control device 600 for the mobile device includes: a first control unit 601, a determining unit 602, and a second control unit 603, wherein...

[0308] The first control unit 601 is used to control the mobile device to move along a preset path;

[0309] The determining unit 602 is used to control the mobile device to continue moving along the preset path when the mobile device moves to a position where the satellite positioning signal does not meet the preset conditions, and to determine the distance between the position of the mobile device and the nearest first position during the process of continuing to move along the preset path;

[0310] The second control unit 603 is configured to, when the distance is equal to the remaining range, if the satellite positioning signal is detected to not meet the preset condition, control the mobile device to move to the nearest first position so that the mobile device detects a satellite positioning signal that meets the preset condition at the new position. The remaining range is obtained based on the preset range and the mileage by which the mobile device continues to move along the preset path.

[0311] Optionally, the first position is the projected coordinates of the sky region on the ground in the environmental image captured by the camera of the mobile device.

[0312] Optionally, the first position is the projected coordinates of the center of the largest inscribed circle of the sky region in the environmental image on the ground.

[0313] Optionally, the control device 600 of the mobile device is further specifically used for:

[0314] As the mobile device moves along the preset path, it captures at least one image of the environment using the camera and stores at least one of the first locations.

[0315] Optionally, in the step of capturing at least one environmental image via the camera and storing at least one of the first location aspects while the mobile device moves along the preset path, the control device 600 of the mobile device is specifically used for:

[0316] During the movement of the mobile device along the preset path, at least one environmental image is captured by the camera, and the largest inscribed circle of the sky area in the environmental image is taken. When the radius of the largest inscribed circle is greater than the preset radius, the coordinates of the center of the largest inscribed circle projected onto the ground are stored as the first position.

[0317] Optionally, the remaining extendable mileage is equal to the difference between the preset extendable mileage and the mileage by which the mobile device continues to move along the preset path.

[0318] Optionally, the control device 600 of the mobile device is further specifically used for:

[0319] After the mobile device detects a satellite positioning signal that meets the preset conditions at its new location, it is controlled to return to the initial point. During the return process, the mobile device is located. When the mobile device moves to a location where the satellite positioning signal meets the preset conditions, satellite positioning technology is used for positioning. When the mobile device moves to a location where the satellite positioning signal does not meet the preset conditions, non-satellite positioning technology is used for positioning. The initial point is the location of the mobile device when the distance is equal to the remaining range.

[0320] Optionally, the control device 600 of the mobile device is further specifically used for:

[0321] After the mobile device returns to the initial point, the step of controlling the mobile device to move along the preset path is executed again.

[0322] Optionally, in controlling the mobile device to move to the nearest first location, the second control unit 603 is specifically configured to:

[0323] Control the mobile device to stop moving, and then control the mobile device to move from the initial point to the nearest first position;

[0324] or,

[0325] The mobile device is controlled to first move to the nearest first position, and then stop moving;

[0326] or,

[0327] The mobile device is controlled to move to the projection range of the largest inscribed circle corresponding to the nearest first position on the ground. When the mobile device enters the projection range of the largest inscribed circle on the ground, the moving speed is reduced to a preset moving speed, and the device moves a first preset distance at the preset moving speed. The movement is then stopped to wait for the satellite positioning signal of the mobile device to meet the preset condition. If the satellite positioning signal of the mobile device meets the preset condition within a preset time period, the device returns to the initial point. If the satellite positioning signal of the mobile device does not meet the preset condition within the preset time period, the device continues to move a second preset distance and waits again for the satellite positioning signal of the mobile device to meet the preset condition.

[0328] Optionally, the control device 600 of the mobile device is further specifically used for:

[0329] When the distance is greater than or less than the remaining range, the mobile device is controlled to continue moving along the preset path.

[0330] Optionally, the control device 600 of the mobile device is further specifically used for:

[0331] If the satellite positioning signal does not meet the preset conditions, the mobile device is located using non-satellite positioning technology to control the mobile device to continue moving along the preset path.

[0332] The control device for the mobile device described in this 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 preset conditions, the device continues to move along the preset path. During this continued movement, the distance between the mobile device's current position and the nearest first position is determined. If the distance equals the remaining usable range, and the satellite positioning signal does not meet the preset conditions, the device moves to the nearest first position so that the mobile device detects a satellite positioning signal that meets the preset conditions at the new position. The remaining usable range is obtained based on the preset usable range and the distance the mobile device travels along the preset path. Therefore, even when the satellite positioning signal does not meet the conditions, the mobile device can maintain accurate positioning within a certain distance. When the distance to the nearest first location is equal to the remaining range, it means that if the mobile device does not go to the first location again, the distance to the next nearest first location may also be greater than the remaining range, causing the mobile device to be unable to accurately reach the first location. Therefore, if the satellite positioning signal still does not meet the condition when the distance between the mobile device and the nearest first location is equal to the remaining range, then the device should move to the nearest first location. This reduces the number of times the device needs to go to the first location, ensuring operational efficiency. In this way, the mobile device can also accurately reach the first location and use that first location to guide the mobile device to an open area (an area where the satellite positioning signal meets the preset condition). In other words, satellite positioning can be used again in an open area, which can solve the problem of inaccurate satellite positioning when obstructed, which affects the movement of the lawnmower robot.

[0333] Accordingly, the control device 600 based on the mobile device shown in Figure 6 can also perform the following functions:

[0334] The first control unit 601 is used to control the mobile device to move along a preset path; when the mobile device moves to a position where the satellite positioning signal does not meet the preset conditions, it controls the mobile device to continue moving along the preset path, and during the process of continuing to move along the preset path, it determines the distance between the position of the mobile device and the nearest first position;

[0335] The determining unit 602 is used to control the mobile device to stop moving when the distance is equal to the remaining usable mileage, if the satellite positioning signal does not meet the preset condition, and to collect a first environmental image in at least one direction through the camera, identify the sky area in the first environmental image, and determine the second position corresponding to the sky area. The remaining usable mileage is obtained based on the preset usable mileage and the mileage that the mobile device continues to move along the preset path.

[0336] The second control unit 603 is configured to control the mobile device to move to the second location if the distance between the mobile device and the second location is less than or equal to the remaining range, so that the mobile device can detect a satellite positioning signal at the new location and meet the preset conditions.

[0337] Optionally, the first position is the projected coordinates of the sky region on the ground in the second environmental image captured by the camera of the mobile device.

[0338] Optionally, the first position is the projected coordinates of the center of the largest inscribed circle of the sky region in the second environmental image on the ground.

[0339] Optionally, the control device 600 of the mobile device is further specifically used for:

[0340] As the mobile device moves along the preset path, it captures at least one second environmental image using the camera and stores at least one first location.

[0341] Optionally, in the step of capturing at least one second environmental image via the camera and storing at least one first location image while the mobile device moves along the preset path, the control device 600 of the mobile device is specifically configured to:

[0342] During the movement of the mobile device along the preset path, at least one second environmental image is captured by the camera, and the largest inscribed circle of the sky area in the second environmental image is taken. When the radius of the largest inscribed circle is greater than the first preset radius, the coordinates of the center of the largest inscribed circle projected onto the ground are stored as the first position.

[0343] Optionally, the second position is the projection coordinates of the sky region in the first environmental image onto the ground.

[0344] Optionally, the second position is the projected coordinates of the center of the largest inscribed circle of the sky region in the first environmental image on the ground.

[0345] Optionally, the control device 600 of the mobile device is further specifically used for:

[0346] By controlling the mobile device to rotate in place, the camera is rotated so that the camera can capture the first environmental image in at least one direction.

[0347] Optionally, regarding the determination of the second location corresponding to the sky region, the control device 600 of the mobile device is specifically used for:

[0348] Take the largest inscribed circle of the sky region in the first environmental image. When the radius of the largest inscribed circle is greater than the second preset radius, obtain the coordinates of the center of the largest inscribed circle projected onto the ground to obtain the second position.

[0349] Optionally, the remaining extendable mileage is equal to the difference between the preset extendable mileage and the mileage by which the mobile device continues to move along the preset path.

[0350] Optionally, the control device 600 of the mobile device is further specifically used for:

[0351] When the distance between the mobile device and the nearest first location is equal to the remaining range, if the satellite positioning signal meets the preset condition, the mobile device is controlled to move along the preset path via satellite positioning.

[0352] Optionally, the control device 600 of the mobile device is further specifically used for:

[0353] If the distance between the mobile device and the second location is greater than the remaining range, then the mobile device is controlled to move to the first location closest to the location of the mobile device.

[0354] Optionally, the control device 600 of the mobile device is further specifically used for:

[0355] After the mobile device detects that the satellite positioning signal meets the preset conditions at its new location, it controls the mobile device to return to the initial point. During the return process, the mobile device is located. When the mobile device moves to a location where the satellite positioning signal meets the preset conditions, satellite positioning technology is used for positioning. When the mobile device moves to a location where the satellite positioning signal does not meet the preset conditions, non-satellite positioning technology is used for positioning. The initial point is the location where the mobile device stops moving.

[0356] Optionally, the control device 600 of the mobile device is further specifically used for:

[0357] When the distance between the location of the mobile device and the nearest first location is greater than or less than the remaining range, the mobile device is controlled to continue moving along the preset path.

[0358] Optionally, the control device 600 of the mobile device is further specifically used for:

[0359] If the satellite positioning signal does not meet the preset conditions, the mobile device is located using non-satellite positioning technology to control the mobile device to continue moving along the preset path.

[0360] The control device for the mobile device described in this 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 conditions, the device continues to move along the preset path. During this continued movement, the device determines the distance between its current position and the nearest first position. If the satellite positioning signal does not meet the preset conditions when the distance is equal to the remaining range, the device stops moving and acquires a first environmental image in at least one direction using a camera. The device then identifies a sky region within the first environmental image and determines the second position corresponding to that sky region. The remaining range is based on the preset range and the distance the device travels along the preset path. If the distance between the mobile device and the second position is less than or equal to the remaining range, the device moves towards the second position. This ensures that the mobile device detects a satellite positioning signal that meets the preset conditions at the new position. Therefore, even when the satellite positioning signal does not meet the conditions, the mobile device can maintain accurate positioning within a certain distance. The first location is the closest open area that can be found within a certain distance. If the distance between the mobile device's current location and the first location is equal to the remaining range, it means that if the mobile device does not go to the first location, the distance to the next first location may also be greater than the remaining range, causing the mobile device to be unable to accurately reach the first location. Therefore, when the distance between the mobile device and the first location is equal to the remaining range, the satellite positioning signal still does not meet the condition. After the mobile device stops moving, it rotates in place to take pictures and finds the second location. If the distance between the mobile device and the second location is less than or equal to the remaining range, then it goes to the second location. The reason for finding the second location by rotating in place is to determine whether there is an open area closer than the stored closest first location. Going to a closer open area can make the positioning position when the mobile device returns to the initial point (the position where the mobile device stops moving) more accurate. That is, satellite positioning can be used again in the open area, which can solve the problem of inaccurate satellite positioning when obstructed, which affects the movement of the lawnmower robot.

[0361] It is understood that the functions of each program module of the control device of the mobile device in this embodiment can be specifically implemented according to the methods in the above method embodiments. The specific implementation process can be referred to the relevant descriptions in the above method embodiments, which will not be repeated here.

[0362] This application also provides a computer storage medium storing a computer program for electronic data interchange, which causes a computer to perform some or all of the steps of any of the methods described in the above method embodiments, wherein the computer includes a mobile device.

[0363] This application also provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps of any of the methods described in the above method embodiments. The computer program product may be a software installation package, and the computer may include a mobile device.

[0364] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0365] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0366] In the embodiments provided in this application, it should be understood that the disclosed system can be implemented in other ways. For example, the system embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between systems or units may be electrical or other forms.

[0367] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0368] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0369] If the integrated units described above are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0370] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, which may include: flash drive, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0371] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this 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, and during the process of continuing to move along the preset path, the distance between the location of the mobile device and the nearest first location is determined; When the distance is equal to the remaining range, if the satellite positioning signal is detected to not meet the preset condition, the mobile device is controlled to change its movement mode so that the mobile device can detect a satellite positioning signal that meets the preset condition at the new location. The remaining extendable mileage is obtained based on the preset extendable mileage and the mileage by which the mobile device continues to move along the preset path.

2. The method according to claim 1, characterized in that, The control of the mobile device to change its movement mode includes: Control the mobile device to move to the nearest first location.

3. The method according to claim 2, characterized in that, The first position is the projection coordinate of the sky region on the ground in the environmental image captured by the camera of the mobile device.

4. The method according to claim 3, characterized in that, The first position is the projection coordinate of the center of the largest inscribed circle of the sky region in the environmental image onto the ground.

5. The method according to claim 3 or 4, characterized in that, The method further includes: As the mobile device moves along the preset path, it captures at least one image of the environment using the camera and stores at least one of the first locations.

6. The method according to claim 5, characterized in that, The step of capturing at least one environmental image via the camera and storing at least one of the first locations while the mobile device moves along the preset path includes: During the movement of the mobile device along the preset path, at least one environmental image is captured by the camera, and the largest inscribed circle of the sky area in the environmental image is taken. When the radius of the largest inscribed circle is greater than the preset radius, the coordinates of the center of the largest inscribed circle projected onto the ground are stored as the first position.

7. The method according to any one of claims 2-6, characterized in that, The remaining usable mileage is equal to the preset usable mileage minus the mileage the mobile device continues to travel along the preset path.

8. The method according to any one of claims 2-7, characterized in that, The method further includes: After the mobile device detects a satellite positioning signal that meets the preset conditions at its new location, it is controlled to return to the initial point. During the return process, the mobile device is located. When the mobile device moves to a location where the satellite positioning signal meets the preset conditions, satellite positioning technology is used for positioning. When the mobile device moves to a location where the satellite positioning signal does not meet the preset conditions, non-satellite positioning technology is used for positioning. The initial point is the location of the mobile device when the distance is equal to the remaining range.

9. The method according to claim 8, characterized in that, The method further includes: After the mobile device returns to the initial point, the step of controlling the mobile device to move along the preset path is executed again.

10. The method according to claim 8 or 9, characterized in that, The control of the mobile device to move to the nearest first location includes: Control the mobile device to stop moving, and then control the mobile device to move from the initial point to the nearest first position; or, The mobile device is controlled to first move to the nearest first position, and then stop moving; or, The mobile device is controlled to move to the projection range of the largest inscribed circle corresponding to the nearest first position on the ground. When the mobile device enters the projection range of the largest inscribed circle on the ground, the moving speed is reduced to a preset moving speed, and the device moves a first preset distance at the preset moving speed. The movement is then stopped to wait for the satellite positioning signal of the mobile device to meet the preset condition. If the satellite positioning signal of the mobile device meets the preset condition within a preset time period, the device returns to the initial point. If the satellite positioning signal of the mobile device does not meet the preset condition within the preset time period, the device continues to move a second preset distance and waits again for the satellite positioning signal of the mobile device to meet the preset condition.

11. The method according to any one of claims 2-10, characterized in that, The method further includes: When the distance is greater than or less than the remaining range, the mobile device is controlled to continue moving along the preset path.

12. The method according to any one of claims 2-11, characterized in that, The method further includes: If the satellite positioning signal does not meet the preset conditions, the mobile device is located using non-satellite positioning technology to control the mobile device to continue moving along the preset path.

13. The method according to claim 1, characterized in that, The control of the mobile device to change its movement mode includes: The mobile device is controlled to stop moving, and a first environmental image in at least one direction is captured by the camera. The sky region in the first environmental image is identified, and a second position corresponding to the sky region is determined. If the distance between the mobile device and the second position is less than or equal to the remaining range, the mobile device is controlled to move towards the second position.

14. The method according to claim 13, characterized in that, The first position is the projection coordinate of the sky region on the ground in the second environmental image captured by the camera of the mobile device.

15. The method according to claim 14, characterized in that, The first position is the projection coordinate of the center of the largest inscribed circle of the sky region in the second environmental image onto the ground.

16. The method according to claim 14 or 15, characterized in that, The method further includes: As the mobile device moves along the preset path, it captures at least one second environmental image using the camera and stores at least one first location.

17. The method according to claim 16, characterized in that, The step of capturing at least one second environmental image via the camera and storing at least one first location while the mobile device moves along the preset path includes: During the movement of the mobile device along the preset path, at least one second environmental image is captured by the camera, and the largest inscribed circle of the sky area in the second environmental image is taken. When the radius of the largest inscribed circle is greater than the first preset radius, the coordinates of the center of the largest inscribed circle projected onto the ground are stored as the first position.

18. The method according to any one of claims 13-17, characterized in that, The second position is the projection coordinate of the sky region in the first environmental image onto the ground.

19. The method according to claim 18, characterized in that, The second position is the projection coordinate of the center of the largest inscribed circle of the sky region in the first environmental image onto the ground.

20. The method according to claim 13, characterized in that, The method further includes: By controlling the mobile device to rotate in place, the camera is rotated so that the camera can capture the first environmental image in at least one direction.

21. The method according to claim 13, characterized in that, Determining the second location corresponding to the sky region includes: Take the largest inscribed circle of the sky region in the first environmental image. When the radius of the largest inscribed circle is greater than the second preset radius, obtain the coordinates of the center of the largest inscribed circle projected onto the ground to obtain the second position.

22. The method according to any one of claims 13-21, characterized in that, The remaining usable mileage is equal to the preset usable mileage minus the mileage the mobile device continues to travel along the preset path.

23. The method according to any one of claims 13-22, characterized in that, The method further includes: When the distance between the mobile device and the nearest first location is equal to the remaining range, if the satellite positioning signal meets the preset condition, the mobile device is controlled to move along the preset path via satellite positioning.

24. The method according to any one of claims 13-23, characterized in that, The method further includes: If the distance between the mobile device and the second location is greater than the remaining range, then the mobile device is controlled to move to the first location closest to the location of the mobile device.

25. The method according to any one of claims 13-24, characterized in that, The method further includes: After the mobile device detects that the satellite positioning signal meets the preset conditions at its new location, it controls the mobile device to return to the initial point. During the return process, the mobile device is located. When the mobile device moves to a location where the satellite positioning signal meets the preset conditions, satellite positioning technology is used for positioning. When the mobile device moves to a location where the satellite positioning signal does not meet the preset conditions, non-satellite positioning technology is used for positioning. The initial point is the location where the mobile device stops moving.

26. The method according to any one of claims 13-25, characterized in that, The method further includes: When the distance between the location of the mobile device and the nearest first location is greater than or less than the remaining range, the mobile device is controlled to continue moving along the preset path.

27. The method according to any one of claims 13-26, characterized in that, The method further includes: If the satellite positioning signal does not meet the preset conditions, the mobile device is located using non-satellite positioning technology to control the mobile device to continue moving along the preset path.

28. 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 1-27.

29. The mobile device according to claim 28, 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.

30. A computer-readable storage medium, characterized in that, A computer program for storing electronic data interchange, wherein the computer program causes a computer to perform the method as described in any one of claims 1-27.

Images