Control method for mobile device, and related device

Abstract

A control method for a mobile device, and a related device. The method comprises: controlling a mobile device to move along a preset path; when the mobile device moves to a location at which a satellite positioning signal does not meet a preset condition, controlling the mobile device to continue moving along the preset path for first mileage or a first duration; after the mobile device continues moving along the preset path for the first mileage or the first duration, if it is detected that the satellite positioning signal does not meet the preset condition, controlling the mobile device to stop moving, collecting an environmental image in at least one direction by means of a camera, and identifying a target object by means of the environmental image, wherein the target object belongs to a preset object or sky region; and controlling the mobile device to move toward the target object, such that the mobile device detects at a location after movement that the satellite positioning signal meets the preset condition.

Description

Control methods and related equipment for mobile devices

[0001] This application claims priority to Chinese Patent Application No. 202410802075.5, filed on June 20, 2024, entitled "Control Method and Related Equipment for Mobile Devices", and to Chinese Patent Application No. 202410802877.6, filed on June 20, 2024, entitled "Control Method and Related Equipment for Mobile Devices", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of robotics technology, 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 for a first mileage or a first duration.

[0008] After continuing to move the first mileage or the first duration along the preset path, if it is detected that the satellite positioning signal does not meet the preset conditions, the mobile device is controlled to stop moving, and environmental images in at least one direction are captured by the camera. The target object is identified by the environmental images, and the target object belongs to the preset object.

[0009] The mobile device is controlled to move toward the target object so that the mobile device detects the satellite positioning signal at the position after the movement, which satisfies the preset condition.

[0010] Secondly, embodiments of this application provide a control device for a mobile device, the device comprising: a first control unit, an identification unit, and a second control unit, wherein...

[0011] 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 for a first mile or a first duration.

[0012] The identification unit is configured to, after continuing to move the first mileage or the first duration along the preset path, if it detects that the satellite positioning signal does not meet the preset conditions, control the mobile device to stop moving, and collect environmental images in at least one direction through the camera, and identify the target object through the environmental images, wherein the target object belongs to a preset object;

[0013] The second control unit is used to control the mobile device to move toward the target object, so that the mobile device can detect the satellite positioning signal at the position after moving and meet the preset conditions.

[0014] Thirdly, embodiments of this application provide a method for controlling a mobile device, the method comprising:

[0015] Control the mobile device to move along a preset path;

[0016] When the mobile device moves to a location where the satellite positioning signal does not meet the preset conditions, the mobile device is controlled to continue moving along the preset path for a first mileage or a first duration.

[0017] After continuing to move the first mileage or the first duration along the preset path, if it is detected that the satellite positioning signal does not meet the preset conditions, the mobile device is controlled to stop moving, and environmental images in at least one direction are captured by the camera, the sky area in the environmental image is identified, and the first position corresponding to the sky area is determined.

[0018] The mobile device is controlled to move to the first position, so that the mobile device detects a satellite positioning signal at the new position, which satisfies the preset condition.

[0019] Fourthly, 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...

[0020] The first control unit is configured to control the mobile device to move along a preset path; and when the mobile device moves to a position where the satellite positioning signal does not meet the preset conditions, control the mobile device to continue moving along the preset path for a first mile or a first duration.

[0021] The determining unit is configured to, after continuing to move the first mileage or the first duration along the preset path, if it detects that the satellite positioning signal does not meet the preset conditions, control the mobile device to stop moving, and acquire environmental images in at least one direction through the camera, identify the sky region in the environmental images, and determine the first position corresponding to the sky region.

[0022] The second control unit is used to control the mobile device to move to the first position, so that the mobile device detects a satellite positioning signal at the position after the movement and meets the preset condition.

[0023] 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 and third aspects of embodiments of this application.

[0024] 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 and third aspects of embodiments of this application.

[0025] 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 and third aspects of embodiments of this application. The computer program product may be a software installation package.

[0026] Implementing the embodiments of this application has the following beneficial effects:

[0027] 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 for a first mile or a first time. After moving along the preset path for a first mile or a first time, if the satellite positioning signal is detected to not meet the preset conditions, the mobile device stops moving and acquires environmental images in at least one direction through a camera. The target object is identified through the environmental images. If the target object belongs to a preset object, the mobile device is controlled to move towards the target object. This allows the mobile device to detect that the satellite positioning signal meets the preset conditions at the position after the movement. This allows for continued positioning even when the satellite positioning signal quality is poor. When the continued positioning ends and the satellite positioning signal quality is still poor, visual recognition technology is used to locate the preset object. Using the preset object as a reference helps to achieve accurate positioning of the preset object, thereby helping to solve the problem of inaccurate satellite positioning when obstructed, which affects the movement of the lawnmower robot. Attached Figure Description

[0028] 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.

[0029] Figure 1A is a flowchart illustrating a control method for a mobile device provided in an embodiment of this application;

[0030] Figure 1B is a schematic diagram illustrating a preset range of a preset object provided in an embodiment of this application;

[0031] Figure 1C is a schematic diagram illustrating a scenario of a control method for a mobile device provided in an embodiment of this application;

[0032] Figure 2 is a flowchart illustrating another mobile device control method provided in an embodiment of this application;

[0033] Figure 3A is a flowchart illustrating another control method for a mobile device provided in an embodiment of this application;

[0034] Figure 3B is a schematic diagram illustrating the sky region in an environmental image provided in an embodiment of this application;

[0035] Figure 3C is a schematic diagram illustrating a maximum inscribed circle provided in an embodiment of this application;

[0036] Figure 3D is a schematic diagram illustrating a first position provided in an embodiment of this application;

[0037] Figure 3E is another schematic diagram illustrating a first position provided in an embodiment of this application;

[0038] Figure 3F is a schematic diagram illustrating a scenario of a control method for a mobile device provided in an embodiment of this application;

[0039] Figure 4 is a flowchart illustrating another method for controlling a mobile device provided in an embodiment of this application;

[0040] Figure 5 is a schematic diagram of the structure of a mobile device provided in an embodiment of this application;

[0041] Figure 6 is a functional unit block diagram of a control device for a mobile device provided in an embodiment of this application;

[0042] Figure 7 is a block diagram of the functional units of a control device for another mobile device provided in an embodiment of this application. Detailed Implementation

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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, and 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 through the non-satellite positioning device; conversely, when the satellite positioning signal meets preset conditions, positioning can be achieved using satellite positioning technology through the satellite positioning device. The camera can be used to capture environmental images. The camera may include a monocular camera or a binocular camera, which is not limited here.

[0048] 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.

[0049] The embodiments of this application will be described in detail below.

[0050] 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:

[0051] 101. Control the mobile device to move along a preset path.

[0052] The preset path can be a pre-planned path or a system default path. In practice, the mobile device can be controlled to move along the preset path to perform the lawn mowing task.

[0053] In practice, 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 a 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 a preset path.

[0054] 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 for a first mileage or a first duration.

[0055] 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.

[0056] Among them, satellite positioning signals can include real-time kinematic (RTK) signals.

[0057] In practice, mobile devices may include lawnmower robots, which can be controlled to walk along a planned path and perform lawnmower operations.

[0058] The first mileage can be preset or set by the system default, as can the first duration. The first mileage can be understood as the distance the mobile device continues to travel within the extended mileage. The first duration can be understood as the duration of continued travel; specifically, it can be preset that the distance traveled within the first duration does not exceed the extended mileage.

[0059] Optionally, step 102 above, controlling the mobile device to continue moving along the preset path for a first mileage or a first duration, may include the following steps:

[0060] The mobile device is controlled to continue moving along the preset path for the first mileage or the first duration using non-satellite positioning technology.

[0061] In this embodiment, non-satellite positioning technology can be used to control the mobile device to continue moving along a preset path for a first mileage or a first duration, that is, to move within the extended mileage to complete the movement and perform the mowing operation, which helps to ensure that the mobile device moves accurately along the preset path.

[0062] 103. After continuing to move the first mileage or the first duration along the preset path, if it is detected that the satellite positioning signal does not meet the preset conditions, the mobile device is controlled to stop moving, and environmental images in at least one direction are collected by the camera. The target object is identified by the environmental images, and the target object belongs to the preset object.

[0063] In this embodiment, when the mobile device moves to a location where the satellite positioning signal does not meet preset conditions, it indicates poor satellite positioning. In this case, visual inertial odometry can be used to extend the positioning range, allowing movement for a preset extended range. This preset extended range can be pre-set or a system default. It can be assumed that the mobile device's positioning is accurate within the preset extended range. The preset object can be understood as an open area. The open area can be understood as an area where the satellite positioning signal meets the preset conditions.

[0064] To illustrate, in the specific implementation, when the mobile device moves to an area with poor RTK signal, it uses VIO positioning to extend its lifespan. For example, after a poor RTK signal occurs, the mobile device can move for an additional 100 meters. Within this extended lifespan, the mobile device can still obtain accurate positioning via VIO. Specifically, after a poor RTK signal occurs, the mobile device is controlled to continue moving for a preset extended lifespan, i.e., 100 meters. Then, after moving for the preset extended lifespan, if the RTK signal is still poor, the mobile device is controlled to stop moving.

[0065] In practice, after moving along the preset path for a first mile or a first duration, if the satellite positioning signal is detected to not meet the preset conditions, the mobile device is controlled to stop moving, and environmental images in at least one direction are captured by the camera. The target object is identified through the environmental images, and the target object belongs to the preset object.

[0066] Optionally, the satellite positioning signal within a preset range of the preset object satisfies the preset condition.

[0067] In this embodiment, the preset range can be pre-set or defaulted to by the system. If the satellite positioning signal within the preset range of the preset object meets the preset conditions, it means that accurate satellite positioning can be achieved within a certain range of the preset object. The preset object can include at least one of the following: tables and chairs, houses, stones, trees, etc., without limitation. The preset range can be a circle with a point on the preset object, and the area within a certain radius is taken as the preset range, as shown in Figure 1B. The black area in Figure 1B can be regarded as the preset object, and the circular area (dashed line) around it can represent the preset range.

[0068] In practice, if the satellite positioning signal within a preset range of a preset object meets preset conditions, the preset object can be used as a reference to assist the mobile device in completing positioning.

[0069] Optionally, the following steps may also be included:

[0070] During the movement of the mobile device along the preset path, the sensor detects objects and checks whether the satellite positioning signal within the preset range of the object meets the preset conditions. Objects whose satellite positioning signals within the preset range meet the preset conditions are stored as preset objects.

[0071] In this application embodiment, the sensor may include at least one of the following: camera, proximity sensor, infrared sensor, distance sensor, ultrasonic sensor, radar, etc., without limitation.

[0072] In practice, as the mobile device moves along a preset path, it detects objects through sensors and checks whether the satellite positioning signals within the preset range of the objects meet preset conditions. Objects whose satellite positioning signals within the preset range meet the preset conditions are stored as preset objects. In other words, preset objects can be used as reference objects to assist the mobile device in completing positioning.

[0073] Optionally, step 103 above, which involves acquiring environmental images in at least one direction using a camera, can be implemented as follows:

[0074] The mobile device is controlled to rotate in place, and its camera is activated to capture environmental images in at least one direction.

[0075] In this embodiment, the mobile device can be controlled to rotate in place and the camera of the mobile device can be turned on to collect environmental images in at least one direction. Different directions represent different locations. In this way, environmental images can be collected from various locations to quickly identify preset objects that can be used to assist in positioning. These preset objects are used as reference objects to assist in completing the positioning.

[0076] For example, after the mobile device stops moving, it can be controlled to rotate in place, and the rear camera can be activated to follow the rotation of the mobile device to collect environmental images from different directions. Specifically, when the life extension period ends, the mobile device can be controlled to stop moving and rotate in place. During the rotation of the mobile device, the camera can be activated to follow the robot's rotation in place to collect environmental images from different directions. The target object can be identified through the environmental images, and the target object belongs to the preset object.

[0077] Optionally, step 103 above, which identifies the target object through the environmental image, can be implemented in the following manner:

[0078] The attribute information of objects in the environmental image is identified to obtain multiple attribute information sets. Each attribute information set corresponds to an object. Each attribute information set includes at least one attribute information, which includes at least one of the following: object category, object shape, object size, and object color.

[0079] The plurality of attribute information sets are matched with the attribute information set of the preset object to obtain at least one attribute information set that successfully matches the attribute information set of the preset object.

[0080] The object corresponding to one attribute information set in the at least one attribute information set is selected as the target object.

[0081] In the specific implementation, each object corresponds to an attribute information set, and each attribute information set includes at least one attribute. The attribute information may include at least one of the following: object category, object shape, object size, object color, etc., without limitation. The object category may include at least one of the following: stone, tree, table and chair, house, etc., without limitation.

[0082] The preset object can also include a set of corresponding attribute information.

[0083] In specific implementation, visual recognition technology can be used to identify the attribute information of objects in the environmental image, obtaining multiple attribute information sets. These multiple attribute information sets are then matched with the attribute information set of the preset object to obtain at least one attribute information set that successfully matches the preset object's attribute information set. The object corresponding to one attribute information set in at least one attribute information set can be selected as the target object. In this way, visual recognition technology can be used to locate objects in open areas. Since there are objects with good satellite signals in the vicinity of objects in open areas, using open objects as reference points helps to achieve accurate positioning. This helps to solve the problem of inaccurate satellite positioning when obstructed, which affects the movement of mobile devices.

[0084] For example, in this embodiment of the application, objects in environmental images from different directions can be identified to find objects in open areas. For instance, the map can record the categories of objects in open areas (such as tables and chairs) and their shape and size information. The category and / or shape and size of the target object in the environmental image can be identified, and then matched with the category and / or shape and size of the object in the open area in the map. If the match is successful, it is confirmed that the target object belongs to the open area.

[0085] Optionally, at least one object belonging to the preset object is identified through the environmental image, and the target object is the one closest to the mobile device among the at least one object belonging to the preset object.

[0086] In practice, at least one object belonging to a preset object can be identified through environmental images. The target object is the one closest to the mobile device among the at least one preset object. In this way, the object in the preset object can be selected nearby, and then the object can be used to achieve positioning. Using the object as a reference helps to achieve accurate positioning of the preset object.

[0087] 104. Control the mobile device to move toward the target object, so that the mobile device detects the satellite positioning signal at the position after the movement and the preset condition is met.

[0088] In this embodiment, the mobile device can be controlled to move toward the target object so as to use the preset object as a reference so that the mobile device can detect the satellite positioning signal at the position after the movement and meet the preset conditions. This helps to achieve accurate positioning with the help of the preset object.

[0089] Optionally, controlling the mobile device to move toward the target object includes:

[0090] The relative positional relationship between the mobile device and the target object is determined by the camera, and the relative positional relationship includes orientation and distance;

[0091] The mobile device is controlled to move toward the target object based on the phase position relationship.

[0092] Among them, the camera that determines the relative position can be a binocular camera, which can be used to achieve the distance measurement function.

[0093] In practice, the camera that captures the environmental image and the camera that determines the relative position can be the same camera, or they can be different cameras.

[0094] The phase position relationship can include phase distance and relative orientation.

[0095] In this embodiment of the application, a binocular camera can be used to determine the phase position relationship between the mobile device and the target object, and the mobile device can be controlled to move toward the target object based on the phase position relationship.

[0096] For example, a mobile device can use a dual-lens camera to detect the orientation and distance between itself and a target object. Based on this orientation and distance, it moves towards the target object and stops moving after getting close enough to it. Then, the mobile device can wait for the satellite positioning signal to meet preset conditions and obtain an accurate satellite positioning location. This location is then used to calibrate the mobile device's position, thus achieving precise positioning. This helps solve the problem of inaccurate satellite positioning when obstructed, which affects the movement of the mobile device.

[0097] Optionally, the following steps may also be included:

[0098] After the mobile device detects that the satellite positioning signal meets the preset conditions at its new location, it controls the mobile device to return to the initial point. During the return process, the mobile device is located. When the mobile device moves to a location where the satellite positioning signal meets the preset conditions, satellite positioning technology is used for positioning. When the mobile device moves to a location where the satellite positioning signal does not meet the preset conditions, non-satellite positioning technology is used for positioning. The initial point is the location where the movement stops.

[0099] The initial point is the position where movement stops.

[0100] In this embodiment, the mobile device can be controlled to return to the initial point, and the position (such as absolute position) of the initial point can be determined during the return process. When the mobile device moves to a position where the satellite positioning signal meets the preset conditions, it indicates that the satellite positioning signal is strong, and satellite positioning technology can be used for positioning. When the mobile device moves to a position where the satellite positioning signal does not meet the preset conditions, it indicates that the satellite positioning signal is poor, and non-satellite positioning technology can be 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.

[0101] Optionally, the following steps may also be included:

[0102] After returning to the initial point, the mobile device is controlled to continue moving along the preset path.

[0103] In this embodiment, starting from the initial point, the device continues to move along a preset path. If the satellite positioning signal does not meet the preset conditions, non-satellite positioning technology is used for positioning to obtain the positioning result. The mobile device is positioned using the position of the initial point and the positioning result to control the movement of the mobile device along the preset path.

[0104] For example, taking a lawnmower robot as an example, the control method of the mobile device in this application embodiment may include the following steps:

[0105] S1. Control the lawnmower robot to walk along the planned path and perform lawnmowing operations.

[0106] S2. While walking along the planned path, record objects in open areas. Objects in open areas are those with good RTK signals in their vicinity.

[0107] S3. When the lawnmower reaches an area with poor RTK signal, it will extend its lifespan via VIO positioning. This means that even after a poor RTK signal occurs, the lawnmower can still travel for an additional 100 meters. Within this extended lifespan, the lawnmower can still obtain accurate positioning via VIO. Specifically, after a poor RTK signal occurs, the lawnmower will continue traveling for the preset extended lifespan of 100 meters, and then stop.

[0108] S4. After the lawnmower stops moving, control the lawnmower to rotate in place and turn on the rear camera to follow the lawnmower's rotation in place to collect environmental images from different directions.

[0109] S5. The lawnmower robot uses binocular cameras to detect the orientation and distance between itself and the target object. Based on this orientation and distance, it moves towards the target object and stops moving after approaching it within a certain distance. Then, the lawnmower robot waits for the RTK signal to recover and obtains an accurate satellite positioning position through RTK positioning. Next, it controls the lawnmower robot to return to its initial point (the position it rotated in place). During the return process, it first uses RTK positioning; if RTK positioning fails, it then uses visual positioning or IMU or VIO positioning. Combining this with the obtained accurate satellite positioning position, the absolute position of the initial point is obtained.

[0110] S6. Starting from the initial point, continue walking along the planned path to perform lawn mowing. If the RTK signal has not yet recovered, visual positioning, IMU, or VIO positioning will be used during the process. Combined with the absolute position of the initial point, the lawn mowing robot will be positioned to control it to walk along the planned path. If the RTK signal recovers during the continued operation, RTK positioning will be used. Furthermore, if a poor RTK signal is detected again starting from the initial point, return to step S3 and subsequent steps.

[0111] RTK signal recovery can be understood as a strong RTK signal, while RTK signal failure can be understood as a weak RTK signal.

[0112] For example, as shown in Figure 1C, when the lawnmower robot travels along the planned path and reaches a position with poor RTK signal (position A), it will use VIO positioning to extend its life. Within the extended life range, the lawnmower robot can also obtain accurate positioning through VIO. The robot is controlled to continue walking for a preset extended range. It is then controlled to stop walking (position B), which is the initial point. The robot is controlled to rotate in place, and the rear camera follows the robot's rotation to collect environmental images from different directions. The robot uses its binocular cameras to detect the orientation and distance between itself and the target object. Based on this orientation and distance, it moves towards the target object (position C), i.e., from position B to position C. After approaching the target object to a certain distance, it stops moving. The robot waits for the RTK signal to recover and then obtains an accurate satellite positioning position through RTK positioning. It is then controlled to return to the initial point (position B), i.e., moving from position C to position B. During the return process, RTK positioning is used first; if RTK positioning fails, visual positioning, IMU, or VIO positioning is used. Combined with the obtained accurate satellite positioning position, the initial point is determined. From the initial point, the robot continues to walk along the planned path to perform the mowing operation.

[0113] 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 the preset conditions, the mobile device continues to move along the preset path for a first mile or a first time. After moving along the preset path for a first mile or a first time, if the satellite positioning signal is detected to not meet the preset conditions, the mobile device stops moving and acquires environmental images in at least one direction through a camera. The target object is identified through the environmental images. If the target object belongs to a preset object, the mobile device is controlled to move towards the target object. This allows the mobile device to detect that the satellite positioning signal meets the preset conditions at the position after the movement. This method can continue positioning even when the satellite positioning signal quality is poor. When the positioning continues and the satellite positioning signal quality is still poor at the end, visual recognition technology is used to locate the preset object. Using the preset object as a reference helps to achieve accurate positioning of the preset object, thereby helping to solve the problem of inaccurate satellite positioning when obstructed, which affects the movement of the lawnmower robot.

[0114] 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:

[0115] 201. Control the mobile device to move along a preset path.

[0116] 202. During the movement of the mobile device along the preset path, an object is detected by a sensor, and it is detected whether the satellite positioning signal within the preset range of the object meets the preset conditions. The object whose satellite positioning signal within the preset range meets the preset conditions is stored as a preset object.

[0117] 203. When the mobile device moves to a location where the satellite positioning signal does not meet the preset conditions, control the mobile device to continue moving along the preset path for a first mileage or a first duration.

[0118] 204. After continuing to move the first mileage or the first duration along the preset path, if the satellite positioning signal is detected to not meet the preset conditions, the mobile device is controlled to stop moving, and environmental images in at least one direction are collected by the camera. The target object is identified by the environmental images, and the target object belongs to the preset object.

[0119] 205. Control the mobile device to move toward the target object, so that the mobile device detects the satellite positioning signal at the position after the movement and the preset condition is met.

[0120] The specific descriptions of steps 201-205 can be found in the relevant steps of a mobile device control method described in Figure 1A, and will not be repeated here.

[0121] 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, it detects objects through sensors and checks whether the satellite positioning signal within a preset range of the object meets preset conditions. Objects whose satellite positioning signals within the preset range meet the preset conditions are stored as preset objects. 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 for a first mile or a first time. After moving along the preset path for a first mile or a first time, if the satellite positioning signal is detected to not meet the preset conditions, the mobile device stops moving and captures environmental images in at least one direction through a camera. The target object is identified through the environmental images. If the target object belongs to the preset object, the mobile device is controlled to move towards the target object. This allows the mobile device to detect that the satellite positioning signal meets the preset conditions at the new position. This method can continue positioning even when the satellite positioning signal quality is poor. When the positioning continues and the satellite positioning signal quality is still poor, visual recognition technology is used to locate the preset object. Using the preset object as a reference helps to achieve accurate positioning of the preset object, thereby helping to solve the problem of inaccurate satellite positioning when obstructed, which affects the movement of the lawnmower robot.

[0122] Please refer to Figure 3A, 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:

[0123] 301. Control the mobile device to move along a preset path.

[0124] The preset path can be a pre-planned path or a system default path.

[0125] 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.

[0126] 302. When the mobile device moves to a location where the satellite positioning signal does not meet the preset conditions, control the mobile device to continue moving along the preset path for a first mileage or a first duration.

[0127] 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.

[0128] Among them, satellite positioning signals can include real-time kinematic (RTK) signals.

[0129] In practice, mobile devices may include lawnmower robots, which can be controlled to walk along a planned path and perform lawnmower operations.

[0130] The first mileage can be preset or set by the system default, and the first duration can also be preset or set by the system default. The first mileage can be understood as the distance the mobile device continues to travel within the preset extended mileage. The first duration can be understood as the duration of continued travel; specifically, it can be preset that the distance traveled within the first duration does not exceed the preset extended mileage.

[0131] 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.

[0132] Optionally, step 302 above, controlling the mobile device to continue moving along the preset path for a first mileage or a first duration, may include the following steps:

[0133] The mobile device is controlled to continue moving along the preset path for the first mileage or the first duration using non-satellite positioning technology.

[0134] In this embodiment, non-satellite positioning technology can be used to control the mobile device to continue moving along a preset path for a first mileage or a first duration, that is, to move within a preset extendable mileage, so as to complete the movement and perform the lawn mowing operation, which helps to ensure that the mobile device moves accurately along the preset path.

[0135] 303. After continuing to move the first mileage or the first duration along the preset path, if the satellite positioning signal is detected to not meet the preset conditions, the mobile device is controlled to stop moving, and environmental images in at least one direction are collected by the camera, the sky area in the environmental image is identified, and the first position corresponding to the sky area is determined.

[0136] In practice, after moving along the preset path for a first mile or a first duration, if the satellite positioning signal is detected to be not in compliance with the preset conditions, the mobile device is controlled to stop moving. The camera then captures environmental images in at least one direction, identifies the sky region in the environmental images, and determines the first position corresponding to the sky region. This first position can be 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, which can solve the problem of inaccurate satellite positioning when obstructed, which affects the movement of the lawnmower robot.

[0137] Optionally, the first position is the projected coordinates of the sky region in the environmental image onto the ground.

[0138] 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.

[0139] 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 are used as the first position, so as to guide the mobile device to an open area, that is, satellite positioning can be used again in the open area.

[0140] The preset time interval can be set in advance or set by the system default.

[0141] 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.

[0142] In the specific implementation, there can be k sky regions in the environment image. A first position is extracted for each of these sky regions. Furthermore, there can be one or more first positions, where k is a natural number, such as 0, 1, 2, etc. The largest inscribed circle of the sky region in the environment image is taken, and the coordinates of the center of this largest inscribed circle projected onto the ground are used as the first position. The largest inscribed circle helps ensure that a given independent sky region in the environment image is large and expansive enough.

[0143] The first location can be the location corresponding to a sky region identified from any environmental image. Taking environmental images from multiple directions can increase the probability of finding the sky region.

[0144] Optionally, determining the first location corresponding to the sky region includes:

[0145] When the radius of the largest inscribed circle in the sky region of the environmental image is greater than a preset radius, the coordinates of at least one pixel within the largest inscribed circle projected onto the ground are determined as the first position.

[0146] The preset radius can be pre-set or set by system default. The preset radius is to ensure that the sky area is large and open enough, while eliminating some smaller sky areas. In 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. Furthermore, 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. When the radius of the largest inscribed circle is greater than the preset radius, the coordinates of at least one pixel within the largest inscribed circle projected onto the ground can be used to determine the first position. That is, there can be one or more first positions. For example, the coordinates of the center of the largest inscribed circle projected onto the ground can be used to determine the first position.

[0147] 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.

[0148] 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.

[0149] 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 and obtain an environmental image. The coordinates O' of the center O of the inscribed circle of the sky area in the environmental image projected onto the ground are taken as the first position.

[0150] For example, in the specific implementation, after the mobile device stops moving, the rear-view camera can continuously capture environmental images to obtain the largest inscribed circle of the sky region in the environmental image. That is, the sky region in the environmental image is identified, and then the largest inscribed circle of the sky region is determined. When the radius of the largest inscribed circle is greater than a preset radius, the center coordinates of the largest inscribed circle projected onto the grass are determined 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.

[0151] 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.

[0152] 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').

[0153] Optionally, when trees and houses exist in the operating area of ​​the mobile device, the following steps may also be included:

[0154] Obtain the tree height and building height in the work area;

[0155] The preset radius is determined based on the height of the trees and the height of the houses.

[0156] When trees and houses are present in the operating area of ​​a mobile device, 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.

[0157] 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.

[0158] 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:

[0159] The preset radius is determined according to the following formula:

[0160] Preset radius = tree height / house height × π / 4.

[0161] 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.

[0162] Optionally, step 303 above, which involves acquiring environmental images in at least one direction using a camera, can be implemented as follows:

[0163] The camera is rotated to capture images of the environment in at least one direction.

[0164] In a specific implementation, the camera can be a rotatable camera, which can rotate to capture images of the environment in at least one direction. Alternatively, the mobile device can be controlled to rotate in place, and the camera can follow the camera's rotation to capture images of the environment in at least one direction. In this way, environmental images can be captured from all directions to find open areas that meet the requirements.

[0165] 304. Control the mobile device to move to the first position, so that the mobile device detects a satellite positioning signal at the moved position and meets the preset condition.

[0166] In practice, the mobile device is controlled to move to a first position so that the mobile device can detect that the satellite positioning signal meets the preset conditions at the new position. This first position can be 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, which can solve the problem of inaccurate satellite positioning when obstructed, which affects the movement of the lawnmower robot.

[0167] Optionally, the following steps may also be included:

[0168] 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.

[0169] The initial point is the position where the mobile device stops moving.

[0170] 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.

[0171] Optionally, the following steps may also be included:

[0172] 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.

[0173] In practice, after the mobile device returns to the initial point, the position of the initial point is obtained by combining the position of the open area. Then, the mobile device can continue to move along the preset path, that is, starting from the initial point, steps 301-304 are executed. This solves the problem of inaccurate satellite positioning affecting the movement of the mobile device when obstructed.

[0174] Optionally, the above steps, controlling the mobile device to move to the first position, can be implemented in the following manner:

[0175] The mobile device is controlled to move to the projection range of the largest inscribed circle corresponding to the 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. The initial point is the position where the mobile device stops moving.

[0176] 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.

[0177] In practical implementation, the mobile device can be controlled to move to the projection range of the largest inscribed circle corresponding to the first position on the ground. Once the mobile device enters the projection range of the largest inscribed circle, its movement speed is reduced to a preset speed, and it moves a first preset distance at that speed before stopping to wait for the mobile device's satellite positioning signal to meet preset conditions. If the satellite positioning signal meets the preset conditions within a preset time period, the device returns to the initial point. If the satellite positioning signal does not meet the preset conditions within the preset time period, the device continues to move a second preset distance and waits again for the 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 first position is located) on the ground. After entering the projection range, the speed is slowed down, and the device moves a certain distance before stopping to wait for the satellite signal to meet the preset conditions. If the satellite signal meets the preset conditions, the device returns to the initial point; otherwise, it continues to move a certain distance and waits again for the satellite signal to meet the preset conditions. This first position guides the mobile device to an open area (an area where the satellite positioning signal meets the preset conditions), where satellite positioning can be used again. This solves the problem of inaccurate satellite positioning when obstructed, which affects the movement of the lawnmower robot.

[0178] Optionally, the following steps may also be included:

[0179] 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.

[0180] 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.

[0181] Optionally, the following steps may also be included:

[0182] If the distance between the location of the mobile device and the first location is less than or equal to the remaining range, the step of controlling the mobile device to move towards the first location is executed, wherein the remaining range is obtained based on a preset range and the mileage by which the mobile device continues to move along the preset path, the mileage by which the mobile device continues to move along the preset path is the first mileage or the mileage by which the mobile device travels during the first time period, and the mileage by which the mobile device continues to move along the preset path is less than the preset range.

[0183] In specific implementation, the first mileage is less than or equal to the preset extendable mileage, or the mileage traveled in the first duration is less than or equal to the preset extendable mileage, so as to ensure that the mobile device can reach the first position within the remaining extendable mileage. The remaining extendable mileage is obtained based on the preset extendable mileage and the mileage that the mobile device continues to move along the preset path. In this way, the accuracy of the first position can be guaranteed.

[0184] In practice, if the distance between the mobile device's location and the first location is less than or equal to the remaining range of operation, it means that within the preset range of operation, non-satellite positioning technology can ensure accurate positioning within the preset range of operation. In this way, the mobile device can be controlled to move towards the first location with high precision, and safety is ensured during the movement, so as not to collide with obstacles, not to enter restricted areas, and not to go beyond the grass boundary.

[0185] The obstacles may include at least one of the following: stones, trees, shrubs, steps, sculptures, stone tablets, signs, etc., without limitation.

[0186] 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.

[0187] For example, the remaining remaining range can be calculated using the following formula:

[0188] Remaining extendable range = Preset extendable range - Distance the mobile device will travel along the preset path

[0189] 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.

[0190] Optionally, the following steps may also be included:

[0191] If the distance between the location of the mobile device and the first location is greater than the remaining range, the mobile device is controlled to continue moving along a preset path until a satellite positioning signal is detected that meets the preset condition.

[0192] In practice, if the distance between the mobile device's location and the first location is greater than the remaining range of available mileage, it means that the preset range of available mileage has been exceeded, and accurate positioning is not possible. It may not be able to accurately reach the first location, and safety cannot be guaranteed. In this case, the mobile device can be controlled to move along a preset path until the satellite positioning signal is detected and the preset conditions are met. That is, the mobile device can be waited for to move to the point where the satellite positioning signal meets the preset conditions, and then accurate positioning can be achieved again.

[0193] Optionally, the following steps may also be included:

[0194] After the mobile device continues to move along the preset path for the first mileage or the first duration, if the satellite positioning signal is detected to meet the preset conditions, the mobile device is controlled to move along the preset path using satellite positioning technology.

[0195] In practice, after the mobile device continues to move along the preset path for a first mile or a first period of time, and is still within the preset endurance range, it can ensure accurate positioning within the preset endurance range through non-satellite positioning technology. Once a satellite positioning signal is detected that meets the preset conditions, its own satellite positioning becomes more accurate. Therefore, it can choose to control the mobile device to move along the preset path through satellite positioning technology. In this way, the accurate positioning of the mobile device can be guaranteed, solving the problem of inaccurate satellite positioning when obstructed, which affects the movement of the lawnmower robot.

[0196] For example, taking a mobile device as a lawnmower robot, the lawnmower robot is equipped with a rear camera whose lens faces the upper rear of the robot. This can include the following steps:

[0197] S1. When the lawn mowing robot is performing lawn mowing operations along the planned path, if the satellite positioning signal meets the preset conditions, it will use satellite positioning technology to locate itself so that the lawn mowing robot can walk along the planned path.

[0198] S2. If the satellite positioning signal fails to meet the preset conditions during the journey along the planned path, the robot will continue its operation via visual positioning or IMU or VIO positioning. This means that even after the satellite positioning signal fails, the robot can still travel a preset distance of 100 meters. Within this preset distance, the robot can obtain accurate positioning through VIO or other methods. Specifically, if the satellite positioning signal fails, the robot will continue to travel a preset distance, for example, 50 meters. The remaining 50 meters will be used as a breathing distance.

[0199] S3. After completing the preset mileage (50 meters) of extended service range, the lawnmower robot stops and begins to rotate in place. The rear camera follows the robot's rotation to capture environmental images from different directions. It identifies targets in each image. If the sky is detected in an image, the largest inscribed circle of the sky area is taken. If the radius of this inscribed circle is greater than a preset radius, and the distance from the lawnmower robot to the center of the inscribed circle (projected on the ground) is less than or equal to the remaining extended service range (e.g., 50 meters), the lawnmower robot moves towards the center of the inscribed circle, reaching an open area. Because the robot is still within the remaining extended service range while moving towards the center's projection coordinates, it can still accurately locate itself to reach the center's projection coordinates.

[0200] S4. After the lawnmower reaches the open area, it uses satellite positioning to obtain its absolute position within the open area. 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 accuracy of satellite positioning is insufficient, visual positioning, IMU, or VIO positioning is used. Combined with the obtained absolute position of the open area, the absolute position of the initial point is obtained.

[0201] 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 technology will be used for positioning. If, starting from the initial point, the satellite positioning signal is again detected to not meet the preset conditions, return to step S2 and subsequent steps.

[0202] For example, as shown in Figure 3F, if the satellite positioning signal fails to meet the preset conditions (i.e., position A) while the lawnmower is performing its mowing operation along the planned path, it can still travel the first mile. Once it reaches position B, the robot stops and begins to rotate in place. The rear camera then follows the robot's rotation to collect environmental images from different directions, identifying targets in each image. If the sky is detected in an image, the maximum area of ​​the sky region in the image is taken. If the radius of the inscribed circle is greater than the preset radius, and the distance from the mowing robot to the center of the inscribed circle on the ground is less than or equal to the remaining range, then the mowing robot is controlled to move towards the center of the inscribed circle on the ground (position C), so that the mowing robot reaches the open area. After reaching the open area, the mowing robot uses satellite positioning technology to obtain the absolute position of the mowing robot in the open area, and controls the mowing robot to return to position B. Combining the obtained position of the open area, the precise position of the initial point is obtained. Starting from position B, the mowing robot continues to walk along the planned path to perform mowing operations.

[0203] 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 the preset conditions, the mobile device continues to move along the preset path for a first mile or a first time. After moving along the preset path for a first mile or a first time, if the satellite positioning signal is detected to not meet the preset conditions, the mobile device stops moving and acquires environmental images in at least one direction through a camera, identifies the sky region in the environmental images, and determines the first position corresponding to the sky region. The mobile device is then controlled to move towards the first position so that the mobile device detects that the satellite positioning signal meets the preset conditions at the new position. This allows the mobile device to maintain accurate positioning within a certain distance even when the satellite positioning signal does not meet the conditions. After continuing to move along the preset path within this certain distance, if the satellite positioning signal still does not meet the preset conditions, the mobile device stops moving. The first position is determined by the sky region in the environmental images, and the mobile device is guided to an open area (an area where the satellite positioning signal meets the preset conditions) using this first position. In other words, satellite positioning can be used again in the open area, which solves the problem of inaccurate satellite positioning when obstructed, affecting the movement of the lawnmower robot.

[0204] 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:

[0205] 401. Control the mobile device to move along a preset path.

[0206] 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 for a first mileage or a first duration, where the first mileage is less than the preset extendable mileage, or the mileage traveled during the first duration is less than the preset extendable mileage.

[0207] 403. After continuing to move the first mileage or the first duration along the preset path, if it is detected that the satellite positioning signal does not meet the preset conditions, the mobile device is controlled to stop moving, and environmental images in at least one direction are collected by the camera, the sky area in the environmental image is identified, and the first position corresponding to the sky area is determined.

[0208] 404. When the distance between the location of the mobile device and the first location is less than or equal to the remaining range, the mobile device is controlled to move towards the first location so that the mobile device detects a satellite positioning signal at the location after the movement, which satisfies the preset condition. 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.

[0209] The specific descriptions of steps 401-404 above can be found in the relevant steps of a mobile device control method described in Figure 3A, and will not be repeated here.

[0210] 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 for a first mile or a first time. After moving along the preset path for the first mile or a first time, if the satellite positioning signal is detected to not meet the preset conditions, the mobile device stops moving and acquires environmental images in at least one direction using a camera, identifies the sky region in the environmental images, and determines the first position corresponding to the sky region. When the distance between the mobile device's current position and the first position is less than or equal to the remaining usable mileage, the mobile device moves towards the first position so that the mobile device detects a satellite positioning signal that meets the preset conditions at the new position. The remaining range is determined by the preset range and the distance the mobile device travels along the preset path. Even when the satellite positioning signal does not meet the conditions, the mobile device can still maintain accurate positioning within a certain distance. After continuing to move along the preset path within this certain distance, if the satellite positioning signal still does not meet the preset conditions, the movement stops. The first position is determined by the sky area in the environmental image. Since the first position is still maintained within a certain distance, it can still be accurately located and reach the first position. The first position is then 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 an open area, which can solve the problem of inaccurate satellite positioning when obstructed, which affects the movement of the lawnmower robot.

[0211] 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:

[0212] Control the mobile device to move along a preset path;

[0213] When the mobile device moves to a location where the satellite positioning signal does not meet the preset conditions, the mobile device is controlled to continue moving along the preset path for a first mileage or a first duration.

[0214] After continuing to move the first mileage or the first duration along the preset path, if it is detected that the satellite positioning signal does not meet the preset conditions, the mobile device is controlled to stop moving, and environmental images in at least one direction are captured by the camera. The target object is identified by the environmental images, and the target object belongs to the preset object.

[0215] The mobile device is controlled to move toward the target object so that the mobile device detects the satellite positioning signal at the position after the movement, which satisfies the preset condition.

[0216] Optionally, the above procedure may also include instructions for performing the following steps:

[0217] After the mobile device detects that the satellite positioning signal meets the preset conditions at its new location, it controls the mobile device to return to the initial point. During the return process, the mobile device is located. When the mobile device moves to a location where the satellite positioning signal meets the preset conditions, satellite positioning technology is used for positioning. When the mobile device moves to a location where the satellite positioning signal does not meet the preset conditions, non-satellite positioning technology is used for positioning. The initial point is the location where the movement stops.

[0218] Optionally, the satellite positioning signal within a preset range of the preset object satisfies the preset condition.

[0219] Optionally, the above procedure may also include instructions for performing the following steps:

[0220] During the movement of the mobile device along the preset path, the sensor detects objects and checks whether the satellite positioning signal within the preset range of the object meets the preset conditions. Objects whose satellite positioning signals within the preset range meet the preset conditions are stored as preset objects.

[0221] Optionally, regarding the acquisition of environmental images in at least one direction via the camera, the above-described procedure includes instructions for performing the following steps:

[0222] The mobile device is controlled to rotate in place, and its camera is activated to capture environmental images in at least one direction.

[0223] Optionally, in terms of identifying the target object through the environmental image, the above procedure includes instructions for performing the following steps:

[0224] The attribute information of objects in the environmental image is identified to obtain multiple attribute information sets. Each attribute information set corresponds to an object. Each attribute information set includes at least one attribute information, which includes at least one of the following: object category, object shape, object size, and object color.

[0225] The plurality of attribute information sets are matched with the attribute information set of the preset object to obtain at least one attribute information set that successfully matches the attribute information set of the preset object.

[0226] The object corresponding to one attribute information set in the at least one attribute information set is selected as the target object.

[0227] Optionally, at least one object belonging to the preset object is identified through the environmental image, and the target object is the one closest to the mobile device among the at least one object belonging to the preset object.

[0228] Optionally, in controlling the mobile device to move toward the target object, the above procedure includes instructions for performing the following steps:

[0229] The relative positional relationship between the mobile device and the target object is determined by the camera, and the relative positional relationship includes orientation and distance;

[0230] The mobile device is controlled to move toward the target object based on the phase position relationship.

[0231] Optionally, in controlling the mobile device to continue moving along the preset path for a first mile or a first duration, the above procedure includes instructions for performing the following steps:

[0232] The mobile device is controlled to continue moving along the preset path for the first mileage or the first duration using non-satellite positioning technology.

[0233] Optionally, the above procedure may also include instructions for performing the following steps:

[0234] After returning to the initial point, the mobile device is controlled to continue moving along the preset path.

[0235] The mobile device described in this application is controlled 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 mobile device continues to move along the preset path for a first mile or a first time. After moving along the preset path for a first mile or a first time, if the satellite positioning signal is detected to not meet the preset conditions, the mobile device stops moving and acquires environmental images in at least one direction through a camera. The target object is identified through the environmental images. If the target object belongs to a preset object, the mobile device is controlled to move towards the target object. This allows the mobile device to detect that the satellite positioning signal meets the preset conditions at the position after the movement. This allows for continued positioning even when the satellite positioning signal quality is poor. When the positioning continues and the satellite positioning signal quality is still poor at the end, visual recognition technology is used to locate the preset object. Using the preset object as a reference helps to achieve accurate positioning of the preset object, thereby helping to solve the problem of inaccurate satellite positioning when obstructed, which affects the movement of the lawnmower robot.

[0236] Accordingly, based on the electronic device shown in Figure 5, the above program may also include instructions for performing the following steps:

[0237] Control the mobile device to move along a preset path;

[0238] When the mobile device moves to a location where the satellite positioning signal does not meet the preset conditions, the mobile device is controlled to continue moving along the preset path for a first mileage or a first duration.

[0239] After continuing to move the first mileage or the first duration along the preset path, if it is detected that the satellite positioning signal does not meet the preset conditions, the mobile device is controlled to stop moving, and environmental images in at least one direction are captured by the camera, the sky area in the environmental image is identified, and the first position corresponding to the sky area is determined.

[0240] The mobile device is controlled to move to the first position, so that the mobile device detects a satellite positioning signal at the new position, which satisfies the preset condition.

[0241] Optionally, the first position is the projected coordinates of the sky region in the environmental image onto the ground.

[0242] 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.

[0243] Optionally, in determining the first location corresponding to the sky region, the above procedure includes instructions for performing the following steps:

[0244] When the radius of the largest inscribed circle in the sky region of the environmental image is greater than a preset radius, the coordinates of at least one pixel within the largest inscribed circle projected onto the ground are determined as the first position.

[0245] Optionally, regarding the acquisition of environmental images in at least one direction via the camera, the above-described procedure includes instructions for performing the following steps:

[0246] The camera is rotated to capture images of the environment in at least one direction.

[0247] Optionally, the above procedure may also include instructions for performing the following steps:

[0248] 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.

[0249] Optionally, the above procedure may also include instructions for performing the following steps:

[0250] 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.

[0251] Optionally, in controlling the mobile device to move to the first location, the above procedure includes instructions for performing the following steps:

[0252] The mobile device is controlled to move to the projection range of the largest inscribed circle corresponding to the 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. The initial point is the position where the mobile device stops moving.

[0253] Optionally, the above procedure may also include instructions for performing the following steps:

[0254] 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.

[0255] Optionally, the above procedure may also include instructions for performing the following steps:

[0256] If the distance between the location of the mobile device and the first location is less than or equal to the remaining range, the step of controlling the mobile device to move towards the first location is executed, wherein the remaining range is obtained based on a preset range and the mileage by which the mobile device continues to move along the preset path, the mileage by which the mobile device continues to move along the preset path is the first mileage or the mileage by which the mobile device travels during the first time period, and the mileage by which the mobile device continues to move along the preset path is less than the preset range.

[0257] 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.

[0258] Optionally, the above procedure may also include instructions for performing the following steps:

[0259] If the distance between the location of the mobile device and the first location is greater than the remaining range, the mobile device is controlled to continue moving along a preset path until a satellite positioning signal is detected that meets the preset condition.

[0260] Optionally, the above procedure may also include instructions for performing the following steps:

[0261] After the mobile device continues to move along the preset path for the first mileage or the first duration, if the satellite positioning signal is detected to meet the preset conditions, the mobile device is controlled to move along the preset path using satellite positioning technology.

[0262] Optionally, the mobile device also includes a rear-view camera, the lens of which is positioned diagonally upward and rearward of the mobile device.

[0263] The mobile device described in this application is controlled 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 mobile device continues to move along the preset path for a first mile or a first time. After moving along the preset path for a first mile or a first time, if the satellite positioning signal is detected to not meet the preset conditions, the mobile device stops moving and acquires environmental images in at least one direction through a camera, identifies the sky area in the environmental images, and determines the first position corresponding to the sky area. The mobile device is then controlled to move towards the first position so that the mobile device detects that the satellite positioning signal meets the preset conditions at the new position. This allows the mobile device to maintain accurate positioning within a certain distance even when the satellite positioning signal does not meet the conditions. After continuing to move along the preset path within this certain distance, if the satellite positioning signal still does not meet the preset conditions, the mobile device stops moving. The first position is determined by the sky area in the environmental images, and 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, which can solve the problem of inaccurate satellite positioning when obstructed, affecting the movement of the lawnmower robot.

[0264] 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, an identification unit 602, and a second control unit 603, wherein...

[0265] 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 for a first mile or a first duration.

[0266] The identification unit 602 is used to control the mobile device to stop moving if it detects that the satellite positioning signal does not meet the preset conditions after the device continues to move along the preset path for the first mileage or the first duration, and to collect environmental images in at least one direction through the camera, and to identify the target object through the environmental images, wherein the target object belongs to a preset object.

[0267] The second control unit 603 is used to control the mobile device to move toward the target object, so that the mobile device can detect the satellite positioning signal at the position after moving and meet the preset conditions.

[0268] Optionally, the control device 600 of the mobile device is further specifically used for:

[0269] After the mobile device detects that the satellite positioning signal meets the preset conditions at its new location, it controls the mobile device to return to the initial point. During the return process, the mobile device is located. When the mobile device moves to a location where the satellite positioning signal meets the preset conditions, satellite positioning technology is used for positioning. When the mobile device moves to a location where the satellite positioning signal does not meet the preset conditions, non-satellite positioning technology is used for positioning. The initial point is the location where the movement stops.

[0270] Optionally, the satellite positioning signal within a preset range of the preset object satisfies the preset condition.

[0271] Optionally, the control device 600 of the mobile device is further specifically used for:

[0272] During the movement of the mobile device along the preset path, the sensor detects objects and checks whether the satellite positioning signal within the preset range of the object meets the preset conditions. Objects whose satellite positioning signals within the preset range meet the preset conditions are stored as preset objects.

[0273] Optionally, in terms of acquiring environmental images in at least one direction via the camera, the recognition unit 602 is specifically used for:

[0274] The mobile device is controlled to rotate in place, and its camera is activated to capture environmental images in at least one direction.

[0275] Optionally, in the aspect of identifying the target object through the environmental image, the identification unit 602 is specifically used for:

[0276] The attribute information of objects in the environmental image is identified to obtain multiple attribute information sets. Each attribute information set corresponds to an object. Each attribute information set includes at least one attribute information, which includes at least one of the following: object category, object shape, object size, and object color.

[0277] The plurality of attribute information sets are matched with the attribute information set of the preset object to obtain at least one attribute information set that successfully matches the attribute information set of the preset object.

[0278] The object corresponding to one attribute information set in the at least one attribute information set is selected as the target object.

[0279] Optionally, at least one object belonging to the preset object is identified through the environmental image, and the target object is the one closest to the mobile device among the at least one object belonging to the preset object.

[0280] Optionally, in controlling the mobile device to move toward the target object, the second control unit 603 is specifically configured to:

[0281] The relative positional relationship between the mobile device and the target object is determined by the camera, and the relative positional relationship includes orientation and distance;

[0282] The mobile device is controlled to move toward the target object based on the phase position relationship.

[0283] Optionally, in controlling the mobile device to continue moving along the preset path for a first mileage or a first duration, the first control unit 601 is specifically configured to:

[0284] The mobile device is controlled to continue moving along the preset path for the first mileage or the first duration using non-satellite positioning technology.

[0285] Optionally, the control device 600 of the mobile device is further specifically used for:

[0286] After returning to the initial point, the mobile device is controlled to continue moving along the preset path.

[0287] 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, it controls the mobile device to continue moving along the preset path for a first mile or a first time. After moving along the preset path for a first mile or a first time, if it is detected that the satellite positioning signal does not meet the preset conditions, it controls the mobile device to stop moving and acquires environmental images in at least one direction through a camera. It identifies a target object through the environmental images. If the target object belongs to a preset object, it controls the mobile device to move towards the target object, so that the mobile device detects that the satellite positioning signal meets the preset conditions at the position after moving. It can continue positioning even when the satellite positioning signal quality is poor. When the positioning continues and the satellite positioning signal quality is still poor, it uses visual recognition technology to locate the preset object. Using the preset object as a reference helps to achieve accurate positioning of the preset object, thereby helping to solve the problem of inaccurate satellite positioning when obstructed, which affects the movement of the lawnmower robot.

[0288] 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.

[0289] Figure 7 is a functional unit block diagram of a control device 700 for another mobile device according to an embodiment of this application. The control device 700 for the mobile device includes: a first control unit 701, a determining unit 702, and a second control unit 703, wherein...

[0290] The first control unit is configured to control the mobile device to move along a preset path; and when the mobile device moves to a position where the satellite positioning signal does not meet the preset conditions, control the mobile device to continue moving along the preset path for a first mile or a first duration.

[0291] The determining unit 702 is configured to, after continuing to move the first mileage or the first duration along the preset path, if it detects that the satellite positioning signal does not meet the preset conditions, control the mobile device to stop moving, and collect environmental images in at least one direction through the camera, identify the sky region in the environmental images, and determine the first position corresponding to the sky region.

[0292] The second control unit 703 is used to control the mobile device to move to the first position, so that the mobile device can detect a satellite positioning signal at the new position and meet the preset conditions.

[0293] Optionally, the first position is the projected coordinates of the sky region in the environmental image onto the ground.

[0294] 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.

[0295] Optionally, in determining the first location corresponding to the sky region, the determining unit 702 is specifically used for:

[0296] When the radius of the largest inscribed circle in the sky region of the environmental image is greater than a preset radius, the coordinates of at least one pixel within the largest inscribed circle projected onto the ground are determined as the first position.

[0297] Optionally, in terms of acquiring environmental images in at least one direction via the camera, the determining unit 702 is specifically used for:

[0298] The camera is rotated to capture images of the environment in at least one direction.

[0299] Optionally, the control device 700 of the mobile device is further specifically used for:

[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 control device 700 of the mobile device is further specifically used for:

[0302] 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.

[0303] Optionally, in controlling the mobile device to move to the first position, the second control unit 703 is specifically configured to:

[0304] The mobile device is controlled to move to the projection range of the largest inscribed circle corresponding to the 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. The initial point is the position where the mobile device stops moving.

[0305] Optionally, the control device 700 of the mobile device is further specifically used for:

[0306] 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.

[0307] Optionally, the control device 700 of the mobile device is further specifically used for:

[0308] If the distance between the location of the mobile device and the first location is less than or equal to the remaining range, the step of controlling the mobile device to move towards the first location is executed, wherein the remaining range is obtained based on a preset range and the mileage by which the mobile device continues to move along the preset path, the mileage by which the mobile device continues to move along the preset path is the first mileage or the mileage by which the mobile device travels during the first time period, and the mileage by which the mobile device continues to move along the preset path is less than the preset range.

[0309] 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.

[0310] Optionally, the control device 700 of the mobile device is further specifically used for:

[0311] If the distance between the location of the mobile device and the first location is greater than the remaining range, the mobile device is controlled to continue moving along a preset path until a satellite positioning signal is detected that meets the preset condition.

[0312] Optionally, the control device 700 of the mobile device is further specifically used for:

[0313] After the mobile device continues to move along the preset path for the first mileage or the first duration, if the satellite positioning signal is detected to meet the preset conditions, the mobile device is controlled to move along the preset path using satellite positioning technology.

[0314] 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, it controls the mobile device to continue moving along the preset path for a first mile or a first time. After moving along the preset path for a first mile or a first time, if the satellite positioning signal is detected to not meet the preset conditions, the mobile device is controlled to stop moving. An environmental image in at least one direction is acquired through a camera, the sky area in the environmental image is identified, and the first position corresponding to the sky area is determined. The mobile device is then controlled to move to the first position so that the mobile device detects that the satellite positioning signal meets the preset conditions at the new position. This allows the mobile device to maintain accurate positioning within a certain distance even when the satellite positioning signal does not meet the conditions. After continuing to move along the preset path within this certain distance, if the satellite positioning signal still does not meet the preset conditions, the movement stops. The first position is determined by the sky area in the environmental image, and 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, which can solve the problem of inaccurate satellite positioning when obstructed, affecting the movement of the lawnmower robot.

[0315] 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.

[0316] 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.

[0317] 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.

[0318] 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.

[0319] 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.

[0320] 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.

[0321] 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.

[0322] 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.

[0323] 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.

[0324] 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.

[0325] 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 for a first mileage or a first duration. After continuing to move the first mileage or the first duration along the preset path, if it is detected that the satellite positioning signal does not meet the preset conditions, the mobile device is controlled to stop moving, and environmental images in at least one direction are captured by the camera, and the target object is identified by the environmental images; the target object belongs to a preset object or sky area; The mobile device is controlled to move toward the target object, so that the mobile device detects the satellite positioning signal at the position after the movement, which satisfies the preset condition.

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

3. The method according to claim 1 or 2, characterized in that, The satellite positioning signal within the preset range of the preset object satisfies the preset condition.

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

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

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

7. The method according to any one of claims 1-6, characterized in that, At least one object belonging to the preset object is identified through the environmental image, and the target object is the one closest to the mobile device among the at least one object belonging to the preset object.

8. The method according to any one of claims 1-7, characterized in that, Controlling the mobile device to move toward the target object includes: The relative positional relationship between the mobile device and the target object is determined by the camera, and the relative positional relationship includes orientation and distance; The mobile device is controlled to move toward the target object based on the phase position relationship.

9. The method according to any one of claims 1-8, characterized in that, The control of the mobile device to continue moving along the preset path for a first mileage or a first duration includes: The mobile device is controlled to continue moving along the preset path for the first mileage or the first duration using non-satellite positioning technology.

10. The method according to any one of claims 2-9, characterized in that, The method further includes: After returning to the initial point, the mobile device is controlled to continue moving along the preset path.

11. The method according to claim 1, characterized in that, When the target object belongs to the sky area, controlling the mobile device to move towards the target object includes: Determine the first location corresponding to the sky region; Control the mobile device to move to the first position.

12. The method according to claim 11, characterized in that, The first position is the projection coordinate of the sky region in the environmental image onto the ground.

13. The method according to claim 12, 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.

14. The method according to claim 12, characterized in that, Determining the first location corresponding to the sky region includes: When the radius of the largest inscribed circle in the sky region of the environmental image is greater than a preset radius, the coordinates of at least one pixel within the largest inscribed circle projected onto the ground are determined as the first position.

15. The method according to any one of claims 11-14, characterized in that, The acquisition of environmental images from at least one direction via a camera includes: The camera is rotated to capture images of the environment in at least one direction.

16. The method according to any one of claims 11-15, 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.

17. The method according to claim 16, 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.

18. The method according to claim 13 or 14, characterized in that, The control of the mobile device to move to the first position includes: The mobile device is controlled to move to the projection range of the largest inscribed circle corresponding to the 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. The initial point is the position where the mobile device stops moving.

19. The method according to any one of claims 11-18, 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.

20. The method according to any one of claims 11-19, characterized in that, The method further includes: If the distance between the location of the mobile device and the first location is less than or equal to the remaining range, the step of controlling the mobile device to move towards the first location is executed, wherein the remaining range is obtained based on a preset range and the mileage by which the mobile device continues to move along the preset path, the mileage by which the mobile device continues to move along the preset path is the first mileage or the mileage by which the mobile device travels during the first time period, and the mileage by which the mobile device continues to move along the preset path is less than the preset range.

21. The method according to claim 20, 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.

22. The method according to claim 20 or 21, characterized in that, The method further includes: If the distance between the location of the mobile device and the first location is greater than the remaining range, the mobile device is controlled to continue moving along a preset path until a satellite positioning signal is detected that meets the preset condition.

23. The method according to any one of claims 11-22, characterized in that, The method further includes: After the mobile device continues to move along the preset path for the first mileage or the first duration, if the satellite positioning signal is detected to meet the preset conditions, the mobile device is controlled to move along the preset path using satellite positioning technology.

24. 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 1-23.

25. A computer-readable storage medium, characterized in that, A computer program for storing electronic data interchange is provided, wherein the computer program causes a computer to perform the method as described in any one of claims 1-23.

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