WO2025261195A1 - Method for controlling mobile device, and related device - Google Patents

Abstract

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

Description

Control methods and related equipment for mobile devices

This application claims priority to Chinese Patent Application No. 2024108020810, filed on June 20, 2024, entitled “Control Method and Related Device for Mobile Device”, the entire contents of which are incorporated herein by reference.

Technical Field

This application relates to the field of robotics technology, specifically to a control method for a mobile device and related equipment.

Background Technology

In existing technologies, lawnmower robots often experience poor satellite positioning signals due to obstructions from buildings, trees, and other objects on the lawn, affecting their positioning accuracy. Therefore, it is urgent to address the problem of inaccurate satellite positioning caused by obstructions, which hinders the movement of lawnmower robots.

Summary of the Invention

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.

In a first aspect, embodiments of this application provide a control method for a mobile device, the method comprising: controlling 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, controlling the mobile device to continue moving along the preset path for a first mileage or a first duration; after continuing to move along the preset path for the first mileage or the first duration, controlling the mobile device to move randomly; during the random movement of the mobile device, when the mobile device moves to a position where the satellite positioning signal meets the preset conditions, determining the distance between the current position of the mobile device and an initial point based on the satellite positioning signal, the initial point being the initial position of the random movement of the mobile device; when the distance is less than a preset distance, controlling the mobile device to move to the initial point; and after returning to the initial point, controlling the mobile device to continue moving along the preset path.

Secondly, embodiments of this application provide a control device for a mobile device. The control device may include a first control unit, a determining unit, and a second control unit. The first control unit is configured to control the mobile device to move along a preset path; when the mobile device moves to a position where the satellite positioning signal does not meet a preset condition, it controls the mobile device to continue moving along the preset path for a first mile or a first duration. The determining unit is configured to control the mobile device to move randomly after continuing to move along the preset path for the first mile or the first duration. During the random movement of the mobile device, when the mobile device moves to a position where the satellite positioning signal meets the preset condition, it determines the distance between the current position of the mobile device and an initial point based on the satellite positioning signal, where the initial point is the initial position of the random movement of the mobile device. The second control unit is configured to control the mobile device to move to the initial point when the distance is less than a preset distance; and after returning to the initial point, it controls the mobile device to continue moving along the preset path.

Thirdly, 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 aspect of embodiments of this application.

Fourthly, 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 aspect of embodiments of this application.

Fifthly, 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 aspect of embodiments of this application. The computer program product may be a software installation package.

Implementing the embodiments of this application has the following beneficial effects: 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 the preset conditions, the mobile device continues to move along the preset path for a first mile or a first duration. After continuing to move along the preset path for a first mile or a first duration, the mobile device is controlled to move randomly. During the random movement of the mobile device, when the mobile device moves to a position where the satellite positioning signal meets the preset conditions, the distance between the current position of the mobile device and the initial point is determined according to the satellite positioning signal. The initial point is the initial position of the random movement of the mobile device. When the distance is less than a preset distance, the mobile device is controlled to move to the initial point. After returning to the initial point, the mobile device continues to move along the preset path. Thus, even when the satellite positioning signal does not meet the preset conditions, the mobile device can still maintain accurate positioning within a certain distance. The system then controls the mobile device to move randomly. This random movement doesn't require high-precision positioning; it simply uses sensors to identify and avoid obstacles, boundaries, and restricted areas. Therefore, it can maximize the use of the preset endurance range provided by non-satellite positioning technology. This allows the mobile device to move a greater distance along a preset path when the satellite positioning signal no longer meets the preset conditions. During random movement, it can find a position where the satellite positioning signal meets the preset conditions, ensuring satellite positioning calibration at that location. If the distance between this location and the initial point is less than a preset distance, it means the distance between this location and the initial point is within the preset endurance range, ensuring the mobile device can accurately reach the initial point and calibrate its position. This allows the mobile device to move again from the initial point along the preset path based on a precise positioning location. This solves the problem of inaccurate satellite positioning affecting the movement of the lawnmower robot when obstructed.

Attached Figure Description

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.

Figure 1A is a flowchart illustrating a control method for a mobile device provided in an embodiment of this application.

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

Figure 1C is a schematic diagram illustrating a maximum inscribed circle provided in an embodiment of this application.

Figure 1D is a schematic diagram illustrating a first position provided in an embodiment of this application.

Figure 1E is another schematic diagram illustrating a first position provided in an embodiment of this application.

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

Figure 1G is a schematic diagram illustrating a scenario of a control method for a mobile device provided in an embodiment of this application.

Figure 2 is a flowchart illustrating another mobile device control method provided in an embodiment of this application.

Figure 3 is a schematic diagram of the structure of a mobile device provided in an embodiment of this application.

Figure 4 is a block diagram of the functional units of a control device for a mobile device provided in an embodiment of this application.

Detailed Implementation

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.

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.

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.

In this application embodiment, the mobile device may include at least one of the following: lawnmower robot, mobile robot (robot with mobility function), smart car, etc., without limitation. Alternatively, the mobile device may also be other robots with the relevant functions described in this application embodiment.

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

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.

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

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 the following steps.

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

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

In some embodiments, the mobile device may include a lawnmower robot, which can be controlled to move along a planned path and perform lawnmowing operations within the work area. 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 within the work area. 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 within the work area.

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.

In some embodiments, preset conditions can be pre-set or defaulted to by the system. The signal quality of satellite positioning signals affects the accuracy of satellite positioning, and preset conditions are used to evaluate 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.

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

To illustrate, taking a mobile device as a lawnmower robot, if the RTK signal is strong during the lawnmower robot's operation along a preset path, it can use RTK positioning to enable the lawnmower robot to move along the preset path.

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 will travel within the preset extended mileage. The first duration can be understood as the duration of continued travel. In one example, it can be preset that the distance traveled within the first duration will not exceed the preset extended mileage. The preset extended mileage can be preset or set by the system default.

In some embodiments, when a mobile device moves to a location where the satellite positioning signal does not meet the preset conditions, it indicates that the satellite positioning signal is poor. In this case, the device can be repositioned using visual inertial odometry to extend its lifespan, allowing the mobile device to move for a preset extended lifespan. It can be assumed that the mobile device's positioning is accurate within the preset extended lifespan.

103. After continuing to move the first mileage or the first duration along the preset path, the mobile device is controlled to move randomly. During the random movement of the mobile device, when the mobile device moves to a position where the satellite positioning signal meets the preset conditions, the distance between the current position of the mobile device and the initial point is determined according to the satellite positioning signal. The initial point is the initial position of the random movement of the mobile device.

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

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

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

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

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

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

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

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

The first direction can be preset or set by the system default. For example, the first direction can be southeast or northwest.

In some embodiments, when the distance is greater than or equal to a preset distance, it can be understood that the distance is no longer within the preset range of continued operation. The mobile device is then controlled to move along a first direction. Moving along the first direction is to find a location where the satellite positioning signal meets the conditions and the distance is less than or equal to the preset distance more quickly.

For example, if the distance is greater than or equal to a preset distance, the mobile device can be controlled to move in a first direction, that is, to move along that first direction to bring the mobile device closer to the initial point. During the movement, the satellite signal quality is detected. If the satellite signal quality meets the preset conditions, satellite positioning technology can be used for positioning, and it can be determined whether the mobile device's position is less than the preset distance from the initial point. If so, the mobile device is controlled to return to the initial point.

In some embodiments, the first direction is the direction toward a circle centered at the initial point and with the preset distance as the radius.

In some embodiments, the first direction can be towards a circle centered on the initial point and with a preset distance as the radius. This ensures that the mobile device can move simultaneously within the working area and the circle, i.e., within the intersection of the circle and the working area. If the satellite signal quality at any location meets the preset conditions during the movement, high-precision positioning can be maintained based on the process from that location to the initial point. Therefore, controlling the mobile device to move towards a circle centered on the initial point and with a preset distance as the radius can ensure high-precision positioning within the effective radius of the initial point and the available range.

For example, during random movement, if the satellite signal quality is detected to meet preset conditions and the distance between the mobile device and the initial point is greater than a preset distance, the mobile device can be controlled to move into a circle with the initial point as the center and the preset distance as the radius.

In some embodiments, during movement along the first direction, when the mobile device moves to a position where the satellite positioning signal meets the preset conditions, the mobile device is controlled to move along the first direction using satellite positioning technology; when the mobile device moves to a position where the satellite positioning signal does not meet the preset conditions, the mobile device is controlled to move along the first direction using non-satellite positioning technology.

In some embodiments, during movement along the first direction, when the mobile device moves to a position where the satellite positioning signal meets preset conditions, it indicates that the satellite positioning signal is strong, and the mobile device can be controlled to move along the first direction using satellite positioning technology. When the mobile device moves to a position where the satellite positioning signal does not meet the preset conditions, 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 the movement of the mobile device along the first direction can be controlled using non-satellite positioning technology. In this way, continuous accurate positioning can be guaranteed, achieving accurate positioning within a preset service life range.

To illustrate, let's take a mobile device as a lawnmower robot. During its movement into the designated area, if the satellite signal is strong (meeting preset conditions), the robot's position is determined via satellite positioning to guide its movement. If the RTK (Real-Time Kinematic) signal weakens again (not meeting preset conditions), VIO (Vacuum-Independent Positioning) is used to extend its position and continue moving into the area. If, after entering the area, it remains within the preset extended range (e.g., 100 meters) for VIO positioning, the robot moves within the area according to a preset strategy until the satellite signal quality improves (meeting preset conditions). Then, RTK positioning is used to calibrate the robot's position, and it returns to the initial point. The preset strategy allows the robot to move in any direction, turn at the boundary of the area or the lawn, and avoid obstacles. This strategy ensures the robot remains within the designated area and quickly finds a location with strong satellite signal (meeting preset conditions) and close to the initial point.

In some embodiments, after the mobile device is controlled to enter the circle by the non-satellite positioning technology, if the remaining range is greater than 0, the mobile device is controlled to move within the circle by the non-satellite positioning technology so that the mobile device detects a satellite positioning signal at the position after moving, which satisfies the preset condition. The remaining range is obtained based on the preset range and the mileage by which the mobile device moves along the first direction by the non-satellite positioning technology.

In some embodiments, after the mobile device enters the circle, if the mobile device's position is within a preset endurance range (i.e., the remaining endurance range is greater than 0), where the remaining endurance range is obtained based on the preset endurance range and the distance the mobile device moves along a first direction using non-satellite positioning technology. In one example, the remaining endurance range = preset endurance range - distance the mobile device moves along the first direction using non-satellite positioning technology. This ensures continued accurate positioning within the preset endurance range, allowing the mobile device to continue moving within the circle. This ensures that the mobile device detects a satellite positioning signal at its new position, meeting preset conditions. Therefore, this helps ensure the mobile device moves within the circle and quickly finds a position where the satellite positioning signal meets the preset conditions and is close to the initial point.

For example, if a mobile device enters the designated area and remains within the preset range (e.g., 100 meters) for non-satellite positioning, it will continue moving within the area until a satellite positioning signal is detected that meets preset conditions. Then, satellite positioning will be used to calibrate the device's position, and it will return to its initial point. Controlling the mobile device's movement within the designated area can be done as follows: the device can move in any direction, turn when reaching the boundary of the area or the edge of the lawn, and avoid obstacles. This allows the mobile device to remain within the designated area and more quickly find a location where the satellite positioning signal meets the preset conditions and is close to the initial point.

In some embodiments, after the mobile device is controlled to enter the circle by the non-satellite positioning technology or when the mobile device does not enter the circle, the method may further include: if the remaining range is less than or equal to 0, controlling the mobile device to move randomly; when the mobile device moves to a position where the satellite positioning signal meets the preset condition, performing the step of determining the distance between the current position of the mobile device and the initial point based on the satellite positioning signal.

In some embodiments, after the mobile device enters the circle, if the location of the mobile device is not within the preset range of remaining range, i.e., the remaining range of remaining range is less than or equal to 0, it indicates that the mobile device cannot be kept moving within the circle due to inaccurate positioning. Therefore, the mobile device can be controlled to move randomly. When the mobile device moves to a location where the satellite positioning signal meets the preset conditions, the step of determining the distance between the current location of the mobile device and the initial point is executed.

In some embodiments, if the remaining range of the mobile device is less than or equal to 0 when it is not within the preset range of the mobile device, it means that it is not within the preset range of the mobile device. Therefore, if it is not within the preset range of the mobile device, accurate positioning cannot be guaranteed, and it cannot be guaranteed that the mobile device can enter the range of the mobile device. So it moves randomly. However, it can continue to maintain the original direction of movement when it just exceeds the preset range of the mobile device. It will turn when the turning trigger condition is met. That is, the positioning can be considered relatively reliable when it just exceeds the preset range of the mobile device. Maintaining the original direction of movement can increase the probability of entering the range of the mobile device.

The triggering condition can be understood as follows: when the mobile device detects through its sensors that it is about to reach a boundary, restricted area, or obstacle, it can change its direction of movement to avoid leaving the work area, entering a restricted area, or colliding with the obstacle. Sensors can include at least one of the following: cameras, ultrasonic sensors, infrared sensors, lidar, etc., without limitation.

The turning trigger condition can include the sensor detecting that the distance between the mobile device and a preset area is less than a set distance value. The preset area includes any of the following: a boundary, a restricted area, or an area containing an obstacle. The set distance value can be preset or a system default. If the sensor detects that the distance between the mobile device and the preset area is less than the set distance value, it means that the mobile device is about to reach the boundary, restricted area, or obstacle area.

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

In some embodiments, the mobile device can be controlled to move in any direction. For example, the mobile device can be controlled to move randomly along a preset path, thus completing the function of random movement along a specified path. Alternatively, the mobile device can be controlled not to move randomly along a preset path. For example, random movement may not pass through the preset path, or random movement may pass through the preset path, thus completing the function of random movement not following a specified path.

In some embodiments, the mobile device can also change its direction of movement when a first steering trigger condition is met. That is, when the sensor detects that the mobile device is about to reach a boundary, restricted area or obstacle, it can change its direction of movement to avoid the mobile device leaving the work area, entering a restricted area, or colliding with an obstacle.

The first steering trigger condition includes the sensor detecting that the distance between the mobile device and a preset area is less than a first set distance value. The preset area includes any of the following: a boundary, a restricted area, or an area containing an obstacle. The first set distance value can be preset or a system default. If the sensor detects that the distance between the mobile device and the preset area is less than the first set distance value, it indicates that the mobile device is about to reach the boundary, restricted area, or obstacle area.

In some embodiments, after the mobile device changes its direction of movement, it continues to monitor whether the first steering trigger condition is met; when the first steering trigger condition is met, the mobile device is controlled to change its direction of movement again.

In some embodiments, after the mobile device changes its direction of movement, it can continue to monitor whether the first turning trigger condition is met. If the condition is met, the mobile device can change its direction of movement again. Otherwise, if the condition is not met, the mobile device can keep its direction of movement unchanged. In this way, it can be continuously ensured that the mobile device does not collide, fall into a pit, or go beyond the grass boundary, thus ensuring safety.

In some embodiments, the above steps of controlling the random movement of the mobile device can be implemented as follows: capturing environmental images in at least one direction using the camera of the mobile device, identifying a sky region using the environmental images, determining the relative positional relationship between the position of the mobile device and the projection position of the sky region on the ground; controlling the mobile device to move in the direction of the projection position of the sky region on the ground according to the relative positional relationship, and controlling the mobile device to change its movement direction when a second turning trigger condition is met.

The relative positional relationship can include relative distance and relative angle.

In some embodiments, environmental images in at least one direction can be captured by a camera, and the sky area can be identified through the environmental images. Since the sky area is not obstructed by obstacles, its corresponding ground projection position is likely to have good satellite positioning signal quality. Therefore, the relative positional relationship between the mobile device's position and the sky area's ground projection position can be determined. Then, the mobile device can be controlled to move in the direction of the sky area's ground projection position according to the relative positional relationship, thereby helping the mobile device to quickly find a position with good satellite positioning signal quality.

In some embodiments, the mobile device can also change its direction of movement when the second steering trigger condition is met. That is, when the sensor detects that the mobile device is about to reach a boundary, restricted area or obstacle, it can change its direction of movement to avoid the mobile device leaving the work area, entering the restricted area, or colliding with the obstacle.

The second steering trigger condition includes the sensor detecting that the distance between the mobile device and a preset area is less than a second set distance value. The preset area includes any of the following: a boundary, a restricted area, or an area containing an obstacle. The second set distance value can be preset or be a system default. If the sensor detects that the distance between the mobile device and the preset area is less than the second set distance value, it indicates that the mobile device is about to reach the boundary, restricted area, or obstacle area.

The first steering trigger condition and the second steering trigger condition can be the same or different, and the first set distance value and the second set distance value can be the same or different.

For example, a rear-view camera can capture images of the environment to locate the sky area. The relative position (relative distance and relative angle) between the mobile device's location and the sky area's projection on the ground can be determined from the environmental images. Then, by moving in the direction of the sky area's projection on the ground, the lawnmower can find a location with good satellite signal quality more quickly.

In some embodiments, when at least one sky region exists in the environmental image, a sky region with a radius greater than a preset radius can be selected, and the relative positional relationship between the mobile device's position and the sky region's ground projection position can be determined. The preset radius can be pre-set or a system default; it ensures the sky region is large and open enough. Smaller sky regions are eliminated. In one example, after the mobile device continues moving along a preset path for a first mile or a first duration, and before random movement, the mobile device's camera rotates in place to capture environmental images in at least one direction, identifying the sky region in the environmental images. Alternatively, the mobile device's camera follows the mobile device's rotation in place to capture environmental images in at least one direction. Each environmental image can contain k sky regions. A first position is extracted for each environmental image; there can be one or more first positions, where k is a natural number (e.g., k = 0, 1, 2, etc.). The largest inscribed circle of the sky region in the environmental image is selected. When the radius of this largest inscribed circle is greater than the preset radius, the coordinates of the center of this largest inscribed circle projected onto the ground are stored as the first position.

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

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.

For example, as shown in Figure 1C, a rectangle can represent the environmental image, an ellipse can represent the sky area, and a circle can represent the largest inscribed circle of the sky area. As shown in Figure 1D, 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 stored as the first position.

For example, after the mobile device continues to move for a first mile or a first period of time, before moving randomly, it takes multiple images from different directions by rotating in place, identifies the sky region from the images, and determines the projected position of the sky region. For example, the projected position can be the projected coordinates of the center of the largest inscribed circle of the sky region on the ground.

In some embodiments, the projected coordinates of the center of the tangent circle in the sky region on the ground can be determined as follows: Specifically, the method for determining the projected coordinates of the center of the tangent circle in the sky region on the ground can be as follows: By recognizing the spatial coordinates (X1, Y1, Z1) of the obstacle from the image, 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 is calculated. Based on the offset and the spatial coordinates (X1, Y1, Z1) of the obstacle, the projected coordinates (X1+ΔX’, Y1+ΔY’) of the center of the inscribed circle on the ground are determined. X1 and Y1 are ground coordinates, and Z1 is the altitude coordinate. (ΔX’, ΔY’) and the offset (ΔX, ΔY) have a preset mapping relationship.

For example, referring to Figures 1D and 1E, point T represents the location of the obstacle, with its corresponding spatial coordinates being (X1, Y1, Z1); T’ represents the projection of the obstacle's location onto the ground, i.e., (X1, Y1, 0). Since projection processing is required, height can be ignored, and 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 offsets (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 offsets (ΔX’, ΔY’) can be obtained from the pixel coordinate offsets (ΔX, ΔY). Then, the coordinates of point O’ can be obtained as (X1 + ΔX’, Y1 + ΔY’).

In some embodiments, 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.

In some embodiments, 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 movement of the lawnmower robot.

In some embodiments, when there are trees and houses in the work area of the mobile device, the height of the trees and the height of the houses in the work area can also be obtained; the preset radius is determined based on the height of the trees and the height of the houses.

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.

In some embodiments, when trees and houses are present in the operating area of the mobile device, a preset radius can be determined based on the height of the trees and 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.

In some embodiments, the above step of determining the preset radius based on the tree height and the house height can be implemented as follows: the preset radius is determined according to the following formula: preset radius = tree height / house height × π / 4.

In some embodiments, the preset radius is calculated as (tree height / house height) × π/4. For example, the heights of trees or houses that may affect the signal within the work area can be obtained in advance, and the average height of these objects can be used to calculate the preset radius. 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.

In some embodiments, after the mobile device changes its direction of movement, it continues to monitor whether the second steering trigger condition is met; when the second steering trigger condition is met, the mobile device is controlled to change its direction of movement again.

In some embodiments, after the mobile device changes its direction of movement, it can continue to monitor whether the second turning trigger condition is met. If the condition is met, the mobile device can change its direction of movement again. Otherwise, if the condition is not met, the mobile device can keep its direction of movement unchanged. In this way, it can be continuously ensured that the mobile device does not collide, fall into a pit, or go beyond the grass boundary, thus ensuring safety.

In some embodiments, when the preset area includes the area where the obstacle is located, after controlling the mobile device to change its direction of movement, the following step may be included: when the mobile device bypasses the area where the obstacle is located, the mobile device is then controlled to maintain its original direction of movement before bypassing the obstacle.

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

In some embodiments, when a preset object is detected by the sensor, the obstacle can be bypassed. The specific bypass method can be to turn or first determine the area of the obstacle, bypass the area, and then control the mobile device to continue moving within the lawn area. For example, it can maintain the original direction before bypassing the obstacle. In this way, it can ensure that the mobile device does not collide, fall into a pit, or go beyond the lawn boundary, thus ensuring safety.

For example, during random movement of the mobile device, its sensors are activated to identify obstacles, potholes, and lawn boundaries. If an obstacle or pothole is encountered, it needs to be avoided before continuing. Upon reaching the lawn boundary, it can turn to prevent the device from going off-limits. If no obstacles, potholes, or lawn boundaries are detected ahead, the device continues moving forward. Alternatively, it can turn directly in another direction upon encountering an obstacle or pothole. The method of random movement is not limited, as long as the device avoids collisions, falls into potholes, and stays off-limits to ensure safety.

For example, taking a lawnmower as a mobile device, the lawnmower is equipped with a rear-view camera with its lens facing the upper rear of the lawnmower. The lawnmower can execute the control method of the mobile device according to the following steps, specifically steps S1-S5.

S1. When the lawn mowing robot is performing lawn mowing operations along the planned path, if the (satellite) RTK signal is strong, that is, if the RTK signal meets the preset conditions, then RTK positioning is used to enable the lawn mowing robot to move along the planned path.

S2. If an RTK signal failure occurs during movement along the planned path, the robot can continue moving along the planned path by using visual positioning or IMU or VIO positioning. That is, after an RTK signal failure, the lawnmower robot can still move for a preset extended range of 100 meters (100 meters is an assumption, the actual range depends on the machine's performance). Within this preset extended range, the lawnmower robot can also obtain accurate positioning through VIO or other methods. In some embodiments, after an RTK signal failure occurs, the lawnmower robot is controlled to continue moving for the preset extended range, i.e., 100 meters.

S3. After moving to the preset range of remaining range (e.g., 100 meters) (at which point VIO positioning is no longer reliable), control the lawnmower robot to move randomly.

S4. If the lawnmower robot detects that the satellite (RTK) signal meets the preset conditions during random movement, i.e. the signal quality is good, it determines the robot's current position through RTK positioning and determines the distance between the current position and the initial point (the initial point can be the starting point of random movement, or the initial point can be the position after moving the preset range of mileage). If the distance is less than the preset distance, it controls the lawnmower robot to return to the initial point (via RTK, VIO positioning when the satellite signal is poor (not meeting the preset conditions).

S5. After returning to the initial point, control the lawnmower robot to continue moving along the planned path.

In some embodiments, during random movement, the robot may or may not leave the planned path. For example, the lawnmower can be controlled to move in any direction. Alternatively, an image can be captured by a rear-view camera to locate the sky area, and the relative positional relationship (relative distance and relative angle) between the lawnmower's position and the sky area's projection on the ground can be determined from the image. Then, the robot can move in the direction of the sky area's projection on the ground, allowing it to find a location with good satellite signal quality more quickly.

During random movement, the camera (or LiDAR) is activated to identify obstacles, potholes, and lawn boundaries. If an obstacle or pothole is encountered, it must be avoided before continuing. Upon reaching the lawn boundary, it can turn to prevent the lawnmower from going off-limits. If no obstacles, potholes, or lawn boundaries are detected ahead, the lawnmower continues moving forward. Alternatively, it can turn directly in another direction upon encountering an obstacle or pothole. The method of random movement is not limited, as long as the lawnmower avoids collisions, potholes, and going off-limits, ensuring safety.

For example, as shown in Figure 1F, if the lawnmower robot encounters a poor RTK signal while moving along the planned path, it can extend its lifespan by using visual positioning or IMU/VIO positioning to continue moving along the planned path. That is, after encountering a poor RTK signal, the lawnmower robot can still move for a preset extended range of 100 meters. After moving this preset extended range, the lawnmower robot is controlled to move randomly from the initial point (point A). During random movement, if the lawnmower robot detects a satellite (RTK) signal that meets preset conditions, it uses RTK positioning to determine its current position (point B) and the distance between the current position (point B) and the initial point (point A). If this distance is less than a preset distance, the lawnmower robot is controlled to return to the initial point (point A). After returning to the initial point (point A), the lawnmower robot continues to move along the planned path. The preset distance is r. The distance between point A and point B lies within a circle centered at point A with radius r.

Specifically, if the distance between the current position and the initial point is greater than or equal to a preset distance, the lawnmower robot is controlled to move in a first direction (moving along this first direction to bring the lawnmower robot closer to the initial point). During the movement, the satellite signal quality is detected. If the signal quality is good, i.e., the signal meets the preset conditions, RTK positioning is performed, and it is determined whether the lawnmower robot's position is less than the preset distance from the initial point. If so, the lawnmower robot is controlled to return to the initial point. For example, as shown in Figure 1G, the first direction can be the direction from point B' to point A, or the first direction can also be the W direction at point B', i.e., from position B' to the inside of the circle.

The clause "If the distance between the current position and the initial point is greater than or equal to a preset distance, then control the lawnmower to move in the first direction" includes: For example, during random movement, if a satellite signal is detected that meets preset conditions and the distance between the lawnmower and the initial point is greater than a preset distance, then the lawnmower is controlled to move into a circle with the initial point as the center and the preset distance as the radius. During this movement, if the satellite signal meets the preset conditions, the lawnmower's position is determined via satellite positioning to control its movement into the circle. If the satellite (RTK) signal deteriorates again, i.e., the signal no longer meets the preset conditions, then VIO positioning is used to extend its lifespan and continue moving into the circle. If, after entering the circle, the lawnmower remains within the preset lifespan of VIO positioning (e.g., 100 meters), then it moves within the circle according to a preset strategy until a satellite signal quality is detected that meets the preset conditions. Then, RTK positioning is performed to calibrate the lawnmower's position, and the lawnmower returns to the initial point. The preset strategy controls the lawnmower to move in any direction, turn when reaching the boundary of the circle or the lawn boundary, and avoid obstacles when encountering them. Preset strategies can keep the lawnmower robot moving within the circle, allowing it to find a location with good satellite signal and closer to the starting point more quickly.

For example, as shown in Figure 1G, if the RTK signal is poor while the lawnmower is performing lawnmowing operations along the planned path, it can continue moving along the planned path by using visual positioning or IMU or VIO positioning. That is, after the RTK signal is poor, the lawnmower can still move for a preset range of 100 meters. After moving the preset range, the lawnmower is controlled to move randomly from the initial point (point A). If the lawnmower detects that the satellite (RTK) signal meets the preset conditions during random movement, it determines the current position (point B') of the robot through RTK positioning and determines the distance between the current position (point B') and the initial point (point A). If this distance is greater than the preset distance (r), the lawnmower is controlled to move into a circle with the initial point (point A) as the center and the preset distance as the radius.

If the lawnmower enters the designated area but is outside the preset lifespan (e.g., 100 meters) for VIO positioning, it will move randomly. During this random movement, the camera (or LiDAR) will be activated to identify obstacles, potholes, and lawn boundaries. If obstacles or potholes are encountered, the robot must be avoided before continuing. Upon reaching the lawn boundary, it can turn to prevent it from going off-limits. If no obstacles, potholes, or lawn boundaries are detected ahead, the lawnmower will continue moving forward. Then, the process returns to step S4. Because the preset lifespan has been exceeded, the lawnmower cannot accurately locate itself and cannot guarantee movement within the designated area; therefore, random movement is selected.

If the robot is still not within the designated area, it will not be within the preset lifespan (e.g., 100 meters) for VIO positioning and will enter random movement mode. During random movement, the camera (or LiDAR) will be activated to identify obstacles, potholes, lawn boundaries, etc. If obstacles or potholes are encountered, the robot must be avoided before continuing. Upon reaching the lawn boundary, the robot can turn to prevent it from going off the lawn. If no obstacles, potholes, or lawn boundaries are detected ahead, the robot will continue moving forward. Alternatively, it can turn directly in another direction when encountering obstacles or potholes. Then, return to step S4. Because the preset lifespan has been exceeded, the robot cannot accurately locate itself and cannot guarantee that it will enter the designated area; therefore, random movement is selected.

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 duration. After continuing to move along the preset path for the first mile or a first duration, the mobile device is controlled to move randomly. During the random movement of the mobile device, when the mobile device moves to a position where the satellite positioning signal meets preset conditions, the distance between the current position of the mobile device and the initial point is determined based on the satellite positioning signal. The initial point is the initial position of the random movement of the mobile device. When the distance is less than a preset distance, the mobile device is controlled to move to the initial point. After returning to the initial point, the mobile device continues to move along the preset path. Thus, even when the satellite positioning signal does not meet the preset conditions, the mobile device can still maintain accurate positioning within a certain distance before being controlled to move randomly again. This indicates that random movement does not require high-precision positioning. It can simply identify and avoid obstacles, boundaries, and restricted areas using sensors. Therefore, the preset endurance range provided by non-satellite positioning technology can be utilized to the maximum extent. This allows the mobile device to move a greater distance along a preset path after the satellite positioning signal fails to meet the preset conditions. During random movement, it can find a position where the satellite positioning signal meets the preset conditions, ensuring that satellite positioning calibration can be performed at that position. When the distance between this position and the initial point is less than the preset distance, it means that the distance between this position and the initial point is within the preset endurance range, ensuring that the mobile device can accurately reach the initial point and calibrate its position. This allows the mobile device to move again from the initial point along the preset path based on the accurate positioning position, which can solve the problem of inaccurate satellite positioning when obstructed, affecting the movement of the lawnmower robot.

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 the following steps.

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

202. 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.

203. After continuing to move the first mileage or the first duration along the preset path, the mobile device is controlled to move randomly. During the random movement of the mobile device, when the mobile device moves to a position where the satellite positioning signal meets the preset condition, the distance between the current position of the mobile device and the initial point is determined according to the satellite positioning signal. The initial point is the initial position of the random movement of the mobile device.

204. When the distance is less than the preset distance, control the mobile device to move to the initial point.

205. After returning to the initial point, control the mobile device to continue moving along the preset path.

206. When the distance is greater than or equal to the preset distance, control the mobile device to move along the first direction so that the mobile device moves closer to the initial point.

The specific descriptions of steps 201-206 above can be found in the relevant steps of a mobile device control method described in Figure 1A, and will not be repeated here.

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 duration. After continuing to move along the preset path for the first mile or a first duration, the mobile device is controlled to move randomly. During the random movement of the mobile device, when the mobile device moves to a position where the satellite positioning signal meets preset conditions, the distance between the current position of the mobile device and the initial point is determined based on the satellite positioning signal. The initial point is the initial position of the random movement of the mobile device. When the distance is less than a preset distance, the mobile device is controlled to move to the initial point. After returning to the initial point, the mobile device continues to move along the preset path. When the distance is greater than or equal to the preset distance, the mobile device is controlled to move in a first direction to bring the mobile device closer to the initial point. Thus, even when the satellite positioning signal does not meet the preset conditions, the mobile device can still maintain accurate positioning within a certain distance. Controlling the mobile device to move randomly again indicates that random movement does not require high-precision positioning; it can be achieved through sensing... The device can identify and avoid obstacles, boundaries, and restricted areas. Therefore, it can maximize the use of the preset endurance range provided by non-satellite positioning technology. This allows the mobile device to move a greater distance along a preset path when the satellite positioning signal does not meet the preset conditions. During random movement, it can find a position where the satellite positioning signal meets the preset conditions, ensuring satellite positioning calibration at that position. If the distance between this position and the initial point is less than the preset distance, it means that the distance between this position and the initial point is within the preset endurance range, ensuring that the mobile device can accurately reach the initial point. If the distance is greater than or equal to the preset distance, it can move closer to the initial point and search for a position within a certain range where the satellite positioning signal meets the preset conditions for calibration. Once the distance between the current position and the initial point is again within the preset endurance range, it returns to the initial point and calibrates the position of the initial point. This allows the mobile device to move again from the initial point along the preset path based on a precise positioning position. This solves the problem of inaccurate satellite positioning when obstructed, which affects the movement of the lawnmower robot.

Consistent with the above embodiments, please refer to Figure 3, 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 program includes instructions for performing the following steps: controlling the mobile device to move along a preset path; when the mobile device moves to a position where the satellite positioning signal does not meet the preset conditions, controlling the mobile device to continue moving along the preset path for a first mile or a first duration; after continuing to move along the preset path for the first mile or the first duration, controlling the mobile device to move randomly; during the random movement of the mobile device, when the mobile device moves to a position where the satellite positioning signal meets the preset conditions, determining the distance between the current position of the mobile device and the initial point based on the satellite positioning signal, the initial point being the initial position of the random movement of the mobile device; when the distance is less than a preset distance, controlling the mobile device to move to the initial point; after returning to the initial point, controlling the mobile device to continue moving along the preset path.

In some embodiments, the above program further includes instructions for performing the following steps: when the distance is greater than or equal to the preset distance, controlling the mobile device to move along a first direction to bring the mobile device closer to the initial point.

In some embodiments, the first direction is the direction toward a circle centered at the initial point and with the preset distance as the radius.

In some embodiments, the above program further includes instructions for performing the following steps: during movement along the first direction, when the mobile device moves to a position where the satellite positioning signal meets the preset conditions, the mobile device is controlled to move along the first direction using satellite positioning technology; when the mobile device moves to a position where the satellite positioning signal does not meet the preset conditions, the mobile device is controlled to move along the first direction using non-satellite positioning technology.

In some embodiments, the above program further includes instructions for performing the following steps: after controlling the mobile device to enter the circle using the non-satellite positioning technology, if the remaining range is greater than 0, then controlling the mobile device to move within the circle using the non-satellite positioning technology, so that the mobile device detects a satellite positioning signal at the position after moving, which satisfies the preset condition, wherein the remaining range is obtained based on the preset range and the mileage by which the mobile device moves along the first direction using the non-satellite positioning technology.

In some embodiments, after the mobile device is controlled to enter the circle by the non-satellite positioning technology or when the mobile device is not entered into the circle, the above program further includes instructions for performing the following steps: if the remaining range is less than or equal to 0, control the mobile device to move randomly; when the mobile device moves to a position where the satellite positioning signal meets the preset condition, perform the step of determining the distance between the current position of the mobile device and the initial point based on the satellite positioning signal.

In some embodiments, in terms of controlling the random movement of the mobile device, the above-described procedure includes instructions for performing the following steps: controlling the mobile device to move in any direction, and controlling the mobile device to change its direction of movement when a first turning trigger condition is met.

In some embodiments, the program further includes instructions for performing the following steps: after the mobile device changes its direction of movement, continue to monitor whether the first steering trigger condition is met; when the first steering trigger condition is met, control the mobile device to change its direction of movement again; or, after the mobile device changes its direction of movement, continue to monitor whether the second steering trigger condition is met; when the second steering trigger condition is met, control the mobile device to change its direction of movement again.

In some embodiments, the first turning trigger condition includes detecting through a sensor that the distance between the mobile device and a preset area is less than a first preset distance value; and/or, the second turning trigger condition includes detecting through the sensor that the distance between the mobile device and the preset area is less than a second preset distance value; the preset area includes any of the following: a boundary, a restricted area, or an area containing obstacles.

In some embodiments, regarding the random movement of the mobile device, the above-described procedure includes instructions for performing the following steps: acquiring environmental images in at least one direction using the camera of the mobile device, identifying a sky region using the environmental images, determining the relative positional relationship between the position of the mobile device and the projection position of the sky region on the ground; controlling the mobile device to move in the direction of the projection position of the sky region on the ground according to the relative positional relationship, and controlling the mobile device to change its movement direction when a second turning trigger condition is met.

In some embodiments, when the preset area includes the area where the obstacle is located, after controlling the mobile device to change its direction of movement, the above program further includes instructions for performing the following steps: when the mobile device bypasses the area where the obstacle is located, control the mobile device to maintain its original direction of movement before bypassing the obstacle.

In some embodiments, the mobile device further includes a rear-view camera with its lens positioned diagonally above and behind the mobile device.

The mobile device described in this application is controlled to move along a preset path. When the mobile device moves to a location where the satellite positioning signal does not meet preset conditions, the mobile device continues to move along the preset path for a first mile or a first duration. After continuing to move along the preset path for the first mile or a first duration, the mobile device is controlled to move randomly. During the random movement of the mobile device, when the mobile device moves to a location where the satellite positioning signal meets preset conditions, the distance between the current position of the mobile device and the initial point is determined based on the satellite positioning signal. The initial point is the initial position of the random movement of the mobile device. When the distance is less than a preset distance, the mobile device is controlled to move to the initial point. After returning to the initial point, the mobile device continues to move along the preset path. Thus, even when the satellite positioning signal does not meet the preset conditions, the mobile device can still maintain accurate positioning within a certain distance. Then, the random movement of the mobile device can be controlled again. This demonstrates that random movement does not require high-precision positioning. It can simply identify and avoid obstacles, boundaries, and restricted areas using sensors. Therefore, it can maximize the use of the preset endurance range provided by non-satellite positioning technology. This allows the mobile device to move a greater distance along a preset path after the satellite positioning signal fails to meet preset conditions. During random movement, it can find a position where the satellite positioning signal meets the preset conditions, ensuring satellite positioning calibration at that location. When the distance between this location and the initial point is less than a preset distance, it means the distance between this location and the initial point is within the preset endurance range, guaranteeing the mobile device can accurately reach the initial point and calibrate its position. This allows the mobile device to move again from the initial point along the preset path based on a precise positioning location. This solves the problem of inaccurate satellite positioning affecting the movement of the lawnmower robot when obstructed.

Figure 4 is a functional unit block diagram of a control device 400 for a mobile device according to an embodiment of this application. The control device 400 may include a first control unit 401, a determining unit 402, and a second control unit 403. The first control unit 401 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 preset conditions, it controls the mobile device to continue moving along the preset path for a first mileage or a first duration. The determining unit 402 is used to control the mobile device to move randomly after continuing to move along the preset path for the first mileage or the first duration. During the random movement of the mobile device, when the mobile device moves to a position where the satellite positioning signal meets the preset conditions, it determines the distance between the current position of the mobile device and an initial point based on the satellite positioning signal, where the initial point is the initial position of the random movement of the mobile device. The second control unit 403 is used to control the mobile device to move along a first direction when the distance is less than a preset distance, so that the mobile device moves closer to the initial point.

In some embodiments, the first direction is the direction toward a circle centered at the initial point and with the preset distance as the radius.

In some embodiments, the control device 400 of the mobile device is further specifically used to: during the movement along the first direction, when the mobile device moves to a position where the satellite positioning signal meets the preset conditions, control the mobile device to move along the first direction using satellite positioning technology; when the mobile device moves to a position where the satellite positioning signal does not meet the preset conditions, control the mobile device to move along the first direction using non-satellite positioning technology.

In some embodiments, the control device 400 of the mobile device is further configured to: after controlling the mobile device to enter the circle using the non-satellite positioning technology, if the remaining range is greater than 0, control the mobile device to move within the circle using the non-satellite positioning technology, so that the mobile device detects a satellite positioning signal at the position after moving, which satisfies the preset condition, wherein the remaining range is obtained based on the preset range and the mileage by which the mobile device moves along the first direction using the non-satellite positioning technology.

In some embodiments, after the mobile device is controlled to enter the circle by the non-satellite positioning technology or when the mobile device is not entered into the circle, the control device 400 of the mobile device is further specifically used to: if the remaining range is less than or equal to 0, control the mobile device to move randomly; when the mobile device moves to a position where the satellite positioning signal meets the preset condition, execute the step of determining the distance between the current position of the mobile device and the initial point based on the satellite positioning signal.

In some embodiments, in controlling the random movement of the mobile device, the determining unit 402 is specifically configured to: control the mobile device to move in any direction, and control the mobile device to change its direction of movement when a first turning trigger condition is met.

In some embodiments, in controlling the random movement of the mobile device, the determining unit 402 is specifically configured to: acquire environmental images in at least one direction using the camera of the mobile device, identify a sky region using the environmental images, determine the relative positional relationship between the position of the mobile device and the projection position of the sky region on the ground; control the mobile device to move in the direction of the projection position of the sky region on the ground according to the relative positional relationship, and control the mobile device to change its movement direction when a second turning trigger condition is met.

In some embodiments, the control device 400 of the mobile device is further configured to: after the mobile device changes its direction of movement, continue to monitor whether the first steering trigger condition is met; when the first steering trigger condition is met, control the mobile device to change its direction of movement again; or, after the mobile device changes its direction of movement, continue to monitor whether the second steering trigger condition is met; when the second steering trigger condition is met, control the mobile device to change its direction of movement again.

In some embodiments, the first turning trigger condition includes detecting through a sensor that the distance between the mobile device and a preset area is less than a first preset distance value; and/or, the second turning trigger condition includes detecting through the sensor that the distance between the mobile device and the preset area is less than a second preset distance value; the preset area includes any of the following: a boundary, a restricted area, or an area containing obstacles.

In some embodiments, when the preset area includes the area where the obstacle is located, after controlling the mobile device to change its direction of movement, the control device 400 of the mobile device is further configured to: when the mobile device bypasses the area where the obstacle is located, control the mobile device to maintain its original direction of movement before bypassing the obstacle.

The control device for the mobile device described in this application controls the mobile device to move along a preset path. When the mobile device moves to a position where the satellite positioning signal does not meet preset conditions, the device continues to move along the preset path for a first mile or a first duration. After continuing to move along the preset path for the first mile or a first duration, the device moves randomly. During this random movement, when the mobile device moves to a position where the satellite positioning signal meets preset conditions, the distance between the current position of the mobile device and an initial point is determined based on the satellite positioning signal. The initial point is the initial position of the random movement of the mobile device. If the distance is less than a preset distance, the device moves back to the initial point. After returning to the initial point, the device continues to move along the preset path. Thus, even when the satellite positioning signal does not meet preset conditions, the mobile device can maintain accurate positioning within a certain distance before being controlled to move randomly. This indicates that random movement does not require high-precision positioning. It can simply identify and avoid obstacles, boundaries, and restricted areas using sensors. Therefore, the preset endurance range provided by non-satellite positioning technology can be utilized to the maximum extent. This allows the mobile device to move a greater distance along a preset path after the satellite positioning signal fails to meet the preset conditions. During random movement, it can find a position where the satellite positioning signal meets the preset conditions, ensuring that satellite positioning calibration can be performed at that position. When the distance between this position and the initial point is less than the preset distance, it means that the distance between this position and the initial point is within the preset endurance range, ensuring that the mobile device can accurately reach the initial point and calibrate its position. This allows the mobile device to move again from the initial point along the preset path based on the accurate positioning position, which can solve the problem of inaccurate satellite positioning when obstructed, affecting the movement of the lawnmower robot.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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 device, which may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc.

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 (14)

A method for controlling a mobile device, characterized in that the method includes: Control the mobile device to move along a preset path; When the mobile device moves to a location where the satellite positioning signal does not meet the preset conditions, the mobile device is controlled to continue moving along the preset path for a first mileage or a first duration. After continuing to move the first mileage or the first duration along the preset path, the mobile device is controlled to move randomly. During the random movement of the mobile device, when the mobile device moves to a position where the satellite positioning signal meets the preset conditions, the distance between the current position of the mobile device and the initial point is determined according to the satellite positioning signal. The initial point is the initial position of the random movement of the mobile device. When the distance is less than a preset distance, control the mobile device to move to the initial point; After returning to the initial point, the mobile device is controlled to continue moving along the preset path. The method according to claim 1, characterized in that the method further comprises: When the distance is greater than or equal to the preset distance, the mobile device is controlled to move along the first direction so that the mobile device is closer to the initial point. According to the method of claim 2, the first direction is the direction toward the circle with the initial point as the center and the preset distance as the radius. The method according to claim 3, characterized in that the method further comprises: During the movement along the first direction, when the mobile device moves to a position where the satellite positioning signal meets the preset conditions, the mobile device is controlled to move along the first direction using satellite positioning technology; when the mobile device moves to a position where the satellite positioning signal does not meet the preset conditions, the mobile device is controlled to move along the first direction using non-satellite positioning technology. The method according to claim 4, characterized in that the method further comprises: After the mobile device is controlled to enter the circle using the non-satellite positioning technology, if the remaining range is greater than 0, the mobile device is controlled to move within the circle using the non-satellite positioning technology so that the mobile device can detect a satellite positioning signal at the position after moving, which satisfies the preset condition. The remaining range is obtained based on the preset range and the mileage by which the mobile device moves along the first direction using the non-satellite positioning technology. The method according to claim 5, characterized in that, after the mobile device is controlled to enter the circle by the non-satellite positioning technology or when the mobile device has not entered the circle, the method further includes: If the remaining range is less than or equal to 0, the mobile device is controlled to move randomly. When the mobile device moves to a position where the satellite positioning signal meets the preset conditions, the step of determining the distance between the current position of the mobile device and the initial point based on the satellite positioning signal is executed. The method according to any one of claims 1-6, characterized in that controlling the random movement of the mobile device includes: The mobile device is controlled to move in any direction, and when the first turning trigger condition is met, the mobile device is controlled to change its moving direction. The method according to any one of claims 1-6, characterized in that controlling the random movement of the mobile device includes: The mobile device captures environmental images from at least one direction using its camera, identifies a sky region using the environmental images, and determines the relative positional relationship between the mobile device's location and the sky region's projection on the ground. The mobile device is controlled to move in the direction of the projection of the sky area on the ground according to the relative position relationship. When the second turning trigger condition is met, the mobile device is controlled to change the direction of movement. The method according to claim 7 or 8, characterized in that the method further comprises: After the mobile device changes its direction of movement, it continues to monitor whether the first steering trigger condition is met; when the first steering trigger condition is met, it controls the mobile device to change its direction of movement again. or, After the mobile device changes its direction of movement, it continues to monitor whether the second steering trigger condition is met; when the second steering trigger condition is met, it controls the mobile device to change its direction of movement again. The method according to any one of claims 7-9, wherein the first steering triggering condition includes detecting, by a sensor, that the distance between the mobile device and the preset area is less than a first preset distance value; And/or, The second steering trigger condition includes the sensor detecting that the distance between the mobile device and the preset area is less than a second preset distance value; The preset area includes any of the following: a boundary, a restricted area, or an area containing obstacles. According to the method of claim 10, when the preset area includes the area where the obstacle is located, after controlling the mobile device to change its direction of movement, the method further includes: When the mobile device bypasses the area where the obstacle is located, it is then controlled to maintain its original direction of movement before bypassing the obstacle. A mobile device is characterized by comprising a processor and a memory for storing one or more programs and configured to be executed by the processor, the programs comprising instructions for performing the steps of the method as claimed in any one of claims 1-11. The mobile device according to claim 12, wherein the mobile device further includes a rear-view camera, the lens of which is disposed facing obliquely upward and rearward of the mobile device. A computer-readable storage medium, characterized in that it stores a computer program for electronic data interchange, wherein the computer program causes a computer to perform the method as described in any one of claims 1-11.