EP-4741969-A1 - METHOD FOR ORIENTATING SELF-MOVING DEVICE, SELF-MOVING DEVICE, AND STORAGE MEDIUM

EP4741969A1EP 4741969 A1EP4741969 A1EP 4741969A1EP-4741969-A1

Abstract

The present invention provides a method for orienting an autonomous mobile device, autonomous mobile device, and storage medium. The method comprises: in response to a first positioning signal of the autonomous mobile device being restored, controlling the autonomous mobile device to move linearly along a first direction, and recording a corresponding first displacement length corresponding to a linear movement along the first direction; in response to the autonomous mobile device encountering an obstacle during the linear movement along the first direction, and the first displacement length being less than a first preset displacement length, controlling the autonomous mobile device to move linearly along a second direction, wherein the second direction is different from the first direction; repeating the foregoing steps until the displacement length corresponding to a current direction of the autonomous mobile device satisfies the first preset displacement length; determining an orientation of the autonomous mobile device according to the first positioning signal.

Inventors

WEI, Jidong
WANG, KAI
HE, Zijun

Assignees

Shenzhen Mammotion Innovation Co., Limited

Dates

Publication Date: 20260513
Application Date: 20240807

Claims (14)

A method for orienting an autonomous mobile device, comprising: in response to a first positioning signal of the autonomous mobile device being restored, controlling the autonomous mobile device to move linearly along a first direction, and recording a corresponding first displacement length corresponding to a linear movement along the first direction; in response to the autonomous mobile device encountering an obstacle during the linear movement along the first direction, and the first displacement length being less than a first preset displacement length, controlling the autonomous mobile device to move linearly along a second direction, wherein the second direction is different from the first direction; repeating the foregoing steps until the displacement length corresponding to the current direction of the autonomous mobile device satisfies the first preset displacement length; and determining an orientation of the autonomous mobile device according to the first positioning signal.
The method according to claim 1, wherein the first direction corresponds to a current orientation of the autonomous mobile device.
The method according to claim 1 or 2, wherein before controlling the autonomous mobile device to move linearly along the second direction, the method further comprising: determining whether the first displacement length is greater than a second preset displacement length, wherein the second preset displacement length is less than the first preset displacement length; and in response to determining that the first displacement length is greater than the second preset displacement length, determining the second direction to be opposite direction relative to the first direction.
The method according to claim 1, wherein controlling the autonomous mobile device to move linearly along the first direction further comprising: determining current pose information of the autonomous mobile device, wherein the current pose information comprises an initial orientation and an initial position; obtaining environmental information of an area where the autonomous mobile device is located; determining the first direction based on a position of the obstacle in the environmental information and the initial position; in response to the initial orientation, controlling the autonomous mobile device to steer toward the first direction and perform the linear movement along the first direction.
The method according to claim 4, wherein determining the current pose information of the autonomous mobile device comprising: in response to the first positioning signal of the autonomous mobile device being restored, controlling the autonomous mobile device to move linearly in response to a current orientation, and recording a second displacement length corresponding to the linear movement; and in response to the second displacement length reaches a third preset displacement length, determining the current pose information of the autonomous mobile device based on the first positioning signal; wherein the third preset displacement length being less than the first preset displacement length.
The method according to claim 4, wherein determining the current pose information of the autonomous mobile device comprising: in response to the first positioning signal is absent, determining the current pose information of the autonomous mobile device based on a second positioning signal, wherein the second positioning signal is generated by an auxiliary positioning unit within the autonomous mobile device.
The method according to claim 5 or 6, wherein the first positioning signal is generated based on a real-time kinematic (RTK) mode; and the second positioning signal is generated based on an odometer and an inertial measurement unit (IMU).
The method according to claim 4, wherein determining the first direction based on the position of the obstacle in the environmental information and the initial position comprising: determining, based on the environmental information, a position of the obstacle closest to the autonomous mobile device; and determining a direction away from the obstacle closest to the autonomous mobile device as the first direction.
The method according to claim 4, wherein determining the first direction based on the position of the obstacle in the environmental information and the initial position further comprising: determining, based on the environmental information, positions of at least two obstacles within a preset range from the autonomous mobile device; pre-calculating an estimated feasible displacement for the autonomous mobile device for moving linearly in a direction away from each of the obstacles, wherein the estimated feasible displacement is a distance between the autonomous mobile device and a closest obstacle on a corresponding moving path; and when the estimated feasible displacement is greater than the first preset displacement length, determining a direction corresponding to the estimated feasible displacement as the first direction.
The method according to claim 1, wherein the current direction comprises a third direction, and repeating the steps until the displacement length corresponding to the current direction of the autonomous mobile device satisfies the first preset displacement length comprising: when the autonomous mobile device encounters the obstacle during linear movement along the second direction, and a displacement length corresponding to the second direction less than the first preset displacement length, controlling the autonomous mobile device to move linearly along the third direction, wherein the third direction is different from the second direction and an opposite direction of the second direction.
The method according to any one of claims 1, 4, 8, 9, and 10, wherein the obstacle comprises at least one of a physical obstruction, a no-entry zone, and an area boundary.
The method according to claim 6, wherein before the first positioning signal of the autonomous mobile device being restored, the method further comprises: in response to the first positioning signal of the autonomous mobile device being lost, controlling the autonomous mobile device to move according to the second positioning signal.
An autonomous mobile device, comprising: a memory and a processor; wherein the memory is connected to the processor and configured to store programs; and the processor is configured to execute the programs stored in the memory to implement the steps of the method for orienting the autonomous mobile device according to any one of claims 1 to 12.
A non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor is caused to implement the steps of the method for orienting the autonomous mobile device according to any one of claims 1 to 12.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS The present disclosure claims priority to Chinese Patent Application No. 202310996617.2, filed on August 07, 2023, with the China National Intellectual Property Administration and entitled "Method for Orienting Autonomous Mobile Device, Autonomous Mobile Device, and Storage Medium," the entire contents of which are incorporated herein by reference. Technical Field The present disclosure relates to the field of computer technologies, and in particular, to a method for an orienting autonomous mobile device, an autonomous mobile device, and a non-transitory computer-readable storage medium. Background Art An autonomous mobile device refers to equipment capable of autonomous movement without manual operation, such as: intelligent lawn mowers, robotic vacuum cleaners, etc. In complex operating environments, autonomous mobile devices are susceptible to environmental obstructions that block communication signals. These obstructions comprise, but are not limited to, buildings, trees, hills, tunnels, or other objects and terrains. When the signal between the autonomous mobile device and an external communication system is interrupted, it can result in the loss of positioning information. To ensure operational efficiency, autonomous mobile devices often continue to move based on the positioning information prior to the loss of the positioning signal. During this movement, the pose information of the device undergoes changes. When communication signals are restored, the device cannot accurately avoid obstacles or adjust its position due to the inability to determine the changes in its pose information, making it difficult to quickly correct its attitude information. This severely impacts operational efficiency. Therefore, it is necessary to propose a method to address the problem of autonomous mobile devices being unable to quickly determine orientation information when communication signals are restored. Summary The present disclosure provides a method for orienting an autonomous mobile device, an autonomous mobile device, and a non-transitory computer-readable storage medium, aiming to enable the autonomous mobile device to quickly determine its orientation when positioning is restored. According to a first aspect, the present disclosure provides a method for orienting an autonomous mobile device, the method comprising: in response to a first positioning signal of the autonomous mobile device being restored, controlling the autonomous mobile device to move linearly along a first direction, and recording a corresponding first displacement length corresponding to a linear movement along the first direction; in response to the autonomous mobile device encountering an obstacle during the linear movement along the first direction, and the first displacement length being less than a first preset displacement length, controlling the autonomous mobile device to move linearly along a second direction, wherein the second direction is different from the first direction; repeating the foregoing steps until the displacement length corresponding to a current direction of the autonomous mobile device satisfies the first preset displacement length; and determining an orientation of the autonomous mobile device according to the first positioning signal. According to a second aspect, the present disclosure also provides an autonomous mobile device, comprises a memory and a processor. The memory is configured to store a computer program, and the processor is configured to execute the computer program and, when executing the computer program, implement the steps of the method for orienting an autonomous mobile device provided in any embodiment of the present disclosure. According to a third aspect, the present disclosure also provides a non-transitory computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the processor is caused to implement the steps of the method for orienting an autonomous mobile device provided in any embodiment of the present disclosure. The method for an orienting autonomous mobile device, the autonomous mobile device, and the computer-readable storage medium disclosed in the embodiments of the present disclosure can, in response to the first positioning signal of the autonomous mobile device being restored, control the autonomous mobile device to move linearly along a first direction and record a corresponding first displacement length. In response to the autonomous mobile device encounters an obstacle while moving linearly along the first direction, and the first displacement length being less than a first preset displacement length, the autonomous mobile device is controlled to move linearly along a second direction, wherein the second direction is different from the first direction. Further, the above steps may be repeated until the displacement length corresponding to a current direction of the autonomous mobi