US-20260126811-A1 - INTELLIGENT CONTROL METHOD AND AUTONOMOUS MOBILE DEVICE

US20260126811A1US 20260126811 A1US20260126811 A1US 20260126811A1US-20260126811-A1

Abstract

An intelligent control method and an autonomous mobile device are provided. The intelligent control method includes: during the autonomous mobile device traveling along the planned path, in response to detecting that the autonomous mobile device has reached a boundary line before arriving at a turning point of the planned path, acquiring actual coordinates of a first marker point and preset coordinates of the first marker point within a virtual map, the first marker point is configured to indicate the position where the autonomous mobile device has reached the boundary line, and in response to the actual coordinates of the first marker point being inconsistent with the preset coordinates, activating a calibration process for the planned path to obtain a calibrated planned path.

Inventors

Donghui ZHU

Assignees

JIANGSU DONGCHENG M&E TOOLS CO., LTD.

Dates

Publication Date: 20260507
Application Date: 20251230
Priority Date: 20240311

Claims (20)

1 . An intelligent control method, applied to an autonomous mobile device, and comprising operations: 101 , causing the autonomous mobile device to travel and perform tasks along a planned path, wherein the planned path is initially set based on a virtual map; 102 , during the autonomous mobile device traveling along the planned path, in response to detecting that the autonomous mobile device has reached a first boundary line before arriving at a turning point of the planned path, acquiring actual coordinates of a first marker point and preset coordinates of the first marker point within the virtual map, wherein the first marker point is configured to indicate a position where the autonomous mobile device has reached the first boundary line; and 103 , in response to the actual coordinates of the first marker point being inconsistent with the preset coordinates, activating a calibration process for the planned path to obtain a calibrated planned path.
2 . The intelligent control method according to claim 1 , further comprising: causing the autonomous mobile device to travel and perform tasks along the calibrated planned path, and repeating the operations 102 to 103 .
3 . The intelligent control method according to claim 1 , wherein the planned path comprises long sides and short sides, and a spacing between two adjacent long sides is set based on a width of a cutter disc of the autonomous mobile device.
4 . The intelligent control method according to claim 3 , wherein the spacing is greater than 0 and less than or equal to D, where D is the width of the cutter disc of the autonomous mobile device.
5 . The intelligent control method according to claim 3 , wherein the spacing is greater than 0 and less than or equal to 45 cm.
6 . The intelligent control method according to claim 3 , further comprising: in response to detecting an obstacle while the autonomous mobile device traveling along an advancing long side in the long sides of the planned path, causing the autonomous mobile device to move along an edge of the obstacle until the autonomous mobile device returns to the advancing long side; and causing the autonomous mobile device to continue traveling along the advancing long side until the autonomous mobile device contacts the first boundary line.
7 . The intelligent control method according to claim 3 , wherein the calibration process in the operation 103 comprises: during the autonomous mobile device traveling along an advancing long side in the long sides of the planned path, in response to the actual coordinates of the first marker point being inconsistent with the preset coordinates, implementing the calibration process on a short side subsequent to the advancing long side, to obtain a calibrated short side.
8 . The intelligent control method according to claim 7 , further comprising: after completing the calibration process on the calibrated short side, during the autonomous mobile device traveling along the calibrated short side, in response to detecting that the autonomous mobile device has reached a second boundary line before arriving at a turning point of the planned path, acquiring actual coordinates of a second marker point and preset coordinates of the second marker point within the virtual map, wherein the second boundary line intersects with the first boundary line, and the second marker point is configured to indicate the position where the autonomous mobile device reaches the second boundary line; and in response to the actual coordinates of the second marker point being inconsistent with the preset coordinates, implementing the calibration process on a long side subsequent to the calibrated short side, to obtain a calibrated long side.
9 . The intelligent control method according to claim 8 , wherein the calibration process comprises the following operations: calculating positioning deviation values (D x , D y ) between actual coordinates of a target marker point and preset coordinates of the target marker point by a calculation formula: ( D x , D y ) = ❘ "\[LeftBracketingBar]" ( x 2 - x 1 , ⁢ y 2 - y 1 ) ❘ "\[RightBracketingBar]" ; wherein the target marker point comprises the first marker point and the second marker point, and the target marker point is configured to indicate the position where the autonomous mobile device reaches the boundary line, D x represents a positioning deviation value along the x-axis, and D y represents a positioning deviation value along the y-axis, (x 1, y 1 ) denotes the actual coordinates of the target marker point, (x 2, y 2 ) denotes the preset coordinates of the target marker point within the virtual map, and |(x 2 −x 1, y 2 −y 1 )| represents an absolute value of (x 2 −x 1, y 2 −y 1 ); and translating start and end points of the short side subsequent to the advancing long side based on the positioning deviation value to obtain a calibrated planned path, or translating start and end points of the long side subsequent to the calibrated short side based on the positioning deviation value to obtain a calibrated planned path.
10 . The intelligent control method according to claim 9 , further comprising: in response to both D x and D y being less than a preset threshold, translating the short side subsequent to the advancing long side based on the positioning deviation values, or translating the long side subsequent to the calibrated short side based on the positioning deviation values, to obtain the calibrated planned path; and in response to either D x or D y exceeding the preset threshold, triggering a repositioning operation.
11 . The intelligent control method according to claim 1 , further comprising: calculating a mowing coverage rate of a working area within the virtual map; and in response to the mowing coverage rate being less than a preset value, implementing a repositioning operation, and causing the autonomous mobile device to perform a mowing task within the working area again, wherein the path direction of the mowing task differs from the path direction of previous mowing task.
12 . An autonomous mobile device, comprising: a boundary detection device, configured to detect a boundary line; a positioning device, configured to output real-time position information of the autonomous mobile device; a controller, electrically connected to the boundary detection device and the positioning device, and configured to implement the following operations: causing the autonomous mobile device to perform tasks along a planned path, wherein the planned path is initially set based on a virtual map; during the autonomous mobile device traveling along the planned path, in response to detecting that the autonomous mobile device has reached a first boundary line before arriving at a turning point of the planned path, acquiring actual coordinates of a first marker point and preset coordinates of the first marker point within the virtual map, wherein the first marker point is configured to indicate the position where the autonomous mobile device has reached the first boundary line; and in response to the actual coordinates of the first marker point being inconsistent with the preset coordinates, activating a calibration process for the planned path to obtain a calibrated planned path.
13 . The autonomous mobile device according to claim 12 , wherein the autonomous mobile device interacts with a terminal, and the terminal displays the position of the intelligent control device relative to the boundary line in real time; and the operations further include: before activating the calibration process, causing the autonomous mobile device or the terminal to send an alarm signal, wherein the alarm signal includes at least one of a buzzer alarm, vibration, a voice prompt, and LED flashing, and the alarm signal is configured to indicate that the autonomous mobile device has exited the boundary line.
14 . The autonomous mobile device according to claim 12 , wherein the operations further comprise: after completing the calibration process, in response to the autonomous mobile device receiving a first signal, causing the autonomous mobile device to shut down, wherein the first signal is configured to indicate that the autonomous mobile device has exited the boundary line.
15 . The autonomous mobile device according to claim 12 , wherein the calibration process comprises at least: during the autonomous mobile device traveling along an advancing long side in the long sides of the planned path, in response to the actual coordinates of the first marker point being inconsistent with the preset coordinates, implementing the calibration process on a short side subsequent to the target long side, to obtain a calibrated short side.
16 . The autonomous mobile device according to claim 15 , wherein the operations further comprise: after completing the calibration process on the calibrated short side, during the autonomous mobile device travelling along the calibrated short side, upon the boundary detection device detecting that the autonomous mobile device has reached a second boundary line before arriving at a turning point of the planned path, acquiring the actual coordinates of a second marker point and the preset coordinates of the second marker point within the virtual map, wherein the second boundary line intersects with the first boundary line, and the second marker point is configured to indicate the position where the autonomous mobile device reaches the second boundary line; and in response to the actual coordinates of the second marker point being inconsistent with the preset coordinates, implementing the calibration process on a long side subsequent to the calibrated short side, to obtain a calibrated long side.
17 . The autonomous mobile device according to claim 16 , wherein the calibration process comprises the following operations: calculating positioning deviation values (D x , D y ) between actual coordinates of a target marker point and preset coordinates of the target marker point by a calculation formula: ( D x , D y ) = ❘ "\[LeftBracketingBar]" ( x 2 - x 1 , ⁢ y 2 - y 1 ) ❘ "\[RightBracketingBar]" ; wherein the target marker point comprises the first marker point and the second marker point, and the target marker point is configured to indicate the position where the autonomous mobile device reaches the boundary line, D x represents a positioning deviation value along the x-axis, D y represents a positioning deviation value along the y-axis, (x 1, y 1 ) denotes the actual coordinates of the target marker point, (x 2, y 2 ) denotes the preset coordinates of the target marker point within the virtual map, and |(x 2 −x 1, y 2 −y 1 )| represents an absolute value of (x 2 −x 1, y 2 −y 1 ); and translating start and end points of the short side subsequent to the advancing long side based on the positioning deviation value to obtain a calibrated planned path; or translating start and end points of the long side subsequent to the calibrated short side based on the positioning deviation value to obtain a calibrated planned path.
18 . The autonomous mobile device according to claim 17 , wherein the operations further comprise: in response to both D x and D y being less than a preset threshold, translating the short side subsequent to the advancing long side based on the positioning deviation value, or translating the long side subsequent to the calibrated short side based on the positioning deviation value, to obtain the calibrated planned path; and in response to either D x or D y exceeding the preset threshold, triggering a repositioning operation.
19 . The autonomous mobile device according to claim 12 , wherein the operations further comprise: calculating a mowing coverage rate of a working area within the virtual map; and in response to the mowing coverage rate being less than a preset value, implementing a repositioning operation, and causing the autonomous mobile device to perform a mowing task within the working area again, wherein the path direction of the mowing task differs from the path direction of previous mowing task.
20 . An autonomous mobile device, comprising a memory and a processor, wherein the memory is configured to store computer-executable instructions, and the processor is configured to call the computer-executable instructions in the memory to cause the autonomous mobile device to implement the intelligent control method according to claim 1 .

Description

CROSS REFERENCE TO RELATED APPLICATIONS The present disclosure is a continuation of PCT Patent Application No. PCT/CN2025/079744, entitled “INTELLIGENT CONTROL METHOD AND AUTONOMOUS MOBILE DEVICE,” filed on Feb. 28, 2025, which claims priority to Chinese Patent Application No. CN202410273120.2, entitled “INTELLIGENT CONTROL METHOD AND AUTONOMOUS MOBILE DEVICE,” filed on Mar. 11, 2024, which is incorporated by reference herein in its entirety. TECHNICAL FIELD The present disclosure relates to the technical field of robotics, and more specifically to an intelligent control method and an autonomous mobile device. BACKGROUND With the continuous advancement of computer and communication technologies, autonomous mobile devices such as smart lawn mowers have been widely adopted for maintaining residential lawns and trimming large-scale grassy areas. This has greatly streamlined user operations, freeing them from tedious and time-consuming labor. Most smart lawn mowers use inertial navigation systems. When a smart lawn mower follows pre-planned paths within a virtual map and implements mowing of lawns, the inertial navigation systems gradually drift over time because of factors like wheel slippage, causing increasing positioning errors. SUMMARY Embodiments of the present disclosure provide an intelligent control method, which solves the problem of the autonomous mobile device caused by positioning deviation and other factors. In a first aspect, some embodiments of the present disclosure provide an intelligent control method, applied to an autonomous mobile device, and the method includes the following operations: 101, causing the autonomous mobile device to perform tasks along a planned path, the planned path being initially set based on a virtual map;102, during the autonomous mobile device traveling along the planned path, in response to detecting that the autonomous mobile device has reached a first boundary line before arriving at a turning point of the planned path, acquiring actual coordinates of a first marker point and preset coordinates of the first marker point within the virtual map, the first marker point being configured to indicate the position where the autonomous mobile device has reached the first boundary line; and103, in response to the actual coordinates of the first marker point being inconsistent with the preset coordinates, activating a calibration process for the planned path to obtain a calibrated planned path. In a second aspect, some embodiments of the present disclosure provide an autonomous mobile device, the device includes: a boundary detection device, configured to detect a boundary line;a positioning device, configured to output real-time position information of the autonomous mobile device;a controller, electrically connected to the boundary detection device and the positioning device, and configured to implement the following operations: causing the autonomous mobile device to perform tasks along a planned path, the planned path being initially set based on a virtual map;during the autonomous mobile device traveling along the planned path, in response to detecting that the autonomous mobile device has reached a first boundary line before arriving at a turning point of the planned path, acquiring actual coordinates of a first marker point and preset coordinates of the first marker point within the virtual map, the first marker point being configured to indicate the position where the autonomous mobile device reaches the first boundary line; andin response to the actual coordinates of the first marker point being inconsistent with the preset coordinates, activating a calibration process for the planned path to obtain a calibrated planned path. In a third aspect, some embodiments of the present disclosure provide an autonomous mobile device including a memory and a processor. The memory is configured to store computer-executable instructions, and the processor is configured to call the computer-executable instructions in the memory to cause the autonomous mobile device to implement the intelligent control method as described in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic flow chart of an intelligent control method according to some embodiments of the present disclosure. FIG. 2 is a first schematic diagram of a planned path according to some embodiments of the present disclosure. FIG. 3 is a second schematic diagram of a planned path according to some embodiments of the present disclosure. FIG. 4 is another schematic flow chart of an intelligent control method according to some embodiments of the present disclosure. FIG. 5 is a schematic diagram of an intelligent control method according to some embodiments of the present disclosure. FIG. 6 is a schematic diagram of an intelligent control device according to some embodiments of the present disclosure. FIG. 7 is a schematic diagram of the hardware structure of an autonomous mobile device according