WO2018228258A1

WO2018228258A1 - Mobile electronic device and method therein

Info

Publication number: WO2018228258A1
Application number: PCT/CN2018/090176
Authority: WO
Inventors: 潘景良; 陈灼; 李腾; 陈嘉宏; 高鲁
Original assignee: 炬大科技有限公司
Priority date: 2017-06-16
Filing date: 2018-06-07
Publication date: 2018-12-20
Also published as: CN108459595A

Abstract

A first mobile electronic device comprises a wireless signal transceiver, an image processor, a positioning module, and a motion module, wherein the wireless signal transceiver acquires an image of a task area collected by a camera, the task area comprising the first mobile electronic device; the image processor identifies feature information of the first mobile electronic device in the image of the task area, and establishes a coordinate system for the image; the positioning module identifies the position and contour of the first mobile electronic device by comparing the identified feature information of the first mobile electronic device with the coordinate origin on the coordinate system, and draws a map of the task area; a second mobile electronic device can also be connected in a communication manner in order to transmit the map to the second mobile electronic device, and the second mobile electronic device receives a task position set by the user on the map; and a motion module receives the task position from the second mobile electronic device and plans a path on the basis of the task position and the identified position and contour of the first mobile electronic device, and moves according to the path.

Description

Mobile electronic device and method in the mobile electronic device

Technical field

The present invention relates to the field of electronic devices. In particular, the invention relates to the field of intelligent robot systems.

Background technique

The traditional sweeping robot randomly moves according to the scanned map autonomously positioned and moved or collided, and sweeps the ground at the same time. Therefore, the traditional sweeping robot cannot fully judge the complex situation of the ground during the work process because of the immature or inaccurate drawing and positioning technology, and it is easy to lose the position and direction. In addition, some models can only change direction by the physical principle of collision rebound because they do not have the positioning ability, and even cause damage to the household goods or the robot itself or even personal injury, causing interference to the user.

Summary of the invention

The mobile electronic device system according to the embodiment of the present invention, for example, the robot system performs positioning and drawing of a map by using a fixed camera installed indoors, and determines a task area by user feedback, performs path planning, and real-time locates the robot, thereby the robot Follow the planned path. This solves the problem that the robot cannot judge the ground condition, the location and the best moving route. Replace the robot's tracking sensor with a fixed camera; replace the human labor with the repeated labor of the robot, save the cost of robot intelligent research and development and equipment, and invest in the cost of sweeping the dust collecting mechanism. In addition, because the camera is fixed, the accumulated error caused by the camera disposed inside the robot is also eliminated, thereby achieving accurate positioning and map drawing.

The robot system described in the embodiment has accurate positioning and map drawing, which can improve the working efficiency of the robot and reduce the workload of the user.

A first mobile electronic device according to an embodiment includes a wireless signal transceiver, an image processor, a positioning module, and a motion module, wherein: the wireless signal transceiver is communicably connected to a camera mounted indoors, configured Acquiring an image of a task area comprising the first mobile electronic device acquired by the camera; the image processor is communicably coupled to the wireless signal transceiver, configured to identify an image of the task area Feature information of the first mobile electronic device; the positioning module is communicably coupled to the image processor, configured to establish a coordinate system and compare the identified feature information of the first mobile electronic device with a coordinate origin, Identifying a location and an outline of the first mobile electronic device and mapping a map of the task area; the positioning module is further communicably coupled to the second mobile electronic device, configured to transmit to the second mobile electronic device a map, and the second mobile electronic device receives a task location set by the user on the map; a mobile module communicatively coupled to the positioning module and the second mobile electronic device, configured to receive the mission location from the second mobile electronic device, and based on the mission location and the identified A mobile electronic device is positioned and contoured, a path is planned, and motion is performed according to the path.

Optionally or alternatively, wherein the image of the mission area further comprises at least one first obstacle, the image processor further configured to identify the at least one first obstacle in the image of the mission area Feature information; the positioning module is further configured to compare feature information of the at least one first obstacle with a coordinate origin to identify a position and a contour of the at least one obstacle; the motion module is further configured to be according to the task location Positioning the position of the first mobile electronic device and the identified position and contour of the at least one first obstacle, planning a path, and moving according to the path.

Optionally or alternatively, wherein the motion module is moving, and the camera acquires an image comprising a task area of the first mobile electronic device in real time; the image processor and the positioning module are further The feature information, location, and profile of the first mobile electronic device are dynamically determined.

Alternatively or in the alternative, the camera is mounted vertically on the ceiling of the mission area.

Optionally or alternatively, the first mobile electronic device further includes a charging post, wherein the charging post comprises the image processor and the positioning module.

Alternatively or in the alternative, the first mobile electronic device may further include a sensor that transmits second obstacle information around the first mobile electronic device to the motion module, the motion module further configured to Adjusting a motion orientation of the first mobile electronic device to avoid the second obstacle.

Alternatively or in the alternative, the first mobile electronic device, the sensor comprises an ultrasonic sensor and/or a laser sensor.

According to another invention of the present invention, a method in a first mobile electronic device, the first mobile electronic device comprising a wireless signal transceiver, an image processor, a positioning module, and a motion module, the method comprising: Communicatingly connecting to the wireless signal transceiver of at least one camera installed indoors, acquiring an image of a task area including the first mobile electronic device collected by the at least one camera; communicably connecting And the image processor to the wireless signal transceiver identifying feature information of the first mobile electronic device in an image of the task area, and establishing a coordinate system for the image, and for the task area Each point is assigned a corresponding coordinate value; by comparing the feature information of the first mobile electronic device and the coordinate origin on the established coordinate system by the positioning module communicably connected to the image processor Identifying a location and an outline of the first mobile electronic device, and mapping a map of the task area; communicably connecting to The positioning module of the mobile electronic device transmitting the map to the second mobile electronic device, and the second mobile electronic device receiving a task location set from the user on the map; The motion module coupled to the positioning module and the second mobile electronic device receives the task location from the second mobile electronic device and based on the task location and the identified first movement The position and contour of the electronic device, the planned path, and movement according to the path.

DRAWINGS

A more complete understanding of the present invention is obtained by reference to the detailed description of the accompanying drawings.

1 shows a schematic diagram of a system in which a first mobile electronic device and a second mobile electronic device are located, in accordance with one embodiment of the present invention.

2 shows a block diagram of a processor in a first mobile electronic device in accordance with one embodiment of the present invention.

3A-3D show schematic diagrams of a first mobile electronic device in accordance with one embodiment of the present invention.

4 shows a flow chart of a method in a first mobile electronic device in accordance with one embodiment of the present invention.

detailed description

Embodiment 1

1 shows a schematic diagram of a system in which a first mobile electronic device 100 and a second mobile electronic device 120 are located, in accordance with one embodiment of the present invention.

Referring to FIG. 1, the first mobile electronic device 100 includes, but is not limited to, a cleaning robot, an industrial automation robot, a service robot, a disaster relief robot, an underwater robot, a space robot, an autonomous vehicle, and the like. When the first mobile electronic device 100 is in an outdoor operating device such as an autonomous driving car, the camera can be carried by, for example, a drone flying overhead. In one embodiment, the first mobile electronic device 100 does not itself include a camera.

The second mobile electronic device 120 includes, but is not limited to, a mobile phone, a tablet computer, a notebook computer, a remote controller, and the like. The mobile electronic device optionally includes an operator interface. In an optional implementation, the mobile electronic device is a mobile phone, and the operation interface is a mobile phone APP.

The signal transmission manner between the first mobile electronic device 100 and the second mobile electronic device 120 includes, but is not limited to, Bluetooth, WIFI, ZigBee, infrared, ultrasonic, UWB, etc., in this embodiment, the signal transmission mode is WIFI as an example. Describe.

The mission area represents the venue where the first mobile electronic device 100 performs the task. For example, when the first mobile electronic device 100 is a cleaning robot, the mission area represents an area where the cleaning robot needs to be cleaned. For another example, when the first mobile electronic device 100 is a disaster relief robot, the mission area indicates a place where the disaster relief robot needs to be rescued.

As shown in FIG. 1, in one embodiment, the first mobile electronic device 100 includes a wireless signal transceiver 102, an image processor 1040, a positioning module 1042, and a motion module 106. In addition, the first mobile electronic device 100 further includes an encoder and an Inertial Measurement Unit (IMU), which are carried by the first mobile electronic device 100, that is, the robot 100 itself. In addition, the first mobile electronic device 100 may further include a memory 110, a data processor 1046, which may be on the robot 100 or inside the charging post, optionally inside the charging post. The two functions of the memory 110 and the data processor 1046 are to store and process image information, data information, and the like. Memory 110 is communicably coupled to processor 104. Data processor 1046 is located in processor 104. As shown in FIG. 2, data processor 1046 is coupled to image processor 1040 and path planning module 1044.

The wireless signal transceiver 102 is communicably coupled to a camera 140 mounted indoors. The wireless signal transceiver 102 is configured to acquire an image of the mission area, including the first mobile electronic device 100, captured by the camera 140. For example, the indoor plane is photographed in a bird's-eye view using a camera 140 fixed to the ceiling. The wireless communication module in the camera 140 is connected to the wireless communication module 102 in the first mobile electronic device 100 via WIFI.

Image processor 1040 is communicably coupled to wireless signal transceiver 102 and is configured to identify feature information of first mobile electronic device 100 in an image of the mission area. In addition, the image processor 1040 also establishes a two-dimensional coordinate system for the planar image, and assigns corresponding coordinate values to each point in the room. The positioning module 1042 is communicably coupled to the image processor 1040, configured to compare the identified feature information of the first mobile electronic device 100 with a coordinate origin on the established coordinate system to identify the location and contour of the first mobile electronic device 100. And draw a map of the mission area.

For example, the indoor plan view taken in the camera 140 is passed to the image processor 1040 in the first mobile electronic device 100 for processing analysis. The function of image processor 1040 is to identify features of first mobile electronic device 100 in the image. Optionally, the graphics processor 1040 may identify the features by using a Scale Invariant Feature Transform (SIFT) algorithm or a Speeded Up Robust Features (SURF) algorithm. With the SIFT algorithm, a reference image needs to be stored in the memory 110. The image processor 1040 first identifies the key points of the object of the reference image stored in the memory 110, extracts the SIFT features, and then compares the SIFT features of the respective key points in the memory 110 with the SIFT features of the newly acquired image, and then based on the K nearest neighbor The matching feature of the algorithm (K-Nearest Neighbor KNN) to identify objects in the new image. The SURF algorithm is based on an approximate 2D Haar wavelet response and uses an integral image for image convolution using a Hessian matrix-based measure for the detector. And use a distribution-based descriptor. Those skilled in the art will appreciate that image processor 1040 and positioning module 1042 may both be included in processor 104. Processor 104 will be further described below in conjunction with FIG.

The positioning module 1042 is communicably coupled to the image processor 1040 and configured to identify the location and contour of the first mobile electronic device 100 by establishing a coordinate system and comparing the identified feature information of the first mobile electronic device 100 with a coordinate origin. Draw a map of the mission area. The location module 1042 is also communicatively coupled to the second mobile electronic device 120, further configured to transmit the map to the second mobile electronic device 120, and the second mobile electronic device 120 receives the task location set from the user on the map. For example, the positioning module 1042 establishes a plane rectangular coordinate system for the processed planar image, sets the location of the charging pile as the coordinate origin, and each point in the image corresponds to a coordinate value (X, Y), marking the first mobile electronic device. The position and contour of the 100 is achieved for the development of indoor maps. The user's second mobile electronic device 120, such as the handset 120, is coupled to the wireless signal transceiver 102 of the first mobile electronic device 100 via WIFI. The APP of the mobile phone 120 reads the prepared indoor map, and the user sets the task position on the map by using the mobile APP, that is, a single or multiple positions to be cleaned (corresponding to X, Y coordinate information), and the first mobile electronic device 100 The positioning module 1042 records the set position information. At the same time, the first mobile electronic device 100 searches for the first mobile electronic device 100, such as the image of the cleaning robot 100, by using the ceiling camera 140 and its internal image processing module 1040, and cooperates with the positioning module 1042 to coordinate information in the real-time map of the robot 100. , Y) for positioning.

The motion module 106 is then communicably coupled to the positioning module 1042 and the second mobile electronic device 120, configured to receive a mission location from the second mobile electronic device 120, and based on the mission location and the identified first mobile electronic device The position and contour, the planning path, and the movement according to the path.

In addition, the first mobile electronic device 100, for example, the robot 100 further includes a robot encoder and an inertial measurement module IMU to assist the camera 140 in acquiring the position and posture of the robot. For example, when the robot is shielded from the camera line of sight, both the encoder and the IMU can provide the position and attitude of the robot. For example, the encoder can be used as an odometer to calculate the trajectory of the robot 100 by recording the rotation information of the robot wheel.

Alternatively or additionally, the image of the mission area further includes at least one first obstacle. The image processor 1040 is further configured to identify feature information of the at least one first obstacle in the image of the mission area. As discussed above, image processor 1040 can perform image recognition using SIFT or SURF algorithms. The positioning module 1042 is further configured to compare the feature information of the at least one first obstacle with a coordinate origin to identify the position and contour of the at least one obstacle. The obstacle avoidance module 1048 and the motion module 106 are further configured to determine a task location selected by the user using the second mobile electronic device 120, such as the handset 120, the location of the located first mobile electronic device 100, and the identified at least one first The position and contour of the obstacle, the path is planned, and motion is performed according to the path. For example, after both the cleaning position information and the robot position information are confirmed, the path planning module 1044 in the first mobile electronic device 100 plans an optimal path that can avoid the obstacle, and transmits the path information to the robot 100 through the wireless network. In the motion module 106, the robot 100 starts from this path to the cleaning location to start the task.

Alternatively or additionally, the motion module 106 is moving and the camera 140 acquires an image of the mission area including the first mobile electronic device in real time. The image processor 1040 and the positioning module 1042 are also for dynamically determining feature information, location, and contours of the first mobile electronic device 100.

Alternatively or additionally, the first mobile electronic device 100 may further include a sensor 108 that transmits second obstacle information around the first mobile electronic device 100 to the motion module 106. The motion module 106 is also configured to adjust the motion orientation of the first mobile electronic device 100 to avoid the second obstacle. It can be understood that because the height of the installation is different, the camera 140 mounted on the ceiling captures the top view information, and the sensor mounted on the first mobile electronic device 100 acquires the head-up information, so the camera 140 mounted on the ceiling captures the image. The obstacle information may be different from the obstacle of the sensor in the robot because there may be shadowing. The motion module 106 integrates the first obstacle information captured by the camera 140 mounted on the ceiling and the second obstacle information sensed by the sensor to perform an obstacle avoidance planning path. Alternatively or in the alternative, the sensor comprises an ultrasonic sensor and/or a laser sensor. It can be understood that the first obstacle and the second obstacle may be the same or different. Therefore, the camera 140 and the sensor 108 can assist each other. For example, if there is shielding, the robot 100 needs to perform obstacle avoidance by its own laser sensor, ultrasonic sensor, or the like in the shaded portion.

For example, during the movement of the first mobile electronic device 100, for example, the robot 100, the image processor 1040 and the positioning module 1042 in the first mobile electronic device 100 dynamically track the robot 100 using the ceiling camera 140 to ensure the position of the robot 100. The information is accurate, and the laser sensor and ultrasonic sensor mounted on the robot 100 also detect the static and dynamic environment around the robot, and help avoid static and dynamic obstacles and adjust the optimal path.

Alternatively or in the alternative, the camera 140 is mounted vertically on the ceiling of the mission area. The camera 140 can be, for example, a wide-angle camera, such as a fisheye camera. Therefore, when the image processor 1040 uses the photo taken by the camera 140, only the height information needs to be considered, so that the captured image is scaled, and the target in the image can be obtained (for example, the first mobile electronic device 100, for example, The actual distance between the robot and the first obstacle). The height information may be acquired by an altimeter or a distance measuring device, such as a laser range finder or an infrared range finder. The height information may be measured by the first mobile electronic device 100 or may be pre-stored in the first mobile electronic device 100. in.

Alternatively or in the alternative, the camera 140 may also reuse the surveillance camera. For example, the surveillance camera 140 can be mounted on a wall, and the first mobile electronic device 100 obtains the distance between the targets according to a trigonometric function or the like. If you want to use the original surveillance camera, you need to know the height of the surveillance camera and the angle of the lens to calculate the proportion of the image to get the accurate size value.

Alternatively or in the alternative, if the lens angle of a single camera is limited, multiple cameras mounted on the ceiling can be used simultaneously to cover a wider area, even covering the entire room.

Alternatively or in the alternative, the first mobile electronic device 100 further includes a charging post 160, wherein the charging post 160 includes a processor 104. For example, the charging station includes an image processor 1040 and a positioning module 1042.

Embodiment 2

3A-3D show schematic diagrams of a first mobile electronic device 100 in accordance with one embodiment of the present invention. Hereinafter, the first mobile electronic device 100 will be described as an example of the robot 300.

Referring to Figures 3A-3D, the robot 300 is mainly composed of a main body 310, a wireless transceiver 320, a microprocessor 330, a sensor 340, and a charging post 350. The user can implement the fixed point function in a certain area through the wireless transceiver 320, the microprocessor 330 and the charging post 350, and assist the main body 310 through the sensor 340 to perform the specified function operation.

Referring to FIGS. 3A and 3B, the main body 310 is a carrier of the microprocessor 330 and the sensor 340, and the microprocessor 330 can assist the control unit of the main body 310 to perform functions such as movement.

Referring to FIG. 3C and FIG. 3D, the wireless transceiver 320 can transmit communication signals such as Bluetooth, WIFI, ZigBee, infrared, and ultrasonic waves through mobile electronic devices such as mobile phones and computers, and can also perform position information interaction with the microprocessor 330 and the charging pile 350. The function sends the location information to the microprocessor 330 in an instructional manner.

Referring to FIG. 3B, the microprocessor 330 is disposed on the host body 310, can receive an instruction sent by the wireless transceiver 320, and performs program processing on the received instruction, and transmits the processed result to the control unit of the host body 310 to execute the corresponding task. The microprocessor 330 can also transmit communication signals such as Bluetooth, WIFI, ZigBee, infrared, ultrasonic, etc. to the charging pile 350 to realize an automatic back-stack charging function.

Referring to FIG. 3A, the sensor 340 can detect the surrounding environment in real time, and realize the functions of intelligent obstacle avoidance, communication signal detection and transmission.

Referring to FIG. 3D, the charging post 350 can receive the signal transmitted by the wireless transceiver 320, and can also receive the communication signal sent by the microprocessor 330 to implement the location information interaction function, thereby guiding the microprocessor 330 to control the host body 310 to implement the back-charge charging. The function.

Embodiment 3

4 illustrates a method 400 in a first mobile electronic device, wherein the first mobile electronic device 100 includes a wireless signal transceiver 102, an image processor 1040, a positioning module 1042, and a motion module 106. The method 400 includes acquiring, in block 410, an image of a mission area, including the first mobile electronic device 100, captured by the camera 140 by a wireless signal transceiver 102 communicably coupled to a camera 140 mounted indoors; The feature information of the first mobile electronic device 100 in the image of the mission area is identified in block 420 by the image processor 1040 communicatively coupled to the wireless signal transceiver 102; in block 430, the image is communicably coupled to the image The positioning module 1042 of the processor 1040 identifies the location and contour of the first mobile electronic device 100 by establishing a coordinate system and comparing the identified feature information of the first mobile electronic device 100 with the coordinate origin, and mapping the task area. In block 440, the map is transmitted to the second mobile electronic device via a positioning module 1042 communicably coupled to the second mobile electronic device, and the second mobile electronic device receives the task location set from the user on the map And in block 450, received by the motion module 106 communicatively coupled to the positioning module 1042 and the second mobile electronic device Task location of the mobile electronic device, and, based on the movement path and the position of the identified task location and a first mobile electronic device 100 and the outline of the planned path.

Optionally or alternatively, wherein the image of the mission area further comprises at least one first obstacle, the method 400 further comprising (not shown): identifying, by the image processor 1040, at least one of the images of the mission area Feature information of an obstacle; comparing the feature information of the at least one first obstacle with the coordinate origin by the positioning module 1042, identifying the position and contour of the at least one obstacle; and the first position of the positioning according to the task position by the motion module 106 Moving the position of the electronic device 100 and the identified position and contour of the at least one first obstacle, planning a path, and moving according to the path.

Optionally or alternatively, the method 400 further includes (not shown): moving through the motion module 106; acquiring an image of the mission area including the first mobile electronic device 106 in real time by the camera; The device 1040 and the positioning module 1042 dynamically determine feature information, location, and contours of the first mobile electronic device 100.

Alternatively or in the alternative, method 400 further includes (not shown) assisting the camera in acquiring the first mobile electronic device by an encoder and an inertial measurement module communicably coupled to the processor The position and posture.

Optionally or alternatively, wherein the first mobile electronic device 100 further includes a charging post 160, wherein the charging post 160 includes an image processor 1040 and a positioning module 1042.

Alternatively or in the alternative, wherein the first mobile electronic device 100 may further include a sensor 108, the method 400 further includes (not shown) sending the second obstacle information around the first mobile electronic device 100 through the sensor 108. To the motion module 106; and adjusting the motion orientation of the first mobile electronic device 100 by the motion module 106 to avoid the second obstacle.

Alternatively or additionally, wherein the sensor comprises an ultrasonic sensor and/or a laser sensor.

In the foregoing description, the invention has been described with reference to the specific embodiments of the embodiments of the present invention, and the various modifications and changes can be made without departing from the scope of the invention as set forth herein. The specification and drawings are to be regarded as illustrative and not restrictive Therefore, the scope of the invention should be determined by the general embodiments described herein and their legal equivalents For example, the steps described in any method or process embodiment can be performed in any order and are not limited to the precise order presented in the particular embodiments. In addition, the components and/or components described in any device embodiment may be assembled in various arrangements or otherwise operatively configured to produce substantially the same results as the present invention, and thus are not limited to the specific embodiments described in the specific embodiments. Configuration.

The benefits, other advantages, and solutions of the problems have been described above with regard to specific embodiments; however, any benefit, advantage, or solution of the problem, or any component that can cause any particular benefit, advantage, or solution to occur or become more apparent It should be interpreted as a critical, essential or essential feature or component.

The term "comprising," "comprising," or any variants thereof, as used herein, is intended to be inclusive of a non-exclusive inclusion, such that a process, method, article, composition, or device comprising a list of elements includes not only those elements described. It is also possible to include the main processes, methods, articles, compositions or devices that are not explicitly listed or inherent. Other combinations and/or modifications of the above-described structures, arrangements, applications, ratios, elements, materials or components used in the practice of the invention may be changed, or otherwise specifically adapted to the specifics. The environment, manufacturing specifications, design parameters or other operational requirements, without departing from the general principles.

Although the present invention has been described herein with reference to certain preferred embodiments thereof, those skilled in the art can readily understand that other applications may be substituted for those described herein without departing from the spirit and scope of the invention. Accordingly, the invention is limited only by the claims that follow.

Claims

A first mobile electronic device includes a wireless signal transceiver, an image processor, a positioning module, and a motion module, wherein:

The wireless signal transceiver is communicably coupled to at least one camera mounted indoors, configured to acquire an image of a mission area including the first mobile electronic device collected by the at least one camera;

The image processor communicatively coupled to the wireless signal transceiver, configured to identify feature information of the first mobile electronic device in an image of the mission area, and establish a coordinate system for the image, and Each point in the task area is assigned a corresponding coordinate value;

The positioning module is communicably coupled to the image processor, configured to compare feature information of the identified first mobile electronic device with a coordinate origin on the established coordinate system, and identify a location of the first mobile electronic device With the outline, and draw a map of the mission area;

The positioning module is also communicably coupled to the second mobile electronic device, configured to transmit the map to the second mobile electronic device, and the second mobile electronic device receives a setting from the user on the map Task location;

The motion module is communicably coupled to the positioning module and the second mobile electronic device, configured to receive the task location from the second mobile electronic device, and based on the task location and the identified location The position and contour of the first mobile electronic device are described, the path is planned, and motion is performed according to the path.
The first mobile electronic device of claim 1 wherein the image of the mission area further comprises at least one first obstacle,

The image processor is further configured to identify feature information of the at least one first obstacle in an image of the task area;

The positioning module is further configured to compare feature information of the at least one first obstacle with a coordinate origin, and identify a position and an outline of the at least one obstacle;

The motion module is further configured to plan a path according to the task location, the located position of the first mobile electronic device, and the identified position and contour of the at least one first obstacle, and perform motion according to the path .
The first mobile electronic device of claim 1, wherein the motion module is moving, and the at least one camera acquires an image including a mission area of the first mobile electronic device in real time;

The image processor and the positioning module are further configured to dynamically determine the feature information, location, and contour of the first mobile electronic device.
The first mobile electronic device of claim 1 further comprising

An encoder and an inertial measurement module communicatively coupled to the processor are configured to assist the at least one camera in acquiring a position and attitude of the first mobile electronic device.
The first mobile electronic device of claim 1, wherein the at least one camera is mounted vertically on a ceiling of the mission area.
A first mobile electronic device according to any one of claims 1 to 5, further comprising a charging post, wherein the charging post comprises the image processor and the positioning module.
The first mobile electronic device according to any one of claims 1 to 5, further comprising a sensor that transmits second obstacle information around the first mobile electronic device to the motion module, The motion module is further configured to adjust a motion orientation of the first mobile electronic device to avoid the second obstacle.
The first mobile electronic device of claim 7, the sensor comprising an ultrasonic sensor and/or a laser sensor.
A method in a first mobile electronic device, the first mobile electronic device comprising a wireless signal transceiver, an image processor, a positioning module, and a motion module, the method comprising:

Acquiring an image of a mission area including the first mobile electronic device collected by the at least one camera by the wireless signal transceiver communicably coupled to at least one camera mounted indoors;

Identifying, by the image processor communicably coupled to the wireless signal transceiver, feature information of the first mobile electronic device in an image of the mission area, and establishing a coordinate system for the image, and Each point in the task area is assigned a corresponding coordinate value;

Identifying the first mobile electronic device by comparing the feature information of the identified first mobile electronic device with the coordinate origin on the established coordinate system by the positioning module communicably connected to the image processor Position and outline, and draw a map of the mission area;

Transmitting the map to the second mobile electronic device by the positioning module communicably coupled to the second mobile electronic device, and the second mobile electronic device receives a task from the user set on the map Location;

Receiving, by the motion module communicatively coupled to the positioning module and the second mobile electronic device, the task location from the second mobile electronic device, and based on the task location and the identified location The position and contour of the first mobile electronic device are described, the path is planned, and motion is performed according to the path.
The method of claim 9 wherein the image of the mission area further comprises at least one first obstacle, the method further comprising:

Identifying, by the image processor, feature information of the at least one first obstacle in an image of the task area;

And comparing, by the positioning module, feature information of the at least one first obstacle with a coordinate origin, and identifying a position and an outline of the at least one obstacle;

And, by the motion module, planning a path according to the task position, the located position of the first mobile electronic device, and the identified position and contour of the at least one first obstacle, and performing motion according to the path.
The method of claim 9 further comprising:

Performing motion through the motion module;

Acquiring, by the at least one camera, an image of a task area including the first mobile electronic device in real time;

The feature information, location and contour of the first mobile electronic device are dynamically determined by the image processor and the positioning module.
The method of claim 11 further comprising:

The at least one camera is assisted in acquiring the position and attitude of the first mobile electronic device by an encoder and an inertial measurement module communicably coupled to the processor.
A method according to any of claims 9-12, wherein the at least one camera is mounted vertically on the ceiling of the mission area.
The method of any of claims 9-12, wherein the first mobile electronic device further comprises a charging post, wherein the charging post comprises the image processor and the positioning module.
The method of any of claims 9-12, wherein the first mobile electronic device further comprises a sensor, the method further comprising

Transmitting, by the sensor, second obstacle information around the first mobile electronic device to the motion module;

Adjusting a motion orientation of the first mobile electronic device by the motion module to avoid the second obstacle.
The method of claim 15 wherein the sensor comprises an ultrasonic sensor and/or a laser sensor.