Information collection method, device and storage medium

Abstract

Embodiments of the present application provide an information collection method and device and a storage medium. In the embodiments of the present application, an autonomous mobile device can collect environmental information through a structured light module, and supplement the collection of obstacle information in the blind area range of the structured light module through the execution of a supplementing action, so that the autonomous mobile device detects richer and more accurate environmental information in the process of executing a task, and avoids missing lower obstacle information. Further, according to the detected obstacle information, obstacle avoidance and construction of an environmental map can be realized, thereby providing a basis for subsequent execution of a work task and obstacle avoidance.

Description

[0001] The case is the divisional application of the patent application with application number 2020104133987, application date May 15, 2020, and patent name "information collection method, device and storage medium". Figure 1a TECHNICAL FIELD

[0002] The present application relates to the technical field of artificial intelligence, and in particular to an information collection method, device and storage medium. BACKGROUND

[0003] With the development of artificial intelligence technology, robots have gradually entered people's daily life, bringing great convenience to people's life. For example, a sweeping robot can automatically clean a room, saving a lot of manpower and material resources.

[0004] The existing sweeping robot is usually provided with a sensor such as a laser radar or a camera, which collects periodic environmental information by using the sensor, so as to construct an environmental map or avoid obstacles during travel. However, the sensor on the existing sweeping robot may not be able to detect some low obstacles on the ground, so that during cleaning or moving, collisions, entanglements and other problems are likely to occur. SUMMARY

[0005] The present application provides an information collection method, device and storage medium, which solves the problem that an autonomous mobile device cannot detect low obstacles during travel, and improves the richness and accuracy of collected environmental information.

[0006] The present application provides an environmental information collection method, which is suitable for an autonomous mobile device, and the method comprises: in a travel process, collecting obstacle information in a front area by using a structured light module on the autonomous mobile device; in the case that the structured light module collects obstacle information, performing a supplement action on a blind area range outside the blind area range of the structured light module; and in the process of performing the supplement action, supplementally collecting obstacle information in the blind area range by using the structured light module.

[0007] The present application also provides an autonomous mobile device, which comprises: a device body, a structured light module, a processor and a memory storing a computer program on the device body; and the processor is configured to execute the computer program to: collect obstacle information in a front area by using the structured light module in a travel process of the autonomous mobile device; in the case that the structured light module collects obstacle information, perform a supplement action on a blind area range outside the blind area range of the structured light module; and in the process of performing the supplement action, supplementally collect obstacle information in the blind area range by using the structured light module.

[0008] The embodiment of the present application further provides a computer readable storage medium storing a computer program, when the computer program is executed by a processor, the processor is caused to at least implement the following actions: collecting obstacle information in a front area by using a structured light module during travel of the autonomous mobile device; in the case that the structured light module collects the obstacle information, performing a gap filling action for a blind area range of the structured light module outside the blind area range; during the gap filling action, collecting obstacle information in the blind area range by using the structured light module.

[0009] In the embodiment of the present application, the autonomous mobile device can collect environmental information by using the structured light module, and collect obstacle information in a blind area range of the structured light module by performing a gap filling action, so that the autonomous mobile device can detect richer and more accurate environmental information during task execution, and avoid missing lower obstacle information. Further, obstacle avoidance and environment map construction can be realized according to the detected obstacle information, to provide a basis for subsequent execution of a work task and obstacle avoidance. BRIEF DESCRIPTION OF DRAWINGS

[0010] The accompanying drawings, which are included to provide a further understanding of the present application, constitute a part of the present application, and the illustrative embodiments of the present application and their description serve to explain the present application, and do not limit the present application. In the drawings:

[0011] Figure 1b A structural schematic diagram of a structured light module provided by the embodiment of the present application is shown in the figure;

[0012] Figure 2a A structural schematic diagram of another structured light module provided by the embodiment of the present application is shown in the figure;

[0013] Figure 2b A process schematic diagram of obstacle detection of an autonomous mobile device provided by the embodiment of the present application is shown in the figure;

[0014] Figure 3a A process schematic diagram of obstacle detection of another autonomous mobile device provided by the embodiment of the present application is shown in the figure;

[0015] Figure 3b A flow schematic diagram of an information collection method provided by the embodiment of the present application is shown in the figure;

[0016] Figure 3c A process schematic diagram of obstacle detection of another autonomous mobile device provided by the embodiment of the present application is shown in the figure;

[0017] Figure 3d A process schematic diagram of obstacle detection of another autonomous mobile device provided by the embodiment of the present application is shown in the figure;

[0018] Figure 4aAnother process diagram of detecting obstacles by the autonomous mobile device provided in the embodiments of the present application is shown in FIG. 6;

[0019] Figure 4b A flow diagram of the obstacle avoidance method provided in the embodiments of the present application is shown in FIG. 7;

[0020] Figure 5a A process diagram of the autonomous mobile device avoiding obstacles provided in the embodiments of the present application is shown in FIG. 8;

[0021] Figure 5b A flow diagram of the environment map construction method provided in the embodiments of the present application is shown in FIG. 9;

[0022] Figure 5c A diagram of the autonomous mobile device traveling around obstacles provided in the embodiments of the present application is shown in FIG. 10;

[0023] Figure 6a Another diagram of the autonomous mobile device traveling around obstacles provided in the embodiments of the present application is shown in FIG. 11;

[0024] Figure 6b A flow diagram of the cleaning robot performing a cleaning task provided in the embodiments of the present application is shown in FIG. 12;

[0025] Figure 7 A flow diagram of the cleaning robot performing a cleaning task while constructing an environment map provided in the embodiments of the present application is shown in FIG. 13;

[0026] Figure 1a A structural diagram of the autonomous mobile device provided in the embodiments of the present application is shown in FIG. 14. DETAILED DESCRIPTION

[0027] In order to make the objectives, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be described below in detail with reference to the embodiments of the present application and corresponding drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0028] In order to solve the problem that the existing autonomous mobile device may not be able to collect low obstacle information, in the embodiments of the present application, the autonomous mobile device is provided with a structured light module, and the structured light module with depth information is used to collect surrounding environment information, which can accurately detect the information of low obstacles during the traveling process, and is conducive to improving the richness and accuracy of the environment information collected by the autonomous mobile device, and thus is conducive to the autonomous mobile device avoiding obstacles and constructing an environment map during the traveling process.

[0029] Before introducing the solution of the embodiments of the present application, the structured light module is first introduced simply. In the embodiments of the present application, the structured light module is arranged on the self-moving device, for example, can be arranged at the front, left side, right side or rear of the self-moving device, etc., and is used for collecting the environmental information around the self-moving device in the process of traveling. Figure 1a The structural schematic diagram of the structured light module of the embodiments of the present application is shown in FIG. 1a, the structured light module 30 comprises: a camera module 31 and line laser sensors 32 distributed on both sides of the camera module 31.

[0030] In the structured light module 30, the line laser sensors 32 are used for emitting line laser outward, and the camera module 31 is responsible for collecting the environmental image detected by the line laser. Wherein, the line laser emitted by the line laser sensors 32 is located in the field of view range of the camera module 31, the line laser can help to detect the profile, height and / or width of the object in the field of view angle of the camera module, and the camera module 31 can collect the environmental image detected by the line laser. In the embodiments of the present application, the environmental image collected by the camera module 31 contains the laser line segment formed after the line laser meets the ground or the surface of the object.

[0031] Wherein, the field of view angle of the camera module 31 comprises vertical field of view angle and horizontal field of view angle. In the embodiments of the present application, the field of view angle of the camera module 31 is not limited, and the camera module 31 with appropriate field of view angle can be selected according to the application requirement. As long as the line laser emitted by the line laser sensors 32 is located in the field of view range of the camera module 31, the angle between the laser line segment formed by the line laser on the surface of the object and the horizontal plane is not limited, for example, can be parallel or perpendicular to the horizontal plane, or can be at any angle with the horizontal plane, and the specific angle can be determined according to the application requirement.

[0032] In the embodiments of the present application, the implementation form of the line laser sensors 32 is not limited, and can be any device / product form capable of emitting line laser. For example, the line laser sensors 32 can be but not limited to: laser tube. Similarly, the implementation form of the camera module 31 is not limited. Any visual device capable of collecting environmental image is applicable to the embodiments of the present application. For example, the camera module 31 can comprise but not limited to: monocular camera, binocular camera, etc.

[0033] In the embodiments of the present application, the wavelength of the line laser emitted by the line laser sensors 31 is also not limited, and the color of the line laser will be different with different wavelengths, for example, can be red laser, purple laser, etc. Correspondingly, the camera module 30 can adopt the camera module 31 capable of collecting the line laser emitted by the line laser sensors 32. The wavelength of the line laser emitted by the line laser sensors 32 is adapted, for example, the camera module 31 can also be infrared camera, ultraviolet camera, starlight camera, high-definition camera, etc.

[0034] In the embodiments of the present application, the number of line laser sensors 32 is not limited, for example, it can be two or more. The number of line laser sensors 32 distributed on each side of the camera module 31 is also not limited, and the number of line laser sensors 32 on each side of the camera module 31 can be one or more; in addition, the number of line laser sensors 32 on both sides can be the same or different. Figure 1a In the embodiments of the present application, one line laser sensor 32 is arranged on each side of the camera module 31, but it is not limited to this. For example, 2, 3 or 5 line laser sensors 32 are arranged on the left and right sides of the camera module 31. Of course, in the embodiments of the present application, the mounting position, mounting angle, etc. of the line laser sensor 32, and the mounting position relationship between the line laser sensor 32 and the camera module 31 are not limited.

[0035] In addition, in the embodiments of the present application, the distribution form of the line laser sensor 32 on both sides of the camera module 31 is not limited, for example, it can be uniform distribution or non-uniform distribution, it can be symmetric distribution or asymmetric distribution. Among them, uniform distribution and non-uniform distribution can mean that the line laser sensors 32 distributed on the same side of the camera module 31 can be uniformly distributed or non-uniformly distributed, of course, it can also be understood that the line laser sensors 32 distributed on both sides of the camera module 31 are uniformly distributed or non-uniformly distributed as a whole. For symmetric distribution and asymmetric distribution, it mainly refers to that the line laser sensors 32 distributed on both sides of the camera module 31 are symmetrically distributed or asymmetrically distributed as a whole. The symmetry here includes the number of equal and the symmetry of the mounting position. For example, in the structure light module 30 shown in Figure 1b The number of line laser sensors 32 is two, and the two line laser sensors 32 are symmetrically distributed on both sides of the camera module 31.

[0036] In the embodiments of the present application, the mounting position relationship between the line laser sensor 32 and the camera module 31 is not limited, and the mounting position relationship between the line laser sensor 32 and the camera module 31 is applicable to the embodiments of the present application. Among them, the mounting position relationship between the line laser sensor 32 and the camera module 31 is related to the application scene of the structure light module 30. The mounting position relationship between the line laser sensor 32 and the camera module 31 can be flexibly determined according to the application scene of the structure light module 30.

[0037] Further optionally, as shown in Figure 1bAs shown, the structured light module 30 in this embodiment may further include a main control unit 33, which can control the camera module 31 and the line laser sensor 32 to operate. Optionally, the main control unit 33 can control the exposure of the camera module 31 on the one hand, and control the line laser sensor 32 to emit line laser light during the exposure of the camera module 31 on the other hand, so that the camera module 31 can acquire environmental images detected by the line laser. Further, as Figure 1b As shown, the structured light module 30 may further include a laser driving circuit 34. The laser driving circuit 34 is electrically connected to the line laser sensor 32 and is mainly used to amplify the control signal sent to the line laser sensor 32. Figure 1b In the structured light module 30 shown, the number of laser driving circuits 34 is not limited. Different line laser sensors 32 can share one laser driving circuit 34, or one line laser sensor 32 can correspond to one laser driving circuit 34. Figure 2a In the structured light module 30 shown, one line laser sensor 32 corresponds to one laser driving circuit 34, and the laser driving circuit 34 is electrically connected to the line laser sensor 32. The laser driving circuit 34 is mainly used to amplify the control signal sent by the main control unit 33 to the line laser sensor 32, and provide the amplified control signal to the line laser sensor 32 to control the operation of the line laser sensor 32. In this embodiment, the circuit structure of the laser driving circuit 34 is not limited; any circuit structure that can amplify the signal and provide the amplified signal to the line laser sensor 32 is applicable to this embodiment.

[0038] It should be noted that the structured light module 30 may not include the control unit 33. In this case, the processor of the autonomous mobile device can be directly electrically connected to the camera module 31 and the line laser sensor 32, and directly control the operation of the camera module 31 and the line laser sensor 32. Alternatively, if the structured light module 30 includes the control unit 33, the control unit 33 is electrically connected to the camera module 31 and the line laser sensor 32, and also electrically connected to the processor of the autonomous mobile device; the processor of the autonomous mobile device can indirectly control the operation of the camera module 31 and the line laser sensor 32 through the control unit 33 in the structured light module 30.

[0039] In the embodiment of the present application, the structured light module 30 includes the line laser sensor 32 located on the left and right sides of the camera module 31, which can scan the obstacle information in multiple planes, and can also collect the distance information between the autonomous mobile device (or the structured light module 30) and the detected obstacle. As the autonomous mobile device moves, the distance between the autonomous mobile device and the obstacle changes, and this distance change information is reflected in the environment image collected by the structured light module 30. In other words, the environment image collected by the structured light module 30 has depth information, based on which not only can the higher obstacles be accurately collected, but also the low obstacles can be accurately ranged, measured, identified, and three-dimensional environment reconstructed, which solves the problem that the autonomous mobile device cannot detect low obstacles during travel, and is beneficial to improving the richness and accuracy of the environment information collected by the autonomous mobile device, and further beneficial to the autonomous mobile device to avoid obstacles or build an environment map based on the collected environment information.

[0040] Further, as shown in Figure 2b , since the light band of the line laser emitted by the structured light module 30 is narrow, when the structured light module 30 is installed and used at a fixed position on the autonomous mobile device, due to the limitation of the installation position and angle, the structured light module 30 has a certain effective range, which at least includes the farthest distance in the region in front of the structured light module 30 that can be detected by the structured light module 30. When the distance from the obstacle exceeds the effective range of the structured light module 30, the structured light module 30 will not be able to detect the obstacle information. As shown in Figure 3a , in the embodiment, the region that the structured light module 30 cannot detect within its effective range, i.e., the region between the two intersecting line lasers, is referred to as the blind area range of the structured light module 30. The size of the blind area range is related to the installation position and angle of the structured light module 30 on the autonomous mobile device, the type of line laser emitter used, and other factors, which are not limited. The embodiment of the present application provides an environment information collection method, which can supplement the collection of obstacle information in the blind area range of the structured light module during the collection of obstacle information in the front region by the structured light module, which is beneficial to further improving the richness and accuracy of the collected obstacle information, and can more comprehensively collect environment information. The environment information collection method provided by the embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0041] Figure 3a A flowchart of an environment information collection method provided by the embodiment of the present application, which is applicable to an autonomous mobile device, as shown in Figure 2b , the method comprises:

[0042] 31a, during travel, collecting obstacle information in the front region by the structured light module on the autonomous mobile device.

[0043] 32a. When the structured light module collects obstacle information, the autonomous mobile device performs a gap-filling action in the blind zone outside the blind zone of the structured light module.

[0044] 33a. During the process of performing the gap filling action, the structured light module is used to supplement the collection of obstacle information within the blind zone.

[0045] In this embodiment, the autonomous mobile device is equipped with a structured light module, which can be used to collect obstacle information in the area in front of it along the direction of travel. As can be seen from the structure of the structured light module described in the above embodiments, the structured light module detects environmental information by having line laser sensors located on both sides of the camera module emit line lasers during camera exposure. The camera module then collects an environmental image containing the laser line segments during the exposure. The environmental image collected by the camera module contains obstacle information detected by the line lasers. However, due to limitations in the installation position and angle of the line laser sensors on both sides of the camera module, such as… Figure 3b As shown, during the movement of an autonomous mobile device, obstacle information within its effective range can be collected using a structured light module. However, obstacle information within the blind zone of the structured light module cannot be collected. To collect richer and more accurate obstacle information, including information within the blind zone, in this embodiment, the autonomous mobile device, after the structured light module has collected obstacle information, can perform a supplementary collection action outside the blind zone. During this supplementary collection action, the structured light module supplements the collection of obstacle information within the blind zone. This allows the autonomous mobile device to collect richer and more complete obstacle information throughout its movement, avoiding the omission of obstacles within the blind zone and providing a foundation for obstacle avoidance and / or environmental map construction in subsequent operations.

[0046] It should be noted that the blind zone range of the structured light module is related to the travel direction of the autonomous mobile device. Different travel directions of the autonomous mobile device will result in different blind zone ranges, primarily referring to the different directions in which the blind zone range is located. In this embodiment, the blind zone range of the structured light module can be understood as the area that the structured light module cannot detect within its effective range along the travel direction of the autonomous mobile device. Based on this definition, if the structured light module detects an obstacle in a certain travel direction of the autonomous mobile device, for ease of description and differentiation, the travel direction of the autonomous mobile device when the structured light module detects the obstacle information is recorded as the target travel direction. Then, outside the blind zone range of the structured light module in the target travel direction, a supplementary acquisition action can be performed on the blind zone range of the structured light module in that target travel direction. During the supplementary acquisition action, the structured light module supplements the acquisition of obstacle information within the blind zone range of the structured light module in the target travel direction.

[0047] In the embodiment of the present application, the patching action is performed for the blind area range of the structured light module outside the blind area range, which is beneficial to fully collect the obstacle information in the blind area range. Wherein, the blind area range of the structured light module can be calculated in advance according to the installation position and angle of the structured light module, and the blind area range is converted into the distance between the autonomous mobile device and the obstacle, which is recorded as the boundary distance corresponding to the blind area range. According to the different installation position and angle of the structured light module, the blind area range of the structured light module will be different, and accordingly, the boundary distance corresponding to the blind area range will also be different. In addition, the value of the boundary distance is not limited in the embodiment of the present application, for example, it can be 3cm, 5cm, 10cm, 0.3m, 0.5m, etc. The autonomous mobile device can pre-store the boundary distance corresponding to the blind area range of the structured light module. Based on this, in the case that the structured light module collects the obstacle information, the distance between the autonomous mobile device and the detected obstacle can be calculated according to the collected obstacle information; by comparing the distance with the boundary distance, in the case that the distance is greater than the boundary distance, the patching action can be performed for the blind area range of the structured light module at the current position, and in the process of performing the patching action, the structured light module is used to supplement the collection of the obstacle information in the blind area range.

[0048] Further, in order to perform the patching action for the blind area range of the structured light module at a more reasonable position, in addition to the boundary distance, the embodiment of the present application can also set a distance threshold, which is also a certain distance value between the autonomous mobile device and the detected obstacle, the distance threshold is greater than the boundary distance, and a distance range is defined by the set distance threshold and the boundary distance, as shown in Supplementary action 1 Based on this, when the structured light module collects the obstacle information, the autonomous mobile device can calculate the distance between the autonomous mobile device and the obstacle according to the obstacle information collected by the structured light module; in the case that the distance is between the set distance threshold and the boundary distance corresponding to the blind area range, the patching action is performed for the blind area range of the structured light module at this time; and in the process of performing the patching action, the structured light module is used to supplement the collection of the obstacle information in the blind area range, so as to ensure that the obstacle information in the blind area range can be successfully supplemented and collected in the process of performing the patching action, so as to avoid that the obstacle information in the blind area range cannot be fully collected when the patching action is started at a long distance.

[0049] Further, in a case where the distance between the autonomous mobile device and the obstacle is greater than or equal to the set distance threshold, the autonomous mobile device can continue to move towards the obstacle until the distance between the autonomous mobile device and the obstacle is greater than the set distance threshold and less than or equal to the boundary distance corresponding to the blind area range (i.e., between the set distance threshold and the boundary distance), at which time the autonomous mobile device performs the gap-filling action for the blind area range of the structured light module; or in a case where the distance between the autonomous mobile device and the obstacle is less than the boundary distance corresponding to the blind area range, the autonomous mobile device retreats to move away from the obstacle until the distance between the autonomous mobile device and the obstacle is between the set distance threshold and the boundary distance, at which time the autonomous mobile device performs the gap-filling action for the blind area range of the structured light module, to ensure that the obstacle information in the blind area range can be successfully supplemented during the gap-filling action.

[0050] In the embodiments of the present application, the speed of the autonomous mobile device moving towards the obstacle is not limited, for example, the autonomous mobile device can continue to move towards the obstacle at a uniform speed, or can continue to move towards the obstacle at a non-uniform speed, which includes but is not limited to deceleration or acceleration. In an optional embodiment, in a case where the structured light module detects the obstacle information, if the autonomous mobile device calculates that the distance between the autonomous mobile device and the obstacle is greater than the set distance threshold, the autonomous mobile device can continue to move towards the obstacle at a deceleration until the distance between the autonomous mobile device and the obstacle is less than the set distance threshold and greater than the boundary distance corresponding to the blind area range, for example, when the distance between the autonomous mobile device and the obstacle is equal to the sum of the boundary distance and half the width of the autonomous mobile device, the autonomous mobile device starts to perform the gap-filling action for the blind area range of the structured light module at this time. In addition, the deceleration can be uniform deceleration or non-uniform deceleration; correspondingly, the acceleration can be uniform acceleration or non-uniform acceleration.

[0051] Similarly, in the embodiments of the present application, the speed of the autonomous mobile device retreating to move away from the obstacle is not limited, for example, the autonomous mobile device can retreat to move away from the obstacle at a uniform speed, or can retreat to move away from the obstacle at a non-uniform speed, which includes but is not limited to deceleration or acceleration. In an optional embodiment, in a case where the structured light module detects the obstacle information, if the autonomous mobile device calculates that the distance between the autonomous mobile device and the obstacle is less than the boundary distance corresponding to the blind area range, the autonomous mobile device can retreat to move away from the obstacle at an acceleration until the distance between the autonomous mobile device and the obstacle is less than the set distance threshold and greater than the boundary distance corresponding to the blind area range, for example, when the distance between the autonomous mobile device and the obstacle is equal to the sum of the boundary distance and half the width of the autonomous mobile device, the autonomous mobile device starts to perform the gap-filling action for the blind area range of the structured light module at this time. In addition, the deceleration can be uniform deceleration or non-uniform deceleration; correspondingly, the acceleration can be uniform acceleration or non-uniform acceleration.

[0052] In this application embodiment, the omission-remediation action performed by the autonomous mobile device outside the blind zone of the structured light module is not limited to any action that enables the structured light module to successfully collect obstacle information within the blind zone before the omission-remediation action is performed by the autonomous mobile device. Examples of omission-remediation actions that can be performed by the autonomous mobile device are illustrated below:

[0053] Figure 3c When the structured light module detects obstacle information, the autonomous mobile device rotates in place outside the blind zone of the structured light module. In this embodiment, the autonomous mobile device can change the detection range of the structured light module by rotating in place. As the autonomous mobile device rotates, the detection range of the structured light module continuously changes, and obstacle information within the blind zone of the structured light module before the autonomous mobile device rotates in place will be detected. The rotation direction of the autonomous mobile device is not limited here; it can rotate clockwise or counterclockwise. Since the structured light module emits two laser lines in a cross-emission manner, the two laser lines will also rotate along the direction of rotation during the rotation of the autonomous mobile device. Supplementary action 2 As shown, the autonomous mobile device rotates clockwise in place. During the rotation, the laser line behind it detects the blind zone of the structured light module before the autonomous mobile device started rotating, thus supplementing the collection of obstacle information within the blind zone. In this embodiment, the number of rotations of the autonomous mobile device is not limited. As the number of rotations increases, the richness of the obstacle information that can be detected also increases. The autonomous mobile device can set a rotation threshold to control the number of rotations based on the specific operation. Further, the relationship between the autonomous mobile device performing the gap-filling action and the action of moving towards the obstacle is not limited. For example, the autonomous mobile device can stop moving and rotate in place at the stop position, or it can move towards the obstacle while rotating between a preset distance threshold and the boundary distance corresponding to the blind zone. This can be controlled according to the specific operation, and no further limitations are imposed here.

[0054] Figure 3dWhen the structured light module detects obstacle information, the autonomous mobile device performs differential rotation outside the blind zone of the structured light module. In this embodiment, differential rotation refers to the autonomous mobile device rotating alternately left and right around its central axis perpendicular to the ground. This differential rotation alters the detection range of the structured light module. As the autonomous mobile device rotates differentially, the detection range of the structured light module continuously changes, and obstacle information within the blind zone of the structured light module before the differential rotation is detected. The number of left and right rotations is not limited; for example, the autonomous mobile device can rotate left once and then right once, or it can rotate left multiple times and then right multiple times. Furthermore, the frequency of left and right rotations is not limited; for example, the frequency of left and right rotations can be the same or different. Furthermore, the angle of left and right rotation is not limited; for example, the autonomous mobile device can rotate left or right by 30°, 60°, 90°, 180°, etc. Because the structured light module emits two laser lines in a cross-emission manner, during the differential rotation of the autonomous mobile device, the two laser lines will also rotate in the direction of rotation, such as... Supplementary action 3: As shown, during the differential rotation of the autonomous mobile device in place, the laser line behind it detects the blind zone of the structured light module before the autonomous mobile device begins to rotate, thus supplementing the acquisition of obstacle information within the blind zone before the autonomous mobile device begins to rotate. In this embodiment, the number of differential rotations of the autonomous mobile device in place is not limited. As the number of differential rotations increases, the richness of the obstacle information that can be detected also increases. The autonomous mobile device can set a threshold for the number of differential rotations to control the number of differential rotations based on the specific operation. Further, alternatively, the relationship between the autonomous mobile device performing the gap-filling action and the action of moving towards the obstacle is not limited. For example, the autonomous mobile device can stop moving and perform differential rotation in place at the stop position, or it can move towards the obstacle while differentially rotating between a preset distance threshold and the boundary distance corresponding to the blind zone. This can be controlled according to the specific operation, and no further limitations are imposed here.

[0055] Supplementary action 4:In the case that the structural light module collects the obstacle information, the autonomous mobile device moves in multiple directions outside the blind area range of the structural light module. In the embodiment, the autonomous mobile device moving in multiple directions can change the detection range of the structural light module. With the change of the direction of the autonomous mobile device, the detection range of the structural light module changes constantly. The obstacle information in the blind area range of the structural light module before the autonomous mobile device moves can be detected. In this embodiment, the autonomous mobile device does not move in a specific direction. As long as the direction of the autonomous mobile device can be changed and the laser line can detect the blind area range of the structural light module before the autonomous mobile device moves during the movement of the autonomous mobile device, the purpose of supplementing the collection of the obstacle information in the blind area range of the structural light module before the autonomous mobile device moves is achieved, which is applicable to the embodiment. For example, the autonomous mobile device can keep the direction of the front unchanged and move left and right along the horizontal direction perpendicular to the front; or the autonomous mobile device can move in a "Z" or "S" shape trajectory to the obstacle; or the autonomous mobile device can move along any irregular trajectory, etc. Since the structural light module emits two laser lines in the form of cross emission, during the movement of the autonomous mobile device in multiple directions, the directions of the two laser lines also change along the moving direction. Therefore, the laser line can detect the blind area range of the structural light module before the autonomous mobile device moves and collect the obstacle information in the blind area range.

[0056] Scenario example 1:In the case that the structure light module collects the obstacle information, the autonomous mobile device moves in another direction different from the current moving direction outside the blind area range of the structure light module. In the embodiment, the autonomous mobile device moves in another direction different from the current moving direction can change the detection range of the structure light module. With the movement and direction change of the autonomous mobile device, the detection range of the structure light module changes constantly, and the obstacle information in the blind area range of the structure light module before the movement of the autonomous mobile device in another direction different from the current moving direction can be detected. Here, the autonomous mobile device does not move in a specific direction, as long as the direction of the autonomous mobile device can be changed, and the laser line can detect the blind area range of the structure light module before the movement of the autonomous mobile device, so as to achieve the purpose of supplementally collecting the obstacle information in the blind area range of the structure light module before the movement of the autonomous mobile device. For example, the autonomous mobile device can move to the left of the current moving direction along the central axis in the front direction, or move to the right of the current moving direction, etc. Since the structure light module emits two laser lines in the form of cross emission, during the movement of the autonomous mobile device in another direction different from the current moving direction, the directions of the two laser lines also change along the moving direction, and then the laser line can detect the blind area range of the structure light module before the movement of the autonomous mobile device, and collect the obstacle information in the blind area range.

[0057] In the embodiments of the present application, in addition to the above-mentioned manner of the autonomous mobile device performing the supplementing action, one or more of the above-mentioned manners can be combined to perform the supplementing action on the blind area range, and collect the obstacle information in the blind area range, which will not be described in detail here.

[0058] In the embodiments of the present application, the autonomous mobile device can perform different actions after supplementally collecting the obstacle information in the blind area range by the structure light module according to different scenes, for example, the autonomous mobile device can avoid obstacles according to the supplementally collected and previously collected obstacle information, and / or construct an environment map according to the supplementally collected and previously collected obstacle information. The specific scene embodiments will be described below with reference to the accompanying drawings.

[0059] Figure 4a

[0060] Figure 4a A flowchart of an obstacle avoidance method provided in the embodiments of the present application is shown in FIG. 33a, which includes the following steps after step 33a in FIG. 33a: Figure 3a Figure 3d

[0061] ​​44a. Based on the supplementary and previously collected obstacle information, plan the first path to bypass the obstacles.

[0062] 45a. Continue along the first travel path until you bypass the obstacle; where the obstacle is the obstacle corresponding to the obstacle information collected in addition to the previously collected obstacle information.

[0063] In this embodiment, the autonomous mobile device can obtain relatively complete information about the obstacle on one side of the autonomous mobile device based on the obstacle information detected during normal travel and the obstacle information collected during the blind spot during the remediation action. Based on this, a first travel path to bypass the obstacle can be determined, and the device can continue to travel along the first travel path until it bypasses the obstacle, thereby achieving the purpose of obstacle avoidance.

[0064] In this application embodiment, the implementation method of the autonomous mobile device planning a first path around obstacles based on supplementally acquired and previously acquired obstacle information is not limited. In an optional embodiment, points on the already acquired obstacles can be determined based on the supplementally acquired and previously acquired obstacle information, and these points can be expanded. The boundary contour of the obstacle can be determined based on the expanded points, and a first path around the obstacle can be planned based on the boundary contour. For example, taking the autonomous mobile device using differential rotation to supplement obstacle information within the blind zone as an example, the autonomous mobile device determines the points on the already acquired obstacles based on the supplementally acquired and previously acquired obstacle information, i.e. Figure 4b Points on the solid line; dilate the points on the collected obstacles, and determine the boundary contour of the obstacles based on the points on the dilated obstacles, such as... Figure 4b The boundary contour lines are shown; further, the autonomous mobile device plans a first travel path based on the determined boundary contour lines of the obstacles, namely... Figure 4b The curve with the arrow in the middle is shown. The autonomous mobile device continues along the first travel path to bypass obstacles.

[0065] In this embodiment, the degree of expansion of points on the obstacle is not limited. To ensure that the autonomous mobile device does not "scratch" against the obstacle when traveling in edge-following mode, the minimum degree of expansion is such that the autonomous mobile device does not touch the obstacle while traveling along it. Edge-following mode refers to the autonomous mobile device traveling along one side of the obstacle. For example, taking the direction of travel of the autonomous mobile device as the positive direction, if the autonomous mobile device travels close to the obstacle on its left side, it is called left edge-following mode; if the autonomous mobile device travels close to the obstacle on its right side, it is called right edge-following mode. Figure 4bAs shown, after detecting the boundary of the obstacle, the autonomous mobile device can dilate the points on the detected obstacle to obtain a boundary contour as shown. Scenario example 2: Further, the autonomous mobile device can move towards the obstacle to reach the position of the boundary contour and continue to travel along the boundary contour in a right-along-edge mode until the autonomous mobile device travels to the boundary of the obstacle and cannot detect obstacle information in the forward direction, i.e., bypasses the obstacle.

[0066] In the embodiments of the present application, the manner in which the autonomous mobile device plans the first travel path to bypass the obstacle is not limited, and the autonomous mobile device can plan the first travel path first and then travel along the planned first travel path, or can plan the first travel path while traveling, and no further limitation is made herein. In the embodiments of the present application, the direction of the first travel path selected by the autonomous mobile device is also not limited, and the autonomous mobile device can determine the side of the boundary of the obstacle detected for the first time as the direction of the first travel path, or can select one side as the direction of the first travel path after detecting the boundaries of the two sides of the obstacle through the supplementing action, or can select one side which is easier to bypass the obstacle as the direction of the first travel path according to the environmental information around the boundaries of the two sides of the obstacle, and no further limitation is made herein.

[0067] Figure 5a

[0068] Figure 5a A flowchart of an environment map construction method provided in the embodiments of the present application is shown in FIG. 6. Figure 3a As shown in FIG. 6, after step 33a in FIG. 3, Figure 3d Further includes:

[0069] 54a, planning a second travel path to move around the obstacle according to the obstacle information collected supplementally and previously, and moving around the obstacle along the second travel path.

[0070] 55a, in the process of moving around the obstacle, continuously collecting obstacle information by using the structured light module to obtain complete information of the obstacle.

[0071] 56a, marking the complete information of the obstacle in the environment map; wherein the obstacle is the obstacle corresponding to the obstacle information collected supplementally and previously.

[0072] In the embodiments of the present application, the autonomous mobile device can obtain the approximate contour information of the obstacle based on the obstacle information detected during normal travel and the obstacle information in the blind area range collected during the execution of the gap-filling action. Based on this, the second travel path around the obstacle can be planned, and the autonomous mobile device travels along the second travel path around the obstacle. Further, the autonomous mobile device can continue to collect obstacle information using the structured light module during the travel around the obstacle to obtain complete information of the obstacle, and mark the collected complete information of the obstacle in the environment map for constructing the environment map or updating the existing environment map.

[0073] In the embodiments of the present application, the implementation of the autonomous mobile device planning the second travel path around the obstacle based on the obstacle information collected and previously collected is not limited. In an optional embodiment, the points on the obstacle that have been collected can be determined based on the obstacle information collected and previously collected, the points on the obstacle that have been collected are dilated, the boundary contour of the obstacle is determined based on the dilated points on the obstacle, and the second travel path around the obstacle is planned based on the boundary contour. For example, taking the autonomous mobile device supplementally collecting the obstacle information in the blind area range in the differential rotation manner as an example, the autonomous mobile device determines the points on the obstacle that have been collected based on the obstacle information collected and previously collected, that is, the points on the solid line in FIG. 10A, the points on the obstacle that have been collected are dilated, the boundary contour of the obstacle is determined based on the dilated points on the obstacle, as shown by the boundary contour line in FIG. 10B, and the autonomous mobile device plans the second travel path based on the determined boundary contour of the obstacle, as shown by the curve with arrows in FIG. 10C. The autonomous mobile device continues to travel along the second travel path. Figure 5b Figure 5b Figure 5c

[0074] In the embodiments of the present application, the manner in which the autonomous mobile device plans the second travel path around the obstacle is not limited. The autonomous mobile device can plan the second travel path first and then travel along the planned second travel path, or can plan the second travel path while traveling, which is not limited herein. In the embodiments of the present application, the direction of the second travel path selected by the autonomous mobile device is not limited. The autonomous mobile device can determine the side of the boundary of the obstacle first detected as the direction of the second travel path, or can select one side as the direction of the second travel path after detecting the boundaries of the obstacle on both sides through the gap-filling action, or can select one side that is easier to bypass the obstacle as the direction of the second travel path based on the environmental information around the boundaries of the obstacle on both sides, which is not limited herein.

[0075] ​​​Further, in order to ensure that the autonomous mobile device does not "scratch" the obstacle during the process of traveling around the obstacle in the edge-following mode, the autonomous mobile device can continuously detect the obstacle using the structured light module during the traveling process, and update the second traveling path planned based on the boundary profile of the obstacle in real time according to the detected obstacle information, and adjust the traveling direction. As shown in Figure 5c When the autonomous mobile device travels to the boundary of the obstacle and cannot detect the obstacle information in the front direction, the autonomous mobile device can continue to perform the patching action to detect the obstacle information, and update the second traveling path planned based on the boundary profile of the obstacle according to the detected obstacle information, to obtain a new second traveling path, that is, Scenario example 3: indicated by the curve with an arrow; further, the autonomous mobile device can adjust the direction according to the updated second traveling path, so as to achieve the purpose of traveling around the obstacle, and continue to travel along the obstacle in the right edge-following mode; when reaching the other boundary of the obstacle, the direction can be adjusted in the same way, and the autonomous mobile device continues to travel along the obstacle in the right edge-following mode until reaching the starting point of the second traveling path, so as to achieve the purpose of traveling around the obstacle. Further, after the autonomous mobile device travels around the obstacle along the second traveling path for one round, the complete obstacle information can be collected, and the environment map can be constructed based on the collected complete obstacle information, or the existing environment map can be updated, so as to provide a basis for subsequent work and obstacle avoidance.

[0076] Figure 1a

[0077] In this scenario embodiment, the autonomous mobile device is taken as a sweeping robot for example, and the sweeping robot is provided with a structured light module. The implementation structure of the structured light module is as shown in Figure 1b or Figure 6a When performing the cleaning task, the sweeping robot can collect the obstacle information in the front direction using the structured light module, and perform obstacle avoidance based on the collected obstacle information. The process of the sweeping robot performing the cleaning task will be described below with reference to Figure 6a .

[0078] As shown in Figure 4b , the process of the sweeping robot performing the cleaning task includes the following steps.

[0079] Step 61a, when receiving the cleaning instruction, the sweeping robot starts to perform the cleaning task.

[0080] Step 62a, during the process of performing the cleaning task, the structured light module is used to collect the obstacle information in the front direction of the sweeping robot.

[0081] Step 63a, when detecting that there is an obstacle in the front direction, the sweeping robot can travel at a reduced speed until the boundary distance corresponding to the distance threshold and the blind area range.

[0082] Step 64a, the sweeping robot performs a make-up action to supplement the points of the obstacle in the range of the blind area of the structured light module before performing the make-up action, and plans a first travel path to bypass the obstacle based on the points of the obstacle collected before and after the make-up action.

[0083] Step 65a, the sweeping robot travels along the first travel path and continuously collects the obstacle information on the travel path by using the structured light module, and determines whether the sweeping robot bypasses the obstacle based on the collected obstacle information.

[0084] Step 66a, in the case that the obstacle is still detected in the forward direction of the sweeping robot, the sweeping robot continues to travel along the first travel path until no obstacle is detected, i.e., the obstacle is bypassed, and the cleaning task is continued.

[0085] In the embodiment, the sweeping robot can perform the cleaning task after receiving the cleaning instruction, and continuously detect whether there is an obstacle in the forward direction of the sweeping robot by using the structured light module during the cleaning task. When an obstacle is detected in the forward direction of the sweeping robot, the sweeping robot can travel to a boundary distance corresponding to the distance threshold and the range of the blind area, i.e., outside the range of the blind area of the structured light module, and perform a make-up action for the range of the blind area of the structured light module. In the embodiment, the way in which the sweeping robot performs the make-up action is not limited, and the sweeping robot can supplement the collection of the obstacle information in the range of the blind area of the structured light module by using any of the make-up action ways in the above embodiments. The specific process of performing the make-up action can be referred to the above embodiments, which will not be described here.

[0086] Further, the sweeping robot can determine the points on the obstacle according to the supplemented collected obstacle information and the previously collected obstacle information, and dilate the collected points on the obstacle. The boundary profile of the obstacle can be determined based on the dilated points on the obstacle. Further, the sweeping robot can plan a first travel path to bypass the obstacle according to the boundary profile. The specific way of dilating the points on the obstacle and planning the first travel path can be referred to the corresponding embodiment content. Scenario example 4:

[0087] ​Further, the sweeping robot can travel along the first travel path after determining the travel direction, and continuously detect obstacle information using the structured light module during the travel to determine whether the sweeping robot has bypassed the obstacle. Since the distance between the first travel path along which the sweeping robot travels and the obstacle is less than the effective range of the sweeping robot, the sweeping robot can continuously detect the obstacle during the travel. When the sweeping robot travels to the boundary of the obstacle and cannot detect obstacle information in the forward direction thereof, it indicates that the distance between the sweeping robot and the obstacle has exceeded the effective range of the sweeping robot, i.e., the sweeping robot has bypassed the obstacle. Further, the sweeping robot can continue to travel in the forward direction thereof to perform the cleaning task. If the sweeping robot can continuously detect the obstacle during the travel, it indicates that the obstacle is still within the effective range of the sweeping robot, i.e., the sweeping robot has not bypassed the obstacle. Therefore, the sweeping robot can continue to travel along the first travel path and continuously detect the obstacle until no obstacle is detected in the forward direction thereof, i.e., the sweeping robot has reached the boundary of the obstacle and bypassed the obstacle. Further, the sweeping robot can continue to travel in the forward direction thereof to perform the cleaning task.

[0088] Figure 1a

[0089] In this scenario embodiment, taking the autonomous mobile device as a sweeping robot for example, the sweeping robot is provided with a structured light module, and the implementation structure of the structured light module is as shown in Figure 1b or Figure 6b The sweeping robot can collect obstacle information in the forward direction thereof using the structured light module during the performance of the cleaning task, so as to avoid obstacles based on the collected obstacle information, and also construct an environment map according to the collected obstacle information in the case that the environment map has not been constructed or in the case that the obstacle information does not exist on the environment map. The process of the sweeping robot performing the cleaning task and constructing the environment map will be described below in combination with Figure 6b .

[0090] As shown in Figure 5b , the process of the sweeping robot performing the cleaning task and constructing the environment map includes:

[0091] Step 61b, the sweeping robot starts to perform the cleaning task when receiving the cleaning instruction.

[0092] Step 62b, the sweeping robot collects obstacle information in the forward direction thereof using the structured light module during the performance of the cleaning task.

[0093] Step 63b, when the obstacle in the front direction of the robot is detected, the robot determines whether the distance between the current position and the obstacle is less than a set distance threshold and greater than a boundary distance corresponding to the blind area range; if greater than the set distance threshold, it means that the robot is far away from the obstacle; if less than the boundary distance, it means that the robot is very close to the obstacle.

[0094] Step 64b, in the case that the robot is far away from the obstacle, the robot travels at a reduced speed between the set distance threshold and the boundary distance corresponding to the blind area range; in the case that the robot is very close to the obstacle, the robot retreats between the set distance threshold and the boundary distance corresponding to the blind area range.

[0095] Step 65b, the robot performs a gap-filling action to supplement the points collected by the structured light module in the blind area range of the obstacle before the gap-filling action, and plans a second travel path around the obstacle based on the points collected on the obstacle before and after the gap-filling action.

[0096] Step 66b, the robot travels along the second travel path and continuously detects the obstacle using the structured light module, and then determines whether the robot has finished circling the obstacle or has collided with another obstacle.

[0097] Step 67b, if the robot has not finished circling the obstacle and has not collided with another obstacle, the robot determines whether the robot has traveled to the boundary point (i.e. the end) of the second travel path; if yes, the robot performs step 65b again; if no, the robot performs step 68b.

[0098] Step 68b, the robot continues to travel along the second travel path until it has finished circling the obstacle or has collided with another obstacle, and enters step 69b.

[0099] Step 69b, in the case that the robot has finished circling the obstacle or has collided with another obstacle, the robot performs obstacle recognition based on the obstacle information collected around the obstacle, and constructs an environment map.

[0100] Step 610b, after the robot has finished circling the obstacle, the robot can continue to perform the cleaning task until the cleaning task is completed.

[0101] In the embodiment, the robot cleaner can perform the cleaning task after receiving the cleaning instruction, and continuously detect whether there is an obstacle in the forward direction of the robot cleaner by using the structured light module during the cleaning task. When an obstacle is detected in the forward direction of the robot cleaner, the robot cleaner determines whether the distance between the current position and the obstacle is suitable for performing the supplement action on the blind area range of the structured light module. If the robot cleaner determines that the current position is far away from the obstacle, it means that it is not suitable to perform the supplement action or the effect of performing the supplement action is poor, and the robot cleaner can continue to move to a suitable position between the boundary distance corresponding to the set distance threshold and the blind area range, and then perform the supplement action on the blind area range of the structured light module. If the robot cleaner determines that the current position is very close to the obstacle, it also means that it is not suitable to perform the supplement action or the effect of performing the supplement action is poor, and the robot cleaner can retreat to a suitable position between the boundary distance corresponding to the set distance threshold and the blind area range, and then perform the supplement action on the blind area range of the structured light module.

[0102] In the embodiment, the robot cleaner can use any of the supplement action modes in the above embodiments to supplement the collection of obstacle information in the blind area range of the structured light module without limiting the mode of the robot cleaner performing the supplement action. The specific process of performing the supplement action can be referred to the above embodiments, which will not be described here.

[0103] Further, the robot cleaner can obtain the approximate contour information of the obstacle according to the supplementally collected and previously collected obstacle information, and dilate the points on the collected obstacle. Based on the dilated points on the obstacle, the boundary contour of the obstacle can be determined. Further, according to the boundary contour, the robot cleaner can plan a second travel path around the obstacle. For the specific mode of dilating the points on the obstacle and planning the second travel path, please refer to Figure 7 the corresponding embodiment content.

[0104] Further, the sweeping robot can travel along the second travel path and continuously detect obstacle information using the structured light module during the travel to determine whether the sweeping robot has completed the round of the obstacle. During the travel of the sweeping robot, if the obstacle can be continuously detected in the forward direction of the sweeping robot, it indicates that the sweeping robot has not completed the round of the obstacle, and thus the sweeping robot continues to travel along the second travel path and continuously detects the obstacle using the structured light module. During the travel of the sweeping robot along the second travel path, if the obstacle cannot be detected in the forward direction of the sweeping robot, it indicates that the sweeping robot has reached the boundary of the obstacle at this time and is considered to have completed the round of the obstacle. During the process, the sweeping robot can also determine whether it has traveled to the boundary point of the second path. If the sweeping robot has not completed the round of the obstacle when it travels to the boundary point of the second path, the sweeping robot can perform the supplementary action again and re-plan a new second travel path to continue traveling along the new second travel path until the round of the obstacle is completed, so as to obtain complete obstacle information and construct an environment map based on the complete obstacle information. It is to be noted that the execution order of steps 69b and 610b is not limited in the embodiment. For example, after the round of the obstacle is completed, the cleaning task can be continued until the cleaning task is completed, and then the environment map is constructed or updated based on the complete obstacle information collected. Alternatively, after the round of the obstacle is completed, the environment map is constructed or updated based on the complete obstacle information, and then the cleaning task is continued. Alternatively, after the round of the obstacle is completed, the cleaning task is continued, and at the same time, the environment map is constructed or updated based on the complete obstacle information collected.

[0105] Further, if the sweeping robot collides with another obstacle during the travel, the other obstacle can also be detected and information of the other obstacle can be collected. Then, the environment map is constructed based on the obstacle information collected during the round of the obstacle and the information of the other obstacle collected by detecting the other obstacle, so as to provide a basis for subsequent execution of the task and obstacle avoidance. In the embodiment, the detection method of the sweeping robot after colliding with the other obstacle during the travel around the obstacle is not limited, and the sweeping robot can be flexibly processed according to the specific working environment. For example, in the case of a relatively wide working environment, the sweeping robot can continue to detect the other obstacle after the round of the current obstacle is completed. Alternatively, in the case of a collision with the other obstacle, the other obstacle can be detected first, and then the current obstacle can be detected. Alternatively, in the case of a collision with the other obstacle, the other obstacle can be detected and avoided based on the detection result. Alternatively, in the case of a relatively narrow working environment, if the sweeping robot cannot continue to travel after colliding with the other obstacle during the travel around the current obstacle, the sweeping robot can issue an alarm to the user. For example, the alarm can be in the form of flashing of an indicator light, beeping, output of a voice, sending of a prompt message to a user terminal, and the like. Further, after the sweeping robot detects the obstacle information, the sweeping robot can continue to perform the cleaning task until the task is completed.

[0106] In the embodiments of the present application, the autonomous mobile device can collect environmental information through the structured light module, and supplement the collection of obstacle information in the blind area range of the structured light module through the execution of the supplementing action, so that the autonomous mobile device detects richer and more accurate environmental information in the process of executing the task, and avoids missing lower obstacle information. Further, according to the detected obstacle information, obstacle avoidance and environment map construction can be realized, which provides a basis for subsequent execution of the task and obstacle avoidance.

[0107] It should be noted that the execution subject of each step of the method provided in the above embodiments can be the same device, or the method can also be executed by different devices as the execution subject. For example, the execution subject of steps 31a to 33a can be device A; for another example, the execution subject of steps 31a and 32a can be device A, and the execution subject of step 3a can be device B; and the like.

[0108] In addition, in some of the processes described in the above embodiments and the accompanying drawings, a plurality of operations appearing in a specific order are included, but it should be clear that these operations can be executed or executed in parallel without the order in which they appear in this text. The serial numbers of the operations, such as 61a, 62a, etc., are only used to distinguish different operations, and the serial numbers themselves do not represent any execution order. In addition, these processes can include more or fewer operations, and the operations can be executed in sequence or in parallel. It should be noted that the "first", "second", etc. described herein are used to distinguish different messages, devices, modules, etc., and do not represent the order of precedence. Also, "first" and "second" are not of different types.

[0109] Figure 7 A structural schematic diagram of an autonomous mobile device 100 is provided in the embodiments of the present application. The autonomous mobile device 100 provided in the embodiments of the present application can be any mechanical device capable of moving autonomously in its environment, for example, it can be a robot, a purifier, a self-driving vehicle, etc. Among them, the robot can include a sweeping robot, a glass wiping robot, a home companion robot, a welcome robot, an autonomous service robot, etc.

[0110] As shown in Figure 7 The autonomous mobile device 100 includes a device body 110, a processor 10 and a memory 20 storing computer instructions on the device body 110. Among them, the processor 10 and the memory 20 can be one or more, and can be arranged inside the device body 110, or can be arranged on the surface of the device body 110.

[0111] The device body 110 is an execution mechanism of the autonomous mobile device 100, and can perform operations designated by the processor 10 in a determined environment. The device body 110 reflects the appearance of the autonomous mobile device 100 to some extent. In this embodiment, the appearance of the autonomous mobile device 100 is not limited. Of course, the shape of the autonomous mobile device 100 will be different according to the implementation form of the autonomous mobile device 100. For example, the outer contour shape of the autonomous mobile device 100 can be irregular or regular. For example, the outer contour shape of the autonomous mobile device 100 can be a circle, an ellipse, a square, a triangle, a water drop shape, or a D shape. Shapes other than regular shapes are referred to as irregular shapes, for example, the outer contour of a humanoid robot or the outer contour of a self-driving vehicle.

[0112] The memory 20 is mainly used to store computer programs that can be executed by the processor 10, so that the processor 10 controls the autonomous mobile device 100 to implement corresponding functions, complete corresponding actions or tasks. In addition to storing computer programs, the memory 20 can also be configured to store other various data to support operations on the autonomous mobile device 100. Examples of these data include instructions for any application or method operating on the autonomous mobile device 100, and an environment map corresponding to the environment in which the autonomous mobile device 100 is located. The environment map can be one or more maps corresponding to the entire environment stored in advance, or can also be a partial map being constructed.

[0113] The memory 20 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0114] In this embodiment, the implementation form of the processor 10 is not limited, for example, but is not limited to CPU, GPU or MCU, etc. The processor 10 can be regarded as a control system of the autonomous mobile device 100, and can be used to execute computer programs stored in the memory 20 to control the autonomous mobile device 100 to implement corresponding functions, complete corresponding actions or tasks. It should be noted that according to the implementation form of the autonomous mobile device 100 and the scene in which it is located, the functions to be implemented, the actions to be completed or the tasks to be completed will be different; accordingly, the computer programs stored in the memory 20 will also be different, and the processor 10 executing different computer programs can control the autonomous mobile device 100 to implement different functions, complete different actions or tasks.

[0115] In some optional embodiments, as shown in Figure 7 The autonomous mobile device 100 can further include other components such as a communication component 40, a power supply component 50, and a driving component 60, and the like. Figure 7 Some components are only schematically shown in the figure, and it does not mean that the autonomous mobile device 100 only includes Figure 7 the components shown in the figure. The driving component 50 can include a driving wheel, a driving motor, a universal wheel, and the like. Further optionally, the autonomous mobile device 100 can further include a display 70 and an audio component 80 and the like for different application requirements, which are exemplified by the dashed box in Figure 7 It can be understood that the components in the dashed box are optional components rather than mandatory components, and the specific components can be determined according to the product form of the autonomous mobile device 100. If the autonomous mobile device 100 is a sweeping robot, the autonomous mobile device 100 can further include a dust collecting bucket and a floor brush component, which are not described in detail here.

[0116] In the embodiment, the autonomous mobile device 100 can autonomously move and complete certain tasks on the basis of autonomous movement under the control of the processor 10. For example, in a shopping scene such as a supermarket or a shopping mall, a shopping cart robot needs to follow a customer to accommodate the goods selected by the customer. For another example, in a warehouse sorting scene of some companies, a sorting robot needs to follow a sorting personnel to a shelf sorting area and then start sorting order goods. For another example, in a household cleaning scene, a sweeping robot needs to clean the living room, bedroom, kitchen, and the like. In these application scenarios, the autonomous mobile device 100 needs to rely on surrounding environment information for autonomous movement.

[0117] Further, as shown in Figure 1a The device body 110 is further provided with a structured light module 30 having a structure as shown in Figure 7 for collecting environment information around the autonomous mobile device 100. The structured light module 30 includes a camera module 31 and line laser sensors 32 distributed on both sides of the camera module 31. For detailed introduction of the structured light module 30, reference can be made to the above embodiment, which will not be described here.

[0118] In the embodiment of the application, when the processor 10 executes the computer program in the memory 20, it is used for: collecting obstacle information in a front area by using the structured light module 30 during the travel of the autonomous mobile device 100; in the case that the structured light module 30 collects the obstacle information, controlling the autonomous mobile device 100 to perform a patching action for a blind area range outside the blind area range of the structured light module 30; and in the process of performing the patching action, supplementarily collecting obstacle information in the blind area range by using the structured light module 30.

[0119] In an optional embodiment, when the processor 10 controls the autonomous mobile device 100 to perform the gap-filling action for the blind area range outside the blind area range of the structured light module 30, the processor 10 is configured to: calculate a distance between the autonomous mobile device 100 and the obstacle according to the obstacle information collected by the structured light module 30; and control the autonomous mobile device 100 to perform the gap-filling action for the blind area range when the distance is between a set distance threshold and a boundary distance corresponding to the blind area range, wherein the set distance threshold is greater than the boundary distance.

[0120] In an optional embodiment, when the distance between the autonomous mobile device 100 and the obstacle is greater than or equal to the set distance threshold, the processor 10 controls the autonomous mobile device 100 to continue moving towards the obstacle until the distance is between the set distance threshold and the boundary distance; or when the distance between the autonomous mobile device 100 and the obstacle is less than the boundary distance, the processor 10 controls the autonomous mobile device 100 to move away from the obstacle until the distance is between the set distance threshold and the boundary distance.

[0121] In an optional embodiment, when the processor 10 controls the autonomous mobile device 100 to continue moving towards the obstacle, the processor 10 is configured to: control the autonomous mobile device 100 to continue moving towards the obstacle at a deceleration; or control the autonomous mobile device 100 to continue moving towards the obstacle at a constant speed.

[0122] In an optional embodiment, when the processor 10 controls the autonomous mobile device 100 to perform the gap-filling action for the blind area range outside the blind area range of the structured light module 30, the processor 10 is configured to:

[0123] control the autonomous mobile device 100 to rotate in place outside the blind area range of the structured light module 30; or

[0124] control the autonomous mobile device 100 to perform differential rotation outside the blind area range of the structured light module 30; or

[0125] control the autonomous mobile device 100 to move in multiple directions outside the blind area range of the structured light module 30; or

[0126] control the autonomous mobile device 100 to move in another direction different from the current moving direction outside the blind area range of the structured light module 30.

[0127] In an optional embodiment, after the processor 10 supplements the collection of the obstacle information in the blind area range by using the structured light module 30, the processor 10 is further configured to: perform obstacle avoidance according to the supplemented obstacle information and the previously collected obstacle information; and / or construct an environment map according to the supplemented obstacle information and the previously collected obstacle information.

[0128] In an optional embodiment, the processor 10 is configured to, when planning a first travel path to avoid an obstacle according to the newly-acquired obstacle information and the previously-acquired obstacle information, plan the first travel path to avoid the obstacle according to the newly-acquired obstacle information and the previously-acquired obstacle information; and control the autonomous mobile device 100 to continue traveling along the first travel path until the obstacle is avoided, wherein the obstacle corresponds to the newly-acquired obstacle information and the previously-acquired obstacle information.

[0129] In an optional embodiment, the processor 10 is configured to, when planning a first travel path to avoid an obstacle according to the newly-acquired obstacle information and the previously-acquired obstacle information, determine points on the obstacle that have been acquired according to the newly-acquired obstacle information and the previously-acquired obstacle information, and dilate the points on the obstacle that have been acquired; determine a boundary contour of the obstacle based on the dilated points on the obstacle, and plan the first travel path to avoid the obstacle according to the boundary contour.

[0130] In an optional embodiment, the processor 10 is configured to, when constructing an environment map according to the newly-acquired obstacle information and the previously-acquired obstacle information, plan a second travel path to move around the obstacle according to the newly-acquired obstacle information and the previously-acquired obstacle information, and control the autonomous mobile device 100 to move around the obstacle along the second travel path; and continue to acquire obstacle information of the obstacle using the structured light module 30 to obtain complete information of the obstacle during the movement of the autonomous mobile device 100 around the obstacle; and mark the complete information of the obstacle in the environment map, wherein the obstacle corresponds to the newly-acquired obstacle information and the previously-acquired obstacle information.

[0131] In an optional embodiment, the processor 10 is configured to, when planning a second travel path to move around an obstacle according to the newly-acquired obstacle information and the previously-acquired obstacle information, determine points on the obstacle that have been acquired according to the newly-acquired obstacle information and the previously-acquired obstacle information, and dilate the points on the obstacle that have been acquired; determine a boundary contour of the obstacle based on the dilated points on the obstacle, and determine the second travel path to move around the obstacle according to the boundary contour and an edge-following mode of the autonomous mobile device 100.

[0132] The autonomous mobile device provided by the embodiments of the present application can be any mechanical device capable of moving autonomously in an environment in which the autonomous mobile device is located, for example, a robot, a purifier, a self-driving vehicle, etc. The robot can include a sweeping robot, a glass-cleaning robot, a home-companion robot, a welcome robot, an autonomous service robot, etc., without limitation.

[0133] Correspondingly, the embodiment of the present application further provides a computer readable storage medium storing a computer program, when the computer program is executed by a processor, causing the processor to at least implement the following actions: collecting obstacle information in a front area by using a structured light module during travel of an autonomous mobile device; in a case that the structured light module collects the obstacle information, performing a supplement action for a blind area range outside a blind area range of the structured light module; in a process of performing the supplement action, supplementally collecting obstacle information in the blind area range by using the structured light module.

[0134] The communication component in the above Figure 7 The communication component in the above The communication component in the above

[0135] The display in the above Figure 7 The display in the above The display in the above

[0136] The power component in the above Figure 7 The power component in the above The power component in the above

[0137] The power component in the above ​ The audio component in the above The audio component in the above

[0138] Those skilled in the art will appreciate that embodiments of the application can be devised for a method, a system, or a computer program product. Accordingly, the present application can be embodied in the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product on one or more computer readable storage media (including, but not limited to, disk memory, CD-ROMs, optical storage devices, etc.) embodying computer readable program code.

[0139] The present application is described in reference to the flowchart illustrations and / or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart illustrations and / or block diagrams block or blocks.

[0140] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart illustrations and / or block diagrams block or blocks.

[0141] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart illustrations and / or block diagrams block or blocks.

[0142] In one typical configuration, the computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0143] The memory can include non-persistent memory and / or volatile memory, such as random access memory (RAM) and / or cache memory, non-volatile memory, such as read-only memory (ROM), EPROM, and / or flash memory, etc. The memory is an example of computer readable media.

[0144] Computer-readable media includes permanent and non-permanent, movable and non-movable media that can implement information storage by any method or technology. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer-readable media does not include transitory media such as modulated data signals and carriers.

[0145] It should also be noted that the terms "comprising", "containing", or any other variant thereof are intended to cover a non-exclusive inclusion, such that a process, method, article or apparatus that comprises a list of elements does not only include those elements, but can also include other elements not expressly listed or inherent to such process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0146] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. An obstacle avoidance method, applicable to an autonomous mobile device, characterized in that, The method comprises: During the traveling, a boundary profile of the obstacle is determined according to the obstacle information collected by the structured light module, and the traveling continues along the boundary profile to a first boundary position of the obstacle, which is one of the boundaries of the obstacle detected; If the obstacle cannot be detected in the current traveling direction at the first boundary position, outside the blind area range of the structured light module, a supplement action is performed for the blind area range to collect obstacle information; The traveling direction is adjusted according to the obstacle information collected by the supplement action to continue the traveling around or through the obstacle.

2. The method of claim 1, wherein, During the traveling, a boundary profile of the obstacle is determined according to the obstacle information collected by the structured light module, comprising: During the traveling, the structured light module is used to collect the obstacle information in the front area; If the obstacle information is collected, outside the blind area range of the structured light module, a supplement action is performed for the blind area range to supplement the collection of the obstacle information in the blind area range; The boundary profile of the obstacle is determined according to the obstacle information in the blind area range supplemented and the obstacle information collected before.

3. The method of claim 2, wherein, The supplement action performed for the blind area range outside the blind area range of the structured light module comprises: The distance between the autonomous mobile device and the obstacle is calculated according to the obstacle information collected by the structured light module; When the distance is between a set distance threshold and a boundary distance corresponding to the blind area range, the supplement action is performed for the blind area range; the set distance threshold is greater than the boundary distance.

4. The method of claim 2, wherein, The boundary profile of the obstacle is determined according to the obstacle information in the blind area range supplemented and the obstacle information collected before, comprising: According to the obstacle information in the blind area range supplemented and the obstacle information collected before, the points on the obstacle that have been collected are determined; The points on the obstacle that have been collected are dilated, and the boundary profile of the obstacle is determined based on the dilated points on the obstacle.

5. The method of claim 1, wherein, The traveling continues along the boundary profile to the first boundary position of the obstacle, comprising: A first boundary position on the boundary profile is selected, and the direction of a first traveling path is determined according to the relative position relationship between the autonomous mobile device and the first boundary position; The traveling continues along the boundary profile to the boundary position of the obstacle according to the direction of the first traveling path.

6. The method of claim 5, wherein, The first boundary position on the boundary profile is selected, comprising: During the determination of the boundary profile, the first detected obstacle boundary is selected as the first boundary position; or During the determination of the boundary profile, after the two-side boundaries of the obstacle are detected, one side of the boundaries is selected as the first boundary position.

7. The method of claim 6, wherein, After the two-side boundaries of the obstacle are detected, one side of the boundaries is selected as the first boundary position, comprising: After the two-side boundaries of the obstacle are detected, the environment information around the two-side boundaries of the obstacle is used to select one side of the boundaries as the first boundary position.

8. The method of claim 1, wherein, Adjusting the advancing direction according to the obstacle information collected by performing the gap-filling action, so as to continue advancing around the obstacle, comprising: Adjusting the advancing direction according to the obstacle information collected by performing the gap-filling action, and continuing to advance along the obstacle along the new advancing direction until returning to the starting position after sequentially passing through other boundary positions of the obstacle, the starting position being the starting position when advancing along the boundary contour to the first boundary position; Wherein, when passing through each other boundary position, if the obstacle cannot be detected in the current advancing direction at the other boundary position, outside the blind area range of the structured light module, a gap-filling action is performed for the blind area range to collect obstacle information; the advancing direction is adjusted according to the obstacle information collected by performing the gap-filling action, and the advancing along the obstacle is continued along the new advancing direction until reaching the next other boundary position or the starting position.

9. The method according to any one of claims 1 to 8, characterized in that, Further comprising: During the movement around the obstacle, continue to collect obstacle information by using the structured light module to obtain complete information of the obstacle, and mark the complete information of the obstacle in the environment map.

10. A method of performing a cleaning task, characterized by, The method is suitable for a sweeping robot, and the method comprises: During the execution of the cleaning task, collecting obstacle information in the front direction of the sweeping robot by using the structured light module; In the case of collecting obstacle information, controlling the sweeping robot to rotate left and right outside the blind area range of the structured light module to supplement the collection of obstacle information in the blind area range; Based on the obstacle information in the blind area range supplemented and collected and the previously collected obstacle information, planning a first advancing path for bypassing the obstacle; Controlling the sweeping robot to execute the cleaning task along the first advancing path until the structured light module cannot detect the obstacle, and continuing to execute the cleaning task.

11. A method of performing a cleaning task, characterized by, The method is suitable for a sweeping robot, and the method comprises: During the execution of the cleaning task, collecting obstacle information in the front direction of the sweeping robot by using the structured light module; In the case of collecting obstacle information, controlling the sweeping robot to rotate left and right outside the blind area range of the structured light module to supplement the collection of obstacle information; Based on the obstacle information supplemented and collected and the previously collected obstacle information, controlling the sweeping robot to execute the cleaning task along the boundary contour of the obstacle until reaching a first boundary position of the obstacle, the first boundary position being one of the boundaries of the obstacle detected; If the obstacle cannot be detected in the current advancing direction at the first boundary position, outside the blind area range of the structured light module, controlling the sweeping robot to rotate left and right to supplement the collection of obstacle information; Adjusting the advancing direction of the sweeping robot according to the obstacle information supplemented and collected again, so as to control the sweeping robot to execute the cleaning task around the obstacle.

12. An environmental information collection method suitable for an autonomous mobile device, characterized by, The method comprises: During the advancing, collecting obstacle information in a front region by using a structured light module on the autonomous mobile device, the structured light module having a blind area range; in the case of collecting obstacle information, calculating a distance between the autonomous mobile device and the obstacle according to the collected obstacle information; In a case where the distance is greater than a boundary distance corresponding to the blind area range, a patching action is performed at the current position for the blind area range; In the process of performing the patching action, the structure light module is used to supplement acquisition of obstacle information in the blind area range.

13. A method for obstacle avoidance, suitable for an autonomous mobile device, characterized in that, The method comprises: In the process of traveling, a boundary contour of an obstacle is determined according to obstacle information acquired by the structure light module, and the traveling continues along the boundary contour to a first boundary position of the obstacle, which is one of the boundaries of the obstacle detected; If the obstacle cannot be detected in the current traveling direction at the first boundary position, outside the blind area range of the structure light module, the autonomous mobile device is controlled to rotate left and right to acquire obstacle information in the blind area range; The traveling direction is adjusted according to the acquired obstacle information in the blind area range, so as to continue traveling around or through the obstacle.

14. An autonomous mobile device, comprising: Comprise: A device body, the device body being provided with a structure light module, a processor, and a memory storing a computer program; The processor is configured to execute the computer program to implement the steps in the method of any one of claims 1-9, claim 12, and claim 13.

15. A robot vacuum cleaner, characterized in that Comprise: A device body, the device body being provided with a structure light module, a processor, and a memory storing a computer program; The processor is configured to execute the computer program to implement the steps in the method of claim 10 or 11.

16. A computer readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, the processor is caused to implement the steps in the method of any one of claims 1-9, claim 10, claim 11, claim 12, and claim 13.

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