Mobile robot traveling method, device, mobile robot, and storage medium

Abstract

The application discloses a kind of mobile robot marching method, device, mobile robot and storage medium the method includes: determining target marching path based on the environment information of line laser acquisition;According to target marching path, march, obtain the simulation radar data of obstacle based on current marching position and environment information and reverse laser calculation;According to simulation radar data, determine marching blind area;Target marching path is updated based on marching blind area, and according to the updated target marching path, march.The present application can measure and collect surrounding environment information according to line laser to surrounding environment information to determine marching path, and determine the marching blind area that exists by simulation radar data obtained by reverse laser calculation when marching, and determine marching path again according to marching blind area and move, and then can avoid low obstacle, improve the obstacle avoidance precision of mobile robot.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a method, apparatus, mobile robot, and storage medium for moving a mobile robot. Background Technology

[0002] With the popularization of smart living, more and more families are using robotic vacuum cleaners to make daily life easier. However, most robotic vacuum cleaners on the market cannot detect low obstacles, and therefore cannot perform obstacle avoidance functions.

[0003] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0004] The main objective of this invention is to provide a method, apparatus, mobile robot, and storage medium for moving a mobile robot, aiming to solve the technical problem of being unable to avoid low-lying obstacles due to the inability to perceive them.

[0005] To achieve the above objectives, the present invention provides a method for moving a mobile robot, the method comprising the following steps:

[0006] Determining the target's travel path based on environmental information acquired by line laser;

[0007] The vehicle travels along the target path and performs reverse laser calculations based on its current position and the environmental information to obtain simulated radar data of obstacles.

[0008] The blind spot for travel is determined based on the simulated radar data;

[0009] The target travel path is updated based on the blind spot, and the traveler proceeds according to the updated target travel path.

[0010] Optionally, the step of determining the target's travel path based on environmental information acquired by line laser scanning includes:

[0011] Environmental information along the preset travel path is collected using line laser scanning;

[0012] Fill the linear laser grid map with the environmental information along the preset travel path;

[0013] The target's travel path is determined based on the data from the linear laser grid map and a preset threshold.

[0014] Optionally, the step of obtaining simulated radar data of obstacles by performing reverse laser calculation based on the current travel position and the environmental information includes:

[0015] Based on the line laser grid map, simulate radar ray emission at the current travel position;

[0016] The simulated radar data is obtained by collecting environmental information from the line laser grid map based on the simulated radar emission rays.

[0017] Optionally, the step of updating the target travel path based on the travel blind spot includes:

[0018] The rotation angle and angular velocity for retreating are determined based on the aforementioned blind spot.

[0019] During the retreat based on the rotation angle and angular velocity, environmental information of the blind zone is acquired using the line laser.

[0020] Fill the environmental information of the blind spot into the linear laser grid map;

[0021] The target's travel path is updated based on the data from the linear laser grid map.

[0022] Optionally, determining the travel blind zone based on the simulated radar data includes:

[0023] The areas in the simulated radar data that lack environmental information are identified as blind spots during travel.

[0024] When traveling according to the updated target path, the method further includes:

[0025] Return to the step of determining the target's travel path based on the environmental information acquired by line laser acquisition.

[0026] Optionally, the step of updating the target travel path based on the travel blind spot and traveling according to the updated target travel path includes:

[0027] The environmental information in the blind spot is compared with the environmental information on the preset travel path, wherein the environmental information includes obstacle information;

[0028] When the obstacle in the blind spot is different from the obstacle on the preset travel path, determine the distance between the obstacle in the blind spot and the obstacle on the preset travel path;

[0029] When the distance is less than the preset distance, the target travel path is updated based on the obstacles in the blind spot, the obstacles on the preset travel path, the preset distance, and the preset threshold, and the travel is carried out according to the updated target travel path.

[0030] Optionally, after determining the distance between the obstacle in the blind spot and the obstacle on the preset travel path when the obstacle in the blind spot is different from the obstacle on the preset travel path, the method further includes:

[0031] When the obstacle in the blind spot is the same as the obstacle on the preset travel path, update the obstacle information of the blind spot on the line laser grid map;

[0032] The target travel path is updated based on the updated environmental information of the blind spot and the preset threshold, and the traveler proceeds according to the updated target travel path.

[0033] In addition, to achieve the above objectives, the present invention also proposes a mobile robot traveling device, which includes: a path determination module, a data acquisition module, a blind spot determination module, and a path traveling module;

[0034] The path determination module is used to determine the target's travel path based on environmental information acquired by line laser.

[0035] The data acquisition module is used to move according to the target's travel path and to obtain simulated radar data of obstacles by performing reverse laser calculations based on the current travel position and the environmental information.

[0036] The blind spot determination module is used to determine the travel blind spot based on the simulated radar data;

[0037] The path travel module is used to update the target travel path based on the travel blind spot, and travel according to the updated target travel path.

[0038] Furthermore, to achieve the above objectives, the present invention also proposes a mobile robot, the mobile robot including a memory, a processor, and a mobile robot program stored in the memory and capable of running on the processor, the mobile robot program being configured to implement the mobile robot method as described above.

[0039] In addition, to achieve the above objectives, the present invention also proposes a storage medium storing a mobile robot movement program, which, when executed by a processor, implements the mobile robot movement method as described above.

[0040] This invention discloses a method, apparatus, mobile robot, and storage medium for mobile robot movement. The method includes: determining a target movement path based on environmental information acquired using line laser scanning; moving according to the target movement path; obtaining simulated radar data of obstacles through reverse laser calculation based on the current movement position and environmental information; determining blind spots based on the simulated radar data; updating the target movement path based on the blind spots; and moving according to the updated target movement path. This invention can perform three-dimensional measurement of the surrounding environment using line laser scanning to determine the movement path, and during movement, determine existing blind spots using simulated radar data obtained through reverse laser calculation, re-determine the movement path based on the blind spots, and move accordingly. This enables the robot to avoid low obstacles, improving the obstacle avoidance accuracy of the mobile robot. Attached Figure Description

[0041] Figure 1 This is a flowchart illustrating the first embodiment of the mobile robot movement method of the present invention;

[0042] Figure 2 This is a flowchart illustrating the second embodiment of the mobile robot movement method of the present invention;

[0043] Figure 3 This is a flowchart illustrating the third embodiment of the mobile robot movement method of the present invention;

[0044] Figure 4 This is a structured light module diagram of an embodiment of the mobile robot movement method of the present invention;

[0045] Figure 5 This is a schematic diagram of line laser acquisition in an embodiment of the mobile robot movement method of the present invention;

[0046] Figure 6 This is a diagram showing the robot retreating according to an embodiment of the mobile robot movement method of the present invention;

[0047] Figure 7 This is a structural block diagram of the first embodiment of the mobile robot traveling device of the present invention.

[0048] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0049] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0050] Reference Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of the mobile robot movement method of the present invention, which presents the first embodiment of the mobile robot movement method of the present invention.

[0051] Step S10: Determine the target's travel path based on the environmental information acquired by line laser.

[0052] It should be noted that the executing entity in this embodiment may be a mobile robot with data processing, network communication and program running functions, or other electronic devices that can achieve the same or similar functions. This embodiment does not impose any restrictions on this.

[0053] It should be understood that currently, the most commonly used obstacle avoidance sensors in mobile cleaning or sweeping robots on the market are: infrared distance sensors, mechanical collision switches, and LiDAR. Infrared distance sensors are susceptible to light interference, rendering them unusable in brightly lit areas. Mechanical collision sensors have drawbacks such as the risk of damaging objects upon contact, or the inability to trigger the sensor due to light objects. While radar sensors are primarily used for robot localization and mapping, they can only measure radar point information on the horizontal plane, thus failing to detect low obstacles. Furthermore, mobile robots lack precision in detecting and avoiding low obstacles such as power lines and socks.

[0054] To overcome the above-mentioned defects, this embodiment uses a structured light sensor to collect information about the surrounding environment using line laser to determine the target's travel path, travels according to the target's travel path, performs reverse laser calculation based on the current travel position and the environmental information to obtain simulated radar data of obstacles, determines the travel blind zone based on the simulated radar data, updates the target's travel path based on the travel blind zone, and travels according to the updated target's travel path.

[0055] It should be noted that using line structured light sensors to obtain depth information based on the principle of triangulation mainly involves using two line structured light sensors to measure the three-dimensional information of low obstacles, and then avoiding these low obstacles in the surrounding environment. Because line laser measurement has advantages such as high ranging accuracy, insensitivity to light, and no need for contact measurement, it is suitable for situations like well-lit areas in the home and for low obstacles such as shoes, socks, and power lines. Therefore, using line lasers to collect information about the surrounding environment and obtain a path can improve the measurement accuracy of low obstacles.

[0056] It is understood that the environmental information collected by the line laser can include all surrounding obstacles, such as tables, stools, socks, wires, and walls, and this embodiment does not limit this.

[0057] For ease of understanding, please refer to Figure 4 and Figure 4 To explain, Figure 4 This is a diagram of a structured light module. Figure 5 This is a schematic diagram of line laser acquisition. Figure 4The main control unit 33 controls the camera module 31 to acquire images and transmits the acquired images to the main control unit 33. After receiving the images, the main control unit 33 sends a signal to the two line laser driving circuits 34 to control the emission of line lasers. After receiving the signal, the laser driving circuit amplifies it and drives the two line laser sensors 32 to emit line lasers. Figure 5 F and E are line laser emitters 102, and the camera module 101 is located between F and E. A, B, C, and D are the focal points on the obstacle where the line laser is emitted through the three-dimensional ranging principle.

[0058] It should be noted that the target travel path can be an edge path, that is, after the line laser collects the environmental information, it fills the obstacles in the environmental information onto the line laser grid map, and determines the target travel path based on the diameter of the obstacles on the line laser grid map and the robot's body radius.

[0059] Furthermore, to prevent the robot from colliding with obstacles, step S10 may include:

[0060] Environmental information along the preset travel path is collected using line laser scanning;

[0061] Fill the linear laser grid map with the environmental information along the preset travel path;

[0062] The target's travel path is determined based on the data from the linear laser grid map and a preset threshold.

[0063] It should be noted that when the robot collides with an obstacle during its movement, it is necessary to determine the robot's path to avoid the obstacle. Therefore, during the robot's movement, it emits a linear laser to collect information about the obstacle and fills the information into a linear laser grid map to indicate the obstacle's position on the map. The linear laser grid map is divided into small square cells, each with a side length. Therefore, the diameter of the obstacle is determined based on the cell it occupies on the linear laser grid map, and the target movement path, i.e., the edge path, is determined based on the obstacle's diameter and the robot's body radius.

[0064] It is understandable that the preset travel path can be pre-set by the robot before it moves. However, there will be obstacles during the journey. Therefore, after determining the target travel path based on the obstacles, the robot will move according to the target travel path.

[0065] It is understood that the preset threshold can be the robot's body radius, but this embodiment does not limit it.

[0066] Step S20: Proceed according to the target travel path, and perform reverse laser calculation based on the current travel position and the environmental information to obtain simulated radar data of obstacles.

[0067] It should be noted that during the movement along the target path, reverse laser calculations are performed on the online laser grid map of obstacles. That is, based on the position of obstacles on the online laser grid map, the robot's position simulates radar emitting rays to determine the distribution of obstacles in front of the robot. If the calculation finds that the data on the edge of an obstacle is empty, it means that this area has not been identified by the online laser, and the robot needs to retreat so that the dual-line laser can identify the area with empty data on the map. If an obstacle is detected, the obstacle information needs to be filled into the online laser grid map, and the obstacle will continue to be expanded and moved along the edge. If no obstacle is found, the robot can directly move along the edge and avoid obstacles.

[0068] It's important to note that during line laser detection (or other detection methods), only obstacle information is retained on the map; information about explored and unexplored areas is not retained. Therefore, reverse laser calculation is performed. If information about explored and unexplored areas were retained, the robot vacuum could skip the reverse laser calculation step and perform subsequent operations such as obstacle avoidance. However, performing reverse laser calculation offers advantages, such as obtaining the same data as radar and laser detection, which facilitates data calculation and path planning control. Compared to line laser detection, which distinguishes between explored and unexplored areas, reverse laser calculation consumes fewer computational resources, given that line lasers have a shorter range but higher precision.

[0069] Step S30: Determine the blind spot based on the simulated radar data.

[0070] Understandably, information about the area around an obstacle on a line laser grid map can be obtained from simulated radar data. If the information around an obstacle is empty, it means that the area has not been identified by the line laser. In order to prevent collisions, the environmental information of the area needs to be collected again by the line laser. That is, the area where the information around the obstacle is empty is the blind spot.

[0071] Furthermore, in order to improve the robot's intelligence and prevent collisions with obstacles, step S30 in this embodiment may include:

[0072] The areas in the simulated radar data that lack environmental information are identified as blind spots during travel.

[0073] When traveling according to the updated target path, the method further includes:

[0074] Return to the step of determining the target's travel path based on the environmental information acquired by line laser acquisition.

[0075] Understandably, areas in the simulated radar data lacking environmental information are areas not identified by the line laser, which constitute the blind spot. Since obstacles may exist within the blind spot, posing a risk of collision with the robot, the line laser needs to re-acquire environmental information to determine the target's travel path. While traveling according to the re-determined target path, the robot performs reverse laser calculations based on its current position and the environmental information to obtain simulated radar data of obstacles. Based on this simulated radar data, the robot determines whether a blind spot still exists. If it does, the above steps continue; otherwise, the robot continues traveling according to the current target path.

[0076] Step S40: Update the target travel path based on the travel blind spot, and travel according to the updated target travel path.

[0077] Understandably, since the obstacles have been redefined and their size has changed, the original target path cannot be followed, and a new path needs to be determined.

[0078] Understandably, the system collects environmental information about blind spots using line lasers and fills the collected information into a line laser grid map. The target's path is then redefined based on the diameter of the current obstacle in the line laser map and the robot's body radius.

[0079] Furthermore, in order to prevent the robot from colliding with obstacles and to improve the robot's working efficiency, step S40 of this embodiment may include:

[0080] The rotation angle and angular velocity for retreating are determined based on the aforementioned blind spot.

[0081] During the retreat based on the rotation angle and angular velocity, environmental information of the blind zone is acquired using the line laser.

[0082] Fill the environmental information of the blind spot into the linear laser grid map;

[0083] The target's travel path is updated based on the data from the linear laser grid map.

[0084] Understandably, after identifying the blind spot, the target retreats based on the rotation angle and angular velocity. This could involve moving backward in an arc of approximately 90 degrees, while simultaneously using line lasers to collect environmental information about the blind spot and populating the line laser grid map. The target's path is then redefined based on this new environmental information.

[0085] For ease of understanding, please refer to Figure 6 To explain, Figure 6 This is a diagram showing the robot retreating. Figure 6 During the retreat, information about obstacles is collected using line lasers.

[0086] This embodiment determines the target's travel path based on environmental information acquired through line laser scanning; it then moves according to the target's travel path, performing reverse laser calculations based on the current travel position and environmental information to obtain simulated radar data of obstacles; it identifies blind spots based on the simulated radar data; it updates the target's travel path based on the blind spots, and then moves according to the updated target's travel path. This embodiment can perform three-dimensional measurements of the surrounding environment using line laser scanning and acquire surrounding environmental information to determine the travel path. During movement, it identifies existing blind spots using simulated radar data obtained through reverse laser calculations, and re-determines the travel path based on the blind spots, thus enabling it to avoid low obstacles and improving the obstacle avoidance accuracy of the mobile robot.

[0087] Reference Figure 3 , Figure 3 This is a flowchart illustrating the second embodiment of the mobile robot movement method of the present invention, based on the above. Figure 2 The first embodiment shown presents a second embodiment of the mobile robot movement method of the present invention.

[0088] In the second embodiment, step S20 includes:

[0089] Step S201: Simulate radar ray emission at the current travel position based on the line laser grid map.

[0090] It should be noted that the process of reverse laser calculation is the same as the process of simulating LiDAR data acquisition. Therefore, in the online laser grid map, the radar emits rays to collect data based on the robot's current position.

[0091] It should be noted that the data obtained from reverse laser calculation is the same set of data as that obtained from lidar. Therefore, the obstacle information obtained from reverse laser calculation has higher accuracy and is easier to calculate.

[0092] Step S202: Collect environmental information of the line laser grid map based on the simulated radar emission rays to obtain simulated radar data.

[0093] Understandably, the robot will emit rays in all directions to collect environmental information from the linear laser grid map.

[0094] It is understandable that the obtained simulated radar data is the obstacle data information in the online laser grid map. Based on the obstacle data information, it can be determined whether there are any obstacles that have not been identified and whether there are blind spots in the travel.

[0095] This embodiment simulates radar emission rays at the current travel position based on the line laser grid map; it then collects environmental information from the line laser grid map based on these simulated radar emission rays to obtain simulated radar data. This embodiment obtains simulated radar data by collecting environmental information from the line laser grid map using simulated radar emission rays, thus reducing the consumption of computational resources.

[0096] Reference Figure 4 , Figure 4 This is a flowchart illustrating the third embodiment of the mobile robot movement method of the present invention, based on the above. Figure 2 The first embodiment shown presents a third embodiment of the mobile robot movement method of the present invention.

[0097] In the third embodiment, step S40 includes:

[0098] Step S401: Compare the environmental information on the blind spot with the environmental information on the preset travel path, wherein the environmental information includes obstacle information.

[0099] It is understandable that comparing the environmental information in the blind spot with the environmental information on the preset travel path is to determine whether the obstacles in the blind spot and the obstacles on the preset travel path are the same. If they are the same obstacle, the target travel path can be redefined. If they are not the same obstacle, it is necessary to determine whether to define the target travel path for each obstacle separately or to treat the two obstacles as one obstacle based on the distance between them.

[0100] Step S402: When the obstacle in the blind spot is different from the obstacle on the preset travel path, determine the distance between the obstacle in the blind spot and the obstacle on the preset travel path.

[0101] In practice, when the obstacles in the blind spot are different from the obstacles on the preset travel path, the distance between the obstacles in the blind spot and the obstacles on the preset travel path is determined based on the location of the obstacles in the blind spot in the online laser grid map and the obstacles on the preset travel path.

[0102] It is understandable that if the distance between the obstacle in the blind spot and the obstacle on the preset travel path is very small and the robot cannot pass through, there is a risk of collision with the obstacle. Therefore, it is necessary to determine the distance between the obstacle in the blind spot and the obstacle on the preset travel path and take appropriate measures based on the distance.

[0103] Furthermore, in order to improve the accuracy of obstacle recognition, step S402 of this embodiment may include the following:

[0104] When the obstacle in the blind spot is the same as the obstacle on the preset travel path, update the obstacle information of the blind spot on the line laser grid map;

[0105] The target travel path is updated based on the updated environmental information of the blind spot and the preset threshold, and the traveler proceeds according to the updated target travel path.

[0106] Understandably, when an obstacle in the blind spot is the same as an obstacle on the preset path, the diameter of the obstacle is re-determined on the online laser grid map, and the target path is obtained based on the diameter of the obstacle and the robot's body radius.

[0107] Step S403: When the distance is less than the preset distance, update the target travel path according to the obstacles in the blind spot, the obstacles on the preset travel path, the preset distance and the preset threshold, and travel according to the updated target travel path.

[0108] It is understood that the preset distance can be the diameter of the robot's body, or the diameter of the robot's body plus a few centimeters; this embodiment does not limit this.

[0109] It is understandable that if the distance between an obstacle in the blind spot and an obstacle on the preset path is less than the preset distance, it means that the robot cannot pass. Therefore, the two obstacles are treated as the same obstacle and the target path is redefined. This eliminates the need to recalculate the target path for each obstacle, thereby improving the robot's work efficiency.

[0110] It should be noted that since different obstacles need to be treated as the same obstacle, the diameters of the two obstacles are determined separately in the online laser grid map. Since there is a certain distance between the two obstacles, the diameters of the two obstacles need to be added to the distance between them, plus the robot's body radius, to obtain the target travel path.

[0111] This embodiment compares the environmental information in the blind spot with the environmental information on the preset travel path. The environmental information includes obstacle information. When the obstacles in the blind spot and the obstacles on the preset travel path are different, the distance between the obstacles in the blind spot and the obstacles on the preset travel path is determined. When the distance is less than a preset distance, the target travel path is updated based on the obstacles in the blind spot, the obstacles on the preset travel path, the preset distance, and the preset threshold, and the robot travels according to the updated target travel path. This embodiment compares the environmental information in the blind spot and the environmental information on the preset travel path to determine that the obstacles are not the same obstacle, calculates the distance between the two obstacles, and when the distance between them is too great for the robot to pass, the two obstacles are considered as the same obstacle and their target travel path is determined. This eliminates the need to determine the target travel paths for the two obstacles separately, thereby improving the robot's working efficiency.

[0112] In addition, refer to Figure 7 The present invention also proposes a mobile robot traveling device, which includes: a path determination module 10, a data acquisition module 20, a blind spot determination module 30, and a path traveling module 40;

[0113] The path determination module 10 is used to determine the target's travel path based on environmental information acquired by line laser.

[0114] The data acquisition module 20 is used to travel according to the target's travel path and to obtain simulated radar data of obstacles by performing reverse laser calculations based on the current travel position and the environmental information.

[0115] The blind spot determination module 30 is used to determine the travel blind spot based on the simulated radar data;

[0116] The path travel module 40 is used to update the target travel path based on the travel blind spot, and travel according to the updated target travel path.

[0117] This embodiment determines the target's travel path based on environmental information acquired through line laser scanning; it then moves according to the target's travel path, performing reverse laser calculations based on the current travel position and environmental information to obtain simulated radar data of obstacles; it identifies blind spots based on the simulated radar data; it updates the target's travel path based on the blind spots, and then moves according to the updated target's travel path. This embodiment can perform three-dimensional measurements of the surrounding environment using line laser scanning and acquire surrounding environmental information to determine the travel path. During movement, it identifies existing blind spots using simulated radar data obtained through reverse laser calculations, and re-determines the travel path based on the blind spots, thus enabling it to avoid low obstacles and improving the obstacle avoidance accuracy of the mobile robot.

[0118] Furthermore, to achieve the above objectives, the present invention also proposes a mobile robot, the mobile robot including a memory, a processor, and a mobile robot program stored in the memory and capable of running on the processor, the mobile robot program being configured to implement the mobile robot method as described above.

[0119] In addition, to achieve the above objectives, the present invention also proposes a storage medium storing a mobile robot movement program, which, when executed by a processor, implements the mobile robot movement method as described above.

[0120] Based on the first embodiment of the mobile robot traveling device of the present invention described above, a second embodiment of the mobile robot traveling device of the present invention is proposed.

[0121] In this embodiment, the path determination module 10 is used to collect environmental information on a preset travel path based on line laser acquisition.

[0122] Furthermore, the path determination module 10 is also used to fill the environmental information on the preset travel path into the linear laser grid map.

[0123] Furthermore, the path determination module 10 is also used to determine the target travel path based on the data of the linear laser grid map and a preset threshold.

[0124] Furthermore, the data acquisition module 20 is also used to simulate radar ray emission based on the line laser grid map at the current travel position.

[0125] Furthermore, the data acquisition module 20 is also used to collect environmental information of the line laser grid map based on the simulated radar emission rays to obtain simulated radar data.

[0126] Furthermore, the path travel module 40 is also used to determine the rotation angle and angular velocity for retreating based on the travel blind zone.

[0127] Furthermore, the path travel module 40 is also used to collect environmental information of the travel blind zone based on the line laser when retreating according to the rotation angle and angular velocity.

[0128] Furthermore, the path travel module 40 is also used to fill the environmental information of the travel blind zone into the linear laser grid map.

[0129] Furthermore, the path travel module 40 is also used to update the target travel path based on the data of the linear laser grid map.

[0130] Furthermore, the blind zone determination module 30 is also used to determine the area in the simulated radar data without environmental information as the travel blind zone.

[0131] Furthermore, the blind zone determination module 30 is also used to return to the step of determining the target's travel path based on the environmental information acquired by line laser acquisition.

[0132] Furthermore, the path travel module 40 is also used to compare the environmental information on the blind spot with the environmental information on the preset travel path, wherein the environmental information includes obstacle information.

[0133] Furthermore, the path travel module 40 is also used to determine the distance between the obstacle in the travel blind zone and the obstacle on the preset travel path when the obstacle in the travel blind zone is different from the obstacle on the preset travel path.

[0134] Furthermore, the path travel module 40 is also used to update the target travel path based on the obstacles in the travel blind zone, the obstacles on the preset travel path, the preset distance, and the preset threshold when the distance is less than the preset distance, and to travel according to the updated target travel path.

[0135] Furthermore, the path travel module 40 is also used to update the obstacle information of the travel blind zone on the linear laser grid map when the obstacle in the travel blind zone is the same as the obstacle on the preset travel path.

[0136] Furthermore, the path travel module 40 is also used to update the target travel path according to the updated environmental information of the travel blind zone and the preset threshold, and travel according to the updated target travel path.

[0137] Other embodiments or specific implementations of the mobile robot traveling device described in this invention can be found in the above-described method embodiments, and will not be repeated here.

[0138] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0139] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0140] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as a read-only memory image (ROM) / random access memory (RAM), magnetic disk, optical disk), and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0141] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A method for moving a mobile robot, characterized in that, The mobile robot's movement method includes the following steps: Determining the target's travel path based on environmental information acquired by line laser; The vehicle travels along the target path and performs reverse laser calculations based on its current position and the environmental information to obtain simulated radar data of obstacles. The blind spot for travel is determined based on the simulated radar data; The target travel path is updated based on the blind spot, and the traveler proceeds according to the updated target travel path. The step of obtaining simulated radar data of obstacles by performing reverse laser calculation based on the current travel position and the environmental information includes: The linear laser grid map filled with the environmental information simulates radar ray emission at the current travel position; The simulated radar data is obtained by collecting environmental information from the line laser grid map based on the simulated radar emission rays.

2. The method as described in claim 1, characterized in that, The step of determining the target's travel path based on environmental information acquired by line laser includes: Environmental information along the preset travel path is collected using line laser scanning; Fill the linear laser grid map with the environmental information along the preset travel path; The target's travel path is determined based on the data from the linear laser grid map and a preset threshold.

3. The method as described in claim 1, characterized in that, The step of updating the target travel path based on the travel blind spot includes: The rotation angle and angular velocity for retreating are determined based on the aforementioned blind spot. During the retreat based on the rotation angle and angular velocity, environmental information of the blind zone is acquired using the line laser. Fill the environmental information of the blind spot into the linear laser grid map; The target's travel path is updated based on the data from the linear laser grid map.

4. The method as described in claim 1, characterized in that, The step of determining the blind spot based on the simulated radar data includes: The areas in the simulated radar data that lack environmental information are identified as blind spots during travel. When traveling according to the updated target path, the method further includes: Return to the step of determining the target's travel path based on the environmental information acquired by line laser acquisition.

5. The method as described in claim 2, characterized in that, The step of updating the target travel path based on the blind spot and traveling according to the updated target travel path includes: The environmental information in the blind spot is compared with the environmental information on the preset travel path, wherein the environmental information includes obstacle information; When the obstacle in the blind spot is different from the obstacle on the preset travel path, determine the distance between the obstacle in the blind spot and the obstacle on the preset travel path; When the distance is less than the preset distance, the target travel path is updated based on the obstacles in the blind spot, the obstacles on the preset travel path, the preset distance, and the preset threshold, and the travel is carried out according to the updated target travel path.

6. The method as described in claim 5, characterized in that, After determining the distance between the obstacle in the blind spot and the obstacle on the preset travel path when the obstacle in the blind spot is different from the obstacle on the preset travel path, the method further includes: When the obstacle in the blind spot is the same as the obstacle on the preset travel path, update the obstacle information of the blind spot on the line laser grid map; The target travel path is updated based on the updated environmental information of the blind spot and the preset threshold, and the traveler proceeds according to the updated target travel path.

7. A mobile robot traveling device, characterized in that, The mobile robot's movement device includes: a path determination module, a data acquisition module, a blind spot determination module, and a path movement module; The path determination module is used to determine the target's travel path based on environmental information acquired by line laser. The data acquisition module is used to move according to the target's travel path and to obtain simulated radar data of obstacles by performing reverse laser calculations based on the current travel position and the environmental information. The blind spot determination module is used to determine the travel blind spot based on the simulated radar data; The path travel module is used to update the target travel path based on the travel blind spot, and travel according to the updated target travel path; The data acquisition module is also used to simulate radar emission rays at the current travel position based on the line laser grid map filled with the environmental information; and to collect environmental information of the line laser grid map based on the simulated radar emission rays to obtain simulated radar data.

8. A mobile robot, characterized in that, The mobile robot includes: a memory, a processor, and a mobile robot movement program stored in the memory and executable on the processor, wherein when the mobile robot movement program is executed by the processor, it implements the steps of the mobile robot movement method as described in any one of claims 1 to 6.

9. A storage medium, characterized in that, The storage medium stores a mobile robot movement program, which, when executed by a processor, implements the steps of the mobile robot movement method as described in any one of claims 1 to 6.

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