Autonomous mobile device, obstacle detection method thereof, and computer readable medium

Abstract

The present disclosure provides an autonomous mobile device, an obstacle detection method thereof and a computer readable medium. The front part of the device body of the autonomous mobile device is provided with an image acquisition unit and two line lasers located on the left and right sides of the image acquisition unit. The laser plane formed by the line lasers emitted by the two line lasers during propagation forms a pre-inclined state with the running surface, so that there is a certain relative positional relationship between the real bright stripes and the interference bright stripes in the image acquired by the image acquisition unit. In this case, the obstacle detection method of the present disclosure can exclude the adverse effects of interference bright stripes on obtaining the distance of the obstacle, accurately calculate the distance of the obstacle in the running direction of the autonomous mobile device, thereby avoiding false detection and missed detection of the obstacle. The present disclosure also provides a computer readable medium storing a computer program capable of executing the above obstacle detection method.

Description

Technical Field

[0001] This disclosure relates to the structure of an autonomous mobile device and the obstacle detection method thereon, as well as a computer-readable medium storing a computer program capable of performing the obstacle detection method. Background Technology

[0002] Autonomous mobile devices refer to intelligent mobile devices that autonomously perform preset tasks. Currently, autonomous mobile devices typically include, but are not limited to, cleaning robots (such as intelligent sweeping robots, intelligent floor cleaning robots, and window cleaning robots), companion mobile robots (such as intelligent electronic pets and nanny robots), service mobile robots (such as reception robots in hotels, inns, and meeting places), industrial inspection intelligent devices (such as power inspection robots and intelligent forklifts), and security robots (such as home or commercial intelligent guard robots).

[0003] In such Figure 1 In the prior art autonomous mobile device shown, an image acquisition unit 3 (e.g., a camera) is positioned at the center of the front of the device body 1, along with two line lasers 2a and 2b located on either side of the image acquisition unit 3. The image acquisition unit 3 acquires images containing reflected light from obstacles TG (e.g., walls, furniture, steps, thresholds, etc.) along the path of the device body 1, including the two line lasers 2a and 2b. After appropriate image processing, parameters such as the distance between the device body 1 and the obstacle TG (hereinafter sometimes simply referred to as the distance to the obstacle TG) can be obtained. Specifically, the two line lasers 2a and 2b emit line lasers towards the front of the device body 1. When the line lasers are incident on the obstacle TG in front of the device body 1, the line lasers are reflected on the surface of the obstacle TG, forming reflected light that appears as bright stripes on the surface of the obstacle TG. Further, the image acquisition unit 3 captures an image of the front of the device body 1, and the image is processed. In this disclosure, an image containing the surface of an obstacle and exhibiting bright stripes on that surface is referred to as an environmental image. Image processing extracts the positions of pixels corresponding to bright stripes in the environmental image within the image coordinate system. Based on this, parameters such as the distance between the illuminated point on the TG surface of the obstacle corresponding to the bright stripe and the image acquisition unit 3 (i.e., the main body of the device 1) are calculated. Furthermore, a three-dimensional environmental model can be established by collecting distance parameters from multiple obstacles in the environment. The two line lasers 2a and 2b, along with the image acquisition unit 3, which perform the above functions, are commonly referred to as a three-dimensional spatial sensor (3D sensor).

[0004] However, during the process of acquiring parameters such as the distance to the obstacle TG using the aforementioned three-dimensional spatial sensor, interference from environmental factors affecting the autonomous mobile device (e.g., reflected light from the ground reflecting a line laser beam onto the surface of the obstacle TG and then being reflected again by the surface of the obstacle TG) causes the image captured by the image acquisition unit 3 to contain not only the real bright stripes produced by the line laser beam directly reflected from the surface of the obstacle TG (i.e., primary reflection light) but also interfering bright stripes produced by secondary reflection light, as mentioned above. If calculations are performed based on these interfering bright stripes, the autonomous mobile device will be unable to correctly acquire parameters such as the distance to the obstacle TG, resulting in incorrect distance data. Consequently, the autonomous mobile device may adopt incorrect response methods, potentially leading to operational errors or malfunctions. Furthermore, in situations such as... Figure 1 In the prior art autonomous mobile device shown, the laser surfaces formed by the line lasers emitted by the two line lasers 2a and 2b during propagation are always perpendicular to the horizontal operating surface. As a result, the relative positions of the real light stripe and the interfering light stripe formed on the surface of common obstacles TG, such as steps and thresholds, are very close to each other in the environmental image, and even overlap. This makes it difficult for the autonomous mobile device to eliminate the adverse effects of the interfering light stripe on the acquisition of the distance of the obstacle TG. Summary of the Invention

[0005] In view of the problems of the prior art described above, the purpose of this disclosure is to provide a novel autonomous mobile device and its obstacle detection method, which can eliminate the adverse effects of the interfering bright stripes described in the background art on the acquisition of obstacle distance in a relatively simple way, thereby avoiding false detection and missed detection of obstacles. Another purpose of this disclosure is to provide a computer-readable medium storing a computer program capable of executing the obstacle detection method.

[0006] To achieve the above objectives, the present disclosure adopts the following scheme.

[0007] This disclosure provides an autonomous mobile device, including a device body, a first line laser, a second line laser, an image acquisition unit, a processing unit, and a driving component. The first line laser, the second line laser, and the image acquisition unit are all mounted on the front of the device body. The autonomous mobile device has a forward orientation and a reference plane that includes the forward orientation and is perpendicular to the operating surface. The image acquisition unit is disposed in the reference plane. The first line laser and the second line laser are located on the left and right sides of the reference plane. The first line laser is used to emit a first line laser, and the second line laser is used to emit a second line laser. The image acquisition unit is capable of acquiring an environmental image containing the reflected light of at least one of the first line laser and the second line laser on an obstacle. The processing unit is used for data processing and computation.

[0008] When the autonomous mobile device is driven by the drive component to move on the operating surface, the first laser surface formed by the first line laser during propagation is in a pre-tilted state with respect to the operating surface, and the second laser surface formed by the second line laser during propagation is in a pre-tilted state with respect to the operating surface.

[0009] In one alternative embodiment, the angle between the first laser surface and the operating surface facing the reference surface is α, and the angle between the second laser surface and the operating surface facing the reference surface is β, satisfying:

[0010] 5° < α < 85° and 5° < β < 85°; or

[0011] 95° < α < 175° and 95° < β < 175°; or

[0012] 5°<α<85° and 95°<β<175°.

[0013] In another alternative solution, the following conditions are met:

[0014] 45° < α < 85° and 45° < β < 85°; or

[0015] 95° < α < 135° and 95° < β < 135°; or

[0016] 45°<α<85° and 95°<β<135°.

[0017] This disclosure also provides an obstacle detection method for an autonomous mobile device according to any one of the above technical solutions, including:

[0018] The laser emission step includes the following steps: the first line laser emits a first line laser in a pre-tilted state, and the second line laser emits a second line laser in a pre-tilted state.

[0019] The image acquisition step includes an image acquisition unit acquiring an environmental image. The environmental image includes at least one of a first reflected light generated by the first line laser on the surface of an obstacle and a second reflected light generated by the second line laser on the surface of an obstacle. The first reflected light includes a first true reflected light formed by the first line laser directly illuminating the surface of the obstacle, and the second reflected light includes a second true reflected light formed by the second line laser directly illuminating the surface of the obstacle.

[0020] The image processing step includes the processing unit identifying light pixels in the environmental image whose brightness is greater than a predetermined threshold corresponding to the reflected light, and determining at least one of a first set of true pixels and a second set of true pixels from the light pixels, wherein the first set of true pixels corresponds to the first true reflected light and the second set of true pixels corresponds to the second true reflected light.

[0021] This disclosure also provides an obstacle detection method for an autonomous mobile device according to any one of the above technical solutions, including:

[0022] The laser emission step includes the following steps: the first line laser emits a first line laser in a pre-tilted state, and the second line laser emits a second line laser in a pre-tilted state.

[0023] The image acquisition step includes an image acquisition unit acquiring an environmental image, wherein the environmental image includes at least one of a first reflected light generated by the first line laser on the surface of an obstacle and a second reflected light generated by the second line laser on the surface of an obstacle, wherein the first reflected light includes a first true reflected light formed by the first line laser directly irradiating the surface of the obstacle, and the second reflected light includes a second true reflected light formed by the second line laser directly irradiating the surface of the obstacle.

[0024] Image processing steps, wherein the processing unit identifies light pixels in the environmental image whose brightness is greater than a predetermined threshold corresponding to the reflected light, and determines at least one of a first set of true pixels and a second set of true pixels from the light pixels, wherein the first set of true pixels corresponds to the first true reflected light, and the second set of true pixels corresponds to the second true reflected light; and

[0025] The calculation step involves the processing unit determining the distance between the device body and the obstacle based on at least one of the first set of true pixels and the second set of true pixels.

[0026] In one alternative approach, during the image processing step,

[0027] When the environmental image contains multiple sets of first pixels corresponding to the first reflected light, the processing unit selects one of these sets of first pixels as the first set of true pixels based on the pre-tilt state of the first line laser; and

[0028] When the environmental image contains multiple sets of second pixels corresponding to the second reflected light, the processing unit selects one of the sets of second pixels as the second true pixel set according to the pre-tilt state of the second line laser.

[0029] In another alternative approach, the image processing step includes:

[0030] A two-dimensional coordinate system is established in the environmental image, such that all pixels in the environmental image have one-to-one corresponding coordinates.

[0031] A baseline is selected in the two-dimensional coordinate system, and at least one of the first set of true pixels and the second set of true pixels is determined based on the distance between each light pixel in the environmental image and the baseline.

[0032] In another alternative approach, the image processing step includes:

[0033] Using the straight line corresponding to the reference plane in the environmental image as the reference plane projection line, the light pixels located on the first side of the reference plane projection line in the environmental image and having a brightness greater than a predetermined threshold belong to the first pixel set, and the light pixels located on the second side of the reference plane projection line and having a brightness greater than the predetermined threshold belong to the second pixel set.

[0034] In another alternative approach, during the image processing step, a first baseline is established in the environmental image. This first baseline is located between a plurality of first pixel sets corresponding to the first reflected light and a plurality of second pixel sets corresponding to the second reflected light.

[0035] If the angle between the first laser surface and the operating surface forming the reference surface is α, and the first laser surface and the reference surface do not intersect, then, if 5° < α < 85°, in the environmental image, the set of first pixels closest to the first reference line among the multiple sets of first pixels corresponding to the first reflected light is selected as the first true pixel set; if 95° < α < 175°, the set of first pixels furthest from the first reference line among the multiple sets of first pixels corresponding to the first reflected light is selected as the first true pixel set; or

[0036] When the first laser surface intersects with the reference surface, and assuming 5° < α < 85°, in the environmental image, the set of first pixels farthest from the first reference line among the multiple sets of first pixels corresponding to the first reflected light is selected as the first true pixel set; when 95° < α < 175°, the set of first pixels closest to the first reference line among the multiple sets of first pixels corresponding to the first reflected light is selected as the first true pixel set.

[0037] and / or

[0038] If the angle between the second laser surface and the operating surface forming the reference surface is β;

[0039] When the second laser surface does not intersect with the reference surface, and assuming 5° < β < 85°, in the environmental image, the set of second pixels closest to the first reference line among the multiple sets of second pixels corresponding to the second reflected light is selected as the second true pixel set; when 95° < β < 175°, the set of second pixels furthest from the first reference line among the multiple sets of second pixels corresponding to the second reflected light is selected as the second true pixel set; or

[0040] When the second laser surface intersects with the reference surface, and assuming 5° < β < 85°, in the environmental image, the set of second pixels furthest from the first reference line among the multiple sets of second pixels corresponding to the second reflected light is selected as the second true pixel set; and when 95° < β < 175°, the set of second pixels closest to the first reference line among the multiple sets of second pixels corresponding to the second reflected light is selected as the second true pixel set.

[0041] In another alternative approach, during the image processing step, a second baseline is established in the environmental image such that all pixel sets are located on the same side of the second baseline, and the plurality of first pixel sets corresponding to the first reflected light are closer to the second baseline than the plurality of second pixel sets corresponding to the second reflected light.

[0042] If the angle between the first laser surface and the operating surface forming the reference surface is α;

[0043] When the first laser surface does not intersect with the reference surface, and assuming 5° < α < 85°, in the environmental image, the set of first pixels farthest from the second reference line among the multiple sets of first pixels corresponding to the first reflected light is selected as the first true pixel set; when 95° < α < 175°, the set of first pixels closest to the second reference line among the multiple sets of first pixels corresponding to the first reflected light is selected as the first true pixel set; or

[0044] When the first laser surface intersects with the reference surface, and provided that 5° < α < 85°, in the environmental image, the set of first pixels closest to the second reference line among the multiple sets of first pixels corresponding to the first reflected light is selected as the first true pixel set; when 95° < α < 175°, the set of first pixels furthest from the second reference line among the multiple sets of first pixels corresponding to the first reflected light is selected as the first true pixel set; and / or

[0045] If the angle between the second laser surface and the operating surface forming the reference surface is β;

[0046] When the second laser surface does not intersect with the reference surface, and assuming 5° < β < 85°, in the environmental image, the set of second pixels closest to the second reference line among the multiple sets of second pixels corresponding to the second reflected light is selected as the second true pixel set; when 95° < β < 175°, the set of second pixels furthest from the second reference line among the multiple sets of second pixels corresponding to the second reflected light is selected as the second true pixel set; or

[0047] When the second laser surface intersects with the reference surface, and assuming 5° < β < 85°, in the environmental image, the set of second pixels farthest from the second reference line among the multiple sets of second pixels corresponding to the second reflected light is selected as the second true pixel set; and when 95° < β < 175°, the set of second pixels closest to the second reference line among the multiple sets of second pixels corresponding to the second reflected light is selected as the second true pixel set.

[0048] In another alternative approach, determining the set of true pixels corresponding to the true reflected light generated on the surface of the obstacle by at least one of the first line laser and the second line laser includes: for each vertical coordinate value, selecting the light pixel whose brightness is greater than a predetermined threshold that is closest to or furthest from the baseline to constitute the set of true pixels.

[0049] This disclosure also provides a computer-readable medium for storing a computer program capable of executing the obstacle detection method for autonomous mobile devices described in any of the above technical solutions.

[0050] By adopting the above technical solution, this disclosure provides a novel autonomous mobile device. The front of the main body of the autonomous mobile device is equipped with an image acquisition unit and two line lasers located on the left and right sides of the image acquisition unit. The line lasers emitted by the two line lasers form a pre-tilted state between the laser surface and the operating surface during propagation. This results in a definite relative positional relationship between the real bright stripes and interfering bright stripes in the image acquired by the image acquisition unit, thereby helping to eliminate the adverse effects of interfering bright stripes on the distance to obstacles.

[0051] This disclosure also provides an obstacle detection method for the aforementioned autonomous mobile device, which can select a set of true pixels corresponding to the true bright stripes of an obstacle by utilizing the determined relative positional relationship between real bright stripes and interfering bright stripes in the acquired image. This allows for a relatively simple method to eliminate the adverse effects of interfering bright stripes on obtaining the distance to the obstacle.

[0052] This disclosure also provides an obstacle detection method for the aforementioned autonomous mobile device. This method utilizes the determined relative positional relationship between real bright stripes and interfering bright stripes in the acquired image to select a set of true pixels corresponding to the real bright stripes of the obstacle. Then, it uses the selected set of true pixels to calculate the distance to the obstacle in the forward direction of travel of the autonomous mobile device. This relatively simple method eliminates the adverse effects of interfering bright stripes on obtaining the obstacle distance, accurately calculates the distance to the obstacle in the forward direction of travel of the autonomous mobile device, and thus avoids false detection and missed detection of obstacles.

[0053] This disclosure also provides a computer-readable medium storing a computer program capable of performing the above obstacle detection methods. This computer-readable medium includes, but is not limited to, storage media such as semiconductor memory, magnetic core memory, magnetic drum memory, and disk memory. Attached Figure Description

[0054] Figure 1 This is an illustrative diagram used to explain the working state of a three-dimensional spatial sensor in an existing autonomous mobile device.

[0055] Figure 2A This is a schematic diagram showing the structure of an autonomous mobile device according to a first embodiment of the present disclosure, where the dashed lines represent virtual straight lines parallel to the travel plane.

[0056] Figure 2B It is used for explanation Figure 2A A diagram illustrating the working status of the three-dimensional spatial sensor of an autonomous mobile device.

[0057] Figure 2C It shows Figure 2AA flowchart of an obstacle detection method for autonomous mobile devices.

[0058] Figures 2D to 2F yes Figure 2A A schematic diagram of environmental images captured by an autonomous mobile device, wherein 5 schematically shows the pixels and two-dimensional coordinate system in the environmental image.

[0059] Figure 3A This is a schematic diagram showing the structure of an autonomous mobile device according to a second embodiment of the present disclosure, where the dashed lines represent virtual straight lines parallel to the travel plane.

[0060] Figure 3B It is used for explanation Figure 3A A diagram illustrating the working status of the three-dimensional spatial sensor of an autonomous mobile device.

[0061] 0 Figures 3C to 3E yes Figure 3A A schematic diagram of an environmental image captured by an autonomous mobile device, which schematically shows the pixels and two-dimensional coordinate system in the environmental image.

[0062] Figure 4A This is a schematic diagram showing the structure of an autonomous mobile device according to a third embodiment of the present disclosure, where the dashed lines represent virtual straight lines parallel to the travel plane.

[0063] Figure 4B It is used for explanation Figure 4A The diagram illustrates the working state 5 of the three-dimensional spatial sensor of the autonomous mobile device.

[0064] Figures 4C to 4E yes Figure 4A A schematic diagram of an environmental image captured by an autonomous mobile device, which schematically shows the pixels and two-dimensional coordinate system in the environmental image.

[0065] Figure 5A This is a schematic diagram showing the structure of an autonomous mobile device according to a fourth embodiment of the present disclosure, where the dashed lines represent virtual straight lines parallel to the travel plane.

[0066] 0 Figure 5B It is used for explanation Figure 5A A diagram illustrating the working status of the three-dimensional spatial sensor of an autonomous mobile device.

[0067] Explanation of reference numerals in the attached figures

[0068] 1—Main body of the equipment;

[0069] 2a—First-line laser;

[0070] 5 2b—Second-line laser;

[0071] 3—Image acquisition unit;

[0072] P0—Reference plane; P1—First laser plane; P2—Second laser plane; TG—Obstacle;

[0073] L0—Projection line of the reference plane; L1—First reference line; L2—Second reference line; L3—Third reference line;

[0074] PIX—Light pixel; C11—First set of true pixels; C12—First set of interfering pixels; C21—Second set of true pixels; C22—Second set of interfering pixels. Detailed Implementation

[0075] Embodiments of this disclosure are described below with reference to the accompanying drawings. For ease of understanding, the elements shown in the drawings may include elements such as dimensions and scales that are expressed differently from actual dimensions and scales.

[0076] In this disclosure, "front," "rear," "left," "right," "upper," and "lower" are all relative to the normal operating state of the autonomous mobile device according to this disclosure. Specifically, "front" and "rear" refer to the front and rear sides in the forward direction of the autonomous cleaning device when it is in normal operating state on the operating surface; "left" and "right" refer to the left and right sides when viewed from the front in the forward direction; and "upper" and "lower" refer to the upper and lower sides in the vertical direction perpendicular to the operating surface when the autonomous mobile device is in normal operating state on the operating surface. In this disclosure, the autonomous mobile device according to this disclosure can move autonomously according to a preset control scheme in the control component. The operating surface can be a plane or a curved surface with a large radius of curvature; a typical example of an operating surface is the ground in a building.

[0077] In this disclosure, a self-moving cleaning device is used as an example of the autonomous mobile device of this disclosure to illustrate the technical concept and specific technical solution according to this disclosure in the following specific embodiments. For the self-moving cleaning device, the example of the operating surface is the surface to be cleaned.

[0078] In this disclosure, the angle between the laser surface of a line laser and the reference surface facing the reference surface refers to the angle between the laser surface and the reference surface when they do not intersect. That is, regardless of whether the line laser emitted by a line laser located on one side of the reference surface passes through the reference surface before irradiating an obstacle, the aforementioned angle refers to the angle between the laser surface and the reference surface facing the reference surface formed before the line laser passes through the reference surface. In the accompanying drawings corresponding to the various embodiments, the angle formed between the laser surface and the reference surface is marked at obstacles in some of the drawings for ease of explanation. However, based on the above description, it can be understood that in each embodiment, the angle between the laser surface and the reference surface facing the reference surface is adjusted by adjusting the angle between the laser surface formed by the line laser emitted by the line laser and the reference surface; therefore, reference can be made to, for example... Figure 2A , Figure 3A , Figure 4A , Figure 5A To more accurately understand the meaning of the aforementioned included angle.

[0079] The autonomous mobile device according to the first embodiment of this disclosure will be described below with reference to the accompanying drawings.

[0080] (An autonomous mobile device according to a first embodiment of this disclosure)

[0081] The autonomous mobile device according to the first embodiment of this disclosure is a self-moving cleaning device. For example... Figure 2A As shown, the autonomous mobile device includes a main body 1, a three-dimensional spatial sensor (a first-line laser 2a, a second-line laser 2b, and an image acquisition unit 3), a drive assembly, a cleaning assembly, and a control assembly, all assembled together. The control assembly obtains environmental parameters through the three-dimensional spatial sensor and other sensing devices. Based on these parameters, the control assembly controls the drive assembly to propel the entire autonomous mobile device autonomously across the operating surface (the surface to be cleaned), thereby enabling the cleaning assembly to perform cleaning operations on the operating surface. Cleaning operations include, but are not limited to, sweeping, mopping, and vacuuming.

[0082] In this embodiment, the main body 1 of the device can generally have a cylindrical shape. The shape of the main body 1 is not limited to this; for example, in other optional solutions, the main body 1 can also have other shapes, such as D-shaped, elliptical, or square. When the self-moving cleaning device according to the first embodiment of this disclosure is in normal working condition, the bottom surface of the main body 1 is opposite to the running surface, and the bottom surface of the main body 1 is parallel to the running surface. Here, "parallel" includes not only the geometric parallelism between the bottom surface of the main body 1 and the running surface, but also the case where they are approximately parallel. The term "approximately" means that within a reasonable error range recognized by those skilled in the art, the parallel relationship between the two can be determined to be valid. The three-dimensional space sensor, drive component, cleaning component, and control component are all disposed in the main body 1. To support and protect the aforementioned components of the self-moving cleaning device, most of the structure of the self-moving cleaning device is housed within the housing of the main body 1. In this embodiment, the control component can receive parameters from the three-dimensional space sensor and other sensing components (such as lidar), and can perform relevant control on the autonomous mobile device through a preset program stored in the control chip. The drive assembly is used to drive the main body 1 of the equipment on the running surface under the control of the control assembly. The drive assembly may include casters and two drive wheels located behind the casters. By rotating the drive wheels at the same speed and in the same direction (e.g., simultaneously clockwise or simultaneously counterclockwise), the main body 1 can be driven to move linearly in the forward direction; by rotating the drive wheels at different speeds and / or in different directions (e.g., one drive wheel rotates clockwise while the other rotates counterclockwise), the main body 1 can be driven to turn in a direction different from the forward direction. In addition, the cleaning components may include a vacuuming unit housed in the main body 1 and a cleaning brush (which may include a main brush and side brushes) or mop, etc., located at the bottom of the main body 1, for cleaning the operating surface under the control of the control components. The side brush gathers the dust in the close range on both sides in front of the main body 1 to its lower front side and is sucked into the dust collection box by the vacuuming unit. This can better clean the dust and foreign objects accumulated in the corner between the walls and the ground of the building. The main brush, in conjunction with the vacuuming unit, can sweep the dust and foreign objects on the ground and collect them into the dust collection box set in the autonomous mobile device.

[0083] In this embodiment, as Figure 2A and Figure 2BAs shown, the three-dimensional spatial sensor includes a first-line laser 2a, a second-line laser 2b, and an image acquisition unit 3 (e.g., a camera). The first-line laser 2a, the second-line laser 2b, and the image acquisition unit 3 are all mounted on the front of the device body 1. Further, the autonomous mobile device has a forward orientation and a reference plane P0 containing the forward direction of travel; in this embodiment, the reference plane P0 is perpendicular to the operating surface. The image acquisition unit 3 is disposed within the reference plane P0 (that is, the reference plane P0 passes through the image acquisition unit 3), and the straight line corresponding to the reference plane P0 in the environmental image acquired by the image acquisition unit 3 (i.e., the straight line corresponding to the reference plane P0 in the image, referred to in this disclosure as the reference plane projection line L0) is the centerline of the image's width direction. The first-line laser 2a and the second-line laser 2b are located on the left and right sides of the reference plane P0 and are symmetrically arranged relative to the reference plane P0. Further, the first-line laser 2a is capable of emitting a first-line laser beam; the first-line laser 2a can emit the first-line laser beam continuously or intermittently. The second-line laser 2b is capable of emitting a second-line laser beam, which can be emitted continuously or intermittently. The image acquisition unit 3 is capable of acquiring an environmental image containing the reflected light from at least one of the first and second-line laser beams on the obstacle TG. The autonomous mobile device can process the environmental image to obtain parameters such as the distance to the obstacle TG.

[0084] Furthermore, such as Figure 2BAs shown, in order to reduce or even avoid the adverse effects of the interference bright fringes of secondary reflected light, as described in the background art, on parameters such as the distance to the obstacle TG, the first laser surface P1 formed by the first laser during propagation is in a pre-tilted state with respect to the running surface, and the second laser surface P2 formed by the second laser during propagation is also in a pre-tilted state with respect to the running surface. Thus, in the environmental image acquired by the image acquisition unit 3, the interference bright fringes have a definite relative positional relationship with respect to the real bright fringes (the specific relative positional relationship will be explained in detail in the following obstacle detection method). In this disclosure, the laser surface and the running surface being in a pre-tilted state means that the laser surfaces P1 and P2 are neither geometrically parallel nor geometrically perpendicular to the running surface. Specifically, in this embodiment, the angle between the first laser surface P1 and the running surface forming the reference plane P0 is α, and the angle between the second laser surface P2 and the running surface forming the reference plane P0 is β, satisfying: 5° < α < 85° and 5° < β < 85°. Furthermore, in this embodiment, when the first laser surface P1 and the reference surface P0 do not intersect, the first laser beam is reflected by the obstacle TG, indicating that the first laser beam irradiates the obstacle TG without passing through the reference surface P0; and when the second laser surface P2 and the reference surface P0 do not intersect, the second laser beam irradiates the obstacle TG and is reflected by the obstacle TG, indicating that the second laser beam irradiates the obstacle TG without passing through the reference surface P0. It can be understood that in this embodiment, before the first laser beam irradiates the obstacle, the first laser surface P1 does not intersect with the reference surface P0; and before the second laser beam irradiates the obstacle, the second laser surface P2 does not intersect with the reference surface P0. For a more specific example, when the image processing unit is a fixed-focus camera, the above description mainly refers to the fact that within the field of view of the fixed-focus camera, the first laser surface P1 and the second laser surface P2 do not intersect with the reference surface P0, respectively.

[0085] The obstacle detection method used in this embodiment will be described below based on environmental images acquired by the autonomous mobile device.

[0086] In this embodiment, as Figure 2C As shown, the obstacle detection method for autonomous mobile devices includes a laser emission step S10, an image acquisition step S20, an image processing step S30, and a calculation step S40.

[0087] Specifically, in the laser emission step S10, the first line laser 2a emits a first line laser in a pre-tilted state, and the second line laser 2b emits a second line laser in a pre-tilted state. The first line laser 2a and the second line laser 2b can be turned on and off as needed, or switched on and off alternately, without having to have both line lasers in a working state simultaneously.

[0088] Furthermore, in the image acquisition step S20, the image acquisition unit 3 acquires an environmental image of the surface containing the obstacle TG. The acquired environmental image will include the following two cases.

[0089] In the first scenario, the first laser beam on the surface of obstacle TG only forms first true reflected light (i.e., the real bright stripes formed when the first laser beam directly illuminates the surface of obstacle TG) and does not form first interfering reflected light (i.e., the reflected light formed when the first laser beam illuminates the ground then illuminates the surface of obstacle TG and is reflected a second time by the surface of obstacle TG, forming interfering bright stripes). The second laser beam on the surface of obstacle TG only forms second true reflected light (i.e., the real bright stripes formed when the second laser beam directly illuminates the surface of obstacle TG) and does not form second interfering reflected light (i.e., the reflected light formed when the second laser beam illuminates the ground then illuminates the surface of obstacle TG and is reflected a second time by the surface of obstacle TG, forming interfering bright stripes). Thus, the environmental image will contain a first set of pixels corresponding to the first reflected light and / or a second set of pixels corresponding to the second reflected light, where the first set of pixels is the set of first true pixels formed on the surface of obstacle TG corresponding to the first true reflected light; and the second set of pixels is the set of second true pixels formed on the surface of obstacle TG corresponding to the second true reflected light.

[0090] In the second case, see Figures 2D to 2F In the environmental image, the first laser beam not only forms a first true reflection light but also a first interfering reflection light on the surface of the obstacle TG. That is, the first reflection light generated by the first laser beam on the surface of the obstacle TG includes both a first true reflection light and a first interfering reflection light. And / or the second laser beam not only forms a second true reflection light but also a second interfering reflection light on the surface of the obstacle TG. That is, the second reflection light generated by the second laser beam on the surface of the obstacle TG includes both a second true reflection light and a second interfering reflection light. Thus, the environmental image will contain multiple sets of first pixels C11 and C12 corresponding to the first reflection light and / or multiple sets of second pixels C21 and C22 corresponding to the second reflection light. The first pixel sets include the first true pixel set C11 corresponding to the first true reflection light and the first interfering pixel set C12 corresponding to the first interfering reflection light formed on the surface of the obstacle TG, and the second pixel sets include the second true pixel set C21 corresponding to the second true reflection light and the second interfering pixel set C22 corresponding to the second interfering reflection light formed on the surface of the obstacle TG.

[0091] Further, in image processing step S30, the processing unit identifies light pixels (PIX) in the ambient image whose brightness is greater than a predetermined threshold, and determines which light pixels (PIX) in the ambient image belong to the first true pixel set C11 and which belong to the second true pixel set C21. For example, if the ambient image is a grayscale image, its pixel brightness is between 0 and 255 (a brightness value of 0 represents complete black, and 255 represents complete white); for example, setting 100 as the predetermined threshold means that only pixels with brightness values ​​greater than 100 will be considered for classification into a specific pixel set. Of course, those skilled in the art should understand that the predetermined threshold can be set to other values ​​depending on the situation, such as 120 or 50.

[0092] Specifically, firstly, a two-dimensional coordinate system can be established in the environmental image, so that all pixels in the environmental image have a one-to-one correspondence of coordinates. It can be understood that the two-dimensional coordinate system can be established in various ways, for example... Figure 2D The raster method shown uses a two-dimensional coordinate system with the center of the environment image as its origin, aligning the width of the environment image with the horizontal axis of the coordinate system and the height of the environment image with the vertical axis. Other alternative schemes include... Figure 2E and Figure 2F As shown, the position of the origin of the coordinate system and / or the direction of the horizontal and vertical axes can be changed. In such environmental images, the smallest unit of the horizontal and vertical coordinates is usually the distance between the centers of adjacent pixels in the horizontal and vertical directions of the image. That is, the smallest unit of both the horizontal and vertical coordinates is 1 pixel. In an image such as 1024×768, the horizontal axis has 1024 units (1024 pixels for the same vertical coordinate value), and the vertical axis has 768 units (768 pixels for the same horizontal coordinate value). A pixel's coordinate position is determined by the pixel it is located in. For example, if a pixel's coordinates are (25, 50), it means that its coordinate position is the 25th unit along the positive horizontal axis and the 50th unit along the positive vertical axis from the origin (0, 0).

[0093] Secondly, the straight line in the environmental image corresponding to the reference plane P0 is taken as the reference plane projection line L0, that is, as shown in the image. Figure 2DThe projection line L0 is a reference plane that passes through the origin of the two-dimensional coordinate system corresponding to the image and is perpendicular to the horizontal axis. PIX pixels located on the first side (e.g., the left side) of the projection line L0 with a brightness greater than a predetermined threshold correspond to the first laser line and belong to the first pixel set. PIX pixels located on the second side (e.g., the right side) of the line with a brightness greater than the predetermined threshold correspond to the second laser line and belong to the second pixel set. For the same laser line (either the first or second laser line), if multiple PIX pixels with a brightness greater than the predetermined threshold exist at multiple discontinuous horizontal coordinate values ​​corresponding to the same vertical coordinate value, it indicates that multiple pixel sets exist in the environmental image corresponding to that laser line. Therefore, these multiple PIX pixels with a brightness greater than the predetermined threshold at multiple discontinuous horizontal coordinate values ​​corresponding to the same vertical coordinate value are divided into different pixel sets. Prioritizing the above division conditions, for the same laser line, multiple PIX pixels with a brightness greater than the predetermined threshold at multiple consecutive horizontal coordinate values ​​corresponding to the same vertical coordinate value should belong to the same pixel set. Those skilled in the art should understand that the continuity of the horizontal coordinate value in the above description means that, in the coordinate system of the environmental image, if the brightness of multiple adjacent pixels with the same vertical coordinate value is greater than a predetermined threshold (i.e., these adjacent pixels with the same vertical coordinate value are all light pixels PIX), then the horizontal coordinate values ​​of the multiple adjacent light pixels PIX with the same vertical coordinate value are considered to be continuous, and when dividing the pixel set, these light pixels PIX with continuous horizontal coordinate values ​​should be divided into the same pixel set. Generally, it can be understood that in an environmental image, the actual bright stripes or interfering bright stripes corresponding to line lasers have a considerable width (this can be understood as the light pixel PIX of a certain bright stripe at a certain vertical coordinate in the environmental image potentially covering multiple adjacent pixels at that vertical coordinate (i.e., multiple consecutive horizontal coordinate values). For example, if the size of the environmental image is 1024×768 (i.e., an image composed of 1024 pixels per row and 768 pixels per column), the light pixel PIX corresponding to a certain vertical coordinate value of a certain bright stripe may cover 3 adjacent pixels with that vertical coordinate value, that is, the width of the light pixel PIX spans across the same vertical coordinate value. The vertical coordinate value corresponds to the continuous horizontal coordinate value of three adjacent pixels. Therefore, in this case, light pixels with the same vertical coordinate value and continuous horizontal coordinate values ​​will be classified into one set of light pixels. However, if two light pixels with the same vertical coordinate value are separated by at least one non-light pixel (i.e., their brightness is not greater than a predetermined threshold) (i.e., among multiple adjacent pixels with the same vertical coordinate value, one or more non-light pixels separate the light pixels), then the horizontal coordinate values ​​of the separated light pixels are considered to be discontinuous, and they should be classified into different sets of pixels when dividing the pixel set.

[0094] Finally, after dividing the light pixel points PIX into different pixel sets in the above manner, since the pixel sets corresponding to the real bright stripes and interfering bright stripes in the environmental image have a definite relative positional relationship, after establishing the baselines L1, L2, and L3 in the two-dimensional coordinate system, at least one of the first true pixel set C11 and the second true pixel set C21 can be determined based on the distance between each pixel set in the environmental image and the baselines L1, L2, and L3.

[0095] like Figure 2D As shown, a first baseline L1 can be established in the environmental image. The first baseline L1 is located between the multiple sets of first pixels C11 and C12 corresponding to the first reflected light and the multiple sets of second pixels C21 and C22 corresponding to the second reflected light. In this embodiment, the first baseline L1 coincides with the reference plane projection line L0. In other alternative solutions, the first baseline L1 and the reference plane projection line L0 may not coincide but be parallel to each other, and there are no light pixels (PIX) between the first baseline L1 and the reference plane projection line L0. Figure 2A and Figure 2B The two line lasers emitted by the lasers illuminate the obstacle, and the environmental image is acquired by the image acquisition unit 3. In this embodiment, the first laser surface P1 does not intersect with the reference surface P0. In this case, if the angle between the first laser surface P1 and the running surface facing the reference surface P0 is α, and 5° < α < 85°, in the environmental image, the set of first pixels closest to the first reference line L1 among the multiple sets of first pixels C11 and C12 corresponding to the first reflected light is selected as the first true pixel set C11. If the angle between the second laser surface P2 and the running surface facing the reference surface P0 is β, and in this embodiment, the second laser surface P2 does not intersect with the reference surface P0, and 5° < β < 85°, in the environmental image, the set of second pixels closest to the first reference line L1 among the multiple sets of second pixels C21 and C22 corresponding to the second reflected light is selected as the second true pixel set C21.

[0096] like Figure 2E As shown, a second baseline L2 is established in the environmental image, such that all pixel sets C11, C12, C21, and C22 are located on the same side (right side) of the second baseline L2, and the multiple first pixel sets C11 and C12 corresponding to the first reflected light are closer to the second baseline L2 than the multiple second pixel sets corresponding to the second reflected light. In this embodiment, the second baseline L2 is located on the far left of the environmental image and extends along the height direction of the environmental image. Figure 2A and Figure 2BThe two line lasers emitted by the lasers illuminate the obstacle, and the environmental image is acquired by the image acquisition unit 3. In this embodiment, the first laser surface P1 does not intersect with the reference surface P0. In this case, if the angle between the first laser surface P1 and the running surface facing the reference surface P0 is α, and 5° < α < 85°, in the environmental image, the set of first pixels farthest from the second reference line L2 among the multiple sets of first pixels C11 and C12 corresponding to the first reflected light is selected as the first true pixel set C11. If the angle between the second laser surface P2 and the running surface facing the reference surface P0 is β, and in this embodiment, the second laser surface P2 does not intersect with the reference surface P0, and 5° < β < 85°, in the environmental image, the set of second pixels closest to the second reference line L2 among the multiple sets of second pixels C21 and C22 corresponding to the second reflected light is selected as the second true pixel set C21.

[0097] like Figure 2F As shown, a third baseline L3 is selected in the environmental image such that all pixel sets C11, C12, C21, and C22 are located on the same side (left side) of the third baseline L3, and the multiple second pixel sets C21 and C22 corresponding to the second reflected light are closer to the third baseline L3 than the multiple first pixel sets C11 and C12 corresponding to the first reflected light. In this embodiment, the third baseline L3 is located on the far right of the environmental image and extends along the height direction of the environmental image. Figure 2A and Figure 2B The two line lasers emitted by the lasers illuminate the obstacle, and the environmental image is acquired by the image acquisition unit 3. In this embodiment, the first laser surface P1 does not intersect with the reference surface P0. In this case, if the angle between the first laser surface P1 and the running surface facing the reference surface P0 is α, and 5° < α < 85°, in the environmental image, the set of first pixels closest to the third reference line L3 among the multiple sets of first pixels C11 and C12 corresponding to the first reflected light is selected as the first true pixel set C11. If the angle between the second laser surface P2 and the running surface facing the reference surface P0 is β, and in this embodiment, the second laser surface P2 does not intersect with the reference surface P0, and 5° < β < 85°, in the environmental image, the set of second pixels furthest from the third reference line L3 among the multiple sets of second pixels C21 and C22 corresponding to the second reflected light is selected as the second true pixel set C21.

[0098] Regardless of which method described above is used to establish the baselines L1, L2, and L3, if the environmental image contains multiple sets of first pixels C11 and C12 corresponding to the first reflected light, the processing unit can select one of the first pixel sets as the first true pixel set C11 based on the pre-tilt state of the first laser beam; and if the environmental image contains multiple sets of second pixels C21 and C22 corresponding to the second reflected light, the processing unit can select one of the second pixel sets as the second true pixel set C21 based on the pre-tilt state of the second laser beam.

[0099] In calculation step S40, the processing unit determines the distance to the obstacle TG based on at least one of the first set of true pixels C11 and the second set of true pixels C21.

[0100] The autonomous mobile device according to a second embodiment of the present disclosure is described below with reference to the accompanying drawings.

[0101] (An autonomous mobile device according to a second embodiment of this disclosure)

[0102] The structure of the autonomous mobile device according to the second embodiment of the present disclosure is basically the same as that of the autonomous mobile device according to the first embodiment of the present disclosure. The following mainly describes the differences between the two.

[0103] like Figure 3A and Figure 3B As shown, in the autonomous mobile device according to the second embodiment of this disclosure, the first line laser emitted by the first line laser 2a forms a first laser surface P1 during propagation, and the second line laser emitted by the second line laser 2b forms a second laser surface P2 during propagation. After the first laser surface P1 and the second laser surface P2 intersect with the reference surface P0, the first line laser and the second line laser irradiate the obstacle TG and are reflected by the surface of the obstacle TG to produce reflected light. It can be understood that in this embodiment, before the first line laser irradiates the obstacle, the first laser surface P1 intersects with the reference surface P0; and before the second line laser irradiates the obstacle, the second laser surface P2 intersects with the reference surface P0. For a more specific example, when the image processing unit is a fixed-focus camera, the above description mainly refers to the first laser surface P1 and the second laser surface P2 intersecting with the reference surface P0 respectively before the first line laser and the second line laser enter the field of view of the fixed-focus camera.

[0104] In this embodiment, the obstacle detection method is basically the same as in the first embodiment. The difference is that when the light pixel PIX is divided into different pixel sets in the above manner, the relative positional relationship between the pixel sets corresponding to the real bright stripes and the interfering bright stripes in the environmental image is different. Therefore, after establishing the baselines L1, L2, and L3 in the two-dimensional coordinate system, it is necessary to redetermine at least one of the first true pixel set C11 and the second true pixel set C21 based on the distance between each pixel set in the environmental image and the baselines L1, L2, and L3.

[0105] like Figure 3C As shown, a first baseline L1 can be established in the environmental image. The first baseline L1 is located between the multiple sets of first pixels C11 and C12 corresponding to the first reflected light and the multiple sets of second pixels C21 and C22 corresponding to the second reflected light. In this embodiment, the first baseline L1 coincides with the reference plane projection line L0. In other alternative solutions, the first baseline L1 and the reference plane projection line L0 may not coincide but be parallel to each other, and there are no light pixels (PIX) between the first baseline L1 and the reference plane projection line L0. Figure 3A and Figure 3B The two line lasers emitted by the line lasers illuminate the obstacle and the environmental image is acquired by the image acquisition unit 3. In this embodiment, the first laser surface P1 intersects with the reference surface P0. In this case, if the angle between the first laser surface P1 and the running surface forming the reference surface P0 is α; and if 95° < α < 175°, that is, if 5° < (180° - α) < 85°, in the environmental image, the first pixel set closest to the first reference line L1 among the multiple first pixel set sets C11 and C12 corresponding to the first reflected light is selected as the first true pixel set C11. If the angle between the second laser surface P2 and the running surface forming the reference surface P0 is β; in this embodiment, the second laser surface P2 intersects with the reference surface P0. When 95° < β < 175° is satisfied, that is, when 5° < (180° - β) < 85° is satisfied, in the environmental image, the set of second pixels closest to the first reference line L1 among the multiple sets of second pixels C21 and C22 corresponding to the second reflected light is selected as the set of second true pixels C21.

[0106] like Figure 3DAs shown, a second baseline L2 is established in the environmental image, such that all pixel sets C11, C12, C21, and C22 are located on the same side (left side) of the second baseline L2, and the multiple first pixel sets C11 and C12 corresponding to the first reflected light are closer to the second baseline L2 than the multiple second pixel sets corresponding to the second reflected light. In this embodiment, the second baseline L2 is located on the far right of the environmental image and extends along the height direction of the environmental image. Figure 3A and Figure 3B The two line lasers emitted by the two lasers illuminate the obstacle, and the environmental image is acquired by the image acquisition unit 3. In this embodiment, the first laser surface P1 intersects with the reference surface P0. In this case, if the angle between the first laser surface P1 and the running surface forming the reference surface P0 is α; and if 95° < α < 175°, that is, if 5° < (180° - α) < 85°, then in the environmental image, the set of first pixels farthest from the second reference line L2 among the multiple sets of first pixels C11 and C12 corresponding to the first reflected light is selected as the first true pixel set C11. If the angle between the second laser surface P2 and the running surface forming the reference surface P0 is β; in this embodiment, the second laser surface P2 intersects with the reference surface P0. When 95° < β < 175° is satisfied, that is, when 5° < (180° - β) < 85° is satisfied, in the environmental image, the set of second pixels closest to the second reference line L2 among the multiple sets of second pixels C21 and C22 corresponding to the second reflected light is selected as the set of second true pixels C21.

[0107] like Figure 3E As shown, a third baseline L3 is selected in the environmental image such that all pixel sets C11, C12, C21, and C22 are located on the same side (right side) of the third baseline L3, and the multiple second pixel sets C21 and C22 corresponding to the second reflected light are closer to the third baseline L3 than the multiple first pixel sets C11 and C12 corresponding to the first reflected light. In this embodiment, the third baseline L3 is located on the far left of the environmental image and extends along the height direction of the environmental image. Figure 3A and Figure 3BThe two line lasers emitted by the two lasers illuminate the obstacle, and the environmental image is acquired by the image acquisition unit 3. In this embodiment, the first laser surface P1 intersects with the reference surface P0. In this case, if the angle between the first laser surface P1 and the running surface facing the reference surface P0 is α; and if 95° < α < 175°, that is, if 5° < (180° - α) < 85°, then in the environmental image, the set of first pixels closest to the third reference line L3 among the multiple sets of first pixels C11 and C12 corresponding to the first reflected light is selected as the first true pixel set C11. If the angle between the second laser surface P2 and the running surface forming the reference surface P0 is β; in this embodiment, the second laser surface P2 intersects the reference surface P0. When 95° < β < 175° is satisfied, that is, when 5° < (180° - β) < 85° is satisfied, in the environmental image, the set of second pixels farthest from the third reference line L3 among the multiple sets of second pixels C21 and C22 corresponding to the second reflected light is selected as the set of second true pixels C21.

[0108] It is understood that the locations of the pixel sets corresponding to the first laser line and the pixel sets corresponding to the second laser line in the environmental image acquired by the autonomous mobile device in the second embodiment of this disclosure are opposite to those in the first embodiment. However, the autonomous mobile device in this embodiment can still employ an obstacle detection method similar to that described in the first embodiment. By adopting the above solution, the same effect as in the first embodiment can be achieved.

[0109] The autonomous mobile device according to a third embodiment of the present disclosure is described below with reference to the accompanying drawings.

[0110] (Autonomous mobile device according to the third embodiment of this disclosure)

[0111] The structure of the autonomous mobile device according to the third embodiment of the present disclosure is basically the same as that of the autonomous mobile device according to the first embodiment of the present disclosure. The following mainly describes the differences between the two.

[0112] like Figure 4A and Figure 4B As shown, in the autonomous mobile device according to the third embodiment of this disclosure, the first line laser emitted by the first line laser 2a forms a first laser surface P1 during propagation, and the second line laser emitted by the second line laser 2b forms a second laser surface P2 during propagation. Further, as... Figure 4BAs shown, in order to reduce or even avoid the adverse effects of the bright interference fringes generated by the secondary reflected light as described in the background art on parameters such as the distance to the obstacle, the first laser surface P1 formed by the first laser during propagation is in a pre-tilted state with respect to the operating surface, and the second laser surface P2 formed by the second laser during propagation is also in a pre-tilted state with respect to the operating surface. In this disclosure, the pre-tilted state of the laser surfaces P1 and P2 with respect to the operating surface means that the laser surfaces and the operating surface are neither geometrically parallel nor geometrically perpendicular. Specifically, the angle between the first laser surface P1 and the operating surface facing the reference plane P0 is α, and the angle between the second laser surface P2 and the operating surface facing the reference plane P0 is β, satisfying: 95° < α < 175° and 95° < β < 175°.

[0113] The autonomous mobile device in the third embodiment of this disclosure can still use an obstacle detection method similar to that described in the first embodiment. However, the relative positions of the real pixel set C11, C21 and the interference pixel set C12, C22 corresponding to the same reflected light are different from those in the first embodiment. Therefore, different standards are used to determine the real pixel set when different baselines L1, L2, L3 are used in the environmental image, as follows.

[0114] like Figure 4C As shown, a first baseline L1 can be established in the environmental image. The first baseline L1 is located between the multiple sets of first pixels C11 and C12 corresponding to the first reflected light and the multiple sets of second pixels C21 and C22 corresponding to the second reflected light. In this embodiment, the first baseline L1 coincides with the reference plane projection line L0. In other alternative solutions, the first baseline L1 and the reference plane projection line L0 may not coincide but be parallel to each other, and there are no light pixels (PIX) between the first baseline L1 and the reference plane projection line L0. Figure 4A and Figure 4B The two line lasers emit line lasers that illuminate the obstacle, and the environmental image is acquired by the image acquisition unit 3. In this embodiment, the first laser surface P1 does not intersect with the reference surface P0. In this case, if the angle between the first laser surface P1 and the running surface facing the reference surface P0 is α, and 95° < α < 175°, in the environmental image, the set of first pixels farthest from the first reference line L1 among the multiple sets of first pixels C11 and C12 corresponding to the first reflected light is selected as the first true pixel set C11. If the angle between the second laser surface P2 and the running surface facing the reference surface P0 is β, and in this embodiment, the second laser surface P2 does not intersect with the reference surface P0, and 95° < β < 175°, in the environmental image, the set of second pixels farthest from the first reference line L1 among the multiple sets of second pixels C21 and C22 corresponding to the second reflected light is selected as the second true pixel set C21.

[0115] like Figure 4D As shown, a second baseline L2 is established in the environmental image, such that all pixel sets C11, C12, C21, and C22 are located on the same side (right side) of the second baseline L2, and the multiple first pixel sets C11 and C12 corresponding to the first reflected light are closer to the second baseline L2 than the multiple second pixel sets corresponding to the second reflected light. In this embodiment, the second baseline L2 is located on the far left of the environmental image and extends along the height direction of the environmental image. Figure 4A and Figure 4B The two line lasers emitted by the lasers illuminate the obstacle, and the environmental image is acquired by the image acquisition unit 3. In this embodiment, the first laser surface P1 does not intersect with the reference surface P0. In this case, if the angle between the first laser surface P1 and the running surface facing the reference surface P0 is α, and 95° < α < 175°, in the environmental image, the set of first pixels closest to the second reference line L2 among the multiple sets of first pixels C11 and C12 corresponding to the first reflected light is selected as the first true pixel set C11. If the angle between the second laser surface P2 and the running surface facing the reference surface P0 is β, and in this embodiment, the second laser surface P2 does not intersect with the reference surface P0, and 95° < β < 175°, in the environmental image, the set of second pixels furthest from the second reference line L2 among the multiple sets of second pixels C21 and C22 corresponding to the second reflected light is selected as the second true pixel set C21.

[0116] like Figure 4E As shown, a third baseline L3 is selected in the environmental image such that all pixel sets C11, C12, C21, and C22 are located on the same side (left side) of the third baseline L3, and the multiple second pixel sets C21 and C22 corresponding to the second reflected light are closer to the third baseline L3 than the multiple first pixel sets C11 and C12 corresponding to the first reflected light. In this embodiment, the third baseline L3 is located on the far right of the environmental image and extends along the height direction of the environmental image. Figure 4A and Figure 4BThe two line lasers emitted by the lasers illuminate the obstacle, and the environmental image is acquired by the image acquisition unit 3. In this embodiment, the first laser surface P1 does not intersect with the reference surface P0. In this case, if the angle between the first laser surface P1 and the running surface facing the reference surface P0 is α, and 95° < α < 175°, in the environmental image, the set of first pixels farthest from the third reference line L3 among the multiple sets of first pixels C11 and C12 corresponding to the first reflected light is selected as the first true pixel set C11. If the angle between the second laser surface P2 and the running surface facing the reference surface P0 is β, and in this embodiment, the second laser surface P2 does not intersect with the reference surface P0, and 95° < β < 175°, in the environmental image, the set of second pixels closest to the third reference line L3 among the multiple sets of second pixels C21 and C22 corresponding to the second reflected light is selected as the second true pixel set C21.

[0117] By adopting the above solution, the same effect as the first embodiment can be achieved.

[0118] The autonomous mobile device according to the fourth embodiment of this disclosure is described below with reference to the accompanying drawings.

[0119] (Autonomous mobile device according to the fourth embodiment of this disclosure)

[0120] The structure of the autonomous mobile device according to the fourth embodiment of the present disclosure is basically the same as that of the autonomous mobile device according to the first embodiment of the present disclosure. The following mainly describes the differences between the two.

[0121] like Figure 5A and Figure 5B As shown, in the autonomous mobile device according to the fourth embodiment of this disclosure, the first line laser emitted by the first line laser 2a forms a first laser surface P1 during propagation, and the second line laser emitted by the second line laser 2b forms a second laser surface P2 during propagation. Further, as... Figure 5B As shown, in order to reduce or even avoid the adverse effects of the bright interference fringes generated by the secondary reflected light, as described in the background art, on parameters such as the distance to obstacles, the first laser surface P1 formed by the first laser during propagation is in a pre-tilted state with respect to the operating surface, and the second laser surface P2 formed by the second laser during propagation is also in a pre-tilted state with respect to the operating surface. In this disclosure, the pre-tilted state of the laser surfaces P1 and P2 with respect to the operating surface means that the laser surfaces and the operating surface are neither geometrically parallel nor geometrically perpendicular. Specifically, the angle between the first laser surface P1 and the operating surface facing the reference plane P0 is α, and the angle between the second laser surface P2 and the operating surface facing the reference plane P0 is β, satisfying: 5° < α < 85°; 95° < β < 175°.

[0122] The autonomous mobile device in the fourth embodiment of this disclosure can still employ the same obstacle detection method as described in the first embodiment. However, the relative positions of the set of real pixels and the set of interfering pixels corresponding to the same reflected light are different from those in the first embodiment. Therefore, different standards are used to determine the set of real pixels when different baselines are used in the environmental image. Specifically, this can be achieved by combining the obstacle detection methods described in the first and third embodiments, which will not be repeated here. By adopting the above scheme, the same effect as the first embodiment can be achieved.

[0123] It should be understood that the above embodiments are merely exemplary and not intended to limit this disclosure. Those skilled in the art can make various modifications and changes to the above embodiments under the teachings of this disclosure without departing from the scope of this disclosure. The following supplementary descriptions are provided regarding the technical solutions of this disclosure.

[0124] i. In addition to the examples of self-moving cleaning devices described in the specific embodiments above, the technical solutions of this disclosure can also be applied to other types of autonomous mobile devices. The aforementioned autonomous mobile devices generally refer to intelligent mobile devices that autonomously perform preset tasks, including cleaning robots (e.g., intelligent sweeping robots, intelligent floor scrubbing robots, window cleaning robots) that perform similar functions to the self-moving cleaning devices described in the above embodiments, companion mobile robots (e.g., intelligent electronic pets, nanny robots), service mobile robots (e.g., reception robots in hotels, inns, and meeting places), industrial inspection intelligent devices (e.g., power inspection robots, intelligent forklifts, etc.), security robots (e.g., household or commercial intelligent guard robots), etc., which are two-dimensional planar mobile robots driven by wheels or tracks. Of course, the laser ranging device of this disclosure can also be applied to other fields, which will not be exhaustively described.

[0125] ii. In this disclosure, the processing unit can be integrated into the control component, that is, the control component can simultaneously perform the functions of the processing unit to process environmental images; the processing unit can also be a separate processing unit independent of the control component.

[0126] In addition, in this disclosure, the image acquisition unit 3 can be a fixed-focus camera or a zoom camera.

[0127] iii. It is understood that in the variations of the third and fourth embodiments of this disclosure, the first laser surface P1 formed by the first line laser emitted by the first line laser 2a and the second laser surface P2 formed by the second line laser emitted by the second line laser 2b can intersect with the reference surface P0 before illuminating the obstacle TG and being reflected by the obstacle TG to generate reflected light. It is understood that, in any case, the image acquisition unit 3 needs to be able to effectively and clearly acquire an environmental image containing the reflected light generated by the first line laser and / or the second line laser.

[0128] In addition, in this disclosure, obstacle TG refers to obstacle TG within the sensing range of the three-dimensional spatial sensor, and usually refers to obstacle TG located in front of the autonomous mobile device.

[0129] iv. It is understood that both the first line laser 2a and the second line laser 2b include line laser emitting units, and thus the pre-tilt state described in this disclosure can be achieved in a relatively simple manner by changing the tilt angle of the line laser emitting units or by changing the tilt angle of the entire line laser 2a, 2b.

[0130] Furthermore, in the first, second, and third embodiments of this disclosure, α = β can be satisfied. This is beneficial for the structural layout of both the first line laser 2a and the second line laser 2b.

[0131] Furthermore, in other alternative embodiments, the following can be satisfied:

[0132] 45° < α < 85° and 45° < β < 85°; or

[0133] 95° < α < 135° and 95° < β < 135°; or

[0134] 45°<α<85° and 95°<β<135°.

[0135] By adopting the aforementioned angle range, the relevant effects of this disclosure can be better achieved.

[0136] v. Additionally, it can be understood that in selecting the set of true pixels corresponding to a reflected light, the set of true pixels can be formed by selecting the light pixels with brightness greater than a predetermined threshold that are closest to or furthest from the baseline for each vertical coordinate value. This approach simplifies the method of determining the set of true pixels without requiring precise division of different pixel sets.

[0137] vi. Furthermore, the method for determining the distance of the device body (1) from the obstacle based on at least one of the first set of true pixels (C11) and the second set of true pixels (C21), and the calculation method for the parameters of the true three-dimensional space based on the pixels in the environmental image (mainly for calculation step S40), can be found in the literature “Laser Scanner Calibration Based on Line Detection Method” (Journal of Electronics and Electrical Engineering, ISS No. 1392-1215, Vol. 21, No. 6, 2015) and “Low-Cost 3D Laser Scanning in Air or Water Using Self-Calibrated Structured Light” (International Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences, 2017), etc. For example, in the aforementioned reference entitled “Laser Scanner Calibration Based on Line Detection Method”, the laser surface equation Ax + By + Cz + 1 = 0 is listed in equation (3) in the text, where the parameters A, B, and C are known. Let the coordinates of the pixels in the set of true pixels in the environmental image acquired by image acquisition unit 3 be [u, v]. Using the method disclosed herein, the values ​​of u and v can be determined. Then, the coordinates of the three-dimensional coordinate points corresponding to the aforementioned pixel coordinates are [p×u, p×v, p], where p is an unknown. Substituting the coordinates of the three-dimensional coordinate points into the laser surface equation to replace x, y, and z, we can obtain the unknown p = -1 / (A×u + B×v + C). Thus, using the above basic principle, we can obtain the coordinates of the three-dimensional coordinate points corresponding to the coordinates of all pixels in the environmental image and their distances from obstacles.

[0138] vii. This disclosure also provides a computer-readable medium storing a computer program capable of performing the above-described obstacle detection method. This computer program can be pre-written into a readable storage medium, including but not limited to storage media such as semiconductor memory, magnetic core memory, magnetic drum memory, and disk memory.

Claims

1. An obstacle detection method for an autonomous mobile device, characterized in that, The autonomous mobile device includes a main body (1), a first line laser (2a), a second line laser (2b), an image acquisition unit (3), a processing unit, and a driving assembly. The first line laser (2a), the second line laser (2b), and the image acquisition unit (3) are all mounted on the front of the main body (1). The autonomous mobile device has a forward orientation and a reference plane (P0) that includes the forward orientation and is perpendicular to the operating surface. The image acquisition unit (3) is disposed in the reference plane (P0). The first line laser (2a) and the second line laser (2b) are located on the left and right sides of the reference plane (P0). The device (2a) is used to emit a first line laser, and the second line laser (2b) is used to emit a second line laser. The image acquisition unit (3) is capable of acquiring an environmental image containing the reflected light of at least one of the first line laser and the second line laser on an obstacle (TG). The processing unit is used for data processing and calculation. When the autonomous mobile device is driven by the driving component to move on the running surface, the first laser surface (P1) formed by the first line laser during propagation is in a pre-tilted state with respect to the running surface, and the second laser surface (P2) formed by the second line laser during propagation is also in a pre-tilted state with respect to the running surface. The obstacle detection method includes: Laser emission step (S10), wherein the first line laser (2a) emits the first line laser in a pre-tilted state, and the second line laser (2b) emits the second line laser in a pre-tilted state; Image acquisition step (S20), wherein the image acquisition unit acquires the environmental image, wherein the environmental image includes at least one of a first reflected light generated by the first line laser on the surface of the obstacle and a second reflected light generated by the second line laser on the surface of the obstacle, the first reflected light including a first true reflected light formed by the first line laser directly illuminating the surface of the obstacle, and the second reflected light including a second true reflected light formed by the second line laser directly illuminating the surface of the obstacle; and Image processing step (S30), wherein the processing unit identifies light pixels (PIX) in the environmental image whose brightness is greater than a predetermined threshold corresponding to the reflected light, and determines at least one of a first set of true pixels (C11) and a second set of true pixels (C21) from the light pixels (PIX), wherein the first set of true pixels (C11) corresponds to the first true reflected light, and the second set of true pixels (C21) corresponds to the second true reflected light; In the image processing step (S30), When the environmental image contains multiple sets of first pixels (C11, C12) corresponding to the first reflected light, the processing unit selects one of the sets of first pixels as the first set of true pixels (C11) based on the pre-tilt state of the first line laser; and When the environmental image contains multiple sets of second pixels (C21, C22) corresponding to the second reflected light, the processing unit selects one of the sets of second pixels as the second true pixel set (C21) according to the pre-tilt state of the second line laser.

2. The obstacle detection method for autonomous mobile devices according to claim 1, characterized in that, The image processing step (S30) includes: A two-dimensional coordinate system is established in the environmental image, such that all pixels in the environmental image have one-to-one corresponding coordinates. In the two-dimensional coordinate system, a baseline (L1, L2, L3) is selected, and at least one of the first set of true pixels (C11) and the second set of true pixels (C21) is determined based on the distance between each light pixel (PIX) in the environmental image and the baseline (L1, L2, L3).

3. The obstacle detection method for autonomous mobile devices according to claim 2, characterized in that, The image processing step (S30) includes: Using the straight line corresponding to the reference plane (P0) in the environmental image as the reference plane projection line (L0), the light pixel (PIX) located on the first side of the reference plane projection line (L0) in the environmental image and with a brightness greater than a predetermined threshold belongs to the first pixel set, and the light pixel (PIX) located on the second side of the reference plane projection line (L0) and with a brightness greater than a predetermined threshold belongs to the second pixel set.

4. The obstacle detection method for autonomous mobile devices according to claim 2 or 3, characterized in that, In the image processing step (S30), a first baseline (L1) is established in the environmental image. The first baseline (L1) is located between the plurality of first pixel sets (C11, C12) corresponding to the first reflected light and the plurality of second pixel sets (C21, C22) corresponding to the second reflected light. If the angle between the first laser surface (P1) and the operating surface forming the surface facing the reference surface (P0) is α, When the first laser surface (P1) does not intersect with the reference surface (P0), and provided that 5° < α < 85°, in the environmental image, the set of first pixels closest to the first reference line (L1) among the multiple sets of first pixels (C11, C12) corresponding to the first reflected light is selected as the first true pixel set (C11); when 95° < α < 175°, the set of first pixels furthest from the first reference line (L1) among the multiple sets of first pixels (C11, C12) corresponding to the first reflected light is selected as the first true pixel set (C11); or When the first laser surface (P1) intersects with the reference surface (P0), and provided that 5° < α < 85°, in the environmental image, the set of first pixels farthest from the first reference line (L1) among the multiple sets of first pixels (C11, C12) corresponding to the first reflected light is selected as the first true pixel set (C11); when 95° < α < 175°, the set of first pixels closest to the first reference line (L1) among the multiple sets of first pixels (C11, C12) corresponding to the first reflected light is selected as the first true pixel set (C11). and / or If the angle between the second laser surface (P2) and the operating surface forming the surface facing the reference surface (P0) is β; When the second laser surface (P2) does not intersect with the reference surface (P0), and provided that 5° < β < 85°, in the environmental image, the set of second pixels closest to the first reference line (L1) among the multiple sets of second pixels (C21, C22) corresponding to the second reflected light is selected as the second true pixel set (C21); when 95° < β < 175°, the set of second pixels furthest from the first reference line (L1) among the multiple sets of second pixels (C21, C22) corresponding to the second reflected light is selected as the second true pixel set (C21); or When the second laser surface (P2) intersects with the reference surface (P0), and assuming 5° < β < 85°, in the environmental image, the second pixel set furthest from the first reference line (L1) among the multiple sets of second pixel points (C21, C22) corresponding to the second reflected light is selected as the second true pixel set (C21); and when 95° < β < 175°, the second pixel set closest to the first reference line (L1) among the multiple sets of second pixel points (C21, C22) corresponding to the second reflected light is selected as the second true pixel set (C21).

5. The obstacle detection method for autonomous mobile devices according to claim 2 or 3, characterized in that, In the image processing step (S30), a second reference line (L2) is established in the environmental image, such that all pixel sets (C11, C12, C21, C22) are located on the same side of the second reference line, and the plurality of first pixel sets (C11, C12) corresponding to the first reflected light are closer to the second reference line (L2) than the plurality of second pixel sets (C21, C22) corresponding to the second reflected light. If the angle between the first laser surface (P1) and the operating surface forming the surface facing the reference surface (P0) is α; When the first laser surface (P1) does not intersect with the reference surface (P0), and assuming 5° < α < 85°, in the environmental image, the set of first pixels farthest from the second reference line (L2) among the multiple sets of first pixels (C11, C12) corresponding to the first reflected light is selected as the first true pixel set (C11); when 95° < α < 175°, the set of first pixels closest to the second reference line (L2) among the multiple sets of first pixels (C11, C12) corresponding to the first reflected light is selected as the first true pixel set (C11); or When the first laser surface (P1) intersects with the reference surface (P0), and provided that 5° < α < 85°, in the environmental image, the set of first pixels closest to the second reference line (L2) among the multiple sets of first pixels (C11, C12) corresponding to the first reflected light is selected as the first true pixel set (C11); when 95° < α < 175°, the set of first pixels furthest from the second reference line (L2) among the multiple sets of first pixels (C11, C12) corresponding to the first reflected light is selected as the first true pixel set (C11); and / or If the angle between the second laser surface (P2) and the operating surface forming the surface facing the reference surface (P0) is β; When the second laser surface (P2) does not intersect with the reference surface (P0), and provided that 5° < β < 85°, in the environmental image, the set of second pixels closest to the second reference line (L2) among the multiple sets of second pixels corresponding to the second reflected light is selected as the second true pixel set (C21); when 95° < β < 175°, the set of second pixels furthest from the second reference line (L2) among the multiple sets of second pixels corresponding to the second reflected light is selected as the second true pixel set (C21); or When the second laser surface (P2) intersects with the reference surface (P0), and assuming 5° < β < 85°, in the environmental image, the second pixel set furthest from the second reference line (L2) among the multiple sets of second pixel points (C21, C22) corresponding to the second reflected light is selected as the second true pixel set (C21); and when 95° < β < 175°, the second pixel set closest to the second reference line (L2) among the multiple sets of second pixel points (C21, C22) corresponding to the second reflected light is selected as the second true pixel set (C21).

6. The obstacle detection method for autonomous mobile devices according to claim 3, characterized in that, Determining the set of true pixels corresponding to the true reflected light generated on the surface of the obstacle by at least one of the first line laser and the second line laser includes: for each vertical coordinate value, selecting light pixels (PIX) whose brightness is greater than a predetermined threshold that are closest to or furthest from the baseline (L1, L2, L3) to constitute the set of true pixels.

7. The obstacle detection method for autonomous mobile devices according to claim 1, characterized in that, The angle between the first laser surface (P1) and the operating surface facing the reference surface (P0) is α, and the angle between the second laser surface (P2) and the operating surface facing the reference surface (P0) is β, satisfying: 5° < α < 85° and 5° < β < 85°; or 95° < α < 175° and 95° < β < 175°; or 5°<α<85° and 95°<β<175°.

8. The obstacle detection method for autonomous mobile devices according to claim 7, characterized in that, satisfy: 45° < α < 85° and 45° < β < 85°; or 95° < α < 135° and 95° < β < 135°; or 45°<α<85° and 95°<β<135°.

9. An obstacle detection method for an autonomous mobile device, characterized in that, The autonomous mobile device includes a main body (1), a first line laser (2a), a second line laser (2b), an image acquisition unit (3), a processing unit, and a driving assembly. The first line laser (2a), the second line laser (2b), and the image acquisition unit (3) are all mounted on the front of the main body (1). The autonomous mobile device has a forward orientation and a reference plane (P0) that includes the forward orientation and is perpendicular to the operating surface. The image acquisition unit (3) is disposed in the reference plane (P0). The first line laser (2a) and the second line laser (2b) are located on the left and right sides of the reference plane (P0). The device (2a) is used to emit a first line laser, and the second line laser (2b) is used to emit a second line laser. The image acquisition unit (3) is capable of acquiring an environmental image containing the reflected light of at least one of the first line laser and the second line laser on an obstacle (TG). The processing unit is used for data processing and calculation. When the autonomous mobile device is driven by the driving component to move on the running surface, the first laser surface (P1) formed by the first line laser during propagation is in a pre-tilted state with respect to the running surface, and the second laser surface (P2) formed by the second line laser during propagation is also in a pre-tilted state with respect to the running surface. The obstacle detection method includes: Laser emission step (S10), wherein the first line laser (2a) emits the first line laser in a pre-tilted state, and the second line laser (2b) emits the second line laser in a pre-tilted state; Image acquisition step (S20), wherein the image acquisition unit acquires the environmental image, wherein the environmental image includes at least one of a first reflected light generated by the first line laser on the surface of the obstacle and a second reflected light generated by the second line laser on the surface of the obstacle, wherein the first reflected light includes a first true reflected light formed by the first line laser directly irradiating the surface of the obstacle, and the second reflected light includes a second true reflected light formed by the second line laser directly irradiating the surface of the obstacle; Image processing step (S30), wherein the processing unit identifies light pixels (PIX) in the environmental image whose brightness is greater than a predetermined threshold corresponding to the reflected light, and determines at least one of a first set of true pixels (C11) and a second set of true pixels (C21) from the light pixels (PIX), wherein the first set of true pixels (C11) corresponds to the first true reflected light, and the second set of true pixels (C21) corresponds to the second true reflected light; and In the calculation step (S40), the processing unit determines the distance of the device body (1) from the obstacle based on at least one of the first set of true pixels (C11) and the second set of true pixels (C21); In the image processing step (S30), When the environmental image contains multiple sets of first pixels (C11, C12) corresponding to the first reflected light, the processing unit selects one of the sets of first pixels as the first set of true pixels (C11) based on the pre-tilt state of the first line laser; and When the environmental image contains multiple sets of second pixels (C21, C22) corresponding to the second reflected light, the processing unit selects one of the sets of second pixels as the second true pixel set (C21) according to the pre-tilt state of the second line laser.

10. The obstacle detection method for autonomous mobile devices according to claim 9, characterized in that, The image processing step (S30) includes: A two-dimensional coordinate system is established in the environmental image, such that all pixels in the environmental image have one-to-one corresponding coordinates. In the two-dimensional coordinate system, a baseline (L1, L2, L3) is selected, and at least one of the first set of true pixels (C11) and the second set of true pixels (C21) is determined based on the distance between each light pixel (PIX) in the environmental image and the baseline (L1, L2, L3).

11. The obstacle detection method for autonomous mobile devices according to claim 10, characterized in that, The image processing step (S30) includes: Using the straight line corresponding to the reference plane (P0) in the environmental image as the reference plane projection line (L0), the light pixel (PIX) located on the first side of the reference plane projection line (L0) in the environmental image and with a brightness greater than a predetermined threshold belongs to the first pixel set, and the light pixel (PIX) located on the second side of the reference plane projection line (L0) and with a brightness greater than a predetermined threshold belongs to the second pixel set.

12. The obstacle detection method for an autonomous mobile device according to claim 10 or 11, characterized in that, In the image processing step (S30), a first baseline (L1) is established in the environmental image. The first baseline (L1) is located between the plurality of first pixel sets (C11, C12) corresponding to the first reflected light and the plurality of second pixel sets (C21, C22) corresponding to the second reflected light. If the angle between the first laser surface (P1) and the operating surface forming the surface facing the reference surface (P0) is α, When the first laser surface (P1) does not intersect with the reference surface (P0), and provided that 5° < α < 85°, in the environmental image, the set of first pixels closest to the first reference line (L1) among the multiple sets of first pixels (C11, C12) corresponding to the first reflected light is selected as the first true pixel set (C11); when 95° < α < 175°, the set of first pixels furthest from the first reference line (L1) among the multiple sets of first pixels (C11, C12) corresponding to the first reflected light is selected as the first true pixel set (C11); or When the first laser surface (P1) intersects with the reference surface (P0), and provided that 5° < α < 85°, in the environmental image, the set of first pixels farthest from the first reference line (L1) among the multiple sets of first pixels (C11, C12) corresponding to the first reflected light is selected as the first true pixel set (C11); when 95° < α < 175°, the set of first pixels closest to the first reference line (L1) among the multiple sets of first pixels (C11, C12) corresponding to the first reflected light is selected as the first true pixel set (C11). and / or If the angle between the second laser surface (P2) and the operating surface forming the surface facing the reference surface (P0) is β; When the second laser surface (P2) does not intersect with the reference surface (P0), and provided that 5° < β < 85°, in the environmental image, the set of second pixels closest to the first reference line (L1) among the multiple sets of second pixels (C21, C22) corresponding to the second reflected light is selected as the second true pixel set (C21); when 95° < β < 175°, the set of second pixels furthest from the first reference line (L1) among the multiple sets of second pixels (C21, C22) corresponding to the second reflected light is selected as the second true pixel set (C21); or When the second laser surface (P2) intersects with the reference surface (P0), and assuming 5° < β < 85°, in the environmental image, the second pixel set furthest from the first reference line (L1) among the multiple sets of second pixel points (C21, C22) corresponding to the second reflected light is selected as the second true pixel set (C21); and when 95° < β < 175°, the second pixel set closest to the first reference line (L1) among the multiple sets of second pixel points (C21, C22) corresponding to the second reflected light is selected as the second true pixel set (C21).

13. The obstacle detection method for an autonomous mobile device according to claim 10 or 11, characterized in that, In the image processing step (S30), a second reference line (L2) is established in the environmental image, such that all pixel sets (C11, C12, C21, C22) are located on the same side of the second reference line, and the plurality of first pixel sets (C11, C12) corresponding to the first reflected light are closer to the second reference line (L2) than the plurality of second pixel sets (C21, C22) corresponding to the second reflected light. If the angle between the first laser surface (P1) and the operating surface forming the surface facing the reference surface (P0) is α; When the first laser surface (P1) does not intersect with the reference surface (P0), and assuming 5° < α < 85°, in the environmental image, the set of first pixels farthest from the second reference line (L2) among the multiple sets of first pixels (C11, C12) corresponding to the first reflected light is selected as the first true pixel set (C11); when 95° < α < 175°, the set of first pixels closest to the second reference line (L2) among the multiple sets of first pixels (C11, C12) corresponding to the first reflected light is selected as the first true pixel set (C11); or When the first laser surface (P1) intersects with the reference surface (P0), and provided that 5° < α < 85°, in the environmental image, the set of first pixels closest to the second reference line (L2) among the multiple sets of first pixels (C11, C12) corresponding to the first reflected light is selected as the first true pixel set (C11); when 95° < α < 175°, the set of first pixels furthest from the second reference line (L2) among the multiple sets of first pixels (C11, C12) corresponding to the first reflected light is selected as the first true pixel set (C11); and / or If the angle between the second laser surface (P2) and the operating surface forming the surface facing the reference surface (P0) is β; When the second laser surface (P2) does not intersect with the reference surface (P0), and provided that 5° < β < 85°, in the environmental image, the set of second pixels closest to the second reference line (L2) among the multiple sets of second pixels corresponding to the second reflected light is selected as the second true pixel set (C21); when 95° < β < 175°, the set of second pixels furthest from the second reference line (L2) among the multiple sets of second pixels corresponding to the second reflected light is selected as the second true pixel set (C21); or When the second laser surface (P2) intersects with the reference surface (P0), and assuming 5° < β < 85°, in the environmental image, the second pixel set furthest from the second reference line (L2) among the multiple sets of second pixel points (C21, C22) corresponding to the second reflected light is selected as the second true pixel set (C21); and when 95° < β < 175°, the second pixel set closest to the second reference line (L2) among the multiple sets of second pixel points (C21, C22) corresponding to the second reflected light is selected as the second true pixel set (C21).

14. The obstacle detection method for autonomous mobile devices according to claim 11, characterized in that, Determining the set of true pixels corresponding to the true reflected light generated on the surface of the obstacle by at least one of the first line laser and the second line laser includes: for each vertical coordinate value, selecting light pixels (PIX) whose brightness is greater than a predetermined threshold that are closest to or furthest from the baseline (L1, L2, L3) to constitute the set of true pixels.

15. The obstacle detection method for autonomous mobile devices according to claim 9, characterized in that, The angle between the first laser surface (P1) and the operating surface facing the reference surface (P0) is α, and the angle between the second laser surface (P2) and the operating surface facing the reference surface (P0) is β, satisfying: 5° < α < 85° and 5° < β < 85°; or 95° < α < 175° and 95° < β < 175°; or 5°<α<85° and 95°<β<175°.

16. The obstacle detection method for autonomous mobile devices according to claim 15, characterized in that, satisfy: 45° < α < 85° and 45° < β < 85°; or 95° < α < 135° and 95° < β < 135°; or 45°<α<85° and 95°<β<135°.

17. A computer-readable medium for storing a computer program, characterized in that, The computer program is capable of executing the obstacle detection method for the autonomous mobile device according to any one of claims 1 to 16.

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