Vision-based map building method and mobile robot

Abstract

The application provides a vision-based map establishment method and a mobile robot. In this embodiment, an image acquisition component is arranged on the top of the mobile robot, so that the mobile robot can always see the ceiling area during movement, avoid obstacles, and quickly establish a map. Therefore, the mobile robot can quickly establish a map based on vision in a working environment, and the stability of the top vision positioning is improved. In addition, the embodiment quickly determines the distribution of ground obstacles by using the edge exploration method, and the efficiency of the map exploration and navigation process is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vision, in particular to a vision-based map establishment method and a mobile robot. BACKGROUND

[0002] In applications, mobile robots such as floor cleaning robots, intelligent service robots, etc. will first map the working environment when working in the working environment, so as to work in the working environment based on the established map.

[0003] At present, the commonly used fast mapping method is realized based on radar positioning. However, due to the blind area of radar positioning in the fast mapping process, it is difficult to find the target when the target exceeds the radar set frequency band; and in the close-range detection of the target, the radar positioning ability is relatively weak, and needs to rely on other sensors or devices for supplement. SUMMARY

[0004] The present application provides a vision-based map establishment method and a mobile robot to realize fast mapping of the mobile robot in the working environment based on vision.

[0005] The present application provides a vision-based map establishment method, which is applied to a mobile robot, and the mobile robot is provided with a top-mounted image acquisition component; the method comprises the following steps:

[0006] generating a global exploration map of the mobile robot based on a ceiling image collected by the image acquisition component after the mobile robot starts moving; the ceiling image at least includes a ceiling area in the current working environment; and the global exploration map is updated based on a ceiling image collected by the image acquisition component during the movement of the mobile robot;

[0007] judging whether there is a target boundary point in the current latest global exploration map, if not, ending the mapping process, and if yes, controlling the mobile robot to move from the current position to the target boundary point; the target boundary point is a boundary point closest to the current position of the mobile robot and meeting a condition in the current latest global exploration map; the condition refers to that the path from the current position of the mobile robot to the target boundary point is not blocked by an obstacle;

[0008] If it is found that the mobile robot encounters an obstacle during movement, it is checked whether the position of the obstacle is in the historical trajectory of the mobile robot, if yes, the step of judging whether there is a target boundary point in the latest global exploration map is returned, otherwise, the path of the mobile robot is switched to move along the edge of the obstacle, and when the mobile robot moves to the target boundary point, the mobile robot is controlled to move along the boundary of the global exploration map used when the target boundary point is determined, and if an obstacle is encountered during movement of the mobile robot along the boundary, the step of checking whether the position of the obstacle is in the historical trajectory of the mobile robot is returned.

[0009] The embodiment of the present application also provides a mobile robot, which comprises:

[0010] An image acquisition component is arranged on the top of the mobile robot, and is used to acquire a ceiling image after the mobile robot starts to move; the ceiling image at least comprises a ceiling area in a current working environment;

[0011] A control processor is used to generate a global exploration map of the mobile robot based on the ceiling image acquired by the image acquisition component after the mobile robot starts to move; the global exploration map is updated based on the ceiling image acquired by the image acquisition component during movement of the mobile robot;

[0012] And it is judged whether there is a target boundary point in the latest global exploration map, if not, the mapping process is ended, and if yes, the mobile robot is controlled to move from a current position to the target boundary point; the target boundary point is a boundary point closest to the current position of the mobile robot and meeting a condition in the latest global exploration map; the condition means that the path from the current position of the mobile robot to the target boundary point is not blocked by an obstacle;

[0013] And if it is found that the mobile robot encounters an obstacle during movement, it is checked whether the position of the obstacle is in the historical trajectory of the mobile robot, if yes, the step of judging whether there is a target boundary point in the latest global exploration map is returned, otherwise, the path of the mobile robot is switched to move along the edge of the obstacle, and when the mobile robot moves to the target boundary point, the mobile robot is controlled to move along the boundary of the global exploration map used when the target boundary point is determined, and if an obstacle is encountered during movement along the boundary, the step of checking whether the position of the obstacle is in the historical trajectory of the mobile robot is returned.

[0014] It can be seen from the above technical solutions that the embodiment can realize that the mobile robot can always see the ceiling area during movement, avoid obstacles and quickly build a map, realize that the mobile robot quickly builds a map based on vision in a working environment, and is also beneficial to improve the stability of the top vision positioning.

[0015] Further, in the embodiment, whether the mobile robot is controlled to move from the current position to the target boundary point, or the mobile robot is controlled to switch the path and move along the edge of the obstacle when it is found that the mobile robot encounters an obstacle during movement and the position of the obstacle is not in the historical trajectory of the mobile robot, or the mobile robot moves along the boundary of the global exploration map used when the target boundary point is determined when the mobile robot moves to the target boundary point, all of them are to quickly determine the ground obstacle distribution by using the edge exploration method, which improves the efficiency of the map exploration and navigation process. BRIEF DESCRIPTION OF DRAWINGS

[0016] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and serve to explain the principles of the present disclosure together with the specification.

[0017] Figure 1 Method flowchart provided for the embodiments of the present application;

[0018] Figure 2 Embodiment flowchart provided for the present application;

[0019] Figure 3 Schematic diagram of the ceiling area provided for the embodiments of the present application;

[0020] Figure 4 Schematic diagram of the global exploration map provided for the embodiments of the present application;

[0021] Figure 5 Global exploration map update schematic diagram provided for the embodiments of the present application;

[0022] Figure 6 Trajectory overlap schematic diagram provided for the embodiments of the present application;

[0023] Figure 7 Device structure diagram provided for the embodiments of the present application. DETAILED DESCRIPTION

[0024] In order to make those skilled in the art better understand the technical solutions provided by the embodiments of the present application, and make the above-mentioned purposes, features and advantages of the embodiments of the present application more obvious and easy to understand, the technical solutions in the embodiments of the present application will be further described in detail below with reference to the drawings.

[0025] Reference Figure 1 ,Figure 1 A method flowchart is provided for the embodiments of the present application. The method is applied to a mobile robot, and the mobile robot is provided with a top-mounted image acquisition component, such as a camera. The image acquisition component, such as the camera, is configured on the top of the mobile robot, and the purpose is to acquire images of the ceiling area in the current working environment of the mobile robot by means of the image acquisition component, such as the camera, to obtain a ceiling image. Examples will be described below, and will not be described here.

[0026] As shown in the figure, the flowchart can include the following steps: Figure 1

[0027] Step 101: Based on the ceiling image acquired by the image acquisition component after the mobile robot starts to move, a global exploration map of the mobile robot is generated.

[0028] Optionally, the step 101 has many implementation manners in specific implementation, such as segmenting the ceiling area from the ceiling image; projecting the ceiling area to the dimension space of the working map currently established by the mobile robot, such as the dimension space corresponding to the ground of the current working environment of the mobile robot, to obtain a mapping area; and fusing the mapping area with the working map to generate the global exploration map of the mobile robot. Examples will be described below:

[0029] Suppose that the coordinate information of a pixel (denoted as pi) in the ceiling area is (ui, vi), and the scale (height) is z; the extrinsic parameter of the image acquisition component, such as the installation pose of the image acquisition component relative to the center of the mobile robot Trc, the current global pose of the mobile robot Tr, and the intrinsic parameter of the image acquisition component, such as some parameters of the camera itself u0, v0, fx, fy. Here, u0, v0 represent the difference in horizontal and vertical pixels between the center pixel coordinates of the image acquired by the image acquisition component and the origin pixel coordinates of the image, or in other words, u0, v0 represent the horizontal and vertical coordinates of the center of the camera photosensitive plate in the pixel coordinate system. In theory, u0, v0 are half of the image width and height, but in fact there is a deviation. fx = F / dx, fy = F / dx, where F represents the focal length of the image acquisition component. dx, dy represent the length units occupied by one pixel in the x direction and in the y direction, respectively. dx, dy indicate the actual physical value represented by one pixel.

[0030] ​Based on this, the coordinate information (ui, vi) of the pixel pi can be converted to the coordinate information (xci, yci) of the mapping position pc in the camera coordinate system. Wherein, xci=(ui-u0) / fx*z, yci=(vi-v0) / fy*z; then the global projection position pw of the mapping position pc is calculated. Wherein, pw=Tr*Trc*pc. In turn, the global projection position corresponding to the coordinate information of each pixel in the ceiling area can be calculated, and finally the global exploration map is obtained.

[0031] In this embodiment, the global exploration map is not fixed and will be updated with the movement of the mobile robot and the ceiling images collected by the image collection component during the movement of the mobile robot. Examples will be described below, which will not be described here.

[0032] Alternatively, the image collection component can collect the ceiling image at a certain time, periodically or in real time. The embodiment is not specifically limited.

[0033] Step 102, determine whether there is a target boundary point closest to the current position of the mobile robot and meeting the condition in the current latest global exploration map. If not, end the mapping process; if yes, execute step 103.

[0034] In this embodiment, the condition refers to the path from the current position of the mobile robot to the target boundary point is not blocked by obstacles.

[0035] Of course, if there is no target boundary point closest to the current position of the mobile robot and meeting the condition in the current latest global exploration map, it means that the current position of the mobile robot to each boundary is blocked by obstacles, at which time the mapping process can be ended.

[0036] In this embodiment, step 102 can be executed when the global exploration map is first generated. It can also be executed when a corresponding event occurs, as described below in step 103.

[0037] Step 103, control the mobile robot to move from the current position to the target boundary point; if it is found that the mobile robot encounters an obstacle during the movement, check whether the position of the obstacle is in the historical trajectory of the mobile robot, if yes, return to the above step 102, otherwise, execute step 104.

[0038] In this embodiment, the position of the obstacle is in the historical trajectory of the mobile robot, which is the event triggering the execution of the above step 102.

[0039] In step 104, the path of the mobile robot is switched to move along the edge of the obstacle, and when the mobile robot moves to the target boundary point, the movement is along the boundary of the global exploration map used to determine the target boundary point; if an obstacle is encountered during the movement along the boundary, the step of checking whether the position of the obstacle is in the historical trajectory of the mobile robot in step 103 is returned.

[0040] It should be noted that in the embodiment, if it is found that the image acquisition component cannot acquire an image containing the ceiling region during the movement along the edge of the obstacle, the nearest adjacent boundary point to the current position of the mobile robot is searched in the current latest global exploration map; when the mobile robot moves to the adjacent boundary point, the movement is along the boundary of the global exploration map used to determine the adjacent boundary point, and if an obstacle is encountered during the movement along the boundary, the step of checking whether the position of the obstacle is in the historical trajectory of the mobile robot in step 103 is returned.

[0041] Through the above description, on the one hand, it is ensured that the mobile robot can always see the ceiling region during the movement, and obstacles are avoided, which is beneficial to improve the stability of the top vision positioning; on the other hand, the edge exploration method is used to quickly determine the distribution of ground obstacles, and the efficiency of the map exploration and navigation process is improved.

[0042] At this point, the process shown in Figure 1 is completed.

[0043] It can be seen that, by providing the mobile robot with the top image acquisition component, the mobile robot can always see the ceiling region during the movement, and fast mapping is realized by avoiding obstacles, the mobile robot can realize fast mapping based on vision in the working environment, and the stability of the top vision positioning is also improved.

[0044] Further, in the embodiment, whether the mobile robot is controlled to move from the current position to the target boundary point, or the mobile robot is controlled to switch the path and move along the edge of the obstacle when it is found that the mobile robot encounters an obstacle during the movement and the position of the obstacle is not in the historical trajectory of the mobile robot, or the mobile robot moves along the boundary of the global exploration map used to determine the target boundary point when the mobile robot moves to the target boundary point, all of them use the edge exploration method to quickly determine the distribution of ground obstacles, and the efficiency of the map exploration and navigation process is improved.

[0045] In order to make the process shown in Figure 1 more clear, the process shown in Figure 1 will be described below in conjunction with specific embodiments: refer to Figure 2 , Figure 2 The embodiment process diagram provided by the present application. The process is applied to a mobile robot.

[0046] As Figure 2 shown, the flow can include the following steps:

[0047] Step 201, the mobile robot starts moving in the current working environment such as a living room, etc.

[0048] Step 202, after the mobile robot starts moving, the image acquisition component on the top of the mobile robot acquires the image of the ceiling area of the current working environment to obtain a ceiling image.

[0049] In this embodiment, the image acquisition component on the top of the mobile robot, such as a camera, will acquire the image of the ceiling area of the current working environment in a timed, periodic or real-time manner.

[0050] Step 203, fuse the ceiling area in the ceiling image and the working map currently established by the mobile robot to obtain a global exploration map.

[0051] As an example, the ceiling image here is not all ceiling area, it may also contain interference area, based on this, this embodiment can segment the ceiling area from the above ceiling image based on Hrnet segmentation recognition algorithm, as shown in Figure 3 .

[0052] The working map here corresponds to the dimension space corresponding to the ground of the current working environment. Under this premise, this step 203 will first project the above ceiling area to the above dimension space to obtain a mapping area. Then fuse the mapping area and the current working map to obtain a global exploration map, which can be seen from the example description of the above step 101. Figure 4 An example is shown to illustrate the global exploration map.

[0053] Step 204, search for a target boundary point from the current latest global exploration map, if found, execute step 205, otherwise, end the mapping flow.

[0054] As an example, Dijkstra algorithm can be used to search for a target boundary point from the global exploration map. Figure 4 An example is shown to illustrate the current position of the mobile robot and the target boundary point.

[0055] In this embodiment, if the target boundary point is not searched, it is considered that the current position of the mobile robot to the boundary of the global exploration map is blocked by obstacles at this time. At this time, the mapping flow can be ended.

[0056] Step 205, use the current latest global exploration map to navigate and control the mobile robot to move from the current position to the above target boundary point.

[0057] Step 206, during the movement of the mobile robot to the target boundary point, the image acquisition component on the top of the mobile robot acquires the image of the ceiling area of the current working environment to obtain a ceiling image, and the existing global exploration map is updated based on the ceiling area in the ceiling image to obtain the current latest global exploration map. Then step 207 is performed.

[0058] The previous global exploration map updated in step 206 can be further updated by means of the positions of the current movement of the mobile robot and the current working map being established and updated by the latest pose of the mobile robot. Then, when the previous global exploration map is updated based on the ceiling area in the ceiling image and the latest working map, the ceiling area in the ceiling image also needs to be projected to the dimensions of the ground of the current working environment. The specific updating method is similar to the method of generating the global exploration map described in step 101 above. Figure 5 An example of updating the global exploration map is shown.

[0059] Step 207, when the mobile robot moves to the target boundary point, step 212 is performed. When the mobile robot encounters an obstacle during movement, it is checked whether the position of the obstacle is in the historical trajectory of the mobile robot. If not, step 208 is performed. If yes, step 204 is returned.

[0060] In this embodiment, if the position of the obstacle is in the historical trajectory of the mobile robot, it means that the trajectory at this time overlaps the historical trajectory. Figure 6 An example of trajectory overlap is shown.

[0061] Step 208, switch the path of the mobile robot to move along the edge of the obstacle. During the movement of the mobile robot after switching the path, the image acquisition component on the top of the mobile robot acquires the image of the ceiling area of the current working environment to obtain a ceiling image, and the existing global exploration map is updated based on the ceiling area in the ceiling image to obtain the current latest global exploration map.

[0062] Step 209, when the mobile robot moves to the target boundary point after switching the path, step 212 is performed. When the mobile robot finds that the image acquisition component cannot acquire the image containing the above-mentioned ceiling area during movement, the nearest boundary point in the current latest global exploration map is searched from the current position of the mobile robot, and then step 210 is performed.

[0063] Here, when it is found that the image acquisition component cannot acquire the image containing the ceiling region, it means that the field of view of the image acquisition component on the top of the mobile robot is blocked by the obstacle. For example, when the mobile robot moves under the sofa, the field of view of the image acquisition component on the top of the mobile robot is blocked by the sofa, and the image acquisition component cannot acquire the image containing the ceiling region.

[0064] In addition, in the embodiment, the nearest adjacent boundary point to the current position of the mobile robot is searched in the current latest global exploration map, which actually means that the mobile robot is returned to the previous trajectory point. For example, when the mobile robot moves under the sofa, the mobile robot can be controlled to move to the trajectory point under the sofa.

[0065] In step 210, when the mobile robot moves to the adjacent boundary point, the image acquisition component on the top of the mobile robot acquires the image of the ceiling region of the current working environment to obtain the ceiling image, and the existing global exploration map is updated based on the ceiling region in the ceiling image to obtain the current latest global exploration map. When the mobile robot moves to the adjacent boundary point, the mobile robot moves along the boundary of the global exploration map used to determine the adjacent boundary point. Then, step 211 is performed.

[0066] In the embodiment, since the nearest adjacent boundary point to the current position of the mobile robot is searched in the current latest global exploration map, which actually means that the mobile robot is returned to the previous trajectory point. Returning to the previous trajectory point means that there is already a path from the current position of the mobile robot to the adjacent boundary point. Based on this, the step 210 can no longer consider the case that the image acquisition component cannot acquire the image containing the ceiling region when the mobile robot moves to the adjacent boundary point.

[0067] In step 211, if an obstacle is encountered during the movement along the boundary, the step of checking whether the position of the obstacle is in the historical trajectory of the mobile robot in step 207 is returned. If the image acquisition component cannot acquire the image containing the ceiling region during the movement along the boundary, the step of searching the nearest adjacent boundary point to the current position of the mobile robot in the current latest global exploration map in step 209 is returned.

[0068] It should be noted that in the embodiment, if the mobile robot returns to the starting point during the movement along the boundary, the above step 204 can be returned.

[0069] In step 212, when the mobile robot moves to the target boundary point, the movement is performed along the boundary of the global exploration map used to determine the target boundary point. Then, step 211 is returned.

[0070] So far, the process is completed Figure 2 as shown in the flow.

[0071] The above describes the method provided by the embodiments of the present application, and the mobile robot provided by the embodiments of the present application is described below:

[0072] Referring to Figure 7 , Figure 7 FIG. 1 is a schematic diagram of the mobile robot provided by the embodiments of the present application. As shown in the figure, the mobile robot comprises: Figure 6

[0073] an image acquisition component configured at the top of the mobile robot, used to acquire a ceiling image after the mobile robot starts moving; the ceiling image at least comprises a ceiling area in a current working environment;

[0074] a control processor, used to generate a global exploration map of the mobile robot based on the ceiling image acquired by the image acquisition component after the mobile robot starts moving; the global exploration map is updated based on the ceiling image acquired by the image acquisition component during the movement of the mobile robot;

[0075] and determine whether there is a target boundary point in the current latest global exploration map, if not, end the mapping process, if yes, control the mobile robot to move from the current position to the target boundary point; the target boundary point is a boundary point in the current latest global exploration map closest to the current position of the mobile robot and meeting a condition; the condition refers to that the path from the current position of the mobile robot to the target boundary point is not blocked by an obstacle;

[0076] and if it is found that the mobile robot encounters an obstacle during movement, check whether the position of the obstacle is in the historical trajectory of the mobile robot, if yes, return to the step of determining whether there is a target boundary point in the current latest global exploration map, if not, switch the path of the mobile robot to move along the edge of the obstacle, and when the mobile robot moves to the target boundary point, move along the boundary of the global exploration map used to determine the target boundary point, and if an obstacle is encountered during the movement along the boundary, return to the step of checking whether the position of the obstacle is in the historical trajectory of the mobile robot.

[0077] ​Optionally, the control processor further searches for a nearest boundary point in the current latest global exploration map to the current position of the mobile robot if it is found that the image acquisition component cannot acquire an image containing the ceiling region during the movement of the mobile robot along the edge of the obstacle; and when the mobile robot moves to the nearest boundary point, moves along the boundary of the global exploration map used to determine the nearest boundary point, and returns to check whether the position of the obstacle is in the historical trajectory of the mobile robot if an obstacle is encountered during the movement along the boundary.

[0078] Optionally, the control processor further returns to the step of searching for a nearest boundary point in the current latest global exploration map to the current position of the mobile robot if it is found that the image acquisition component cannot acquire an image containing the ceiling region during the movement of the mobile robot along the boundary.

[0079] Optionally, the control processor controls the mobile robot to move along the boundary of the global exploration map used to determine the target boundary point comprises:

[0080] controlling the mobile robot to move along the boundary of the global exploration map used to determine the target boundary point in a specified direction with the target boundary point as a starting point.

[0081] Optionally, the control processor further updates the current global exploration map of the mobile robot based on the ceiling images acquired by the image acquisition component during the movement of the mobile robot when the mobile robot moves to the target boundary point, or when the mobile robot moves along the boundary of the global exploration map, or when the mobile robot moves to the nearest boundary point.

[0082] Optionally, generating the global exploration map of the mobile robot based on the ceiling images acquired by the image acquisition component after the mobile robot starts to move comprises:

[0083] segmenting a ceiling region from the ceiling images;

[0084] projecting the ceiling region to the dimension space of the working map currently being established by the mobile robot to obtain a mapping region;

[0085] integrating the mapping region with the working map to generate the global exploration map of the mobile robot.

[0086] Based on the same application concept as the above method, the embodiments of the present application also provide a machine readable storage medium, wherein a plurality of computer instructions are stored on the machine readable storage medium, and the computer instructions can realize the method disclosed in the above examples of the present application when executed by the above control processor.

[0087] For example, the machine readable storage medium can be a RAM (Random Access Memory), a volatile memory, a non-volatile memory, a flash memory, a storage drive (such as a hard disk drive), a solid state disk, any type of storage disk (such as an optical disk, a DVD, etc.), or similar storage medium, or a combination thereof.

[0088] The above only describes the embodiments of the present application and is not intended to limit the present application. The present application can have various modifications and changes for those skilled in the art. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. A vision-based map building method, characterized by, The method is applied to a mobile robot which is provided with a top-mounted image acquisition component; the method comprises: generating a global exploration map of the mobile robot based on a ceiling image acquired by the image acquisition component after the mobile robot starts moving; the ceiling image at least comprises a ceiling region in a current working environment; the global exploration map is updated based on a ceiling image acquired by the image acquisition component during movement of the mobile robot; determining whether there is a target boundary point in the current latest global exploration map; if not, ending the mapping process; if yes, controlling the mobile robot to move from a current position to the target boundary point; the target boundary point is a boundary point in the current latest global exploration map which is closest to the current position of the mobile robot and meets a condition; the condition refers to that a path from the current position of the mobile robot to the target boundary point is not blocked by an obstacle; if it is found that the mobile robot encounters an obstacle during movement, checking whether a position of the obstacle is in a historical trajectory of the mobile robot; if yes, returning to the step of determining whether there is a target boundary point in the current latest global exploration map; if not, switching a path of the mobile robot to move along an edge of the obstacle, and when the mobile robot moves to the target boundary point, controlling the mobile robot to move along a boundary of a global exploration map used for determining the target boundary point; if an obstacle is encountered during movement of the mobile robot along the boundary, returning to the step of checking whether a position of the obstacle is in a historical trajectory of the mobile robot; during movement of the mobile robot along the edge of the obstacle, if it is found that the image acquisition component cannot acquire an image containing the ceiling region, searching for a nearest boundary point in the current latest global exploration map which is closest to the current position of the mobile robot; when the mobile robot moves to the nearest boundary point, moving along a boundary of a global exploration map used for determining the nearest boundary point; if an obstacle is encountered during movement along the boundary, returning to the step of checking whether a position of the obstacle is in a historical trajectory of the mobile robot.

2. The method of claim 1, wherein, The step of generating a global exploration map of the mobile robot based on a ceiling image acquired by the image acquisition component after the mobile robot starts moving comprises: segmenting a ceiling region from the ceiling image; projecting the ceiling region to a dimensional space of a working map currently being established by the mobile robot to obtain a mapping region; fusing the mapping region with the working map to generate the global exploration map of the mobile robot.

3. The method of claim 1, wherein, The method further comprises: during movement of the mobile robot along the boundary, if it is found that the image acquisition component cannot acquire an image containing the ceiling region, returning to the step of searching for a nearest boundary point in the current latest global exploration map which is closest to the current position of the mobile robot.

4. The method of claim 1, wherein, The step of moving along a boundary of a global exploration map used for determining the target boundary point comprises: moving along a specified direction from the target boundary point as a starting point to a boundary of the global exploration map used for determining the target boundary point.

5. The method of claim 1, wherein, In the process that the mobile robot moves to the target boundary point, or in the process that the mobile robot moves along the boundary of the global exploration map, or in the process that the mobile robot moves to the adjacent boundary point, further comprising: updating the current global exploration map of the mobile robot based on the ceiling images collected by the image collection component in the process that the mobile robot moves.

6. A mobile robot, characterized by The mobile robot comprises: An image collection component configured on the top of the mobile robot, used to collect ceiling images after the mobile robot starts moving; the ceiling images at least include a ceiling area in the current working environment; A control processor used to generate a global exploration map of the mobile robot based on the ceiling images collected by the image collection component after the mobile robot starts moving; the global exploration map is updated based on the ceiling images collected by the image collection component in the process that the mobile robot moves; And, judging whether there is a target boundary point in the current latest global exploration map, if not, ending the mapping process, if yes, controlling the mobile robot to move from the current position to the target boundary point; the target boundary point is the boundary point closest to the current position of the mobile robot and meeting the condition in the current latest global exploration map; the condition refers to that the path from the current position of the mobile robot to the target boundary point is not blocked by an obstacle; And, if it is found that the mobile robot encounters an obstacle in the process of moving, checking whether the position of the obstacle is in the historical trajectory of the mobile robot, if yes, returning to the step of judging whether there is a target boundary point in the current latest global exploration map, if not, switching the path of the mobile robot to move along the edge of the obstacle, and when the mobile robot moves to the target boundary point, moving along the boundary of the global exploration map used to determine the target boundary point, if an obstacle is encountered in the process of moving along the boundary, returning to the step of checking whether the position of the obstacle is in the historical trajectory of the mobile robot; The control processor further checks whether the position of the obstacle is in the historical trajectory of the mobile robot, if yes, returning to the step of judging whether there is a target boundary point in the current latest global exploration map, if not, switching the path of the mobile robot to move along the edge of the obstacle, and when the mobile robot moves to the target boundary point, moving along the boundary of the global exploration map used to determine the target boundary point, if an obstacle is encountered in the process of moving along the boundary, returning to the step of checking whether the position of the obstacle is in the historical trajectory of the mobile robot.

7. The mobile robot of claim 6, wherein, The control processor further checks whether the position of the obstacle is in the historical trajectory of the mobile robot, if yes, returning to the step of judging whether there is a target boundary point in the current latest global exploration map, if not, switching the path of the mobile robot to move along the edge of the obstacle, and when the mobile robot moves to the target boundary point, moving along the boundary of the global exploration map used to determine the target boundary point, if an obstacle is encountered in the process of moving along the boundary, returning to the step of checking whether the position of the obstacle is in the historical trajectory of the mobile robot.

8. The mobile robot of claim 6, wherein, The control processor further checks whether the position of the obstacle is in the historical trajectory of the mobile robot, if yes, returning to the step of judging whether there is a target boundary point in the current latest global exploration map, if not, switching the path of the mobile robot to move along the edge of the obstacle, and when the mobile robot moves to the target boundary point, moving along the boundary of the global exploration map used to determine the target boundary point, if an obstacle is encountered in the process of moving along the boundary, returning to the step of checking whether the position of the obstacle is in the historical trajectory of the mobile robot. The moving along the boundary of the global exploration map used to determine the target boundary point comprises: The mobile robot is controlled by the boundary of the global exploration map used in determining the target boundary point to move along a specified direction with the target boundary point as a starting point.

Images