Mobile robot, obstacle detection method and device and storage medium

Abstract

The invention relates to the field of robots, and discloses a mobile robot, an obstacle detection method and device and a storage medium, which are used for enlarging a scanning view field and improving the comprehensiveness of obstacle detection. The mobile robot comprises a robot body, a line laser module and a motor assembly, the motor assembly is connected with the robot body, the motor assembly is in transmission connection with the line laser module, the line laser module comprises a camera and two line laser emitters arranged on the two sides of the camera, the motor assembly comprises a motor, and the motor is used for driving the two line laser emitters to move. The motor assembly is provided with a measuring piece, and the measuring piece is used for measuring the movement parameters of the two line laser transmitters.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a mobile robot, an obstacle detection method, a device and a storage medium. Background Art

[0002] The mobile robot detects obstacles through the line laser module installed on it. Since the detection field of view of the line laser module is fixed, the mobile robot has a detection blind spot. Especially when detecting obstacles in front of the mobile robot through the vertical line laser module, there is a certain angle between the emitted vertical line laser and the horizontal direction. The vertical line laser cannot cover the area within the fuselage directly in front of the mobile robot. The mobile robot can only detect the area within the fuselage directly in front of it by moving. It is very easy to miss detection of smaller obstacles, and the obstacle detection is not comprehensive. Summary of the invention

[0003] The main purpose of the present invention is to provide a mobile robot, an obstacle detection method, a device and a storage medium, which are used to solve the problem that the mobile robot has a small field of view and small obstacles directly in front of it are easily missed during movement, increase the scanning field of view, and improve the comprehensiveness of obstacle detection.

[0004] A first aspect of the present invention provides a mobile robot, comprising: a robot body, a line laser module and a motor assembly, wherein the motor assembly is connected to the robot body; the motor assembly is transmission-connected to the line laser module; the line laser module comprises a camera and two line laser emitters arranged on both sides of the camera; the motor assembly comprises a motor, and the motor is used to drive the two line laser emitters to move; a measuring piece is arranged on the motor assembly, and the measuring piece is used to measure the movement parameters of the two line laser emitters.

[0005] In a feasible implementation manner, the motor assembly further includes a limit switch, and the limit switch is fixedly connected to the motor; the limit switch includes a first switch and a second switch, and the first switch and the second switch are used to limit the rotation range of the line laser module.

[0006] In a feasible embodiment, the first switch is arranged on the path of the line laser module rotating to the left, and the angle between the line connecting the first switch and the motor and the axis of the mobile robot is a first preset angle; the second switch is arranged on the path of the line laser module rotating to the right, and the angle between the line connecting the second switch and the motor and the axis of the mobile robot is a second preset angle.

[0007] In a feasible embodiment, the measuring part is the grating, which surrounds the front side of the line laser module, and the front side is the surface on which the camera and the two line laser emitters are disposed. The grating is used to measure the movement parameter of the line laser module, and the movement parameter is the rotation angle.

[0008] In a feasible implementation manner, the rotation center of the line laser module is the motor.

[0009] In a feasible embodiment, the motor assembly also includes a gear bar and a connecting rod assembly; the motor is transmission-connected to the gear bar, the connecting rod assembly is rotationally connected to the gear bar, and the connecting rod assembly is rotationally connected to the line laser emitter; the motor is used to drive the two line laser emitters in the line laser module to move in the mobile robot through the connecting rod assembly and the gear bar, so that the angle between the two line laser emitters and the optical axis of the camera changes.

[0010] In a feasible implementation, a plurality of induction switches are arranged in the tooth grooves of the gear movable bar, each of the induction switches corresponds to a code, and the code is used to determine the angle between the optical axis of the line laser emitter and the camera; the measuring piece is the induction switch arranged in the tooth groove, and the movement parameter is the angle between the optical axis of the line laser emitter and the camera.

[0011] In a feasible embodiment, the connecting rod assembly includes a first connecting rod and a second connecting rod, the first connecting rod is rotatably connected to the line laser emitter in the line laser module and arranged on the left side of the camera, and the second connecting rod is rotatably connected to the line laser emitter in the line laser module and arranged on the right side of the camera.

[0012] In a feasible implementation manner, an induction switch is provided in each tooth groove of the gear movable bar.

[0013] In a feasible implementation manner, inductive switches are arranged in some of the tooth grooves of the gear movable bar, and the number of tooth grooves between any two inductive switches is equal to a preset number.

[0014] The second aspect of the present invention provides an obstacle detection method, including: the mobile robot controls the two line laser emitters in the line laser module through the motor module to perform mobile scanning; the mobile robot obtains the environmental information collected by the line laser module and the movement parameters of the two line laser emitters when collecting the environmental information; the mobile robot parses the environmental information according to the movement parameters to obtain the coordinates of the environmental point cloud in the robot coordinate system; the mobile robot generates an obstacle detection result according to the coordinates of the environmental point cloud.

[0015] The third aspect of the present invention provides an obstacle detection device, comprising: a control module, used for a mobile robot to control two line laser emitters in a line laser module to perform mobile scanning through a motor module; an acquisition module, used for the mobile robot to acquire environmental information collected by the line laser module and movement parameters of the two line laser emitters when collecting the environmental information; a parsing module, used for the mobile robot to parse the environmental information according to the movement parameters to obtain the coordinates of the environmental point cloud in the robot coordinate system; and a generation module, used for the mobile robot to generate an obstacle detection result according to the coordinates of the environmental point cloud.

[0016] A fourth aspect of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores instructions, which, when executed on a computer, enable the computer to execute the above-mentioned obstacle detection method.

[0017] In the technical solution provided by the present invention, a robot body, a line laser module and a motor assembly are provided. The motor assembly is connected to the robot body, and the motor assembly is transmission-connected to the line laser module. The line laser module includes a camera and two line laser emitters arranged on both sides of the camera. The motor assembly includes a motor, and the motor is used to drive the two line laser emitters to move. The motor assembly is provided with a measuring piece, and the measuring piece is used to measure the movement parameters of the two line laser emitters. In the embodiment of the present invention, the line laser emitter is driven to move by a motor, so that the mobile robot can have a larger field of view when it is stationary, and the area within the field of view is scanned by moving the line laser emitter, which reduces the missed detection area and improves the comprehensiveness of obstacle detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of an embodiment of a mobile robot in an embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram of an embodiment of a linear laser module in an embodiment of the present invention;

[0020] Figure 3 Schematic diagram of a limit switch according to an embodiment of the present invention;

[0021] Figure 4 Schematic diagram of an embodiment of the grating setting position in an embodiment of the present invention;

[0022] Figure 5 This is a schematic diagram of an embodiment of the rotation of the linear laser module in an embodiment of the present invention;

[0023] Figure 6 It is a schematic diagram of an embodiment of a transmission structure of a motor and a gear movable bar in an embodiment of the present invention;

[0024] Figure 7 is a schematic diagram of an embodiment of a connecting rod assembly in an embodiment of the present invention;

[0025] Figure 8 A schematic diagram of an obstacle detection method according to an embodiment of the present invention;

[0026] Fig. 9 FIG. 1 is a schematic diagram of an embodiment of an obstacle detection device in an embodiment of the present invention. DETAILED DESCRIPTION

[0027] The embodiments of the present invention provide a mobile robot, an obstacle detection method, an apparatus and a storage medium, which are used to increase the field of view and improve the comprehensiveness of obstacle detection.

[0028] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" or "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] First, the mobile robot is described. Figure 1 As shown, the mobile robot 100 includes a line laser module 110, a motor assembly 120 and a robot body 130, wherein the motor assembly 120 is connected to the robot body 130, and the motor assembly 120 is transmission-connected to the line laser module 110, wherein the line laser module 110 includes a line laser emitter 111 and a camera 112, and the motor assembly 120 includes a motor 121, and the motor 121 is used to drive the two line laser emitters 111 in the line laser module 110 to move. It can be understood that the robot body 130 includes basic components of the mobile robot such as rollers and processors.

[0030] The line laser module 110 includes a camera 112 and two line laser emitters 111 disposed on both sides of the camera 112. Figure 2 As shown in (a), Figure 2(a) is a top view of the line laser module 110. The line lasers emitted by the two line laser emitters 111 intersect the optical axis of the camera 112 at one point. When the line laser emitters 111 are not moving, the optical axis of the camera 112 points to the front of the mobile robot 100. The position of the line laser module 110 on the mobile robot 100 is shown in FIG. Figure 2 As shown in (b), the line laser module 110 is set in the front area of ​​the mobile robot 100, and the line laser is emitted to the outside of the mobile robot 100 by the line laser transmitter 111 and the reflected laser imaging is captured by the camera 112, so that the mobile robot 100 can detect obstacles through the line laser module 110.

[0031] The motor assembly 120 is provided with a measuring device for measuring the movement parameters of the two line laser emitters 111. The collected environmental information can be converted according to the movement parameters to obtain the environmental information in the coordinate system of the mobile robot.

[0032] By driving the line laser transmitter to move through the motor, the mobile robot can have a larger field of view when stationary, and the line laser transmitter is moved to scan the area within the field of view to reduce the missed area and improve the comprehensiveness of obstacle detection.

[0033] In one embodiment, the motor assembly 120 also includes a limit switch 123, which is fixedly connected to the motor 121. Regardless of whether the motor 121 and the line laser module 110 rotate, the relative position of the limit switch 123 and the motor 121 will not change. The limit switch 123 includes a first switch 124 and a second switch 125, and the rotation range of the line laser module 110 is limited by the first switch 124 and the second switch 125.

[0034] Optionally, the first switch 124 is on the path of the linear laser module 110 rotating to the left, and the angle between the line connecting the first switch 124 and the motor 121 and the axis of the mobile robot 100 is a first preset angle. The second switch 125 is on the path of the linear laser module 110 rotating to the right, and the angle between the line connecting the second switch 125 and the motor 121 and the axis of the mobile robot is a second preset angle. When the two line laser emitters 111 are symmetrically distributed on both sides of the camera 112, the first preset angle is the same as the second preset angle. When the two line laser emitters 111 are asymmetrically distributed on both sides of the camera 112, the first preset angle is different from the second preset angle.

[0035] Optionally, the first preset angle and the second preset angle are determined as follows:

[0036] A baffle is placed at a preset distance in front of the mobile robot 100, such as Figure 3As shown in (a), L1 is the axis of the mobile robot, which is parallel to the optical axis of the camera when the line laser module 110 is in the reset state. L2 is the baffle. The optical axis of the camera 112 passes through the rotation point e. When the line laser module 110 does not rotate, the optical axis of the camera 112 and the baffle intersect vertically at point o. The intersection point of the line laser emitted by the line laser emitter 111 on the right side of the camera 112 and the baffle is point p. The intersection point of the line laser emitted by the line laser emitter 111 on the left side of the camera 112 and the baffle is point q. The line laser module 110 is rotated to the left until the optical axis of the camera 112 and the baffle are at point p. The rotation angle of the line laser module 110 is equal to ∠oep. Since the position of the baffle is determined, the values ​​of op and oe are known conditions. According to the values ​​of op and oe, ∠oep can be determined. ∠oep is the maximum angle of the line laser module 110 rotating to the left, and the first preset angle is equal to 90°+∠oep. Similarly, the line laser module 110 is rotated to the right until the optical axis of the camera 112 and the baffle are at point q. At this time, the rotation angle of the line laser module 110 is equal to ∠oeq. Since the position of the baffle is determined, the value of oq is also a known condition. According to the values ​​of oq and oe, ∠oeq can be determined. ∠oeq is the maximum angle of the line laser module 110 rotating to the right, and the second preset angle is equal to 90°+∠oeq, thereby determining the positions of the first switch 124 and the second switch 125, such as Figure 3 (b) as shown.

[0037] Optionally, the first switch 124 is on the path of the camera 112 rotating to the left, and the angle between the line connecting the first switch 124 and the motor 121 and the axis of the mobile robot is a first preset angle, and the second switch 125 is on the path of the camera 112 rotating to the right, and the angle between the line connecting the second switch 125 and the motor 121 and the axis of the mobile robot is a second preset angle, such as Figure 3 As shown in (c), at this time, the first preset angle is equal to ∠oep, and the second preset angle is equal to ∠oeq.

[0038] Optionally, the grating 122 surrounds the front side of the line laser module 110, but does not block the optical path of the camera 112 and the line laser emitter 111. The front side is the side where the camera 112 and the two line laser emitters 111 are arranged. Figure 4 As shown, the grating 122 is used to measure the movement parameter of the line laser module 110 . At this time, the movement parameter is the rotation angle. The rotation angle of the line laser module 110 is the same as the rotation angle of the rotation shaft of the motor 121 .

[0039] The grating 122 includes multiple grids, and the motor 121 can control the moving angle of the line laser module 110 according to the number of grids. The motor 121 includes a base fixedly connected to the robot body 130 and a rotating shaft arranged on the base. One end of the rotating shaft can be directly connected to the line laser module 110 through a slot, or it can be indirectly connected through a transmission member. The transmission member is fixedly connected to one end of the rotating shaft and the line laser module 110 respectively, so that the motor 121 can drive the line laser module 110 to rotate.

[0040] Each grid in the grating 122 corresponds to a preset angle, usually 0.5°. When the line laser module 110 rotates, the grating value is obtained by counting the number of grids that the optical axis of the camera 112 moves on the grating 122. When the line laser module 110 rotates to the left, the grating value is a positive value, and when the line laser module 110 rotates to the right, the grating value is a negative value. The direction of rotation of the line laser module 110 is determined by the positive and negative signs of the grating value, and the rotation angle of the line laser module 110 is calculated by the absolute value of the grating value. When the rotation angle of the line laser module 110 is determined, the mobile robot calculates the number of grids corresponding to the rotation angle, and the mobile robot controls the motor to rotate the number of grids corresponding to the rotation angle.

[0041] Furthermore, when the camera 112 and the two line laser emitters 111 are on different planes or curved surfaces, the surrounding range of the grating 122 includes each surface where the camera 112 or the line laser emitter 111 is disposed.

[0042] Optionally, the rotation center of the line laser module is a motor, Figure 5 (a) is a front view of the line laser module 110 and the motor 121. The line laser module 110 is driven by the motor 121 and rotates around the rotation axis of the motor 121. Figure 5 (b) is a schematic diagram of the mobile robot 100 when the line laser module 110 is not rotating. At this time, the line laser module 110 is in a reset state. Figure 5 (c) is a schematic diagram of the mobile robot 100 when the line laser module 110 rotates left. Figure 5 (d) is a schematic diagram of the mobile robot 100 when the line laser module 110 rotates to the right.

[0043] In actual applications, the mobile robot 100 first controls the line laser module 110 to reset, and then controls the motor 121 to drive the line laser module 110 to scan left or right. During the scanning process, the rotation angle of the line laser module 110 and the point cloud coordinates corresponding to each rotation angle are obtained, and the point cloud coordinates are converted according to the rotation angle to obtain the point cloud coordinates in the robot coordinate system, so as to determine the position of the obstacle.

[0044] The reset method is to control the line laser module 110 to rotate left or right. When the first switch 124 or the second switch 125 is triggered, the number of reset grids rotated by the motor 121 is calculated according to the preset angle corresponding to the first switch 124 or the second switch 125 and the preset rotation angle corresponding to each grid. The mobile robot 100 controls the motor 121 to rotate the reset grid number so that the optical axis of the camera 112 points directly in front of the mobile robot 100.

[0045] In the embodiment of the present invention, the line laser module 110 is rotated as an object, thereby increasing the scanning field of view of the mobile robot 100. At the same time, obstacles are detected by rotating the line laser module 110, and no areas are missed, thereby improving the comprehensiveness of obstacle detection.

[0046] In another embodiment, the motor assembly 120 also includes a gear movable bar 126 and a connecting rod assembly 127. The motor 121 is transmission-connected to the gear movable bar 126, the connecting rod assembly 127 is rotationally connected to the gear movable bar 126, and the connecting rod assembly 127 is rotationally connected to the line laser emitter 111. The motor 121 is used to drive the two line laser emitters 111 in the line laser module 110 to move in the mobile robot 100 through the connecting rod assembly 127 and the gear movable bar 126, so that the optical axis angle between the two line laser emitters 111 and the camera 112 changes, that is, each line laser emitter 111 corresponds to an angle, and the angles corresponding to the two line laser emitters 111 may be equal or unequal. In this embodiment, the relative position of the camera 112 and the two line laser emitters 111 changes.

[0047] Optionally, the motor 121 includes a gear, the gear of the motor 121 is in transmission connection with the gear movable bar 126, the position of the motor 121 is fixed, and the gear movable bar 126 reciprocates under the drive of the motor 121, such as Figure 6 shown.

[0048] Optionally, a plurality of induction switches are provided in the tooth grooves of the gear movable bar 126, and each induction switch corresponds to a code, and the code is used to determine the optical axis angle between the line laser emitter 111 and the camera 112. The measuring piece is the induction switch provided in the tooth groove, and the moving parameter is the optical axis angle between the line laser emitter 111 and the camera 112. When the two line laser emitters 111 are symmetrically distributed on both sides of the camera 112, the angles between the two line laser emitters 111 and the camera 112 are the same, so one code corresponds to one angle value. When the two line laser emitters 111 are not symmetrically distributed on both sides of the camera 112, the angles between the two line laser emitters 111 and the camera 112 are different, and one code corresponds to two angles, and the two angles correspond one-to-one to the two line laser emitters 111.

[0049] Optionally, the connecting rod assembly 127 includes a first connecting rod 128 and a second connecting rod 129, the first connecting rod 128 is rotatably connected to the line laser emitter 111 disposed on the left side of the camera 112 in the line laser module 110, and the second connecting rod 129 is rotatably connected to the line laser emitter 111 disposed on the right side of the camera 112 in the line laser module 110, such as Figure 7 shown.

[0050] Optionally, an induction switch is provided in each tooth groove of the gear movable bar 126, and each switch corresponds to a code.

[0051] Optionally, inductive switches are provided in some of the tooth grooves of the gear movable bar 126, each switch corresponds to a code, and the number of tooth grooves between any two inductive switches is equal to a preset number, thereby reducing the number of calibration times and improving the calibration efficiency.

[0052] In actual application, the mobile robot 100 first controls the line laser module 110 to reset. When the line laser module 110 is in the reset state, the angle between the two line laser emitters and the optical axis of the camera is equal to the preset initial angle. An initial tooth groove is provided in the gear movable bar. When the gear of the motor is engaged with the initial tooth groove, the line laser module 110 is in the reset state, and then drives the gear movable bar 126 to move forward or backward. During the movement of the gear movable bar 126, the position of the laser emitter is driven to change. During the scanning process, the target tooth groove on the gear movable bar 126 that is engaged with the gear of the motor 121 is identified through the induction switch, and the target movement parameters are obtained according to the target code corresponding to the target tooth groove, and the target image obtained by the line laser module 110 when the gear of the motor 121 is at the target tooth groove is obtained. The mobile robot 100 generates corresponding calibration parameters according to the target movement parameters, and generates point cloud coordinates in the robot coordinate system according to the calibration parameters and the target image. The calibration parameters are used to calibrate the line laser module 110.

[0053] In the embodiment of the present invention, the motor is fixed, and the motor drives the gear movable bar and the connecting rod assembly to move through the bite action. The connecting rod assembly drives the line laser emitter to move, thereby increasing the scanning field of view of the mobile robot. At the same time, the line laser emitter detects obstacles while moving, reducing the missed detection area and improving the comprehensiveness of obstacle detection.

[0054] In another embodiment, the motor assembly 120 also includes a gear movable bar 126 and a connecting rod assembly 127. The motor 121 is transmission-connected to the gear movable bar 126. The motor 121 is rotationally connected to the gear movable bar 126. The gear movable bar 126 is fixedly connected to the robot body 130. The motor 121 includes gears. The motor 121 moves along the gear movable bar 126 through the meshing action of the gears. The connecting rod assembly 127 is rotationally connected to the motor 121. When the motor 121 moves, the two line laser emitters 111 in the line laser module 110 are driven to move in the mobile robot 100, so that the optical axis angle between the two line laser emitters 111 and the camera 112 changes.

[0055] Optionally, a plurality of induction switches are provided in the tooth grooves of the gear movable bar 126, and each induction switch corresponds to a code, and the code is used to determine the angle between the optical axes of the two line laser emitters 111 and the camera 112. The measuring piece is the induction switch provided in the tooth groove, and the moving parameter is the angle between the optical axes of the line laser emitter 111 and the camera 112. When the two line laser emitters 111 are symmetrically distributed on both sides of the camera 112, the angles between the two line laser emitters 111 and the camera 112 are the same, so one code corresponds to one angle value. When the two line laser emitters 111 are not symmetrically distributed on both sides of the camera 112, the angles between the two line laser emitters 111 and the camera 112 are different, and one code corresponds to two angle values, and the two angle values ​​correspond one-to-one to the two line laser emitters 111.

[0056] Optionally, the connecting rod assembly 127 includes a first connecting rod 128 and a second connecting rod 129, the first connecting rod 128 is rotatably connected to the line laser emitter 111 disposed on the left side of the camera 112 in the line laser module 110, and the second connecting rod 129 is rotatably connected to the line laser emitter 111 disposed on the right side of the camera 112 in the line laser module 110, such as Figure 7 shown.

[0057] Optionally, an induction switch is provided in each tooth groove of the gear movable bar 126, and each switch corresponds to a code.

[0058] Optionally, inductive switches are provided in some of the tooth grooves of the gear movable bar 126, each switch corresponds to a code, and the number of tooth grooves between any two inductive switches is equal to a preset number, thereby reducing the number of calibration times and improving the calibration efficiency.

[0059] In the embodiment of the present invention, the gear movable bar is fixed, and the motor moves along the gear movable bar through the bite action. During the movement of the motor, the line laser emitter is driven to move, thereby increasing the scanning field of view of the mobile robot. At the same time, the line laser emitter detects obstacles while moving, reducing the missed detection area and improving the comprehensiveness of obstacle detection.

[0060] The specific process of the embodiment of the present invention is described below. It can be understood that the execution subject of the present invention can be an obstacle detection device or a mobile robot, which is not limited here. The embodiment of the present invention is described by taking the mobile robot as the execution subject.

[0061] See also Figure 8 , an embodiment of the obstacle detection method in the embodiment of the present invention includes:

[0062] 801. The mobile robot controls two line laser transmitters in the line laser module through the motor module to perform mobile scanning;

[0063] The mobile robot first adjusts the line laser module to a reset state. When the line laser module is in the reset state, the camera optical axis points directly in front of the mobile robot.

[0064] When the motor assembly of the mobile robot includes a motor, a limit switch and a grating, the movement of the two line laser emitters is achieved by moving the line laser module. There are two ways to control the line laser module to move and scan. One is that the mobile robot controls the line laser module to rotate left or right to scan through the motor, and then rotates in the opposite direction to scan after triggering the limit switch, and stops rotating when the limit switch is triggered again; the other is to determine the detection area according to the detection requirements, calculate the maximum left rotation angle and the maximum right rotation angle of the line laser module based on the detection area, calculate the number of left-turned grids and the number of left-turned grids of the line laser module according to the preset angle corresponding to each grid in the grating, the maximum left rotation angle and the maximum right rotation angle, and the mobile robot controls the motor to rotate the corresponding number of grids to the left or right, so that the two line laser emitters move and scan the detection area.

[0065] When the motor assembly of the mobile robot includes a motor, a gear movable bar and a connecting rod assembly, there are two ways to control the two line laser emitters to move and scan. One is that the mobile robot controls the gear movable bar to move in one direction by rotating the motor forward, and controls the motor to rotate in the opposite direction after reaching the edge of the gear movable bar, so that the two line laser emitters move and scan under the drive of the gear movable bar, and stop rotating after triggering the edge of the gear movable bar again; the other is to determine the detection area according to the detection requirements, calculate the maximum angle between the two line laser emitters and the camera optical axis based on the detection area, determine the corresponding target tooth groove in the gear movable bar according to the maximum angle between the two line laser emitters and the camera optical axis, determine the corresponding tooth groove in the gear movable bar when the line laser module is in the initial state as the initial tooth groove, determine the initial tooth groove and the target tooth groove as the starting point and end point of the movement of the gear movable bar, and the motor controls the gear movable bar to move between the starting point and the end point, drive the two line laser emitters to move, and the two line laser emitters scan during the movement.

[0066] The mobile robot has two optional structures. In either structure, the line laser transmitter can be moved by a motor-driven method, thereby expanding the scanning field of view of the mobile robot.

[0067] 802. The mobile robot obtains environmental information collected by the line laser module and movement parameters of two line laser transmitters when collecting the environmental information;

[0068] The mobile robot collects environmental information through the line laser module during operation. The environmental information is the laser image generated by the line laser module.

[0069] When the motor assembly of the mobile robot includes a motor, a gear movable bar and a connecting rod assembly, the moving parameter is the rotation angle of the line laser module. The line laser module collects environmental information once each rotation. The mobile robot obtains the environmental information collected each time and the rotation angle of the line laser module corresponding to each time the environmental information is collected, and obtains multiple first sub-information and corresponding multiple rotation angles.

[0070] When the motor assembly of the mobile robot includes a motor, a gear movable bar and a connecting rod assembly, the moving parameter is the optical axis angle between the line laser emitter and the camera. The sensing switch in the gear movable bar senses the gear of the motor once and collects environmental information once. The mobile robot obtains the environmental information collected each time and the corresponding optical axis angle between the line laser emitter and the camera each time the environmental information is collected, and obtains multiple second sub-information and corresponding multiple optical axis angles.

[0071] 803. The mobile robot analyzes the environmental information according to the mobile parameters to obtain the coordinates of the environmental point cloud in the robot coordinate system;

[0072] When the moving parameter is the rotation angle of the line laser module, the mobile robot generates multiple sub-environment point clouds based on multiple first sub-information, each sub-environment point cloud corresponds to the rotation angle of a line laser module, and the coordinates of the multiple sub-environment point clouds are converted from the camera coordinate system to the robot coordinate system by the following formula, and the converted multiple sub-environment point clouds are summarized to obtain the coordinates of the environment point cloud in the robot coordinate system. The robot coordinate system is a world coordinate system centered on the mobile robot:

[0073] x1=x0×cosθ-y0×sinθ

[0074] y1=x0×sinθ+y0×cosθ

[0075] z1=z0

[0076] Among them, x0, y0, z0 are the horizontal coordinates, vertical coordinates and height coordinates of the points in the sub-environment point cloud in the camera coordinate system, x1, y1, z1 are the horizontal coordinates, vertical coordinates and height coordinates of the points in the sub-environment point cloud in the robot coordinate system, θ is the rotation angle of the line laser module corresponding to the sub-environment point cloud. When the line laser module is in the reset state, θ is 0.

[0077] For example, the line laser module collects environmental information when it rotates 10°, 20°, and 30° to the left. The first sub-information 1 is collected when the line laser module rotates 10° to the left, the first sub-information 2 is collected when it rotates 20° to the left, and the first sub-information 3 is collected when it rotates 30° to the left. The point cloud coordinates in the camera coordinate system obtained when the line laser module rotates 10° to the left are obtained based on the first sub-information 1. Since the camera rotates with the line laser module at this time, the camera coordinate system also rotates 10° relative to the mobile robot coordinate system. Therefore, the point cloud coordinates corresponding to the first sub-information 1 are converted to obtain the point cloud coordinates corresponding to the first sub-information 1 in the robot coordinate system. Similarly, the point cloud coordinates corresponding to the first sub-information 2 and the point cloud coordinates corresponding to the first sub-information 3 in the robot coordinate system are obtained.

[0078] The environmental information is calibrated in batches according to the corresponding rotation angles during collection, so that the mobile robot can obtain accurate point cloud information, which is convenient for subsequent judgment of whether there are obstacles and the position of each obstacle when there are obstacles.

[0079] When the moving parameter is the optical axis angle between the line laser emitter and the camera, the mobile robot generates multiple sub-environment images based on multiple second sub-information, and each sub-environment image corresponds to an optical axis angle. At this time, the relative position of the camera and the mobile robot body remains unchanged, and the relative position of the line laser emitter and the mobile robot changes. The line laser module needs to be recalibrated. The mobile robot generates corresponding calibration parameters according to each optical axis angle, obtains multiple calibration parameters, and generates environmental point cloud coordinates in the robot coordinate system according to the multiple sub-environment images and the calibration parameters corresponding to each sub-environment image.

[0080] Each time the line laser transmitter moves, the coordinate system in which the line laser module collects environmental information is different due to the influence of the movement parameters. In order to obtain the environmental point cloud coordinates in the robot coordinate system, it is necessary to process the environmental information collected in each movement according to the movement parameters to obtain accurate environmental point cloud coordinates and improve the accuracy of the mobile robot in detecting obstacles.

[0081] 804. The mobile robot generates obstacle detection results according to the coordinates of the environment point cloud.

[0082] The mobile robot determines whether there are obstacles within a preset range based on the coordinates of the environmental point cloud. If so, it identifies the number and position of the obstacles to obtain a first detection result. If not, it determines the absence of obstacles as a second detection result. The mobile robot determines the first detection result or the second detection result as the obstacle detection result.

[0083] In the embodiment of the present invention, the line laser transmitter is driven by a motor to move, so that the mobile robot can have a larger field of view when stationary, and the line laser transmitter is moved to scan the area within the field of view, thereby reducing the missed detection area and improving the comprehensiveness of obstacle detection.

[0084] The obstacle detection method in the embodiment of the present invention is described above. The obstacle detection device in the embodiment of the present invention is described below. Fig. 9 , an embodiment of the obstacle detection device in the embodiment of the present invention includes:

[0085] The control module 901 is used for the mobile robot to control two line laser transmitters in the line laser module through the motor module to perform mobile scanning;

[0086] An acquisition module 902 is used for the mobile robot to acquire the environmental information collected by the line laser module and the movement parameters of the two line laser transmitters when collecting the environmental information;

[0087] The parsing module 903 is used for the mobile robot to parse the environmental information according to the mobile parameters to obtain the coordinates of the environmental point cloud in the robot coordinate system;

[0088] The generating module 904 is used for the mobile robot to generate obstacle detection results according to the coordinates of the environment point cloud.

[0089] In the embodiment of the present invention, the line laser transmitter is driven by a motor to move, so that the mobile robot can have a larger field of view when stationary, and the area within the field of view is scanned by moving the line laser transmitter so that no area is missed, thereby improving the comprehensiveness of obstacle detection.

[0090] The present invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. The computer-readable storage medium stores instructions. When the instructions are executed on a computer, the computer executes the steps of the obstacle detection method. The steps specifically include:

[0091] The mobile robot controls the two line laser emitters in the line laser module through the motor module to perform mobile scanning. The mobile robot obtains the environmental information collected by the line laser module and the movement parameters of the two line laser emitters when collecting the environmental information. The mobile robot parses the environmental information according to the movement parameters to obtain the coordinates of the environmental point cloud in the robot coordinate system. The mobile robot generates obstacle detection results according to the coordinates of the environmental point cloud. In the embodiment of the present invention, the line laser emitter is driven by the motor to move, so that the mobile robot can have a larger field of view when it is stationary, and there will be no missed detection areas when the line laser emitter moves to scan the area within the field of view, thereby improving the comprehensiveness of obstacle detection.

[0092] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0093] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program codes.

[0094] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A mobile robot, characterized in that: The mobile robot comprises: A robot body, a line laser module and a motor assembly, wherein the motor assembly is connected to the robot body; The motor assembly is transmission-connected to the line laser module; The line laser module includes a camera and two line laser transmitters arranged on both sides of the camera; The motor assembly includes a motor, and the motor is used to drive the two line laser transmitters to move; The motor assembly is provided with a measuring piece, and the measuring piece is used to measure the movement parameters of the two line laser transmitters.

2. The mobile robot according to claim 1, characterized in that: The motor assembly further comprises a limit switch, wherein the limit switch is fixedly connected to the motor; The limit switch includes a first switch and a second switch, and the first switch and the second switch are used to limit the rotation range of the line laser module.

3. The mobile robot according to claim 2, characterized in that: The first switch is arranged on the path of the line laser module rotating to the left, and the angle between the connecting line of the first switch and the motor and the axis of the mobile robot is a first preset angle; The second switch is arranged on a path of the line laser module rotating to the right, and an angle between a line connecting the second switch and the motor and an axis line of the mobile robot is a second preset angle.

4. The mobile robot according to claim 2, characterized in that: The measuring part is the grating, which surrounds the front side of the line laser module. The front side is the surface where the camera and the two line laser emitters are arranged. The grating is used to measure the movement parameter of the line laser module, and the movement parameter is the rotation angle.

5. The mobile robot according to claim 2, characterized in that: The rotation center of the line laser module is the motor.

6. The mobile robot according to claim 1, characterized in that: The motor assembly also includes a gear movable bar and a connecting rod assembly; The motor is transmission-connected with the gear movable bar, the connecting rod assembly is rotationally connected with the gear movable bar, and the connecting rod assembly is rotationally connected with the line laser transmitter; The motor is used to drive the two line laser emitters in the line laser module to move inside the mobile robot through the connecting rod assembly and the gear movable bar, so that the angle between the two line laser emitters and the optical axis of the camera changes.

7. The mobile robot according to claim 6, characterized in that: A plurality of induction switches are arranged in the tooth grooves of the gear movable bar, each of the induction switches corresponds to a code, and the code is used to determine the angle between the optical axis of the line laser transmitter and the camera; The measuring member is an inductive switch arranged in the tooth groove, and the movement parameter is the angle between the optical axis of the line laser transmitter and the camera.

8. The mobile robot according to claim 6, characterized in that: The connecting rod assembly includes a first connecting rod and a second connecting rod, the first connecting rod is rotatably connected to the line laser emitter in the line laser module and arranged on the left side of the camera, and the second connecting rod is rotatably connected to the line laser emitter in the line laser module and arranged on the right side of the camera.

9. The mobile robot according to any one of claims 6 to 8, characterized in that: Each tooth groove of the gear movable bar is provided with an induction switch.

10. The mobile robot according to any one of claims 6 to 8, characterized in that: Inductive switches are arranged in some of the tooth grooves of the gear movable bar, and the number of tooth grooves between any two inductive switches is equal to a preset number.

11. An obstacle detection method, applied to a mobile robot, the mobile robot comprising a line laser module and a motor assembly, characterized in that: The obstacle detection method comprises: The mobile robot controls the two line laser transmitters in the line laser module through the motor module to perform mobile scanning; The mobile robot obtains the environmental information collected by the line laser module and the movement parameters of the two line laser transmitters when collecting the environmental information; The mobile robot analyzes the environmental information according to the movement parameters to obtain the coordinates of the environmental point cloud in the robot coordinate system; The mobile robot generates an obstacle detection result according to the coordinates of the environmental point cloud.

12. An obstacle detection device, characterized in that: The obstacle detection device comprises: The control module is used for the mobile robot to control two line laser transmitters in the line laser module through the motor module to perform mobile scanning; An acquisition module, used for the mobile robot to acquire the environmental information collected by the line laser module and the movement parameters of the two line laser transmitters when collecting the environmental information; A parsing module, used for the mobile robot to parse the environmental information according to the mobile parameters to obtain the coordinates of the environmental point cloud in the robot coordinate system; A generation module is used for the mobile robot to generate obstacle detection results according to the coordinates of the environmental point cloud.

13. A computer-readable storage medium having instructions stored thereon, characterized in that: When the instructions are executed by the processor, the obstacle detection method as claimed in claim 11 is implemented.

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