Mobile robot blind spot perception method, device, mobile robot and storage medium

Abstract

The present invention provides a mobile robot blind spot perception method, device, mobile robot and storage medium, relating to the field of robot technology. The method comprehensively considers the perception area and blind spot contour of the mobile robot in the current direction, and determines the safe perception directional position of the mobile robot through the first blind spot contour and the last blind spot contour. It can maximize the range of the mobile robot's single blind spot perception, thereby reducing the number of overall blind spot perceptions and reducing the frequency of perception actions.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a mobile robot blind spot perception method and device, a mobile robot, and a storage medium. Background Art

[0002] Mobile robots, as automated cleaning products, have become ubiquitous in households. Obstacle avoidance is a fundamental requirement for these robots. Currently, most mobile robots use time-of-flight (TOF) or line laser sensors to detect obstacles. Due to the limited field of view (FOV) of these sensors or inadequately updated maps, blind spots exist. Mobile robots can collide or experience anomalies within these blind spots, necessitating re-sensing of these areas.

[0003] Currently, the common method for sensing blind spots is for a mobile robot to perform a fixed left-right rotation within the sensor's blind spot. Because the mobile robot is within the sensor's blind spot, this method can only detect a portion of the blind spot, but not the entire area, if the blind spot is large. This creates the possibility of collisions or other anomalies within the blind spot, significantly reducing the user experience. Furthermore, using fixed motions limits the range of the blind spot that can be detected at one time. Complex obstacles may require multiple re-visualizations to eliminate the blind spot, requiring frequent motions. Summary of the Invention

[0004] The present invention provides a mobile robot blind spot perception method and device, a mobile robot and a storage medium, which are used to solve the defects existing in the related art.

[0005] The present invention provides a blind spot perception method for a mobile robot, comprising:

[0006] If there is a blind spot in the current orientation of the mobile robot, and the distance between the blind spot and the mobile robot is less than a preset threshold, determine the current directional position of the mobile robot and the perception area in the current orientation;

[0007] Extracting a first blind spot outline and a last blind spot outline along a preset direction within the perception area, and determining a safe perception directional position of the mobile robot when the first blind spot outline and the last blind spot outline are both within the field of view of the mobile robot;

[0008] If the safety perception directed position is not empty, the mobile robot is controlled to move from the current directed position to the safety perception directed position, and then return from the safety perception directed position to the current directed position to perceive the blind spot within the perception area.

[0009] According to a blind spot perception method for a mobile robot provided by the present invention, determining the safe perception directional position of the mobile robot when the leading blind spot contour and the trailing blind spot contour are simultaneously within the field of view angle of the mobile robot includes:

[0010] Determining a first contour point in the leading blind spot contour and a second contour point in the trailing blind spot contour; wherein a first line connecting the current directional position and the first contour point has a minimum angle with the body coordinate system of the mobile robot, and a second line connecting the current directional position and the second contour point has a maximum angle with the body coordinate system;

[0011] The safety-perceived directional position is determined based on a perpendicular bisector of a third line connecting the first contour point and the second contour point and in combination with a field of view angle of the mobile robot.

[0012] According to a blind spot perception method for a mobile robot provided by the present invention, determining the safety perception directional position based on a perpendicular bisector of a third line connecting the first contour point and the second contour point in combination with the field of view angle of the mobile robot includes:

[0013] Determine a ray starting from the first contour point or the second contour point, the ray having an angle with the perpendicular bisector that is less than or equal to half of the field of view angle;

[0014] If a circular area with the intersection of the ray and the perpendicular bisector as the center and the radius of the mobile robot as the radius is within the safe area, the safety-sensing directed position is determined based on the intersection of the ray and the perpendicular bisector and the direction of the perpendicular bisector;

[0015] Otherwise, the last blind spot contour is deleted from the perception area, and a new last blind spot contour is re-determined, and the safety perception directional position is determined when the first blind spot contour and the new last blind spot contour are both in the field of view angle.

[0016] According to a blind spot perception method for a mobile robot provided by the present invention, the perception area is a semicircular area with the center of the mobile robot as the center and the effective observation distance of the mobile robot as the radius.

[0017] According to a blind spot perception method for a mobile robot provided by the present invention, the method further includes: determining the safe perception directional position of the mobile robot when the first blind spot contour and the last blind spot contour are simultaneously within the field of view of the mobile robot;

[0018] If the safety perception directional position is empty, the mobile robot is controlled to rotate at the current directional position to perceive the blind area of ​​the field of view within the perception area.

[0019] According to a blind spot perception method for a mobile robot provided by the present invention, extracting the first blind spot contour and the last blind spot contour along a preset direction within the perception area includes:

[0020] Extracting each blind spot outline within the sensing area and the centroid of each blind spot outline;

[0021] Based on the positions of the centroids of the blind spot contours in the body coordinate system of the mobile robot, the blind spot contours are sorted along the preset direction to obtain the leading blind spot contour and the trailing blind spot contour.

[0022] The present invention also provides a blind spot sensing device for a mobile robot, comprising:

[0023] a current position determination module, configured to determine the current directional position of the mobile robot and the perception area in the current orientation if a blind spot exists in the current orientation of the mobile robot and the distance between the blind spot and the mobile robot is less than a preset threshold;

[0024] a blind spot contour extraction module, configured to extract a first blind spot contour and a last blind spot contour within the perception area along a preset direction, and determine a safe perception directional position of the mobile robot when the first blind spot contour and the last blind spot contour are simultaneously within the field of view of the mobile robot;

[0025] The blind spot perception module is used to control the mobile robot to move from the current directed position to the safety perception directed position if the safety perception directed position is not empty, and then return from the safety perception directed position to the current directed position to perceive the blind spot of vision within the perception area.

[0026] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the mobile robot blind spot perception method as described above is implemented.

[0027] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the above-described methods for sensing blind spots of a mobile robot.

[0028] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements any of the above-described methods for perceiving blind spots of a mobile robot.

[0029] The present invention provides a mobile robot blind spot perception method, device, mobile robot and storage medium. The method comprehensively considers the perception area and blind spot contour of the mobile robot in the current direction, and determines the safe perception directional position of the mobile robot through the first blind spot contour and the last blind spot contour. It can maximize the range of the mobile robot's single blind spot perception to reduce the number of overall blind spot perceptions and reduce the frequency of perception actions. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the present invention or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0031] Figure 1 It is a flow chart of the blind spot perception method of a mobile robot provided by the present invention.

[0032] Figure 2 It is the local grid map of the mobile robot in the mobile robot blind spot perception method provided by the present invention.

[0033] Figure 3 It is a schematic diagram of calculating the intersection point when determining the safe perception directional position in the mobile robot blind spot perception method provided by the present invention.

[0034] Figure 4 This is a schematic diagram of the motion trajectory of the mobile robot in the mobile robot blind spot perception method provided by the present invention:

[0035] Figure 5 It is a structural schematic diagram of the blind spot sensing device of a mobile robot provided by the present invention.

[0036] Figure 6 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0037] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0038] Figure 1 FIG. 1 is a flow chart of a blind spot sensing method for a mobile robot provided in an embodiment of the present invention, such as Figure 1 As shown, the method includes:

[0039] S1, if there is a blind spot in the current orientation of the mobile robot, and the distance between the blind spot and the mobile robot is less than a preset threshold, determine the current directional position of the mobile robot and the perception area in the current orientation;

[0040] S2, extracting a first blind spot outline and a last blind spot outline along a preset direction within the perception area, and determining a safe perception directional position of the mobile robot when the first blind spot outline and the last blind spot outline are simultaneously within the field of view of the mobile robot;

[0041] S3, if the safety perception directed position is not empty, control the mobile robot to move from the current directed position to the safety perception directed position, and then return from the safety perception directed position to the current directed position to perceive the blind spot in the perception area.

[0042] Specifically, the mobile robot blind spot perception method provided in the embodiment of the present invention is executed by a mobile robot host, which is configured in the mobile robot. The mobile robot can be a sweeping robot or other autonomously moving intelligent robot, which is not specifically limited here.

[0043] First, execute step S1. The current orientation of the mobile robot is the current movement direction. During the movement, the mobile robot can record the blind spots and obstacles in the field of view in the Sanger map in real time.

[0044] If at a certain moment it is detected that there is a blind spot in the current direction of the mobile robot, and the distance between the blind spot and the mobile robot is less than a preset threshold, it means that the mobile robot needs to perceive the blind spot, otherwise an abnormality may occur when the mobile robot enters the blind spot. Therefore, the current directional position of the mobile robot and the perception area in the current direction can be determined first.

[0045] It is understood that the blind spot refers to an unsafe area of ​​the mobile robot, where the mobile robot is unaware of the specific conditions and cannot know whether there are obstacles or other conditions. The preset threshold can be set as needed and is not specifically limited here.

[0046] The current directional position of the mobile robot may include the current position of the mobile robot and the orientation of the mobile robot at the current position. Here, the current position of the mobile robot may be the current position of the center of the mobile robot.

[0047] The perception area in the current direction of the mobile robot can be the field of view of the mobile robot, or it can be a semicircular area in the current direction of the mobile robot, which is a circular area with the center of the mobile robot as the center and the effective observation distance of the mobile robot as the radius. There is no specific limitation here.

[0048] Then, step S2 is performed to extract the contour of the first blind spot and the contour of the last blind spot along a preset direction in the sensing area. The preset direction includes a clockwise direction or a counterclockwise direction.

[0049] The perception area may contain multiple blind area contours, each blind area contour may be a blind area connected domain, and the blind area contours may constitute a blind area connected domain set. The extraction of the blind area contours within the perception area may be achieved through computer vision (CV) technology.

[0050] Furthermore, the blind area contours may be sorted along a preset direction, and a first blind area contour and a last blind area contour in the sorting may be determined.

[0051] If both the leading and trailing blind spot contours are within the mobile robot's field of view, the mobile robot can perceive as many blind spots as possible during a single blind spot perception process. Therefore, the mobile robot's safe perception directional position can be determined when both the leading and trailing blind spot contours are within the mobile robot's field of view.

[0052] The safety-sensing directional position of the mobile robot may include the safety-sensing position of the mobile robot and the orientation of the mobile robot at the safety-sensing position. Here, the safety-sensing position of the mobile robot may be the center position of the mobile robot when the mobile robot is in the safety area and perceives the blind spot in the perception area.

[0053] In this step, the mobile robot's safety perception directional position may or may not be empty. If the mobile robot's safety perception directional position is empty, it means that there is no safe space in front of the mobile robot to perceive the blind spot within the perception area. In this case, perception can be achieved through existing implementation methods, which are not specifically limited here.

[0054] If the safety perception directed position of the mobile robot is not empty, it means that there is enough safe space in front of the mobile robot to perceive the blind spot in the perception area. In this case, step S3 is executed.

[0055] In step S3, according to the steering rule of the mobile robot, the motion trajectory of the mobile robot can be formed by moving from the current directed position to the safe perception directed position, and then the mobile robot is controlled to move along the motion trajectory from the current directed position to the safe perception directed position, and the mobile robot is controlled along the reverse trajectory of the motion trajectory from the safe perception directed position back to the current directed position to perceive the blind spots in the perception area.

[0056] The blind spot perception method for a mobile robot provided in an embodiment of the present invention determines the current directional position of the mobile robot and the perception area in the current orientation when there is a blind spot in the current orientation of the mobile robot and the distance between the blind spot and the mobile robot is less than a preset threshold; then extracts the first blind spot contour and the last blind spot contour along the preset direction in the perception area, and determines the safe perception directional position of the mobile robot when the first blind spot contour and the last blind spot contour are both in the field of view of the mobile robot; finally, when the safe perception directional position is not empty, controls the mobile robot to travel back and forth between the current directional position and the safe perception directional position once to perceive the blind spot in the perception area. This method comprehensively considers the perception area and blind spot contour of the mobile robot in the current orientation, and determines the safe perception directional position of the mobile robot through the first blind spot contour and the last blind spot contour, which can maximize the range of the mobile robot's single blind spot perception, thereby reducing the number of overall blind spot perceptions and the frequency of perception actions.

[0057] Based on the above embodiment, determining the safe sensed directional position of the mobile robot when the first blind spot contour and the last blind spot contour are simultaneously within the field of view of the mobile robot includes:

[0058] Determining a first contour point in the leading blind spot contour and a second contour point in the trailing blind spot contour; wherein a first line connecting the current directional position and the first contour point has a minimum angle with the body coordinate system of the mobile robot, and a second line connecting the current directional position and the second contour point has a maximum angle with the body coordinate system;

[0059] The safety-perceived directional position is determined based on a perpendicular bisector of a third line connecting the first contour point and the second contour point and in combination with a field of view angle of the mobile robot.

[0060] Specifically, when determining the safety perception directional position, a tangent line is drawn from the current directional position to the first blind spot contour. The tangent line with the smallest angle with the mobile robot's body coordinate system is used as the first connecting line, and the point of tangency between the tangent line and the first blind spot contour is the first contour point. A tangent line is drawn from the current directional position to the last blind spot contour, and the tangent line with the largest angle with the mobile robot's body coordinate system is used as the second connecting line. The point of tangency between the tangent line and the last blind spot contour is the second contour point.

[0061] It can be understood that the body coordinate system of the mobile robot can be a coordinate system constructed with the center of the mobile robot as the origin, the orientation of the mobile robot as the x-axis, and the direction perpendicular to the orientation of the mobile robot as the y-axis, and the angle with the body coordinate system of the mobile robot can be the angle with the y-axis.

[0062] Afterward, the first and second contour points can be connected to form a third line, and the perpendicular bisector of this third line, i.e., the perpendicular bisector, can be determined. This perpendicular bisector, combined with the mobile robot's field of view, can be used to determine the safe sensing directed position. For example, the safe sensing position of the mobile robot in the safe sensing directed position can be determined by combining the mobile robot's field of view and its radius. The orientation of the mobile robot at the safe sensing position can be parallel to the perpendicular bisector and toward one side of each blind spot contour.

[0063] In an embodiment of the present invention, by determining the first contour point in the first blind spot contour and the second contour point in the last blind spot contour, the field of view range required for a single blind spot perception can be determined, and then the perpendicular bisector of the third connecting line between the first contour point and the second contour point, combined with the field of view angle of the mobile robot, can be used to accurately determine the directed position of the safety perception, and the determination efficiency can be improved through mathematical operations.

[0064] Based on the above embodiment, the determining of the safety-perceived directional position based on the perpendicular bisector of the third line connecting the first contour point and the second contour point in combination with the field of view angle of the mobile robot includes:

[0065] Determine a ray starting from the first contour point or the second contour point, the ray having an angle with the perpendicular bisector that is less than or equal to half of the field of view angle;

[0066] If a circular area with the intersection of the ray and the perpendicular bisector as the center and the radius of the mobile robot as the radius is within the safe area, the safety-sensing directed position is determined based on the intersection of the ray and the perpendicular bisector and the direction of the perpendicular bisector;

[0067] Otherwise, the last blind spot contour is deleted from the perception area, and a new last blind spot contour is re-determined, and the safety perception directional position is determined when the first blind spot contour and the new last blind spot contour are both in the field of view angle.

[0068] Specifically, in the process of determining the safety-perceived directional position, the first contour point or the second contour point can be used as a starting point to determine a ray whose angle with the perpendicular bisector is equal to half the field of view angle of the mobile robot.

[0069] Then, the system determines whether a circular area centered at the intersection of the ray and the perpendicular median and with the robot's radius as its radius is within the safe zone. This means that the entire mobile robot is within the safe zone. This safe zone can be an open area with no obstacles or abnormalities that the mobile robot has already detected. If the circular area is within the safe zone, the intersection of the ray and the perpendicular median is used as the safe sensing location, and the direction of the perpendicular median is used as the orientation of the mobile robot at the safe sensing location.

[0070] If part of the circular area is within the safe area, the first contour point or the second contour point can be used as the starting point to determine a ray whose angle with the perpendicular bisector is less than half of the field of view angle of the mobile robot, and to judge whether the circular area with the intersection of the ray and the perpendicular bisector as the center and the radius of the mobile robot as the radius is all within the safe area, until an intersection is determined on the perpendicular bisector that makes the circular area all within the safe area.

[0071] If, starting from the first contour point or the second contour point, rays whose angle with the median perpendicular line is less than or equal to half of the field of view angle of the mobile robot cannot be determined on the median perpendicular line to obtain an intersection point that makes all circular areas within the safe area, it is necessary to delete the last blind spot contour from the perception area and then re-determine a new last blind spot contour, that is, the second-to-last blind spot contour in the sorting result of the blind spot contours within the perception area can be used as the new last blind spot contour.

[0072] Thereafter, according to the above steps, the safety perception directional position where the first blind spot outline and the new last blind spot outline are both in the field of view angle can be determined.

[0073] It is understandable that if the above methods are unable to determine the safety perception directional position, the safety perception directional position can be considered to be empty, and the blind spot in the perception area can be perceived through the implementation method in the existing technology.

[0074] Based on the above embodiment, the step of determining the safe sensed directional position of the mobile robot when the first blind spot contour and the last blind spot contour are both within the field of view of the mobile robot further includes:

[0075] If the safety perception directional position is empty, the mobile robot is controlled to rotate at the current directional position to perceive the blind area of ​​the field of view within the perception area.

[0076] Specifically, when the safety perception directional position is empty, the mobile robot can be controlled to rotate at the current directional position, that is, rotate on the spot, to perceive the blind spot in the perception area.

[0077] On the basis of the above embodiment, extracting the contour of the first blind spot and the contour of the last blind spot along the preset direction in the sensing area includes:

[0078] Extracting each blind spot outline and the centroid of each blind spot outline within the sensing area;

[0079] Based on the positions of the centroids of the blind spot contours in the body coordinate system of the mobile robot, the blind spot contours are sorted along the preset direction to obtain the leading blind spot contour and the trailing blind spot contour.

[0080] Specifically, when extracting the first blind spot contour and the last blind spot contour along a preset direction in the perception area, the blind spot contours in the perception area can be first extracted using computer vision technology, and the centroid of each blind spot contour can be determined.

[0081] Then, the blind spot contours can be sorted along the preset direction according to the position of the center of mass of each blind spot contour in the body coordinate system of the mobile robot. The first blind spot contour in the sorting result is the first blind spot contour, and the last blind spot contour in the sorting result is the last blind spot contour.

[0082] Figure 2 It is the local grid map of the mobile robot, where the gray area is the blind area, the white area is the safe area perceived by the mobile robot, and the colored area is the obstacle. Figure 2 The red line in the middle represents the current orientation of the mobile robot. There is a blind spot in the current orientation of the mobile robot, namely the gray area on the right. The distance between the blind spot and the mobile robot is less than the preset threshold. This blind spot needs to be sensed to prevent the mobile robot from entering it.

[0083] The complete process of the mobile robot blind spot perception method provided in the embodiment of the present invention includes:

[0084] There is a blind spot in the current direction of the mobile robot, and the distance between the blind spot and the mobile robot is less than a preset threshold. The mobile robot is about to encounter the blind spot, and the current directional position P1 of the mobile robot is determined;

[0085] Extract the perception area in the current direction of the mobile robot, that is, the semicircular area M with the center of the mobile robot as the center and the effective observation distance of the mobile robot as the radius;

[0086] Extract the blind spot contour within the semicircular area M, and determine the first blind spot contour A and the last blind spot contour B along the preset direction within the perception area. The ordered set N is (A, B).

[0087] Draw a tangent from P1 to A, and take the nearest counterclockwise tangent point a as the first contour point; draw a tangent from P1 to B, and take the farthest counterclockwise tangent point b as the second contour point;

[0088] Connect the first and second contour points to get the third line ab, the midpoint of ab is d, and the vertical line through point d is the perpendicular bisector of the third line ab; draw a ray through point a with an angle equal to the mobile robot's field of view angle / 2 with the vertical line, and the intersection with the perpendicular bisector is c. Figure 3 As shown in the figure, angle acd is equal to the field of view angle of the mobile robot / 2. ​​At this time, the circular area with point c as the center and the radius of the mobile robot as the radius will encounter the blind spot contour A, so it is necessary to find a point P2 on the extension line of dc that makes the circular area in the safe area as the safety perception directed position, as shown in the figure. Figure 4 As shown;

[0089] The motion trajectory formed by P1P2 is the trajectory that conforms to the motion constraints of the mobile robot. The mobile robot can then be controlled to move from P1 to P2 along the motion trajectory, and then return from P2 to P1 along the reverse trajectory of the motion trajectory, completing a perception of the blind spot in the perception area.

[0090] like Figure 5 As shown, based on the above embodiment, an embodiment of the present invention provides a blind spot sensing device for a mobile robot, comprising:

[0091] a current position determination module 51 for determining the current directional position of the mobile robot and the sensing area in the current orientation if a blind spot exists in the current orientation of the mobile robot and the distance between the blind spot and the mobile robot is less than a preset threshold;

[0092] a blind spot contour extraction module 52 for extracting a first blind spot contour and a last blind spot contour within the perception area along a preset direction, and determining a safe perception directional position of the mobile robot when both the first blind spot contour and the last blind spot contour are within the field of view of the mobile robot;

[0093] The blind spot perception module 53 is used to control the mobile robot to move from the current directed position to the safety perception directed position if the safety perception directed position is not empty, and then return from the safety perception directed position to the current directed position to perceive the blind spot of vision within the perception area.

[0094] On the basis of the above embodiments, in the mobile robot blind spot perception device provided in the embodiments of the present invention, the blind spot contour extraction module is specifically used to:

[0095] Determining a first contour point in the leading blind spot contour and a second contour point in the trailing blind spot contour; wherein a first line connecting the current directional position and the first contour point has a minimum angle with the body coordinate system of the mobile robot, and a second line connecting the current directional position and the second contour point has a maximum angle with the body coordinate system;

[0096] The safety-perceived directional position is determined based on a perpendicular bisector of a third line connecting the first contour point and the second contour point and in combination with a field of view angle of the mobile robot.

[0097] On the basis of the above embodiments, in the mobile robot blind spot perception device provided in the embodiments of the present invention, the blind spot contour extraction module is specifically used to:

[0098] Determine a ray starting from the first contour point or the second contour point, the ray having an angle with the perpendicular bisector that is less than or equal to half of the field of view angle;

[0099] If a circular area with the intersection of the ray and the perpendicular midline as the center and the radius of the mobile robot as the radius is within the safe area, the safety-sensing directed position is determined based on the intersection of the ray and the perpendicular midline and the direction of the perpendicular midline;

[0100] Otherwise, the last blind spot contour is deleted from the perception area, and a new last blind spot contour is re-determined, and the safety perception directional position is determined when the first blind spot contour and the new last blind spot contour are both in the field of view angle.

[0101] On the basis of the above embodiments, in the mobile robot blind spot sensing device provided in the embodiments of the present invention, the sensing area is a semicircular area with the center of the mobile robot as the center and the effective observation distance of the mobile robot as the radius.

[0102] On the basis of the above embodiments, in the blind spot sensing device for a mobile robot provided in the embodiments of the present invention, the blind spot sensing module is further configured to:

[0103] If the safety perception directional position is empty, the mobile robot is controlled to rotate at the current directional position to perceive the blind area of ​​the field of view within the perception area.

[0104] On the basis of the above embodiments, in the mobile robot blind spot perception device provided in the embodiments of the present invention, the blind spot contour extraction module is specifically used to:

[0105] Extracting each blind spot outline and the centroid of each blind spot outline within the sensing area;

[0106] Based on the positions of the centroids of the blind spot contours in the body coordinate system of the mobile robot, the blind spot contours are sorted along the preset direction to obtain the leading blind spot contour and the trailing blind spot contour.

[0107] Specifically, the functions of each module in the mobile robot blind spot perception device provided in the embodiment of the present invention correspond one-to-one to the operating procedures of each step in the above-mentioned method embodiment, and the effects achieved are also consistent. Please refer to the above-mentioned embodiment for details, and no further details will be given in the embodiment of the present invention.

[0108] Figure 6 An example of a physical structure diagram of an electronic device is shown below. Figure 6 As shown, the electronic device may include: a processor 610, a communication interface 620, a memory 630, and a communication bus 640. The processor 610, the communication interface 620, and the memory 630 communicate with each other via the communication bus 640. The processor 610 may call the logic instructions in the memory 630 to execute the blind spot perception method of the mobile robot provided in the above embodiments.

[0109] In addition, the logic instructions in the aforementioned memory 630 can be implemented in the form of a software functional unit and, when sold or used as an independent product, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the relevant art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program code, such as a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0110] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the mobile robot blind spot perception method provided in the above embodiments.

[0111] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the mobile robot blind spot perception method provided in the above embodiments.

[0112] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0113] Through the description of the above embodiments, those skilled in the art will clearly understand that each embodiment can be implemented using software plus a necessary general-purpose hardware platform, or of course, hardware. Based on this understanding, the essence of the above technical solution, or the portion that contributes to the relevant technology, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for causing a computer device (such as a personal computer, server, or network device) to execute the methods described in each embodiment or certain portions of the embodiments.

[0114] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. 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 various embodiments of the present invention.

Claims

1. A blind spot perception method for a mobile robot, characterized in that: include: If there is a blind spot in the current orientation of the mobile robot, and the distance between the blind spot and the mobile robot is less than a preset threshold, determine the current directional position of the mobile robot and the perception area in the current orientation; Extracting a first blind spot outline and a last blind spot outline along a preset direction within the perception area, and determining a safe perception directional position of the mobile robot when the first blind spot outline and the last blind spot outline are both within the field of view of the mobile robot; If the safety perception directed position is not empty, controlling the mobile robot to move from the current directed position to the safety perception directed position, and then returning from the safety perception directed position to the current directed position, to perceive the blind spot within the perception area; The safety-aware directional position is determined based on the following steps: By determining the first contour point in the first blind spot contour and the second contour point in the last blind spot contour, the field of view range required for single blind spot perception is determined, and then the perpendicular bisector of the third line connecting the first contour point and the second contour point is used, combined with the field of view angle of the mobile robot, to determine the directed position of safety perception.

2. The blind spot perception method of a mobile robot according to claim 1, characterized in that: The determining of the safety-perceived directional position of the mobile robot when the first blind spot contour and the last blind spot contour are simultaneously within the field of view of the mobile robot includes: Determining a first contour point in the leading blind spot contour and a second contour point in the trailing blind spot contour; wherein a first line connecting the current directional position and the first contour point has a minimum angle with the body coordinate system of the mobile robot, and a second line connecting the current directional position and the second contour point has a maximum angle with the body coordinate system; The safety-perceived directional position is determined based on a perpendicular bisector of a third line connecting the first contour point and the second contour point and in combination with a field of view angle of the mobile robot.

3. The blind spot perception method of a mobile robot according to claim 2, characterized in that: The determining of the safety-perceived directional position based on a perpendicular bisector of a third line connecting the first contour point and the second contour point in combination with the field of view angle of the mobile robot includes: Determine a ray starting from the first contour point or the second contour point, the ray having an angle with the perpendicular bisector that is less than or equal to half of the field of view angle; If a circular area with the intersection of the ray and the perpendicular midline as the center and the radius of the mobile robot as the radius is within the safe area, the safety-sensing directed position is determined based on the intersection of the ray and the perpendicular midline and the direction of the perpendicular midline; Otherwise, the last blind spot contour is deleted from the perception area, and a new last blind spot contour is re-determined, and the safety perception directional position is determined when the first blind spot contour and the new last blind spot contour are both in the field of view angle.

4. The blind spot perception method of a mobile robot according to claim 2, characterized in that: The perception area is a semicircular area with the center of the mobile robot as the center and the effective observation distance of the mobile robot as the radius.

5. The blind spot perception method for a mobile robot according to any one of claims 1 to 4, characterized in that: The step of determining the safety-perceived directional position of the mobile robot when the first blind spot contour and the last blind spot contour are both within the field of view of the mobile robot further includes: If the safety perception directional position is empty, the mobile robot is controlled to rotate at the current directional position to perceive the blind area of ​​the field of view within the perception area.

6. The blind spot perception method for a mobile robot according to any one of claims 1 to 4, characterized in that: The extracting of the first blind spot contour and the last blind spot contour in the sensing area along a preset direction includes: Extracting each blind spot outline and the centroid of each blind spot outline within the sensing area; Based on the positions of the centroids of the blind spot contours in the body coordinate system of the mobile robot, the blind spot contours are sorted along the preset direction to obtain the leading blind spot contour and the trailing blind spot contour.

7. A blind spot sensing device for a mobile robot, characterized in that: include: a current position determination module, configured to determine the current directional position of the mobile robot and the perception area in the current orientation if a blind spot exists in the current orientation of the mobile robot and the distance between the blind spot and the mobile robot is less than a preset threshold; a blind spot contour extraction module, configured to extract a first blind spot contour and a last blind spot contour within the perception area along a preset direction, and determine a safe perception directional position of the mobile robot when the first blind spot contour and the last blind spot contour are simultaneously within the field of view of the mobile robot; a blind spot perception module, configured to control the mobile robot to move from the current directional position to the safety perception directional position, and then return from the safety perception directional position to the current directional position, if the safety perception directional position is not empty, to perceive the blind spot within the perception area; The safety-aware directional position is determined based on the following steps: By determining the first contour point in the first blind spot contour and the second contour point in the last blind spot contour, the field of view range required for single blind spot perception is determined, and then the perpendicular bisector of the third line connecting the first contour point and the second contour point is used, combined with the field of view angle of the mobile robot, to determine the directed position of safety perception.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the mobile robot blind spot perception method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the mobile robot blind spot perception method according to any one of claims 1 to 6 is implemented.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the mobile robot blind spot perception method according to any one of claims 1 to 6 is implemented.

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