Mobile robot and repositioning method and apparatus therefor, device, medium, and product

Abstract

A mobile robot and a repositioning method and apparatus therefor, a device, a medium, and a product. The repositioning method comprises: firstly, acquiring upper environment information of an initial position where a mobile robot is currently located; and then when the upper environment information of the initial position satisfies a preset non-low area feature, controlling the mobile robot to start to move and reposition from the initial position. In this way, on the basis of upper environment information of an initial position where a mobile robot is currently located, the mobile robot is enabled to start to move and reposition when the initial position is located in a non-low area, so that the impact of the surrounding environment on a detection range of the mobile robot can be reduced, the time for detection in a low area is reduced, the positioning efficiency and effect of the mobile robot are improved, and the operation resources are saved, thereby further improving the use performance of the mobile robot.

Description

Mobile robots and their repositioning methods, devices, equipment, media and products

[0001] Cross-reference to related applications

[0002] This disclosure claims priority to China National Intellectual Property Administration (CNIPA) application No. 202411613377.4, filed on November 12, 2024, entitled “Mobile Robot and Relocation Method, Apparatus, Equipment, Medium and Product Thereof”, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to, but is not limited to, the field of mobile robots, and particularly to a mobile robot and its repositioning method, apparatus, equipment, medium, and product. Background Technology

[0004] With the widespread use of mobile robots, there are scenarios where the current location is lost, requiring relocation to determine the current map and location. During relocation, the mobile robot's detection range is limited in low-lying areas, resulting in poor observation data and low positioning efficiency.

[0005] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0006] In view of the above, embodiments of this application provide at least one mobile robot and its repositioning method, apparatus, device, medium, and product.

[0007] The technical solution of this application embodiment is implemented as follows:

[0008] This application provides a relocation method for a mobile robot, the method comprising:

[0009] Obtain the environmental information above the initial position of the mobile robot;

[0010] If the environmental information above the initial position meets the preset non-low-rise area characteristics, the mobile robot is controlled to start moving and repositioning from the initial position.

[0011] This application provides a repositioning device for a mobile robot, the device comprising:

[0012] The acquisition module is used to acquire the environmental information above the current initial position of the mobile robot;

[0013] The control module is used to control the mobile robot to start moving and repositioning from the initial position when the environmental information above the initial position meets the preset non-low-rise area characteristics.

[0014] This application provides a mobile robot, including: a controller;

[0015] The controller is used to implement some or all of the steps in the above method.

[0016] This application provides a computer device including a memory and a processor. The memory stores a computer program that can run on the processor. When the processor executes the program, it implements some or all of the steps in the above-described method.

[0017] This application provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements some or all of the steps in the above-described method.

[0018] This application provides a computer program including computer-readable code. When the computer-readable code is run in a computer device, the processor in the display device executes some or all of the steps in the above-described method.

[0019] This application provides a computer program product, including a computer program or instructions, which, when executed by a processor, implement some or all of the steps in the above-described method. Attached Figure Description

[0020] Figure 1 is a schematic diagram of the implementation process of a mobile robot relocation method provided in an embodiment of this application;

[0021] Figure 2 is a schematic diagram of the implementation process of a mobile robot relocation method provided in an embodiment of this application;

[0022] Figure 3 is a schematic diagram of the composition structure of a repositioning device for a mobile robot provided in an embodiment of this application;

[0023] Figure 4 is a schematic diagram of the composition structure of a mobile robot provided in an embodiment of this application;

[0024] Figure 5 is a schematic diagram of the hardware entity of a computer device provided in an embodiment of this application. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application are further described in detail below with reference to the accompanying drawings and embodiments. The described embodiments should not be regarded as limitations on this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0026] In the following description, references to "some embodiments" refer to a subset of all possible embodiments. It is understood that "some embodiments" may be the same or different subsets of all possible embodiments and may be combined with each other without conflict. The terms "first / second / third" are used merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first / second / third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application.

[0028] To better understand the solutions of the embodiments of this application, the relocation solutions of mobile robots in related technologies will be described below.

[0029] In related technologies, mobile robots are typically controlled to directly probe their surroundings to complete localization when they begin relocalization, without prioritizing localization in non-low-lying areas. However, mobile robots may be in low-lying areas when they begin relocalization, in which case the initial detection range is limited, reducing detection efficiency and affecting localization results.

[0030] In this application embodiment, a mobile robot refers to a robot capable of autonomous movement. For example, a mobile robot may include, but is not limited to, at least one of cleaning robots (such as sweeping robots, floor scrubbers, mopping robots, and combined washing and mopping machines), guiding robots, and service robots. In implementation, the composition and structure of the mobile robot can be determined according to actual circumstances, and this application embodiment does not limit this.

[0031] Based on this, embodiments of this application provide a relocation method for a mobile robot, which can be executed by a processor of a computer device. The computer device refers to a mobile robot, server, laptop computer, tablet computer, desktop computer, smart TV, set-top box, mobile device (e.g., mobile phone, portable video player, personal digital assistant, dedicated messaging device, portable gaming device), or any other device with data processing capabilities.

[0032] As shown in Figure 1, the method includes the following steps S101 to S102:

[0033] Step S101: Obtain the environmental information above the current initial position of the mobile robot.

[0034] Here, the mobile robot can directly obtain the environmental information above its current initial position after powering on or waking up, or it can obtain the environmental information above its current initial position after receiving a specific relocation trigger signal. This application embodiment does not limit this.

[0035] In some implementations, before acquiring the above environmental information, a relocation trigger signal in response to the mobile robot is also included. The relocation trigger signal can be a signal that triggers the mobile robot to perform relocation, and may include, but is not limited to, at least one of the following: signal instructions given by the user operating the mobile robot, preset operations performed by the user operating the mobile robot, and signal instructions that are automatically triggered when the mobile robot meets the target conditions.

[0036] For example, a mobile robot can automatically trigger a repositioning signal command at preset intervals during its movement after startup.

[0037] For example, users can trigger the repositioning of a mobile robot by performing preset gestures on the robot's control panel.

[0038] The initial position can be the location of the mobile robot in response to a relocation trigger signal. This initial position can be a location in a non-low-profile area or a location in a low-profile area.

[0039] Non-low-ceiling areas can be areas where the distance between obstacles above the mobile robot and the robot is relatively large, such as the area under tall furniture, open indoor areas, and flat outdoor ground. Non-low-ceiling areas typically offer ample space for the mobile robot to move and traverse.

[0040] Low-lying areas are those where the distance between the mobile robot and obstacles above it is small, such as the area under a bed or the bottom of a sofa. In low-lying areas, there is usually not enough space for the mobile robot to move and operate.

[0041] It is understandable that when a mobile robot begins relocalization, the environment of its initial location is unknown. That is, the mobile robot can begin relocalization in a non-low-lying area or in a low-lying area.

[0042] The environmental information above the initial position may include, but is not limited to, at least one of the following: obstacle information above the mobile robot, distance information between the obstacle above the mobile robot and the mobile robot, etc. The obstacle information may include, but is not limited to, the type, shape, and number of obstacles.

[0043] In some implementations, information acquisition components can be used to acquire environmental information above the initial position of the mobile robot at the current moment. These information acquisition components may include, but are not limited to, image acquisition components and signal acquisition components; image acquisition components may include cameras, ultrasonic imagers, etc., and signal acquisition components may include Bluetooth signal acquisition components, infrared signal acquisition components, laser signal acquisition components, etc.

[0044] For example, LiDAR can be used to determine the distance between the mobile robot and the obstacle above its current initial position.

[0045] For example, an infrared sensor can be used to obtain the distance between the mobile robot and the obstacle above its current initial position.

[0046] For example, a camera can be used to capture real-time images of the mobile robot above its initial position to further obtain the location and shape of obstacles above.

[0047] In some implementations, the information acquisition component can be externally attached to the mobile robot or integrated into the mobile robot.

[0048] Step S102: If the environmental information above the initial position meets the preset non-low-rise area characteristics, control the mobile robot to start moving and repositioning from the initial position.

[0049] Here, the non-low-rise region feature can be a feature condition that characterizes a region as a non-low-rise region. For example, the non-low-rise region feature can include the distance between the obstacle above the mobile robot and the mobile robot in the region being greater than a minimum distance threshold, or the area ratio between the part of the region where the distance between the obstacle above the mobile robot and the mobile robot is greater than a minimum distance threshold and the region itself being greater than a minimum ratio threshold.

[0050] It is understandable that if the environmental information above the initial position meets the preset non-low-lying area characteristics, the area where the initial position is located can be confirmed as a non-low-lying area. At this time, controlling the mobile robot to start moving and repositioning from the initial position can reduce the influence of the surrounding environment on the detection range of the mobile robot compared to starting from a low-lying area, thereby improving the positioning efficiency and effectiveness of the mobile robot.

[0051] In this embodiment, firstly, the environmental information above the initial position of the mobile robot is acquired. Then, if the environmental information above the initial position meets the preset non-low-lying area characteristics, the mobile robot is controlled to start relocation from the initial position. In this way, by using the environmental information above the initial position of the mobile robot to enable it to start relocation when the initial position is in a non-low-lying area, the influence of the surrounding environment on the mobile robot's detection range can be reduced, the detection time in low-lying areas can be reduced, the positioning efficiency and effectiveness of the mobile robot can be improved, operating resources can be saved, and the overall performance of the mobile robot can be further enhanced.

[0052] In some embodiments, the environmental information above the initial position includes the height value of at least one sampling point within the initial area where the initial position is located, and the height value of the sampling point represents the distance between the mobile robot and the obstacle above at the sampling point. The above method may further include the following step S111:

[0053] Step S111: If the height value of each sampling point in the initial region is greater than the height threshold, determine that the environmental information above the initial position satisfies the non-low-rise region characteristics.

[0054] Here, the height threshold can be a preset height threshold.

[0055] In some implementations, if the height value of a sampling point is greater than a height threshold, the sampling point can be identified as a non-low-lying sampling point; if the height value of a sampling point is not greater than the height threshold, the sampling point can be identified as a low-lying sampling point. If all sampling points within the initial region are non-low-lying sampling points, the environmental information above the initial location can be determined to satisfy the non-low-lying region characteristics.

[0056] In some implementations, if the height values ​​of all sampling points within the initial region are greater than a height threshold, the initial region where the initial position is located can be determined to be a non-low-rise region. Furthermore, the environmental information above the initial position can be determined to satisfy the characteristics of a non-low-rise region. This allows the mobile robot to operate within the environment corresponding to a non-low-rise region as it moves from the initial region where its initial position is located, improving detection performance.

[0057] In some implementations, the height value of at least one sampling point can be obtained based on the collected environmental information data. This environmental information data may include, but is not limited to, at least one of LiDAR data, Bluetooth ranging data, infrared ranging data, and image data.

[0058] For example, whether the environmental information above the initial position meets the characteristics of a non-low-lying area can be determined using Direct Time-of-Flight (DTOF) data. The distance between the obstacle above the mobile robot and the mobile robot, i.e., the height of the sampling point, is calculated by measuring the time it takes for a laser pulse to travel from emission to reflection from an obstacle above the mobile robot and back using a DTOF lidar.

[0059] In the above embodiments, based on the relationship between the height values ​​of each sampling point in the initial region and the height threshold, and when the height values ​​of each sampling point in the initial region are all greater than the height threshold, it is determined that the environmental information above the initial position meets the characteristics of a non-low-rise area. This can improve the accuracy of determining whether the initial position is in a non-low-rise area, and further improve the efficiency and effectiveness of moving and relocating from the initial position.

[0060] In some embodiments, the above method may further include the following steps S121 to S122:

[0061] Step S121: If the environmental information above the initial position does not meet the non-low-lying area characteristics, control the mobile robot to move from the initial position to the first target position.

[0062] Here, the first target position can be the starting position for starting the relocation or a target position far from the initial position.

[0063] The first target location may include at least one of the following: a location located in a non-low-lying area, a location at a distance from the initial location not less than a preset initial distance threshold, or a location where the time taken to move from the initial location is not less than a preset initial time.

[0064] Step S122: Control the mobile robot to start moving and repositioning from the first target position.

[0065] It is understandable that if the environmental information above the initial position does not meet the aforementioned non-low-lying area characteristics, it can be determined that the initial region containing the initial position includes low-lying areas. Moving and repositioning from the initial position will be affected by these low-lying areas, reducing the detection range and thus decreasing repositioning efficiency and effectiveness. By starting moving and repositioning from the first target position obtained after leaving the initial position, the impact of the initial position on repositioning efficiency and effectiveness can be reduced.

[0066] In the above embodiments, if the environmental information above the initial position does not meet the characteristics of a non-low-lying area, controlling the mobile robot to move from the initial position to the first target position before starting the relocation can reduce the impact of the initial position on the relocation efficiency and effect.

[0067] In some embodiments, controlling the mobile robot to move from the initial position to the first target position in step S121 above may include the following steps S131 to S133:

[0068] Step S131: Determine a first candidate position in the current environment, wherein the distance between the first candidate position and the initial position is not less than a first distance threshold.

[0069] Here, the first candidate position can be the target position to be moved from the initial position to the current space where the mobile robot is located.

[0070] For example, a non-low-lying area can be searched from all the area information acquired by the mobile robot before the current moment, and the first candidate location can be determined in that non-low-lying area.

[0071] The first distance threshold can be a preset minimum distance threshold between the initial position and the first candidate position. This increases the probability that the environmental information above the first candidate position is different from the environmental information above the initial position, further improving the probability of improving the relocation effect from other positions besides the initial position.

[0072] Step S132: Control the mobile robot to move from the initial position to the first candidate position, and obtain the environmental information above the current position of the mobile robot during the movement.

[0073] Here, during the process of the mobile robot moving from the initial position to the first candidate position, the environmental information above the position of the mobile robot can be obtained in real time, and it can be determined whether the environmental information above the position meets the characteristics of a non-low-lying area.

[0074] Step S133: If the environmental information above the current location of the mobile robot satisfies the non-low-lying area characteristics, the current location of the mobile robot is determined as the first target location, and the mobile robot is controlled to stop moving.

[0075] Here, if the environmental information above the current location of the mobile robot meets the characteristics of a non-low-lying area, it can be determined that the current location of the mobile robot is in a non-low-lying area. At this time, the mobile robot is controlled to stop moving, and this location is taken as the starting position of the relocation and determined as the first target position. This can improve the positioning efficiency and effect compared to the mobile robot starting from the initial position in a low-lying area for relocation.

[0076] In the above embodiments, firstly, a first candidate position is determined in the current environment at a distance not less than a first distance threshold from the initial position. Then, the mobile robot is controlled to move from the initial position to the first candidate position, and during the movement, the environmental information above the current position of the mobile robot is acquired. Finally, if the environmental information above the current position of the mobile robot satisfies the characteristics of a non-low-lying area, the current position of the mobile robot is determined as the first target position, and the mobile robot is controlled to stop moving. In this way, on the one hand, during the movement to the first candidate position, a first target position in a non-low-lying area can be determined based on the real-time acquired environmental information above the current position of the mobile robot, reducing the impact of low-lying areas on detection when starting mobile relocalization and improving the efficiency and effectiveness of localization; on the other hand, stopping the movement to the first candidate position after determining the first target position can save operating resources and further improve the efficiency of localization.

[0077] In some embodiments, the step S121 described above, which involves controlling the mobile robot to move from the initial position to the first target position, may further include the following steps S141 to S142:

[0078] Step S141: In response to the mobile robot reaching the first candidate position, if the environmental information above the first candidate position does not satisfy the non-low-lying area feature, determine the next first candidate position from the current environment, wherein the distance between the next first candidate position and the current first candidate position is not less than the first distance threshold.

[0079] Here, when the mobile robot reaches the first candidate position, and the environmental information above the first candidate position does not meet the non-low-lying area characteristic, it can be determined that the area covered by the route during the movement and the area where the first candidate position is located both include low-lying areas. Searching for other non-low-lying areas as the starting point for motion relocalization can improve the efficiency and effectiveness of the localization. Therefore, continuing to determine other first candidate positions different from the currently reached first candidate position from the current environment of the mobile robot, and ensuring that the distance between the next first candidate position and the current first candidate position is not less than a first distance threshold, can increase the probability that the environmental information above the next first candidate position is different from the environmental information above the current first candidate position, further enhancing the probability of improving the effectiveness of motion relocalization starting from a non-current first candidate position.

[0080] Step S142: Control the mobile robot to move from the current first candidate position to the next first candidate position, and obtain the environmental information above the current position of the mobile robot during the movement.

[0081] Here, during the process of the mobile robot moving from the current first candidate position to the next first candidate position, the environmental information above the location of the mobile robot can be obtained in real time, and it can be determined whether the environmental information above the location meets the characteristics of a non-low-lying area.

[0082] In the above embodiments, firstly, in response to the mobile robot reaching a first candidate position, if the environmental information above the first candidate position does not meet the non-low-lying area characteristic, a next first candidate position is determined from the current environment, with a distance not less than a first distance threshold. Then, the mobile robot is controlled to move from the current first candidate position to the next first candidate position, and during the movement, the environmental information above the mobile robot's current position is acquired. Thus, even after reaching the first candidate position, if the mobile robot is still not located in a non-low-lying area, another first candidate position different from the current one is determined, and this other first candidate position is sufficiently far from the current first candidate position. This increases the probability that the environmental information above the next first candidate position is different from that above the current first candidate position, further improving the probability of improving the effectiveness of relocation from a non-current first candidate position.

[0083] It is understandable that, during the process of controlling the mobile robot to move to the next first candidate position, if it is determined that the robot has entered a non-low area based on the real-time acquired environmental information above the location of the mobile robot, the mobile robot can be controlled to stop moving to the next first candidate position and start mobile repositioning.

[0084] In some embodiments, the step S121 described above, which involves controlling the mobile robot to move from the initial position to the first target position, may further include the following step S151:

[0085] Step S151: If the environmental information above the first candidate position does not meet the non-low-lying area feature, and if the distance between the first candidate position and the initial position exceeds a second distance threshold, or the running time of the mobile robot from the initial position to the first candidate position exceeds a first duration threshold, then the first candidate position is determined as the first target position.

[0086] Here, the second distance threshold can be a preset minimum distance threshold between the first candidate position and the initial position.

[0087] The first duration threshold can be a preset minimum runtime threshold for the mobile robot starting from its initial position.

[0088] For example, if no non-low-lying area can be found in all areas traversed by the mobile robot at the current moment, the first candidate position whose distance from the initial position exceeds a second distance threshold can be used as the first target position.

[0089] For example, if no non-low-lying areas can be found in all areas traversed by the mobile robot at the current moment, the first candidate position reached after running for more than a first time threshold from the initial position can be used as the first target position. In this way, a position with significantly different environmental information from the initial position can be determined without wasting runtime resources.

[0090] If the distance between the first candidate position and the initial position exceeds the second distance threshold, or if the running time of the mobile robot from the initial position to the first candidate position exceeds the first duration threshold, it can be determined that the first candidate position is far enough from the initial position, which can increase the probability that the environmental information above the first candidate position is different from the environmental information above the initial position. Therefore, determining the current first candidate position as the first target position can further improve the efficiency of mobile relocalization.

[0091] In the above embodiments, if the environmental information above the first candidate position does not meet the non-low-lying area characteristic, and if the distance between the first candidate position and the initial position exceeds a second distance threshold, or the travel time of the mobile robot from the initial position to the first candidate position exceeds a first time threshold, then the first candidate position is determined as the first target position. In this way, even when the environmental information above the first candidate position does not meet the non-low-lying area characteristic, the probability of determining a first target position with significantly different environmental information from the initial position can be increased based on the distance between the first candidate position and the initial position or the travel time of the mobile robot from the initial position to the first candidate position, further improving the efficiency of mobile relocalization.

[0092] In some embodiments, the process of controlling the mobile robot to perform mobile relocation includes the following steps S161 to S162:

[0093] Step S161: Determine the current position of the mobile robot as the second target position, and control the mobile robot to collect environmental information at the second target position.

[0094] Here, the second target location can be the detection location for motion relocation, and may include the first target location in the above embodiments.

[0095] In some implementations, environmental information can be collected using an information acquisition component. Environmental information may include, but is not limited to, at least one of the following: image information, sound information, distance information, etc.

[0096] Step S162: In response to the mobile robot completing the environmental information collection at the second target location, determine the next second target location from the current environment, and control the mobile robot to move to the next second target location to collect environmental information until the relocation result of the mobile robot is obtained based on the currently collected environmental information and the historically collected environmental information, or there is no next second target location in the current environment;

[0097] Wherein, the next second target location is located outside the low-lying area previously detected by the mobile robot, and the environmental information above at least one sampling point in the low-lying area does not satisfy the characteristics of the non-low-lying area.

[0098] Here, after the mobile robot completes the collection of environmental information at the second target location, it can perform relocation based on the collected environmental information and obtain the relocation result, which may include whether the relocation was successful or failed.

[0099] In some implementations, the relocalization result of the mobile robot can be obtained by using Simultaneous Localization and Mapping (SLAM) technology, based on the currently collected environmental information and the historically collected environmental information.

[0100] In some implementations, if the currently collected environmental information matches the historically collected environmental information, the relocation result can be considered a successful relocation; if the currently collected environmental information does not match the historically collected environmental information, the relocation result can be considered a failed relocation.

[0101] In some implementations, after a location failure based on environmental information of the current second target location, the next second target location can be determined from the current environment to continue relocation until a relocation result is obtained, or no next second target location exists.

[0102] The next target location is located outside the low-lying areas previously detected by the mobile robot. This allows the robot to prioritize searching for non-low-lying areas that do not contain sampling points that do not meet the aforementioned non-low-lying area characteristics when determining the next target location. This enables the mobile robot to prioritize detection of non-low-lying areas during relocation, reducing the time spent detecting in low-lying areas and improving the efficiency and effectiveness of localization.

[0103] In the above embodiments, firstly, the current position of the mobile robot is determined as the second target position, and the mobile robot is controlled to collect environmental information at the second target position. Then, in response to the completion of environmental information collection at the second target position, the next second target position is determined from the current environment, and the mobile robot is controlled to move to the next second target position to collect environmental information until the relocation result of the mobile robot is obtained based on the currently collected environmental information and the historically collected environmental information, or until the next second target position does not exist in the current environment. The next second target position is located outside the low-lying areas previously detected by the mobile robot, and the environmental information above at least one sampling point in the low-lying area does not meet the characteristics of a non-low-lying area. This allows the mobile robot to prioritize collecting environmental information in non-low-lying areas during the relocation process, and to obtain the relocation result based on the currently collected environmental information and the historically collected environmental information, or until the next second target position does not exist in the current environment, reducing the detection time in low-lying areas and further improving the efficiency and effectiveness of the positioning.

[0104] In some embodiments, the step S162 above, which involves controlling the mobile robot to move to the next second target location to collect environmental information, may include the following steps S171 to S173:

[0105] Step S171: Control the mobile robot to move towards the next second target location, and obtain the environmental information above the current location of the mobile robot during the movement.

[0106] Here, as the mobile robot moves to the next second target location, it can obtain the environmental information above the current location of the mobile robot in real time and determine whether the current location is in a non-low-lying area.

[0107] Step S172: If the environmental information above the current location of the mobile robot satisfies the non-low-lying area characteristics, control the mobile robot to continue moving towards the next second target location.

[0108] Here, if the environmental information above the current location of the mobile robot meets the characteristics of a non-low-lying area, it can be determined that the current location of the mobile robot is in a non-low-lying area, the detection range is good, and there is no need to change the movement strategy.

[0109] Step S173: In response to the mobile robot reaching the next second target location, control the mobile robot to collect environmental information at the next second target location.

[0110] Here, after the mobile robot reaches the next second target location and collects environmental information about the next second target location, the relocation result of the mobile robot can be obtained based on the currently collected environmental information and the historically collected environmental information, or there are no other undetected second target locations in the current environment.

[0111] In the above embodiment, firstly, the mobile robot is controlled to move towards the next second target location, and during the movement, environmental information above the current location of the mobile robot is acquired. Then, if the environmental information above the current location of the mobile robot satisfies the non-low-rise area characteristic, the mobile robot is controlled to continue moving towards the next second target location. In response to the mobile robot reaching the next second target location, the mobile robot is controlled to collect environmental information at the next second target location. In this way, after the mobile robot relocalizes in a non-low-rise area, it can continue to prioritize searching for non-low-rise areas for relocalization, maintaining a good detection range until no non-low-rise areas can be found in the current environment, further improving the efficiency and effectiveness of the overall relocalization process.

[0112] In some embodiments, the step S162 above, which involves controlling the mobile robot to move to the next second target location to collect environmental information, may further include the following steps S181 to S183:

[0113] Step S181: If the environmental information above the current location of the mobile robot does not meet the non-low-lying area characteristics, determine that the mobile robot has detected the low-lying area, and control the mobile robot to stop moving to the next second target location.

[0114] Here, if the environmental information above the current location of the mobile robot does not meet the characteristics of a non-low-lying area, it is determined that the area where the mobile robot is located includes a low-lying area. In this case, continuing to move may cause the mobile robot to probe in the low-lying area, resulting in poor positioning.

[0115] Step S182: Control the mobile robot to explore the boundary of the currently detected low-lying area and obtain the boundary of the low-lying area.

[0116] Here, by controlling a mobile robot to explore the boundaries of the detected low-lying areas, the extent of the low-lying areas can be determined.

[0117] In some implementations, the boundary of the low-lying area can be obtained by performing an action to define the boundary along the low-lying area.

[0118] For example, the boundary determination operation can be completed by moving the probe to the critical position between the low-lying area and the adjacent non-low-lying area, and continuing to move the probe along the critical position until the boundary determination operation ends.

[0119] In some implementations, the termination conditions for determining the boundary may include the mobile robot moving along the low-lying area and then circling around the obstacle above, based on the direction of the initial detection.

[0120] Step S183: Record the low-lying area based on its boundary.

[0121] Here, after recording the low-lying area, the positioning area can be selected based on this low-lying area during the subsequent relocation process. For example, non-low-lying areas can be preferentially selected as the relocation movement area.

[0122] In the above embodiments, firstly, if the environmental information above the current location of the mobile robot does not meet the characteristics of a non-low-lying area, it is determined that the mobile robot has detected a low-lying area. The mobile robot is then controlled to stop moving towards the next second target location. Next, the mobile robot is controlled to explore the boundary of the currently detected low-lying area to obtain its boundary. Finally, based on the boundary of the low-lying area, it is recorded. In this way, during the mobile robot's movement towards the second target location, after detecting a low-lying area, by exploring and recording its boundary, the range of the low-lying area can be obtained. Based on this low-lying area, subsequent positioning area selection can be performed, further improving the efficiency and effectiveness of the overall relocalization.

[0123] In some embodiments, the process of controlling the mobile robot to perform mobile relocation may further include the following steps S191 to S193:

[0124] Step S191: In response to the absence of a second target location in the current environment and the lack of a relocation result for the mobile robot, a third target location is determined from the current environment, and the mobile robot is controlled to move towards the third target location; the route taken by the mobile robot from the current location to the second target location does not pass through low-lying areas.

[0125] Here, for each second target location determined from the current environment, the route taken by the mobile robot from the current location to that second target location does not pass through low-lying areas.

[0126] In some implementations, the third target location may be located in a low-lying area.

[0127] In some implementations, if there is no next second target location in the current environment and no relocation result of the mobile robot is obtained, it can be determined that there is no non-low-lying area in the current environment that the mobile robot cannot reach without passing through the low-lying area. In this case, it can probe to the low-lying area in the current environment or to other environments far away from the current environment. Other environments may include low-lying areas and / or non-low-lying areas.

[0128] Step S192: In response to reaching the third target location, control the mobile robot to collect environmental information at the third target location and obtain the environmental information above the third target location.

[0129] Here, after the mobile robot reaches the third target location and collects environmental information about the third target location, the relocation result of the mobile robot can be obtained based on the currently collected environmental information and the historically collected environmental information, or it can be determined whether the current environment includes unexplored non-low-lying areas based on the environmental information above the third target location.

[0130] Step S193: If the environmental information above the third target location does not meet the non-low-lying area characteristics, in response to the mobile robot completing the environmental information collection at the third target location, the next third target location is determined from the current environment, and the mobile robot is controlled to move to the next third target location to collect environmental information.

[0131] Here, if the environmental information above the third target location does not meet the non-low-lying area characteristics, the area where the third target location is located includes low-lying areas. The relocation result of the mobile robot can be obtained based on the currently collected environmental information and the historically collected environmental information. If no relocation result is obtained, the next third target location in the next detection area is determined from the current environment.

[0132] In the above embodiments, firstly, in response to the absence of a second target location in the current environment and the lack of relocation results for the mobile robot, a third target location is determined from the current environment, and the mobile robot is controlled to move towards the third target location. The route taken by the mobile robot from the current location to the second target location does not pass through low-lying areas. Then, in response to reaching the third target location, the mobile robot is controlled to collect environmental information at the third target location and acquire environmental information above the third target location. Finally, if the environmental information above the third target location does not satisfy the non-low-lying area characteristic, in response to the mobile robot completing the environmental information collection at the third target location, a next third target location is determined from the current environment, and the mobile robot is controlled to move to the next third target location to collect environmental information. In this way, since the second target location is a non-low-lying area that the mobile robot cannot reach through the low-lying area, if the mobile robot still does not obtain the relocalization result after exploring the second target location in the current environment, it can be controlled to go to a third target location different from the second target location to collect environmental information, that is, to go to the currently reachable low-lying area to collect environmental information. This can obtain more environmental information, which is conducive to obtaining the relocalization result as soon as possible and improving the accuracy of the relocalization result.

[0133] In some embodiments, the process of controlling the mobile robot to perform mobile relocation may further include the following step S1001:

[0134] Step S1001: If the environmental information above the third target location satisfies the non-low-lying area characteristics, in response to the mobile robot completing the environmental information collection at the third target location, the next second target location is determined from the current environment, and the mobile robot is controlled to move to the next second target location to collect environmental information.

[0135] Here, if the environmental information above the third target location meets the characteristics of a non-low-lying area, it can be determined that the third target location is in a non-low-lying area that has not been detected. After collecting the environmental information of the third target location, other non-low-lying areas are searched for detection first.

[0136] It is understandable that before the mobile robot reaches the third target location, no new second target location can be found in the current environment, that is, there is no non-low-lying area in the current environment that the mobile robot can reach without passing through the low-lying area. However, since the third target location may be located in a low-lying area, after the mobile robot reaches the third target location, a new non-low-lying area may appear in the current environment that the mobile robot can reach without passing through the low-lying area, that is, a next second target location may appear.

[0137] In the above embodiments, when the environmental information above the third target location meets the characteristics of a non-low-lying area, in response to the mobile robot completing the environmental information collection at the third target location, the next second target location is determined from the current environment, and the mobile robot is controlled to move to the next second target location to collect environmental information. In this way, even when an unexplored non-low-lying area is acquired, other non-low-lying areas can be prioritized for detection, ensuring that the mobile robot always prioritizes localization based on non-low-lying areas during the relocalization process, thus improving the overall efficiency and effectiveness of relocalization.

[0138] The following describes the application of the mobile robot relocation method provided in this application embodiment in a real-world scenario, taking a sweeping robot with a DTOF component as an example for mobile relocation.

[0139] When a robotic vacuum cleaner begins cleaning, it may need to perform repositioning to determine its current map and location due to factors such as movement or not being removed from its charging dock. In low-lying areas, the robot's observation data is poor, hindering its positioning. For example, the robot's positioning speed and effectiveness are poor under furniture such as beds and sofas. During repositioning, first moving out of low-lying areas and prioritizing positioning in non-low-lying areas helps improve positioning efficiency and speed.

[0140] This application provides a relocalization method for a mobile robot. When a robotic vacuum cleaner equipped with a DTOF component performs relocalization, it prioritizes positioning in non-low-ceiling areas, reducing the duration of poor observation in low-ceiling areas and improving positioning efficiency and speed. This method can be executed by a computer processor.

[0141] As shown in Figure 2, the method includes the following steps S201 to S213:

[0142] Step S201: Determine whether the initial position is in a low-lying area.

[0143] Here, if the initial position is in a low-lying area, step S202 is executed; if the initial position is in a non-low-lying area, step S206 is executed.

[0144] During implementation, DTOF data can be used to determine whether the initial location is in a low-lying area.

[0145] Step S202: Leave the low-lying area.

[0146] Here, the sweeper can be controlled to leave the low-lying area when its initial position is in the low-lying area. Step S202 may include steps S203 to S205.

[0147] Step S203: Search for the first target location that is far away from the low-lying area.

[0148] Step S204: During the movement, check in real time whether it enters a non-low area.

[0149] Step S205: Confirm that you have left the low-lying area.

[0150] During implementation, entering a non-low-lying area, exceeding the second distance threshold from the initial position, or moving from the initial position for more than the time required to reach the first target can all be considered as leaving the low-lying area.

[0151] Step S206: Search for the location of the second target.

[0152] Here, a second target location is searched from the current environment from the current location, prioritizing locations in non-low-lying areas during the search.

[0153] Step S207: Move to the second target position.

[0154] Step S208: Check in real time whether you have entered a low-lying area.

[0155] Here, during the process of the sweeping robot moving to the second target position, it can be determined whether it has entered a low-lying area. If it has entered a low-lying area, it stops moving to the second target position and executes step S209. If it has not entered a low-lying area, it repeats steps S206 to S208 until a relocation result is obtained or the next second target position cannot be found. If the next second target position cannot be found after repeating steps S206 to S208, it executes step S210.

[0156] During implementation, DTOF data can be used to determine whether a low-lying area has been entered.

[0157] Step S209: Obtain the boundary of the low-lying area.

[0158] Here, after obtaining the boundary of the low-lying area, step S206 is executed.

[0159] Step S210, global mode search.

[0160] Here, the location of the third target is determined by probing the entire area of ​​the current environment, including low-lying areas.

[0161] Step S211: Move to the third target position.

[0162] Step S212: Determine whether the location of the third target is in a low-lying area.

[0163] Here, if the third target location is in a low-lying area, steps S210 to S212 are repeated until a relocation result is obtained or the next third target location cannot be found; if the third target location is in a non-low-lying area, step S206 is executed.

[0164] Step S213 yields the relocation result.

[0165] If, during implementation, the entire area has been explored but the location is still not successfully determined, a relocation result indicating a location failure can be obtained.

[0166] In this embodiment, DTOF data is used to determine whether the location traversed by the sweeping robot is in a low-lying area, thus enabling the sweeping robot to prioritize moving to non-low-lying areas during repositioning. This reduces the time spent in low-lying areas with poor visibility, improving the positioning effect and speed.

[0167] This application provides a repositioning device for a mobile robot. As shown in FIG3, the repositioning device 300 for the mobile robot includes: an acquisition module 310 and a control module 320, wherein:

[0168] The acquisition module 310 is used to acquire the environmental information above the current initial position of the mobile robot;

[0169] The control module 320 is used to control the mobile robot to start moving and repositioning from the initial position when the environmental information above the initial position meets the preset non-low-rise area characteristics.

[0170] In some embodiments, the control module is further configured to: control the mobile robot to move from the initial position to a first target position if the environmental information above the initial position does not meet the non-low-lying area characteristics; and control the mobile robot to start moving and repositioning from the first target position.

[0171] In some embodiments, the control module is further configured to: determine a first candidate position in the current environment, wherein the distance between the first candidate position and the initial position is not less than a first distance threshold; control the mobile robot to move from the initial position to the first candidate position, and acquire the environmental information above the current position of the mobile robot during the movement; and, if the environmental information above the current position of the mobile robot satisfies the non-low-lying area feature, determine the current position of the mobile robot as the first target position, and control the mobile robot to stop moving.

[0172] In some embodiments, the control module is further configured to: in response to the mobile robot reaching the first candidate position, if the environmental information above the first candidate position does not satisfy the non-low-lying area feature, determine a next first candidate position from the current environment, wherein the distance between the next first candidate position and the current first candidate position is not less than the first distance threshold; control the mobile robot to move from the current first candidate position to the next first candidate position, and acquire the environmental information above the current position of the mobile robot during the movement.

[0173] In some embodiments, during the process of controlling the mobile robot to perform mobile relocation, the control module is further configured to: determine the current position of the mobile robot as a second target position, and control the mobile robot to collect environmental information at the second target position; in response to the mobile robot completing the environmental information collection at the second target position, determine the next second target position from the current environment, and control the mobile robot to move to the next second target position to collect environmental information, until the relocation result of the mobile robot is obtained based on the currently collected environmental information and the historically collected environmental information, or there is no next second target position in the current environment; wherein, the next second target position is located outside the low-lying area previously detected by the mobile robot, and the environmental information above at least one sampling point in the low-lying area does not satisfy the non-low-lying area characteristics.

[0174] In some embodiments, the control module is further configured to: control the mobile robot to move toward the next second target location, and acquire environmental information above the current location of the mobile robot during the movement; if the environmental information above the current location of the mobile robot satisfies the non-low-lying area characteristics, control the mobile robot to continue moving toward the next second target location; and in response to the mobile robot reaching the next second target location, control the mobile robot to collect environmental information at the next second target location.

[0175] In some embodiments, the control module is further configured to: determine that the mobile robot has detected the low-lying area when the environmental information above the current location of the mobile robot does not meet the characteristics of the non-low-lying area, and control the mobile robot to stop moving to the next second target location; control the mobile robot to explore the boundary of the currently detected low-lying area to obtain the boundary of the low-lying area; and record the low-lying area based on the boundary of the low-lying area.

[0176] In some embodiments, the control module is further configured to: determine a third target location from the current environment in response to the absence of a next second target location in the current environment and the lack of a relocation result for the mobile robot, and control the mobile robot to move toward the third target location; the route taken by the mobile robot from the current location to the next second target location does not pass through low-lying areas; in response to reaching the third target location, control the mobile robot to collect environmental information at the third target location and obtain environmental information above the third target location; if the environmental information above the third target location does not satisfy the non-low-lying area characteristics, in response to the mobile robot completing the environmental information collection at the third target location, determine a next third target location from the current environment, and control the mobile robot to move to the next third target location to collect environmental information.

[0177] In some embodiments, the control module is further configured to: when the environmental information above the third target location satisfies the non-low-lying area characteristics, in response to the mobile robot completing the environmental information collection at the third target location, determine the next second target location from the current environment, and control the mobile robot to move to the next second target location to collect environmental information.

[0178] In some embodiments, the environmental information above the initial position includes the height value of at least one sampling point within the initial area where the initial position is located, the height value of the sampling point representing the distance between the mobile robot and an obstacle above at the sampling point. The device further includes a determining module, configured to: determine that the environmental information above the initial position satisfies the non-low-lying area feature when the height values ​​of all sampling points within the initial area are greater than a height threshold.

[0179] This application provides a mobile robot, as shown in FIG4. The mobile robot 400 includes a controller 410; the controller 410 is used to implement the above-described mobile robot relocation method.

[0180] The descriptions of the above device and mobile robot embodiments are similar to those of the above method embodiments, and have similar beneficial effects. For technical details not disclosed in the device and mobile robot embodiments of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0181] It should be noted that, in the embodiments of this application, if the above-described mobile robot relocation method is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiments of this application, or the part that contributes to the related technology, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), magnetic disks, or optical disks. Thus, the embodiments of this application are not limited to any specific hardware and software combination.

[0182] This application provides a computer device including a memory and a processor. The memory stores a computer program that can run on the processor, and the processor executes the program to implement the steps in the above-described method.

[0183] This application provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps in the above-described method. The computer-readable storage medium can be transient or non-transient.

[0184] This application provides a computer program product, including a computer program or instructions, which, when executed by a processor, implement some or all of the steps in the above-described method.

[0185] This application provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program. When the computer program is read and executed by a computer, it implements some or all of the steps in the above-described method. This computer program product can be implemented specifically through hardware, software, or a combination thereof. In one optional embodiment, the computer program product is specifically embodied as a computer storage medium; in another optional embodiment, the computer program product is specifically embodied as a software product, such as a software development kit (SDK), etc.

[0186] It should be noted that the descriptions of the above-described storage media, computer program products, and device embodiments are similar to the descriptions of the above-described method embodiments, and have similar beneficial effects. For technical details not disclosed in the embodiments of the storage media, computer program products, and devices of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0187] It should be noted that Figure 5 is a schematic diagram of the hardware entity of a computer device provided in an embodiment of this application. As shown in Figure 5, the hardware entity of the computer device 500 includes: a processor 501, a communication interface 502, and a memory 503, wherein:

[0188] Processor 501 typically controls the overall operation of computer device 500.

[0189] Communication interface 502 enables computer devices to communicate with other terminals or servers via a network.

[0190] The memory 503 is configured to store instructions and applications executable by the processor 501, and can also cache data to be processed or already processed (e.g., image data, audio data, voice communication data, and video communication data) of the processor 501 and various modules in the computer device 500. It can be implemented using flash memory or random access memory (RAM). Data transfer between the processor 501, the communication interface 502, and the memory 503 can be performed via bus 504.

[0191] In this embodiment, firstly, the environmental information above the initial position of the mobile robot is acquired. Then, if the environmental information above the initial position meets the preset non-low-lying area characteristics, the mobile robot is controlled to start relocation from the initial position. In this way, by using the environmental information above the initial position of the mobile robot to enable it to start relocation when the initial position is in a non-low-lying area, the influence of the surrounding environment on the mobile robot's detection range can be reduced, the detection time in low-lying areas can be reduced, the positioning efficiency and effectiveness of the mobile robot can be improved, operating resources can be saved, and the overall performance of the mobile robot can be further enhanced.

[0192] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of this application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of this application, the sequence numbers of the above-described processes do not imply a sequential order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. The sequence numbers of the above-described embodiments are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0193] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0194] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0195] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units. They may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0196] In addition, each functional unit in the various embodiments of this application can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0197] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, read-only memory (ROM), magnetic disks, or optical disks.

[0198] Alternatively, if the integrated units described above are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence or the part that contributes to related technologies, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROM, magnetic disks, or optical disks.

[0199] The above description is merely an embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

A method for repositioning a mobile robot, characterized in that The method includes: Obtain the environmental information above the initial position of the mobile robot; If the environmental information above the initial position meets the preset non-low-rise area characteristics, the mobile robot is controlled to start moving and repositioning from the initial position. The method of claim 1, wherein The method further includes: If the environmental information above the initial position does not meet the non-low-lying area characteristics, the mobile robot is controlled to move from the initial position to the first target position. The mobile robot is controlled to move and reposition itself starting from the first target position. The method according to claim 2, characterized in that Controlling the mobile robot to move from the initial position to the first target position includes: A first candidate location is determined in the current environment, wherein the distance between the first candidate location and the initial location is not less than a first distance threshold; Control the mobile robot to move from the initial position to the first candidate position, and acquire the environmental information above the current position of the mobile robot during the movement; If the environmental information above the current location of the mobile robot satisfies the non-low-lying area characteristics, the current location of the mobile robot is determined as the first target location, and the mobile robot is controlled to stop moving. The method according to claim 3, characterized in that The method of controlling the mobile robot to move from the initial position to the first target position further includes: In response to the mobile robot reaching the first candidate position, if the environmental information above the first candidate position does not satisfy the non-low-lying area feature, a next first candidate position is determined from the current environment, wherein the distance between the next first candidate position and the current first candidate position is not less than the first distance threshold. The mobile robot is controlled to move from its current first candidate position to the next first candidate position, and environmental information above the current position of the mobile robot is acquired during the movement. The method according to any one of claims 1 to 4, characterized in that The process of controlling the mobile robot to perform mobile relocation includes: The current position of the mobile robot is determined as the second target position, and the mobile robot is controlled to collect environmental information at the second target position; In response to the mobile robot completing the environmental information collection at the second target location, the next second target location is determined from the current environment, and the mobile robot is controlled to move to the next second target location to collect environmental information until the relocation result of the mobile robot is obtained based on the currently collected environmental information and the historically collected environmental information, or there is no next second target location in the current environment; Wherein, the next second target location is located outside the low-lying area previously detected by the mobile robot, and the environmental information above at least one sampling point in the low-lying area does not satisfy the characteristics of the non-low-lying area. The method according to claim 5, characterized in that The step of controlling the mobile robot to move to the next second target location to collect environmental information includes: Control the mobile robot to move towards the next second target location, and acquire the environmental information above the current location of the mobile robot during the movement; If the environmental information above the current location of the mobile robot satisfies the non-low-lying area characteristics, the mobile robot is controlled to continue moving towards the next second target location; In response to the mobile robot reaching the next second target location, the mobile robot is controlled to collect environmental information at the next second target location. The method according to claim 6, characterized in that The method of controlling the mobile robot to move to the next second target location to collect environmental information also includes: If the environmental information above the current location of the mobile robot does not meet the non-low-lying area characteristics, it is determined that the mobile robot has detected the low-lying area, and the mobile robot is controlled to stop moving to the next second target location; The mobile robot is controlled to explore the boundaries of the currently detected low-lying area to obtain the boundaries of the low-lying area; The low-lying area is recorded based on its boundary. The method according to claim 5, characterized in that The process of controlling the mobile robot to perform mobile relocation also includes: In response to the absence of a second target location in the current environment and the lack of a relocation result for the mobile robot, a third target location is determined from the current environment, and the mobile robot is controlled to move towards the third target location; the route taken by the mobile robot from the current location to the second target location does not pass through low-lying areas. In response to reaching the third target location, the mobile robot is controlled to collect environmental information at the third target location and obtain the environmental information above the third target location; If the environmental information above the third target location does not meet the non-low-lying area characteristics, in response to the mobile robot completing the environmental information collection at the third target location, the next third target location is determined from the current environment, and the mobile robot is controlled to move to the next third target location to collect environmental information. The method of claim 8, wherein The process of controlling the mobile robot to perform mobile relocation also includes: If the environmental information above the third target location satisfies the non-low-lying area characteristics, in response to the mobile robot completing the environmental information collection at the third target location, the next second target location is determined from the current environment, and the mobile robot is controlled to move to the next second target location to collect environmental information. The method according to any one of claims 1 to 9, characterized in that The environmental information above the initial position includes the height value of at least one sampling point within the initial area where the initial position is located, and the height value of the sampling point represents the distance between the mobile robot and the obstacle above at the sampling point; The method further includes: If the height value of each sampling point in the initial region is greater than the height threshold, it is determined that the environmental information above the initial position satisfies the non-low-rise region characteristics. A repositioning device for a mobile robot, characterized in that The device includes: The acquisition module is used to acquire the environmental information above the current initial position of the mobile robot; The control module is used to control the mobile robot to start moving and repositioning from the initial position when the environmental information above the initial position meets the preset non-low-rise area characteristics. A mobile robot characterized by include: Controller; The controller is used to implement the method as described in any one of claims 1 to 10. A computer device comprising a memory and a processor, characterized in that The memory stores a computer program that can run on a processor, which, when executing the program, implements the method as described in any one of claims 1 to 10. A computer-readable storage medium having stored thereon a computer program, characterized in that When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 10. A computer program product comprising computer programs or instructions, characterized in that, When the computer program or instructions are executed by a processor, they implement the method as described in any one of claims 1 to 10.

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