CN117130356A

CN117130356A - Environment information acquisition method, device and storage medium

Info

Publication number: CN117130356A
Application number: CN202210551447.2A
Authority: CN
Inventors: 尹慧慧; 姜家鑫; 单俊杰
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2022-05-18
Filing date: 2022-05-18
Publication date: 2023-11-28

Abstract

The embodiment of the application provides an environment information acquisition method, environment information acquisition equipment and a storage medium. In the embodiment of the application, the self-moving equipment can acquire the barrier information through the area array sensor so as to travel along the side surface of the barrier, and when the self-moving equipment is in a position where the barrier information cannot be acquired, the direction of the self-moving equipment can be adjusted by executing the leakage repairing action, so that the barrier falls into the visible range of the self-moving equipment again, and the area array sensor is utilized to continuously acquire the barrier information and continue along the side surface of the barrier; wherein, area array sensor sets up the position that corresponds the advancing direction on equipment body lateral wall, can reduce from mobile device in the ascending height of indulging, can satisfy the operation demand under the low environment to area array sensor can gather richer barrier information, is favorable to promoting from mobile device obstacle avoidance and navigation's accuracy.

Description

Environment information acquisition method, device and storage medium

Technical Field

The present application relates to the field of artificial intelligence technologies, and in particular, to an environmental information collection method, an environmental information collection device, and a storage medium.

Background

With the development of artificial intelligence technology, robots gradually enter the daily life of people, and great convenience is brought to the life of people. For example, the sweeping robot can automatically clean rooms, and a great deal of labor and material cost is saved.

The existing sweeping robot is generally provided with sensors such as a laser radar or a camera at the top of a machine body, periodic environment information is collected by the sensors so as to construct an environment map, navigation is realized, and a structural light module or a binocular camera at the front side of the machine body is combined to avoid obstacles. However, as the requirements of users on lighter, thinner and more intelligent sweeping robots are increasing, the requirements of the sweeping robots on the perception capability of the three-dimensional environment are higher. Therefore, how to improve the perception capability of the sweeping robot to the three-dimensional environment while meeting the structural requirements of users on the sweeping robot is an urgent problem to be solved.

Disclosure of Invention

The application provides an environment information acquisition method, equipment and a storage medium, which are used for solving the problem that a self-mobile device can improve the perception capability of a sweeping robot to a three-dimensional environment while meeting the structural requirement of a user on the sweeping robot.

The embodiment of the application provides an environment information acquisition method, which is suitable for self-mobile equipment and comprises the following steps: controlling the self-moving equipment to travel along a first side surface of an obstacle, and acquiring obstacle information on the first side surface by using an area array sensor arranged in the traveling direction until the self-moving equipment travels to a first position where the obstacle information on the first side surface cannot be acquired; executing a leak repairing action at the first position so that a second side surface of the barrier falls into the visual field range of the area array sensor, wherein the second side surface is adjacent to the first side surface; and controlling the self-moving device to continue to travel along the second side surface, and continuously acquiring obstacle information on the second side surface by using the area array sensor.

The embodiment of the application also provides an environment information acquisition method, which is suitable for the self-mobile equipment and comprises the following steps: controlling the self-moving device to travel along the first side surface of the obstacle, and acquiring the obstacle information on the first side surface by using a sensor arranged in the traveling direction until the self-moving device travels to a first position where the obstacle information on the first side surface cannot be acquired; performing a leak repairing action at the first position so that a second side surface of the obstacle falls within the field of view of the sensor, the second side surface being adjacent to the first side surface; and controlling the self-mobile device to continue to travel along the second side surface, and utilizing the sensor to continuously acquire obstacle information on the second side surface.

The embodiment of the application also provides self-mobile equipment, which comprises: the equipment body comprises a processor and a memory storing a computer program, and an area array sensor is arranged on the side wall of the equipment body in the corresponding advancing direction; the processor is configured to execute the computer program for: controlling the self-mobile device to travel along a first side of an obstacle, and acquiring obstacle information on the first side by using an area array sensor until the self-mobile device travels to a first position where the obstacle information on the first side cannot be acquired; executing a leak repairing action at the first position so that a second side surface of the barrier falls into the visual field range of the area array sensor, wherein the second side surface is adjacent to the first side surface; and controlling the self-moving device to continue to travel along the second side surface, and continuously acquiring obstacle information on the second side surface by using the area array sensor.

Embodiments of the present application also provide a computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps in the method.

In the embodiment of the application, the self-moving equipment can acquire the barrier information through the area array sensor so as to travel along the side surface of the barrier, and when the self-moving equipment is in a position where the barrier information cannot be acquired, the direction of the self-moving equipment can be adjusted by executing the leakage repairing action, so that the barrier falls into the visible range of the self-moving equipment again, and the area array sensor is utilized to continuously acquire the barrier information and continue along the side surface of the barrier; wherein, area array sensor sets up the position that corresponds the advancing direction on equipment body lateral wall, can reduce from mobile device in the ascending height of indulging, can satisfy the operation demand under the low environment to area array sensor can gather richer barrier information, is favorable to promoting from mobile device obstacle avoidance and navigation's accuracy.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:

FIG. 1a is a schematic diagram of an effective measurement range corresponding to an area array sensor according to an embodiment of the present application;

fig. 1b is a schematic diagram of a blind area range corresponding to an area array sensor according to an embodiment of the present application;

fig. 2 is a flowchart of an information collection method according to an embodiment of the present application;

FIG. 3a is a schematic diagram of a mobile device traveling to a first location according to an embodiment of the present application;

FIG. 3b is a schematic diagram of a mobile device traveling to a second location near an obstacle according to an embodiment of the application;

FIG. 3c is a schematic diagram illustrating a mobile device moving from a first position to a third position according to an embodiment of the present application;

fig. 3d is a schematic diagram of adjusting a traveling direction of a self-mobile device at a third position according to an embodiment of the present application;

FIG. 3e is a schematic diagram of a mobile device moving from an end of an obstacle to a first position according to an embodiment of the application;

FIG. 3f is a schematic diagram illustrating a self-moving device moving from a leak repairing position to a fourth position according to an embodiment of the present application;

FIG. 3g is a schematic diagram of a self-moving device traveling around an obstacle avoidance device according to an embodiment of the present application;

fig. 4a is a schematic flow chart of a sweeping robot for executing a sweeping task according to an embodiment of the present application;

Fig. 4b is a schematic flow chart of a sweeping robot for executing a sweeping task and constructing an environment map according to an embodiment of the present application;

FIG. 4c is a flowchart of another information collection method according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a self-mobile device according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be clearly and completely described below with reference to specific embodiments of the present application and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

Before the technical scheme of the embodiment of the application is described in detail, description is first made on the self-mobile device provided by the embodiment of the application. The self-moving device provided by the embodiment of the application can be any mechanical device capable of moving autonomously in the environment where the self-moving device is located, for example, a robot, a purifier, an unmanned vehicle and the like; the robot may include a sweeping robot, a glass wiping robot, a home accompanying robot, a greeting robot, an autonomous service robot, etc., which is not limited herein. Further, the embodiment of the application is not limited to the appearance form of the self-mobile device, and the shape of the self-mobile device can be different according to the different implementation forms of the self-mobile device. Taking the outline shape of the self-moving equipment as an example, the outline shape of the self-moving equipment can be irregular or regular; for example, the outer contour shape of the self-moving device may be a regular shape such as a circle, an ellipse, a square, a triangle, a drop shape, or a D shape, and other than the regular shape, it is called an irregular shape, such as an outer contour of a humanoid robot, an outer contour of a drone, or the like, which belongs to an irregular shape. These self-moving devices can collect environmental information in the working environment by means of sensors arranged on the device body of the self-moving device so as to construct an environmental map according to the collected environmental information, and navigate and avoid obstacles based on the constructed environmental map, and execute working tasks in the working environment.

In general, a line laser sensor or a radar sensor for collecting environmental information is disposed on top of the self-mobile device to construct an environmental map according to the collected environmental information, and a structured light module or a binocular camera is disposed in front of the self-mobile device, i.e. in a traveling direction, for detecting obstacle information in the working environment, and according to the constructed environmental map and the collected obstacle information, the self-mobile device can be guided to navigate and avoid obstacles so as to perform working tasks in the working environment. However, providing a sensor on top of the self-moving device increases the height of the self-moving device in the longitudinal direction, with certain limitations on performing work tasks in a low environment; moreover, the mode of combining the linear laser sensor or the radar sensor with the structured light module or the binocular camera has limited information acquired in unit time, and the functions of quickly constructing an environment map, accurately positioning, avoiding obstacles and the like of the self-mobile equipment are difficult to realize. Therefore, in order to meet the demand of users for lighter, thinner and more intelligent self-mobile equipment, the embodiment of the application provides the self-mobile equipment with a novel structure, wherein the side wall of the equipment body of the self-mobile equipment is correspondingly provided with an area array sensor in the advancing direction, and in the advancing process of the self-mobile equipment, the environment information of the area in front of the advancing direction is acquired through the detection information number emitted by the area array sensor.

In the embodiment of the application, the type and wavelength of the detection signal emitted by the area array sensor are not limited, for example, the type of the detection signal can be an infrared signal or a laser signal, and the laser signals are taken as examples, the wavelengths are different, the colors of the laser signals can be different, and the laser signals can be a red laser signal, a purple laser signal and the like. Further, the specific manner in which the area sensor collects information is not limited, and alternatively, information may be collected by a Time of Flight (TOF) method. Taking an area array TOF sensor as an example, in the travelling process of the self-mobile device, the area array TOF sensor can emit detection signals outwards in a projection mode, the detection signals reach the surface of an obstacle, a coverage area is formed on the surface of the obstacle, the detection signals passing through the surface of the obstacle can be reflected back, the distance between the obstacle and the self-mobile device can be determined according to the time difference between the emission and the receiving of the detection signals, and information corresponding to the coverage area of the detected signal on the surface of the obstacle can be acquired. Because the detection signals emitted outwards by the area array TOF sensor are projected to the surface of the obstacle in a projection mode, the farther the distance between the self-moving device and the obstacle is, the larger the projected detection signal area to the surface of the obstacle is, therefore, under the condition that a certain distance exists between the self-moving device and the obstacle can be detected, the self-moving device can collect information on the surface of the obstacle, and also can collect information such as outline, height and/or width corresponding to the obstacle, and the like, compared with the existing mode of collecting information by using a linear laser sensor or a radar sensor, the area array TOF sensor can collect more abundant environmental information in unit time, based on the information, the distance measurement, height measurement, identification and three-dimensional environment reconstruction can be performed on the low obstacle more accurately, the richness and the accuracy of the environmental information collected by the self-moving device are facilitated, the environmental map can be avoided or constructed more accurately by the self-moving device based on the collected environmental information, and the sensing capability and the intelligent level of the self-moving device on the operation environment are improved.

In the embodiment of the application, the specific arrangement position of the area array sensor on the side wall of the self-moving equipment body is not limited, and alternatively, the area array sensor can be arranged at the position right in front of, left in front of or right in front of the corresponding travelling direction; the field angle of the area array sensor comprises a vertical field angle and a horizontal field angle, and the field angles are different, so that the area array sensor corresponds to different field ranges. The embodiment of the application is not limited to a specific view angle corresponding to the area array sensor, the area array sensor with a proper view angle can be selected according to application requirements, and the angle between the transmitting direction and the horizontal plane of the detection signal transmitted by the central position of the area array sensor is not limited, for example, the detection signal can be parallel to the speaking plane or have any angle with the horizontal plane, and the detection signal can be specific according to the application requirements. FIG. 1a is a schematic diagram of a self-moving device in the traveling process, as shown in FIG. 1a, because the area array sensor is limited by the installation position and the angle of view when being installed and used at a fixed position on the self-moving device, the area array sensor has a certain effective measuring range, and the effective measuring range at least comprises a region between the blind area distance corresponding to the area array sensor and the farthest distance in the front region of the area array sensor; the blind area distance of the area sensor is the nearest distance, for example, 10cm, of the area sensor capable of detecting the obstacle information, and the area sensor cannot detect the obstacle information under the condition that the distance between the area sensor and the obstacle is smaller than 10 cm. In the embodiment of the present application, as shown in fig. 1b, a region where the area sensor cannot detect the obstacle information is referred to as a blind area range of the area sensor; the size of the blind area range is not limited, and is related to the installation position and the angle of view, the shape and the size of the area sensor on the self-mobile device, and the type of the sensor used.

Based on the above, the embodiment of the application provides an environmental information collection method, which can collect the obstacle information in the area in front of the travelling direction of the mobile device by using the area array sensor, and execute the leakage repairing action under the condition that the obstacle information cannot be collected when travelling to the end of the obstacle, and supplement and collect the obstacle information in the blind area range of the area array sensor, thereby being beneficial to further improving the richness and accuracy of the collected obstacle information and being capable of collecting the environmental information more comprehensively.

The environmental information collection method provided by the embodiment of the application is described in detail below with reference to the accompanying drawings.

Fig. 2 is a flowchart of an environmental information collection method suitable for a self-mobile device according to an embodiment of the present application, where, as shown in fig. 2, the method includes:

s1, controlling the self-mobile device to travel along a first side surface of an obstacle, and acquiring obstacle information on the first side surface by using an area array sensor arranged in the traveling direction until the self-mobile device travels to a first position where the obstacle information on the first side surface cannot be acquired;

s2, executing a leak repairing action at the first position so that a second side surface of the barrier falls into the visual field range of the area array sensor, wherein the second side surface is adjacent to the first side surface;

And S3, controlling the self-mobile device to continue to travel along the second side surface, and continuously acquiring obstacle information on the second side surface by using the area array sensor.

In the embodiment of the application, in the traveling process of the self-mobile device, the area array sensor arranged in the traveling direction can be used for collecting the barrier information in the front area of the traveling direction, and when the area array sensor collects the barrier information, the collected barrier information is the barrier information on the surface of the barrier facing the side of the self-mobile device. In the embodiment of the application, the surface of the obstacle facing the side of the self-moving device is called a first side, the corresponding profile information of the first side can be determined based on the acquired obstacle information, the self-moving device can be controlled to travel along the first side of the obstacle according to the profile information, and the obstacle information on the first side can be acquired by utilizing the area array sensor. As can be seen from the above implementation, when the area array sensor detects environmental information, the area that can be detected by the emitted detection signal is limited by factors such as the shape, size, installation position and angle of view of the area array sensor, and the type of sensor used, so that the area array sensor has a blind area range, and the obstacle information method in the blind area range is acquired. As shown in fig. 3a, the obstacle is in the area sensor blind area range from the time the mobile device travels along the first side of the obstacle until the mobile device travels to the first position where the obstacle information on the first side cannot be acquired. In order to collect the obstacle information in the blind area range more abundantly and accurately, in the embodiment of the application, when the mobile device moves to the first position, the blind area range of the area sensor can be subjected to the leakage repairing action at the first position, so that the second side surface of the obstacle falls into the field of view of the area sensor, and then the obstacle information on the second side surface is collected, so that the obstacle information can be collected more comprehensively. As shown in fig. 3a, the second side is adjacent to the first side. Further, control continues to travel from the mobile device along the second side and continues to gather obstacle information on the second side using the area array sensor. In this way, the area array sensor can be used for supplementing and collecting the obstacle information on the second side surface in the blind area range, so that the mobile equipment can collect more abundant and complete obstacle information in the whole travelling process, avoid missing the obstacle information in the blind area range, and provide a foundation for obstacle avoidance and/or environment map construction in the subsequent operation process.

Here, the blind area range of the area sensor is related to the traveling direction of the self-mobile device, and the blind area range of the area sensor is different from the traveling direction of the self-mobile device, where the difference mainly means that the directions of the blind area ranges are different. In the embodiment of the application, the blind area range of the area array sensor can be understood as follows: in the direction of travel of the self-moving device, the area array sensor cannot detect the area in the effective range of the area array sensor. Based on the definition, if the area sensor detects an obstacle in a certain traveling direction of the self-mobile device, for convenience of description and distinction, when the traveling direction of the self-mobile device is recorded as a target traveling direction when the area sensor detects obstacle information, the area sensor can execute a leak repairing action on the blind area range of the area sensor in the target traveling direction outside the blind area range of the area sensor in the target traveling direction, and in the process of executing the leak repairing action, the area sensor is used for replenishing and collecting the obstacle information in the blind area range of the target traveling direction.

In the embodiment of the application, before the self-mobile device travels along the first side of the obstacle, the area array sensor can be used for acquiring the obstacle information in the front area in the current travelling direction, and if the obstacle exists in the front area in the travelling direction of the self-mobile device, the self-mobile device can travel along the first side of the obstacle from a proper position close to the first side of the obstacle in order to accurately and comprehensively acquire the obstacle information under the condition that the area array sensor acquires the obstacle information on the first side of the obstacle. As shown in fig. 3b, the self-moving device may travel to a second position near the first side, adjusting the direction of travel to travel along the first side of the obstacle. In the embodiment of the application, the specific position of the second position is not limited, and optionally, the second position close to the first side surface can be determined according to the obstacle avoidance distance and the blind area distance corresponding to the self-moving equipment, and the distance from the second position to the first side surface is slightly greater than or equal to the sum of the obstacle avoidance distance and the blind area distance so as to ensure that the self-moving equipment can normally travel and can acquire the obstacle information on the first side surface of the obstacle. Based on this, in the case of traveling from the mobile device to the second position, the traveling direction may be adjusted to any one of the extending line or tangential direction of the first side at the second position to travel along the first side of the obstacle.

Further, in the case where the self-moving device travels along the first side of the obstacle to the first position as shown in fig. 3a, the obstacle is within the blind zone of the self-moving device, and the self-moving device cannot collect the obstacle information on the first side. At this time, the self-moving device may perform a leak repairing action at the first position so that the second side of the obstacle falls within the field of view of the area array sensor. In the embodiment of the application, a specific mode of executing the leak repairing action from the mobile equipment is not limited, whether the first position is suitable for executing the leak repairing action or not can be determined in order to supplement the barrier information in the range of the acquisition blind area, the position can be adjusted under the condition that the first position is determined to be unsuitable for executing the leak repairing action, and then the leak repairing action is executed according to the adjusted position; in the case where it is determined that the first location is appropriate to perform the leak repairing action, the leak repairing action may be performed directly at the first location. In the embodiment of the application, the basis for determining whether the first position where the self-mobile device is located is suitable for executing the leak repairing action is as follows: the self-mobile device can not collide with the obstacle in the process of executing the leak repairing action, and can acquire the obstacle information in the blind area range.

The following description will be made regarding two cases where the first position is not suitable for performing the leak repairing operation and is suitable for performing the leak repairing operation.

Case 1: the first position is not suitable for performing a leak repairing action.

In this embodiment, in order to perform the leak repairing operation at a more suitable position, as shown in fig. 3c, before performing the leak repairing operation, the self-moving device may be controlled to move from the first position to a third position in a direction away from the first side, and perform the leak repairing operation at the third position, so that the second side of the obstacle falls within the field of view of the area array sensor. Optionally, whether the first position is suitable for performing the leak repairing action may be determined according to a distance between the first position and the first side, and if the distance between the first position and the first side is smaller than a blind area distance corresponding to the self-mobile device, it is determined that the first position is not suitable for performing the leak repairing action, in this case, the self-mobile device may be controlled to move from the first position to a third position in a direction away from the first side. In this embodiment, the specific relative positional relationship between the third position and the first position is not limited, the traveling direction of the self-mobile device is taken as the front direction, the third position may be in any direction of the left side, the left front, the right front or the right front of the first position, in order to ensure that the second side surface can fall within the field of view of the area array sensor during the execution of the leak repairing operation by the self-mobile device, the third position cannot be left rear or rear of the first position, and fig. 3c is illustrated by taking the left front of the first position as an example of the third position.

Further, the embodiment is not limited to a specific manner of controlling the movement of the self-moving device from the first position to the third position in a direction away from the first side, and alternatively, the self-moving device may be controlled to adjust the traveling direction at the first position so as to face the first side or the extension line thereof, and then controlled to retract to the third position along the opposite direction of the adjusted traveling direction; the mobile device may be controlled to move to the third position in a direction away from the first side, and then the mobile device is controlled to adjust the traveling direction at the third position to face the first side or the extension line thereof (as shown in fig. 3c and 3 d), which mode is specifically adopted, and may be flexibly selected according to the actual situation. For example, in the case where the self-moving device is rotatable in the first position and does not collide with the first side face of the obstacle, it may be moved from the first position to the third position in any one of the moving manners described above; in the case that the distance between the first position and the first side of the obstacle is relatively short, and the rotation of the self-moving device collides with the obstacle, the second moving mode can be selected, namely, the self-moving device moves to the third position first, and then the direction is adjusted at the third position. In the present embodiment, the direction of travel is not limited to the rotation angle when the self-moving device adjusts to face the first side surface or the extension line thereof, but may alternatively be any angle between 90 ° and 120 °, and the rotation angle of the self-moving device may be different according to the difference of the relative positional relationship between the third position and the first position.

Case 2: the first location is adapted to perform a leak repairing action.

In this embodiment, in the case where the distance from the first position to the first side surface is greater than the blind area distance corresponding to the self-mobile device, the self-mobile device can acquire the obstacle information of the obstacle side surface at the first position and does not collide with the obstacle, so it can be determined that the first position is suitable for executing the leak repairing action. In this embodiment, a specific manner of determining that the first position is suitable for executing the leak repairing action is not limited, and optionally, before executing the leak repairing action, the distance from the first position to the first side may be calculated to be greater than the blind area distance corresponding to the self-mobile device according to the acquired obstacle information of the first side; alternatively, before the leak repairing operation is performed, the self-mobile device may be controlled to rotate several times at the first position, so that it is determined that the self-mobile device does not collide with the obstacle and can collect the obstacle information, and the angle of rotation of the self-mobile device at the first position is not limited, and may be any angle between 90 ° and 120 °. Further, in the event that the first location is determined to be suitable for performing the leak repairing action, the self-moving device may be controlled to perform the leak repairing action at the first location such that the second side of the obstacle falls within the field of view of the area array sensor.

It should be noted that, in the embodiment of the present application, the relative positional relationship between the first position and the obstacle is not limited, and alternatively, the first position may be a starting position where the obstacle information on the first side cannot be acquired in the process of traveling along the first side of the obstacle from the mobile device, or any position after the starting position. Further, the embodiment of the present application is not limited to a specific manner of determining the first position, and alternatively, in controlling the traveling from the mobile device along the first side of the obstacle, the area array sensor disposed in the traveling direction may be used to collect the obstacle information on the first side, and as shown in fig. 3e, when the end position of the first side is identified according to the collected obstacle information on the first side, the mobile device may be controlled to continue to move forward for a specified distance until reaching the first position. In the embodiment of the application, the specific value of the specified distance for continuing to move forward from the end position of the first side surface of the mobile device is not limited, and alternatively, the specified distance can be larger than the blind area distance of the area array sensor or smaller than the sum of the obstacle avoidance distance and the blind area distance of the mobile device.

It should be further noted that, regarding the specific location where the leak repairing action is performed, the embodiments of the present application are not limited, and the above examples are only illustrative. In the embodiment of the present application, before the execution of the leak repairing operation, whether the first position is suitable for executing the leak repairing operation may be not determined, and in the case of traveling from the first position to the first position, the leak repairing operation may be executed at the third position by default while moving from the first position to the third position in a direction away from the first side.

In the embodiment of the present application, the specific manner of performing the leak repairing action at the first position or the third position by the self-moving device is not limited, and alternatively, the self-moving device may perform any one of a plurality of actions such as in-situ rotation, differential rotation, movement in a plurality of directions, or movement in another direction different from the current traveling direction at the first position or the third position, and the collecting of the obstacle information on the second side of the obstacle in the blind area is supplemented. Each of the leak repairing actions that may be performed from the mobile device is illustrated below:

leak repairing action 1: the self-moving device rotates in place at the first position or the third position. In this embodiment, the detection range of the area array sensor may be changed by the in-situ rotation of the self-mobile device, and as the self-mobile device rotates, the detection range of the area array sensor is continuously changed, and the obstacle information on the second side surface in the blind area range before the in-situ rotation of the self-mobile device may be detected. Here, the rotation direction of the self-moving device is not limited, and the self-moving device may be rotated clockwise or counterclockwise. Since the area sensor emits the detection signal in a projection manner, the area sensor rotates on the self-moving device In the rotating process, the detection signal can also rotate along the rotating direction, and in the rotating process, the detection signal can detect the blind area range of the area array sensor before the self-moving equipment starts to rotate along the rotating direction, so that the purpose of supplementing and collecting the obstacle information of the area array sensor in the blind area range before the self-moving equipment starts to rotate is achieved. In the embodiment of the application, the number of in-situ rotation turns of the self-moving equipment is not limited, and along with the increase of the number of rotation turns of the self-moving equipment, the richness of the obstacle information on the second side surface of the obstacle which can be detected also increases, and the self-moving equipment can set a threshold value of the number of rotation turns to control the number of rotation turns of the self-moving equipment according to specific operation conditions. Further alternatively, the relationship between the distance between the self-moving device and the obstacle during the execution of the leak repairing action is not limited, for example, the self-moving device may stop rotating in place at the first position or the third position, or may rotate while moving toward the obstacle when the distance is greater than the dead zone distance of the area array sensor, and may be controlled according to the specific operation condition, and is not limited too much.

Leak repairing action 2: the self-moving device performs differential rotation at the first position or the third position. In this embodiment, differential rotation refers to alternating left and right rotation of the self-moving device in place about its central axis perpendicular to the ground. The detection range of the area array sensor can be changed through in-situ differential rotation of the self-moving device, and the detection range of the area array sensor is changed continuously along with the differential rotation of the self-moving device, so that the obstacle information on the second side face of the area array sensor in the blind area range before the in-situ differential rotation of the self-moving device can be detected. Here, the number of times of left-right rotation of the self-mobile device is not limited, and for example, the self-mobile device may be rotated once left and then rotated once right, or may be rotated once left and then rotated once right; further, the frequency of left-right rotation from the mobile device is not limited, and for example, the frequency of left-right rotation from the mobile device may be the same or different; further, the angle of left-right rotation from the mobile device is not limited, for example, the mobile device may be left or rightRotated by 30 °, 60 °, 90 °, 180 °, etc., respectively. Because the area array sensor transmits the detection signal in a projection mode, the detection signal can rotate along the rotation direction in the differential rotation process of the self-moving equipment, and the detection signal can detect the blind area range of the area array sensor before the self-moving equipment starts to rotate along the rotation direction in the differential rotation process, so that the purpose of supplementing and collecting the obstacle information of the area array sensor in the blind area range before the self-moving equipment starts to rotate is achieved. In the embodiment of the application, the number of in-situ differential rotation of the self-moving device is not limited, and as the number of differential rotation of the self-moving device increases, the richness of the obstacle information which can be detected also increases, and the self-moving device can set a threshold value of the number of differential rotation to control the number of differential rotation of the self-moving device according to specific operation conditions. Further alternatively, the relationship between the distance between the self-moving device and the obstacle during the execution of the leak repairing operation is not limited, for example, the self-moving device may stop performing the in-situ differential rotation at the first position or the third position, or may move to the obstacle while performing the differential rotation when the distance is greater than the dead zone distance of the area array sensor, and may be controlled according to the specific operation condition, without being excessively limited.

Leak repairing action 3:the slave mobile device moves in multiple directions from the first position or the third position. In this embodiment, the detection range of the area sensor may be changed when the self-moving device moves in multiple directions, and as the self-moving device moves and changes in direction, the detection range of the area sensor is continuously changed, and the obstacle information on the second side of the area sensor in the blind area range before the self-moving device moves in multiple directions may be detected. Here, the direction of the self-moving device is not limited to be specific, so long as the direction of the self-moving device can be changed, and in the moving process of the self-moving device, the detection signal can detect the blind area range of the area array sensor before the self-moving device moves, so that the purpose of supplementing and collecting the obstacle information on the second side surface of the area array sensor in the blind area range before the self-moving device moves is achieved. For example, a self-moving deviceThe device can keep the direction right in front of the device unchanged and move left and right along the horizontal direction vertical to the right in front of the device; alternatively, the self-moving device may move toward the obstacle in a "Z" or "S" trajectory; alternatively, the self-moving device may move along any irregular track, etc. Since the area array sensor emits the detection signals in a projection manner, the direction of the detection signals can be changed along the moving direction in the process of moving the area array sensor from the mobile device to a plurality of directions, and then the detection signals can detect the blind area range of the area array sensor before moving the area array sensor from the mobile device, and the obstacle information in the blind area range is collected.

Leak repairing action 4:the self-moving device moves in another direction different from the current traveling direction at the first position or the third position. In this embodiment, the detection range of the area sensor may be changed by moving the self-moving device in the other direction different from the current traveling direction, and as the detection range of the area sensor is changed continuously by the movement and the change of the direction of the self-moving device, the obstacle information on the second side of the area sensor may be detected in the blind area range before the self-moving device moves in the other direction different from the current traveling direction. Here, the direction of the self-moving device is not limited to be specific, so long as the direction of the self-moving device can be changed, and in the moving process of the self-moving device, the detection signal can detect the blind area range of the area array sensor before the self-moving device moves, so that the purpose of supplementing and collecting the obstacle information on the second side surface of the area array sensor in the blind area range before the self-moving device moves is achieved. For example, the center axis of the self-moving device along the front may be used as a dividing line, and the self-moving device may move to the left side of the current traveling direction or may move to the right side of the current traveling direction. Since the area sensor emits the detection signal in a projection manner, the direction of the detection signal is also changed along the moving direction in the process of moving from the mobile device to the other direction different from the current traveling direction, and then the detection signal can detect the blind area range of the area sensor before moving from the mobile device and acquire the obstacle information in the blind area range.

In the embodiment of the present application, in addition to the manner of performing the leak repairing operation from the mobile device in the foregoing embodiment, one or more of the foregoing manners may be combined to perform the leak repairing operation for the blind area range, and the information of the obstacle on the second side surface in the blind area range is collected, which is not described herein too much.

According to the embodiment of the application, the position information of the second side surface can be determined according to the barrier information on the second side surface acquired in the process of executing the leak repairing action, so that the self-mobile equipment can be controlled to continue to travel along the second side surface to acquire the barrier information on the second side surface. In an alternative embodiment, as shown in fig. 3f, in order to more accurately acquire the obstacle information on the second side, the self-mobile device may be controlled to move from a corresponding position to perform the leak repairing action to a fourth position, start to travel along the second side from the fourth position, and acquire the obstacle information on the second side by using the area array sensor during the traveling, where the specific manner of controlling the self-mobile device to travel along the second side is not limited in the embodiment of the present application. In the embodiment of the application, the specific mode of determining the fourth position is not limited, and optionally, the self-moving device can be controlled to move to the fourth position from the position of executing the leak repairing action according to the obstacle avoidance distance and the blind area distance corresponding to the self-moving device; the distance from the leakage repairing position to the second side surface is larger than the distance from the fourth position to the second side surface, the distance from the leakage repairing position to the second side surface is larger than or equal to the sum of the obstacle avoidance distance and the blind area distance corresponding to the self-moving device, and the distance from the fourth position to the second side surface is larger than or equal to the blind area distance corresponding to the self-moving device, so that the self-moving device can acquire the obstacle information on the second side surface without colliding with the second side surface of the obstacle in the travelling process along the second side surface.

In the embodiment of the present application, the moving speed of the self-moving device when the self-moving device is in a direction from the first position to the first side far away from the obstacle is not limited, for example, the self-moving device may be far away from the obstacle in a uniform manner, and may also be far away from the obstacle in a non-uniform manner, where the non-uniform manner includes, but is not limited to: the deceleration mode or the acceleration mode may be uniform deceleration or non-uniform deceleration, and the acceleration mode may be uniform acceleration or non-uniform acceleration. Accordingly, in the embodiment of the present application, the moving speed when the self-moving device moves from the leak repairing position where the leak repairing action is performed to the fourth position to approach the obstacle is also not limited, for example, the self-moving device may approach the obstacle in a uniform manner, or approach the obstacle in a non-uniform manner, where the non-uniform manner includes but is not limited to: the deceleration mode or the acceleration mode may be uniform deceleration or non-uniform deceleration, and the acceleration mode may be uniform acceleration or non-uniform acceleration.

In the embodiment of the application, the self-mobile device can avoid the obstacle according to the acquired and previously acquired obstacle information for executing the leakage repairing action and/or construct an environment map according to the acquired and previously acquired obstacle information for executing the leakage repairing action in the process of travelling along the side surface of the obstacle and acquiring the obstacle information. In the embodiment of the application, a specific mode of obstacle avoidance by the self-mobile device according to the acquired and previously acquired obstacle information for executing the leakage repairing action is not limited, and optionally, a first travelling path bypassing the obstacle can be planned according to the acquired and previously acquired obstacle information for executing the leakage repairing action, and travelling is continued along the first travelling path until bypassing the obstacle; when planning the first travel path around the obstacle, the points on the acquired obstacle can be determined according to the acquired and previously acquired obstacle information for executing the leak repairing action, the points on the acquired obstacle are expanded, the boundary profile of the obstacle is determined based on the points on the expanded obstacle, and the first travel path around the obstacle is planned according to the boundary profile.

Accordingly, the specific mode of constructing the environment map from the mobile device according to the acquired and previously acquired obstacle information for performing the leak repairing operation is not limited, and optionally, as shown in fig. 3g, a second travel path surrounding the obstacle may be planned and moved along the second travel path surrounding the obstacle according to the acquired and previously acquired obstacle information for performing the leak repairing operation; continuously acquiring obstacle information by using an area array sensor in the process of moving around the obstacle to obtain complete information of the obstacle, and marking the complete information of the obstacle in an environment map; in planning a second travel path around the obstacle, points on the acquired obstacle may be determined based on the acquired and previously acquired obstacle information from performing the leak repairing action, the points on the acquired obstacle may be inflated, a boundary profile of the obstacle may be determined based on the inflated points on the obstacle, and the second travel path around the obstacle may be determined based on the boundary profile and the edge mode of the self-moving device.

The following describes a path planning and/or obstacle avoidance process of the self-mobile device according to the acquired obstacle information for different scenes.

Scene example 1:

in this embodiment, after the area array sensor is used to supplement the acquired obstacle information in the blind area range in the process of executing the leak repairing action, the self-mobile device may further plan a first travel path around the obstacle according to the supplement acquired and previously acquired obstacle information, and continue traveling along the first travel path until the obstacle is bypassed; wherein the obstacle is an obstacle corresponding to the supplemental acquired and previously acquired obstacle information. According to the method and the device for detecting the obstacle, the self-moving equipment can acquire complete information of the obstacle on one side of the self-moving equipment according to the obstacle information detected in the normal moving process and the obstacle information in the blind area range which is acquired in the process of executing the leak repairing action, based on the complete information, a first moving path bypassing the obstacle can be determined, and the moving is continued along the first moving path until the obstacle is bypassed, so that the obstacle avoidance purpose is realized.

In the embodiment of the present application, the implementation of planning the first travel path around the obstacle according to the acquired and previously acquired obstacle information by the self-mobile device is not limited. In an alternative embodiment, points on the acquired obstacle may be determined from the supplemental acquired and previously acquired obstacle information, the points on the acquired obstacle may be inflated, a boundary profile of the obstacle may be determined based on the inflated points on the obstacle, and a first travel path around the obstacle may be planned according to the boundary profile. For example, taking the case of supplementing the obstacle information in the range of the acquisition blind area by using the self-mobile device in a differential rotation mode, the self-mobile device determines points on the acquired obstacle according to the acquired and previous acquired obstacle information, expands the points on the acquired obstacle, and determines the boundary profile of the obstacle based on the points on the expanded obstacle; further, planning a first travel path from the mobile device according to the determined boundary contour of the obstacle and providing for continued travel along the first travel path may bypass the obstacle.

In the embodiment of the application, the expansion degree of the point on the obstacle is not limited, and in order to ensure that the self-moving device does not collide with the obstacle when traveling in the edge mode, the minimum degree of expansion is not smaller than the obstacle avoidance distance of the self-moving device. After the self-moving device detects the boundary of the obstacle, the points on the detected obstacle can be expanded to obtain the boundary outline of the obstacle, and further, the self-moving device can move towards the obstacle to reach the position of the boundary outline and continue to travel along the boundary outline in a right edge mode or a left edge mode until the self-moving device travels to the boundary of the obstacle, and no obstacle information is detected in the advancing direction of the self-moving device, namely, the self-moving device bypasses the obstacle.

In the embodiment of the application, the mode of planning the first travel path bypassing the obstacle by the mobile device is not limited, the mobile device can plan the first travel path first and then travel along the planned first travel path, and the first travel path can be planned while traveling, so that excessive limitation is not required. In the embodiment of the application, the direction of selecting the first travel path from the mobile device is not limited either, the mobile device can determine that the side of the obstacle boundary is the direction of the first travel path for the first time, and after the side of the obstacle is detected by the leak repairing action, one side is selected as the direction of the first travel path, or one side which is easier to bypass the obstacle is selected as the direction of the first travel path according to the environmental information around the side of the obstacle, and the limitation is not excessively made.

Scene example 2:

in this embodiment, after the area sensor is used to supplement the acquired obstacle information in the blind area range during the process of performing the leak repairing action, the self-moving device may plan a second travel path around the obstacle according to the supplement acquired and previously acquired obstacle information, and move around the obstacle along the second travel path, and continuously acquire the obstacle information by using the area sensor during the process of moving around the obstacle to obtain the complete information of the obstacle, and mark the complete information of the obstacle in the environment map; wherein the obstacle is an obstacle corresponding to the supplemental acquired and previously acquired obstacle information.

In the embodiment of the application, the self-mobile device can obtain the rough outline information of the obstacle according to the obstacle information detected in the normal travelling process and the obstacle information in the blind area range which is additionally acquired in the process of executing the leak repairing action, and based on the rough outline information, a second travelling path surrounding the obstacle can be planned and the self-mobile device can travel around the obstacle along the second travelling path. Further, the self-mobile device can continuously acquire obstacle information by using the area array sensor in the process of traveling around the obstacle to obtain complete information of the obstacle, and the acquired complete information of the obstacle is marked in the environment map to be used for constructing the environment map or updating the existing environment map.

In an embodiment of the present application, the implementation of planning the second travel path around the obstacle according to the supplementary acquired and previous acquired obstacle information from the mobile device is not limited, and in an alternative embodiment, the points on the acquired obstacle may be determined according to the supplementary acquired and previous acquired obstacle information, the points on the acquired obstacle may be expanded, the boundary profile of the obstacle may be determined based on the points on the expanded obstacle, and the second travel path around the obstacle may be planned according to the boundary profile. For example, taking the case of supplementing the obstacle information in the range of the acquisition blind area by using the self-mobile device in a differential rotation mode, the self-mobile device determines points on the acquired obstacle according to the acquired and previous acquired obstacle information, expands the points on the acquired obstacle, and determines the boundary profile of the obstacle based on the points on the expanded obstacle; further, a second travel path is planned from the mobile device according to the determined boundary contour of the obstacle, and travel is continued along the second travel path.

In the embodiment of the application, the mode of planning the second travel path around the obstacle by the self-mobile device is not limited, the self-mobile device can plan the second travel path first and then travel along the planned second travel path, and the second travel path can be planned while traveling, so that excessive limitation is not required. In the embodiment of the application, the direction of selecting the second traveling path from the mobile device is not limited either, the mobile device can determine that the side of the boundary of the obstacle is detected for the first time as the direction of the second traveling path, or after the boundary of the two sides of the obstacle is detected through the leak repairing action, one side is selected as the direction of the second traveling path, or according to the environmental information around the boundary of the two sides of the obstacle, one side which is easier to bypass the obstacle is selected as the direction of the second traveling path, and the limitation is not excessively performed.

Further, in order to ensure that the self-mobile device does not collide with the obstacle in the process of going around the obstacle in the edge mode, the self-mobile device can continuously detect the obstacle by using the area array sensor in the process of going, and a second running path planned by taking the boundary outline of the obstacle as a reference is updated at any time according to detected obstacle information, so that the running direction is adjusted. When the mobile equipment moves to the end and the obstacle information cannot be detected in the forward direction of the mobile equipment, the mobile equipment can continue to execute the leakage repairing action to guide the detection of the obstacle information, and a second planned travel path taking the boundary outline of the obstacle as a reference is updated according to the detected obstacle information, so that a new second travel path is obtained; further, the self-moving device can adjust the direction according to the updated second travelling path, achieve the purpose of travelling around the obstacle, and continue travelling along the obstacle in the right-edge mode or the left-edge mode adopted in the previous travelling; when the other end of the obstacle is reached, the direction can be adjusted in the same way, and the travel along the obstacle in the right edge mode or the left edge mode adopted in the previous travel is continued until the starting point of the travel along the second travel path is reached, so that the obstacle is surrounded. Further, after the mobile device travels around the obstacle along the second travel path for one circle, complete obstacle information can be acquired, an environment map can be constructed based on the acquired complete obstacle information, or an existing environment map can be updated, so that a foundation is provided for subsequent operation and obstacle avoidance.

Scene example 3:

in this embodiment of the scene, taking the case that the self-moving device is a sweeping robot, the sweeping robot is provided with an area array sensor. When the sweeping robot executes a sweeping task, the area array sensor can be used for collecting obstacle information in the forward direction, and obstacle avoidance is performed based on the collected obstacle information. The process of the sweeping robot performing the sweeping task will be described with reference to fig. 4 a.

As shown in fig. 4a, the process of the sweeping robot performing the sweeping task includes:

step 41a, when the sweeping robot receives the sweeping command, the sweeping robot starts to execute the sweeping task.

Step 42a, collecting obstacle information in the forward direction by using the area array sensor in the process of executing the cleaning task.

Step 43a, when it is detected that there is an obstacle in the forward direction thereof, the sweeping robot may travel at a reduced speed to a second position near the first side of the obstacle, and adjust the traveling direction at the second position to travel along the first side of the obstacle.

And 44a, executing a leakage repairing action to supplement and collect the obstacle information on the second side of the obstacle when the robot moves to a first position where the obstacle information of the first side cannot be collected along the first side of the obstacle, wherein the second side is in the blind area range of the area array sensor.

Step 45a, a first travel path of the obstacle is bypassed based on point plans on the obstacle acquired before and after the leakage repairing action, the robot travels along the first travel path, and obstacle information on the travel path is continuously acquired by using an area array sensor, so that whether the robot bypasses the obstacle is judged.

Step 46a, if an obstacle is detected in the forward direction of the sweeping robot, continuing to travel along the first travel path until no obstacle is detected, i.e. bypassing the obstacle, and continuing to perform the sweeping task.

In this embodiment, the sweeping robot may perform a sweeping task after receiving a sweeping instruction, and continuously detect whether an obstacle exists in a forward direction of the sweeping robot by using the area array sensor during the sweeping task, and when the obstacle is detected in the forward direction of the sweeping robot, the sweeping robot may travel to a second position near a first side of the obstacle, where a distance from the second position to the first side is slightly greater than or equal to a sum of an obstacle avoidance distance and a blind area distance, that is, is outside a blind area range of the area array sensor; further, the sweeping robot may adjust the traveling square at the second position to travel along the first side of the obstacle, and perform a leak repairing action for the blind area range of the area array sensor when traveling to the first position where the obstacle information of the first side is not acquired, so that the second side of the obstacle is within the field of view of the area array sensor. In this embodiment, the mode of the floor sweeping robot for performing the leak repairing action is not limited, the floor sweeping robot may use any leak repairing action mode in the above embodiment to supplement and collect the obstacle information in the area sensor blind area range, and the specific process of performing the leak repairing action may refer to the above embodiment and will not be described herein.

Further, the robot for sweeping the floor can confirm the point on the obstacle according to the supplementary collected and previous collected obstacle information, expand the point on the collected obstacle, confirm the boundary outline of the obstacle based on the point on the obstacle after expansion. Further, according to the boundary profile, the sweeping robot may plan the first travel path around the obstacle, and for the specific manner of expanding and planning the first travel path based on the point on the obstacle, reference may be made to the content of the above embodiment, which is not repeated here.

Further, the sweeping robot can travel along the first travel path after determining the travel direction, and continuously detect obstacle information by using the area array sensor in the travel process so as to judge whether the sweeping robot bypasses the obstacle. The distance between the first travelling path along which the sweeping robot travels and the obstacle is smaller than the effective range of the sweeping robot, so that the sweeping robot can continuously detect the obstacle in the travelling process. When the sweeping robot travels to the boundary of the obstacle and no obstacle information is detected in the forward direction of the sweeping robot, the distance between the sweeping robot and the obstacle is beyond the effective range of the sweeping robot, namely the sweeping robot bypasses the obstacle at the moment. Further, the sweeping robot can continue to travel in the forward direction, and the sweeping task is executed. If the sweeping robot can continuously detect the obstacle in the running process, the obstacle is still in the effective range of the sweeping robot, namely the sweeping robot does not bypass the obstacle yet. Thus, the sweeping robot may continue to travel along the first travel path and continue to detect the obstacle until no obstacle is detected in its forward direction, i.e. the sweeping robot has reached the obstacle boundary and bypassed the obstacle. Further, the sweeping robot can continue to travel in the forward direction, and the sweeping task is performed.

Scene example 4:

in this embodiment of the scene, taking the case that the self-moving device is a sweeping robot, the sweeping robot is provided with an area array sensor. The robot can utilize the area array sensor to gather the obstacle information in the forward direction in the process of executing the cleaning task, and on the one hand, the robot can avoid the obstacle based on the collected obstacle information, and on the other hand, the robot can also construct the environment map according to the collected obstacle information under the condition that the environment map is not constructed or the obstacle information does not exist on the environment map. The process of constructing an environment map while the sweeping robot performs the sweeping task will be described with reference to fig. 4 b.

As shown in fig. 4b, the process of constructing an environment map while the sweeping robot performs a sweeping task includes:

step 41b, when the sweeping robot receives the sweeping command, the sweeping robot starts to execute the sweeping task.

Step 42b, collecting obstacle information in the forward direction by using the area array sensor in the process of executing the cleaning task.

43b, when an obstacle is detected to exist in the forward direction, the sweeping robot judges whether the distance between the current position and the obstacle is far greater than the sum of the blind area distance and the obstacle avoidance distance corresponding to the self-moving equipment; if the distance is far greater than the sum of the dead zone distance and the obstacle avoidance distance, the robot is far away from the obstacle; if the distance is smaller than the blind area distance, the robot is close to the obstacle.

Step 44b, decelerating to a second position close to the first side of the obstacle when the sweeping robot is far away from the obstacle, backing to the second position close to the first side of the obstacle when the sweeping robot is close to the obstacle, and adjusting the traveling direction at the second position to travel along the first side of the obstacle; the distance from the second position to the first side surface is slightly greater than or equal to the sum of the obstacle avoidance distance and the blind area distance.

And 45b, executing a leakage repairing action when the robot moves to a first position where the obstacle information on the first side cannot be acquired along the first side of the obstacle, so as to supplement points of the acquired obstacle in the blind area range of the area array sensor before executing the leakage repairing action, and planning a second moving path around the obstacle based on the points on the obstacle acquired before and after the leakage repairing action.

Step 44b, the sweeping robot travels along the second travelling path, and continuously detects the obstacle by using the area array sensor, so as to judge whether the sweeping robot winds around the obstacle or collides with other obstacles.

Step 47b, if the robot has not completed winding the obstacle and has not touched other obstacle information, determining whether the robot has traveled to a boundary point (i.e., a dead end) of the second travel path; if yes, go to step 45b again; if not, go to step 48b.

Step 48b, continuing to travel along the second travel path until the obstacle is completed or other obstacles are bumped, and then entering step 49b.

Step 49b, performing obstacle recognition based on the obstacle information acquired by surrounding the obstacle and constructing an environment map under the condition that the robot bypasses the obstacle or collides with other obstacles.

Step 410b, after the robot winds around the obstacle, the cleaning task may be continuously executed until the cleaning task is executed.

In this embodiment, the sweeping robot may perform a sweeping task after receiving a sweeping instruction, and continuously detect whether an obstacle exists in a forward direction thereof by using the area array sensor during the sweeping task. When an obstacle is detected in the forward direction thereof, the sweeping robot judges the distance between the current position and the obstacle. If the sweeping robot judges that the current position is far away from the obstacle, the current position is unsuitable for collecting obstacle information or the effect of collecting the obstacle information is poor, and the sweeping robot can travel to a second position close to the first side surface of the obstacle in a decelerating manner; if the sweeping robot judges that the current position is very close to the obstacle, the sweeping robot at the current position can not acquire the obstacle information or has poor effect of acquiring the obstacle information, and can retreat to a second position close to the first side surface of the obstacle; the distance from the second position to the first side surface is slightly larger than or equal to the sum of the obstacle avoidance distance and the blind area distance, namely, the proper position corresponding to the acquired obstacle information. Further, the traveling direction may be adjusted at the second position to travel along the first side of the obstacle, and the area array sensor is used to continuously collect the obstacle information on the first side during traveling until the traveling is performed to the first position where the obstacle information on the first side cannot be collected, the leak repairing action is performed to supplement the point of the collected obstacle in the area array sensor blind area range before the leak repairing action is performed, and a second traveling path around the obstacle is planned based on the point of the collected obstacle before and after the leak repairing action.

In this embodiment, the mode of the sweeping robot to perform the leakage repairing action is not limited, the sweeping robot may use any leakage repairing action mode in the above embodiment to supplement and collect the obstacle information in the area sensor blind area range, and the specific process of performing the leakage repairing action may refer to the above embodiment and will not be described herein.

Further, the robot for sweeping the floor can obtain rough outline information of the obstacle according to the acquired and the acquired obstacle information, expand the points on the acquired obstacle, and determine the boundary outline of the obstacle based on the points on the expanded obstacle. Further, according to the boundary profile, the sweeping robot may plan the second travel path around the obstacle, and for a specific manner of expanding and planning the second travel path based on the point on the obstacle, reference may be made to the above-mentioned embodiments, which will not be repeated herein.

Further, the sweeping robot can travel along the second travel path and continuously detect obstacle information by using the area array sensor in the travel process so as to judge whether the sweeping robot winds up the obstacle. In the process of the travel of the sweeping robot, if the obstacle can be continuously detected in the forward direction of the sweeping robot, the sweeping robot is not wound around the obstacle, so the sweeping robot continues to travel along the second travel track, and the area array sensor is used for continuously detecting the obstacle. If no obstacle is detected in the forward direction of the robot during the travel of the robot along the second travel path, the robot is said to have reached the obstacle boundary at this time, and the obstacle is considered to have been wound. In the process, the sweeping robot can also judge whether the robot travels to the boundary point of the second path, if the obstacle is not wound at the boundary point of the second path, the robot can execute the leakage repairing action again, and re-plan the new second travel path, continue to travel along the new second travel path until the obstacle is wound, obtain complete obstacle information, and construct an environment map based on the complete obstacle information.

Here, the present embodiment is not limited to the execution sequence of steps 49b and 410b, for example, after the obstacle is wound, the cleaning task may be continuously executed until the cleaning task is completed, and then the environment map may be constructed or updated according to the collected complete obstacle information; or after the obstacle is wound, constructing or updating an environment map according to the complete obstacle information, and continuing to execute the cleaning task after constructing or updating the environment map; or after the obstacle is wound, continuing to execute the cleaning task, and constructing or updating the environment map according to the acquired complete obstacle information.

Further, if the robot collides with other obstacles in the travelling process, the obstacle can be detected and information of the obstacle can be acquired, and then an environment map is constructed based on the information of the obstacle acquired by surrounding the obstacle and the information of the object acquired by detecting other obstacles, so that a foundation is provided for executing work tasks and avoiding the obstacle subsequently. In the embodiment, the detection mode of the sweeping robot after hitting other obstacles in the process of going around the obstacles is not limited, and the sweeping robot can flexibly process according to specific working environments. For example, in the case where the working environment is relatively wide, the robot for sweeping floor may detect other obstacles around after traveling around the current obstacle is completed; the method can also detect other obstacles in a surrounding way under the condition of colliding with other obstacles, and then continue to detect the previous obstacle in a surrounding way; it is also possible to detect an obstacle in the event of a collision with another obstacle and to bypass the obstacle in dependence on the detection result. Or under the condition that the working environment is relatively narrow, if the sweeping robot cannot continue to travel after colliding with other obstacles in the process of traveling around the current obstacle, an alarm can be sent to a user. For example, by flashing an indicator light, buzzing an alarm, outputting voice, sending a prompt message to a user terminal, etc. Further, after the robot detects the obstacle information, the robot can continue to execute the cleaning task until the task is finished.

In the embodiment of the application, the self-mobile device can acquire the barrier information on the first side by using the area array sensor in the process of travelling along the first side of the barrier, and when travelling to the condition that no barrier information can be acquired, the self-mobile device can execute the leakage repairing action at the current position to supplement and acquire the barrier information in the blind area range of the area array sensor, namely supplement and acquire the barrier information on the second side adjacent to the first side, so that the self-mobile device can detect richer and more accurate environmental information in the process of executing the task, and the barrier information is prevented from being missed. Furthermore, according to the detected obstacle information, obstacle avoidance and environment map construction can be realized, and a foundation is provided for subsequent execution of work tasks and obstacle avoidance.

It should be noted that, the above embodiment is described by taking the case of setting the area array sensor on the self-mobile device as an example, however, the embodiment of the present application may also be applied to the self-mobile device with other types of sensors, and based on this, the embodiment of the present application further provides an environmental information collection method, where the method is applied to the self-mobile device, and the type of the sensor used by the self-mobile device is not limited. Fig. 4c is a flowchart of the environmental information collection method, as shown in fig. 4c, the method includes:

S1c, controlling the self-mobile device to travel along a first side surface of the obstacle, and acquiring obstacle information on the first side surface by using a sensor arranged in the traveling direction until the self-mobile device travels to a first position where the obstacle information on the first side surface cannot be acquired;

s2c, executing a leak repairing action at the first position so that a second side surface of the barrier falls into the field of view of the sensor, wherein the second side surface is adjacent to the first side surface;

and S3c, controlling the self-mobile device to continue to travel along the second side surface, and continuously acquiring obstacle information on the second side surface by using the sensor.

For specific processes of how the self-mobile device collects the obstacle information by using the sensor, performs the leak repairing action for the blind area range, and how to avoid the obstacle and plan the path according to the collected obstacle information, refer to the content of the above embodiments, and will not be described herein again.

It should be noted that, the execution subjects of each step of the method provided in the above embodiment may be the same device, or the method may also be executed by different devices. For example, the execution subject of step S1 to step S3 may be the device a; for another example, the execution subject of step S1 may be device a, and the execution subjects of step S2 and step S3 may be device B; etc.

In addition, in some of the flows described in the above embodiments and the drawings, a plurality of operations appearing in a specific order are included, but it should be clearly understood that the operations may be performed out of the order in which they appear herein or performed in parallel, the sequence numbers of the operations such as 41a, 41b, etc. are merely used to distinguish between the various operations, and the sequence numbers themselves do not represent any order of execution. In addition, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that, the descriptions of "first" and "second" herein are used to distinguish different messages, devices, modules, etc., and do not represent a sequence, and are not limited to the "first" and the "second" being different types.

Fig. 5 is a schematic structural diagram of a self-mobile device according to an embodiment of the present application. The self-moving device provided by the embodiment of the application can be any mechanical device capable of moving autonomously in the environment where the self-moving device is located, for example, a robot, a purifier, an unmanned vehicle and the like. The robots may include a floor sweeping robot, a glass wiping robot, a home accompanying robot, a greeting robot, an autonomous service robot, and the like.

As shown in fig. 5, the self-mobile device includes: the device body is provided with a processor 51, a memory 52 storing computer instructions and an area sensor 53. The processor 51 and the memory 52 may be one or more, and may be disposed inside the device body or on the surface of the device body; the area sensor 53 is provided on the side of the apparatus body corresponding to the traveling direction of the self-moving apparatus.

The device body is an actuator of the self-mobile device, and can perform operations specified by the processor 51 in a certain environment. The equipment body embodies the appearance form of the self-mobile equipment to a certain extent.

The memory 52 is mainly used for storing computer programs, and the computer programs can be executed by the processor 51, so that the processor 51 controls the self-mobile device to realize corresponding functions and complete corresponding actions or tasks. In addition to storing computer programs, the memory 52 may also be configured to store various other data to support operations on the self-mobile device. Examples of such data include instructions for any application or method operating on the self-mobile device, an environment map corresponding to the environment in which the self-mobile device is located. The environment map may be one or more maps corresponding to the whole environment stored in advance, or may be a partial map which is being constructed previously.

The memory 52 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.

In the embodiment of the present application, the implementation form of the processor 51 is not limited, and may be, for example, but not limited to, a CPU, GPU, MCU, or the like. The processor 51, which may be regarded as a control system of the self-mobile device, may be used to execute a computer program stored in the memory 52 for controlling the self-mobile device to perform the respective functions, to perform the respective actions or tasks. It should be noted that, depending on the implementation form of the self-mobile device and the scene in which the self-mobile device is located, the functions, actions or tasks to be implemented and completed will be different; accordingly, the computer programs stored in the memory 52 may also vary, and execution of the different computer programs by the processor 51 may control the self-mobile device to perform different functions, perform different actions or tasks.

An area sensor 53 for acquiring environmental information in a traveling direction during traveling from the mobile device, and detecting an obstacle in the traveling direction and acquiring obstacle information.

In some alternative embodiments, as shown in fig. 5, the self-mobile device may further comprise: communication assembly 55, power assembly 56, and drive assembly 57. Only some of the components are schematically shown in fig. 5 and are not meant to be included in the self-mobile device. The drive assembly 57 may include, among other things, drive wheels, drive motors, universal wheels, and the like. Further optionally, the self-mobile device may further include other components such as a display 53 and an audio component 57, which components are included in the actual application, depending on the product form of the self-mobile device, for different application requirements. If the self-moving device is a sweeping robot, the self-moving device may further include a dust collection tub, a floor brush assembly, etc., which will not be described here.

In this embodiment, the self-moving device can move autonomously and can complete a certain job task on the basis of autonomous movement under the control of the processor 51. For example, in shopping scenarios such as supermarkets, malls, etc., the shopping cart robot needs to follow the movement of the customer to accommodate the merchandise selected by the customer. As another example, in some corporate warehouse sorting scenarios, a sorting robot needs to follow a sorting person to move to a rack pick area and then begin sorting order items. For another example, in a home sweeping scene, the sweeping robot needs to sweep areas such as living rooms, bedrooms, kitchens, and the like. In these application scenarios, the self-mobile device needs to rely on ambient information for autonomous movement.

In an embodiment of the present application, when the processor 51 executes the computer program in the memory 52, it is used to: controlling the self-moving device to travel along the first side surface of the obstacle, and acquiring the obstacle information on the first side surface by using the area array sensor arranged in the traveling direction until the self-moving device travels to a first position where the obstacle information on the first side surface cannot be acquired; at the first position, controlling the self-moving equipment to execute a leak repairing action so that a second side surface of the obstacle falls into the visual field range of the area array sensor, wherein the second side surface is adjacent to the first side surface; the self-moving device is controlled to continue to travel along the second side surface, and obstacle information on the second side surface is collected by the area array sensor.

In an alternative embodiment, the processor 51 is further configured to, prior to controlling the self-moving device to travel along the first side of the obstacle: acquiring obstacle information in a front area by using an area array sensor in a current travelling direction, wherein the obstacle information comprises a first side surface of an obstacle; at a second position of travel from the mobile device to near the first side, control adjusts a direction of travel from the mobile device to travel along the first side of the obstacle.

In an alternative embodiment, the processor 51 is configured to, when controlling the self-moving device to adjust the direction of travel at the second location of travel proximate the first side: determining a second position close to the first side according to the obstacle avoidance distance and the blind area distance corresponding to the self-moving equipment, wherein the distance from the second position to the first side is larger than or equal to the sum of the obstacle avoidance distance and the blind area distance; at the second position, control adjusts the direction of travel from the mobile device to either an extension line or a tangential direction of the first side to travel along the first side of the obstacle.

In an alternative embodiment, processor 51, when controlling the self-mobile device to perform the leak repairing action at the first location, is configured to: controlling the self-moving device to move from the first position to a third position in a direction away from the first side; and performing a leak repairing action at the third position so that the second side surface of the obstacle falls into the field of view of the area array sensor.

In an alternative embodiment, the processor 51 is configured to, when controlling the movement from the first position to the third position in a direction away from the first side from the mobile device: and controlling the self-moving device to move from the first position to the third position in a direction away from the first side under the condition that the distance from the first position to the first side is smaller than the corresponding blind area distance of the self-moving device.

In an alternative embodiment, the processor 51 is configured to, when controlling the movement from the first position to the third position in a direction away from the first side from the mobile device: the control device adjusts the traveling direction at the first position to face the first side or the extension line thereof, and controls the control device to retreat from the mobile device to the third position along the opposite direction of the adjusted traveling direction.

In an alternative embodiment, processor 51 is further configured to: and under the condition that the distance from the first position to the first side surface is larger than the blind area distance corresponding to the self-moving equipment, controlling the self-moving equipment to execute the leak repairing action at the first position so as to enable the second side surface of the obstacle to fall into the visual field range of the area array sensor.

In an alternative embodiment, processor 51 controls the self-mobile device to perform a leak repairing action at the first location or the third location for: controlling the self-moving device to perform in-situ rotation at the first position or the third position; alternatively, the self-moving device is controlled to perform differential rotation at the first position or the third position; or, controlling the self-mobile device to move in a plurality of directions at the first position or the third position; alternatively, the self-moving device is controlled to move in another direction different from the current traveling direction at the first position or the third position.

In an alternative embodiment, processor 51 controls the self-moving device to continue traveling along the second side for: determining the position information of the second side according to the barrier information on the second side acquired in the process of executing the leak repairing action; according to the obstacle avoidance distance and the blind area distance corresponding to the self-moving equipment, controlling the self-moving equipment to move from the position where the self-moving equipment performs the leak repairing action to a fourth position, and starting to move along the second side surface from the fourth position; the distance from the position where the leak repairing action is executed to the second side surface is larger than the distance from the fourth position to the second side surface and is larger than or equal to the sum of the obstacle avoidance distance and the blind area distance corresponding to the self-moving equipment, and the distance from the fourth position to the second side surface is larger than or equal to the blind area distance corresponding to the self-moving equipment.

In an alternative embodiment, processor 51 controls travel from the mobile device along a first side of the obstacle and collects obstacle information on the first side using an area array sensor disposed in the direction of travel until traveling to a first location where obstacle information on the first side cannot be collected, for: controlling the self-moving device to travel along a first side of the obstacle, and acquiring obstacle information on the first side by using an area array sensor arranged in the traveling direction; when the end position of the first side is identified according to the acquired obstacle information on the first side, the first side continues to move forwards for a specified distance until the first position is reached.

In an alternative embodiment, processor 51 is further configured to: controlling the self-mobile equipment to avoid barriers according to the barrier information acquired by executing the leakage repairing action and acquired before; and/or constructing an environment map according to the barrier information acquired by executing the leak repairing action and acquired before.

In an alternative embodiment, the processor 51 controls the self-mobile device to avoid the obstacle according to the obstacle information acquired by executing the leak repairing action and acquired before, for: controlling the self-mobile equipment to plan a first travel path for bypassing the obstacle according to the acquired and previously acquired obstacle information for executing the leakage repairing action, and continuing to travel along the first travel path until bypassing the obstacle; wherein the obstacle is an obstacle corresponding to the acquired and previously acquired obstacle information for executing the leak repairing action.

In an alternative embodiment, processor 51 controls the self-mobile device to plan a first travel path around the obstacle based on the acquired and previously acquired obstacle information to perform the leak repairing action for: controlling the self-mobile equipment to determine the points on the acquired obstacle according to the acquired obstacle information and the acquired obstacle information before executing the leakage repairing action; expanding the acquired points on the obstacle, and determining the boundary contour of the obstacle based on the expanded points on the obstacle; a first travel path is planned to bypass the obstacle according to the boundary profile.

In an alternative embodiment, processor 51 controls the self-mobile device to construct an environment map from the acquired and previously acquired obstacle information to perform the leak repairing action for: controlling the self-moving equipment to plan a second travelling path which moves around the obstacle according to the information of the obstacle acquired by executing the leakage repairing action and acquired before, and moving around the obstacle along the second travelling path; continuously acquiring obstacle information by using an area array sensor in the process of moving around the obstacle to obtain complete information of the obstacle, and marking the complete information of the obstacle in an environment map; wherein the obstacle is an obstacle corresponding to the acquired and previously acquired obstacle information for executing the leak repairing action.

In an alternative embodiment, processor 51 controls the self-moving device to plan a second travel path around the obstacle based on the acquired and previously acquired obstacle information for performing the leak repairing action for: controlling the self-mobile equipment to determine the points on the acquired obstacle according to the acquired obstacle information and the acquired obstacle information before executing the leakage repairing action; expanding the acquired points on the obstacle, and determining the boundary contour of the obstacle based on the expanded points on the obstacle; a second path of travel around the obstacle is determined based on the boundary profile and the edge mode of the self-moving device.

Accordingly, embodiments of the present application also provide a computer-readable storage medium storing a computer program, which when executed by a processor causes the processor to implement the steps of the method embodiments described above.

The communication assembly of the above embodiments is configured to facilitate communication between the device in which the communication assembly is located and other devices, either in a wired or wireless manner. The device where the communication component is located can access a wireless network based on a communication standard, such as a mobile communication network of WiFi,2G, 3G, 4G/LTE, 5G, etc., or a combination thereof. In one exemplary embodiment, the communication component receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communication component may further include a Near Field Communication (NFC) module, radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and the like.

The display of the above embodiment includes a screen, which may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may sense not only the boundary of a touch or sliding action, but also the duration and pressure associated with the touch or sliding operation.

The power supply assembly of the above embodiment provides power for various components of the device in which the power supply assembly is located. The power components may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for the devices in which the power components are located.

The audio component of the above embodiments may be configured to output and/or input audio signals. For example, the audio component includes a Microphone (MIC) configured to receive external audio signals when the device in which the audio component is located is in an operational mode, such as a call mode, a recording mode, and a speech recognition mode. The received audio signal may be further stored in a memory or transmitted via a communication component. In some embodiments, the audio assembly further comprises a speaker for outputting audio signals.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.

Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.

The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.

Claims

1. An environmental information collection method, which is suitable for a self-mobile device, is characterized by comprising the following steps:

controlling the self-moving device to travel along the first side surface of the obstacle, and acquiring the obstacle information on the first side surface by using the area array sensor arranged in the traveling direction until the self-moving device travels to a first position where the obstacle information on the first side surface cannot be acquired;

Executing a leak repairing action at the first position so that a second side surface of the barrier falls into the visual field range of the area array sensor, wherein the second side surface is adjacent to the first side surface;

and controlling the self-moving equipment to continue to travel along the second side surface, and continuously acquiring obstacle information on the second side surface by utilizing the area array sensor.

2. The method of claim 1, further comprising, prior to traveling along the first side of the obstacle:

acquiring obstacle information in a front area by using an area array sensor in a current travelling direction, wherein the obstacle information comprises a first side surface of an obstacle;

the travel direction is adjusted to travel along the first side of the obstacle at a second location of travel proximate the first side.

3. The method of claim 2, wherein adjusting the travel direction to travel along the first side of the obstacle at the second location of travel to near the first side comprises:

determining a second position close to the first side according to the obstacle avoidance distance and the blind area distance corresponding to the self-moving equipment, wherein the distance from the second position to the first side is greater than or equal to the sum of the obstacle avoidance distance and the blind area distance;

At the second position, the traveling direction is adjusted to any extending line or tangential direction of the first side surface so as to travel along the first side surface of the obstacle.

4. The method of claim 1, wherein performing a leak repairing action at the first location to bring the second side of the obstacle into view of the area array sensor comprises:

controlling the self-moving device to move from the first position to a third position in a direction away from the first side;

and executing the leak repairing action at the third position so that the second side surface of the obstacle falls into the field of view of the area array sensor.

5. The method of claim 4, wherein controlling the movement of the self-moving device from the first position to a third position in a direction away from the first side comprises:

and controlling the self-moving device to move from the first position to a third position in a direction away from the first side under the condition that the distance from the first position to the first side is smaller than the dead zone distance corresponding to the self-moving device.

6. The method of claim 4 or 5, wherein controlling the movement of the self-moving device from the first position to a third position in a direction away from the first side comprises:

Controlling the self-moving device to adjust the travelling direction at the first position to face the first side surface or the extending line thereof, and controlling the self-moving device to retreat to the third position along the opposite direction of the adjusted travelling direction.

7. The method as recited in claim 5, further comprising:

and under the condition that the distance from the first position to the first side surface is larger than the blind area distance corresponding to the self-moving equipment, executing a leak repairing action at the first position so as to enable the second side surface of the obstacle to fall into the visual field range of the area array sensor.

8. The method of claim 7, wherein performing the leak repairing action at the first location or the third location comprises:

the self-moving device performs in-situ rotation at the first position or a third position; or,

the self-moving device performs differential rotation at the first position or a third position; or,

the self-moving device moving in a plurality of directions at the first or third position; or,

the self-moving device moves in the first position or the third position in another direction different from the current traveling direction.

9. The method of claim 4 or 7, wherein controlling the self-moving device to continue traveling along the second side comprises:

determining the position information of the second side according to the barrier information on the second side acquired in the process of executing the leak repairing action;

according to the obstacle avoidance distance and the blind area distance corresponding to the self-moving equipment, controlling the self-moving equipment to move from the position where the self-moving equipment performs the leak repairing action to a fourth position, and starting to move along the second side surface from the fourth position;

the distance from the position for executing the leak repairing action to the second side surface is larger than the distance from the fourth position to the second side surface and is larger than or equal to the sum of the obstacle avoidance distance and the blind area distance corresponding to the self-moving equipment, and the distance from the fourth position to the second side surface is larger than or equal to the blind area distance corresponding to the self-moving equipment.

10. The method of claim 9, wherein controlling travel from the mobile device along a first side of the obstacle and collecting obstacle information on the first side using an area array sensor disposed in a direction of travel until traveling to a first location where obstacle information on the first side cannot be collected comprises:

Controlling the self-moving device to travel along a first side of the obstacle, and acquiring obstacle information on the first side by using an area array sensor arranged in the traveling direction;

and when the end position of the first side is identified according to the acquired obstacle information on the first side, continuing to move forwards for a specified distance until the first position is reached.

11. The method as recited in claim 9, further comprising:

planning a first travel path bypassing the obstacle according to the acquired and previously acquired obstacle information of executing the leakage repairing action, and continuing to travel along the first travel path until bypassing the obstacle;

wherein the obstacle is an obstacle corresponding to the acquired and previously acquired obstacle information of the execution of the leak repairing action.

12. The method as recited in claim 9, further comprising:

planning a second travelling path which moves around the obstacle according to the information of the obstacle acquired by executing the leakage repairing action and acquired before, and moving around the obstacle along the second travelling path; and

continuously acquiring obstacle information by using the area array sensor in the process of moving around the obstacle to obtain complete information of the obstacle, and marking the complete information of the obstacle in an environment map;

The obstacle is an obstacle corresponding to the obstacle information acquired by the execution of the leak repairing action and acquired before.

13. An environmental information collection method, which is suitable for a self-mobile device, is characterized by comprising the following steps:

controlling the self-moving device to travel along the first side surface of the obstacle, and acquiring the obstacle information on the first side surface by using a sensor arranged in the traveling direction until the self-moving device travels to a first position where the obstacle information on the first side surface cannot be acquired;

performing a leak repairing action at the first position so that a second side surface of the obstacle falls within the field of view of the sensor, the second side surface being adjacent to the first side surface;

and controlling the self-mobile device to continue to travel along the second side surface, and utilizing the sensor to continuously acquire obstacle information on the second side surface.

14. A self-moving device, comprising: the equipment body comprises a processor and a memory storing a computer program, and an area array sensor is arranged on the side wall of the equipment body in the corresponding advancing direction;

the processor is configured to execute the computer program for:

Controlling the self-moving equipment to travel along the first side surface of the obstacle, and acquiring the obstacle information on the first side surface by utilizing the area array sensor until the self-moving equipment travels to a first position where the obstacle information on the first side surface cannot be acquired;

and controlling the self-moving device to continue to travel along the second side surface, and continuously acquiring obstacle information on the second side surface by using the area array sensor.

15. The self-moving device of claim 14, wherein the processor controls the self-moving device to perform a leak repairing action at the first location such that the second side of the obstacle falls within a field of view of the area array sensor for:

16. The self-moving device of claim 15, wherein controlling the movement of the self-moving device from the first position to a third position in a direction away from the first side comprises:

17. A self-moving device according to claim 15 or 16, wherein the processor controls the self-moving device to move from the first position to a third position in a direction away from the first side for:

18. The self-mobile device of claim 16, wherein the processor is further configured to:

and under the condition that the distance from the first position to the first side surface is larger than the dead zone distance corresponding to the self-moving equipment, controlling the self-moving equipment to execute the leak repairing action at the first position so as to enable the second side surface of the obstacle to fall into the visual field range of the area array sensor.

19. The self-mobile device of claim 15 or 18, wherein the processor controls the self-mobile device to continue traveling along the second side, comprising:

the distance from the position for executing the leak repairing action to the second side surface is larger than the distance from the fourth position to the second side surface and is larger than or equal to the sum of the obstacle avoidance distance and the blind area distance corresponding to the self-moving equipment, and the distance from the fourth position to the second side surface is larger than or equal to the obstacle avoidance distance corresponding to the self-moving equipment.

20. The self-moving device of claim 19, wherein the processor controlling the self-moving device to travel along a first side of the obstacle and to collect obstacle information on the first side using an area array sensor disposed in a direction of travel until traveling to a first location where obstacle information on the first side cannot be collected comprises:

21. A computer readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, causes the processor to perform the steps of the method of any of claims 1-13.