Distance measurement method and device, and robot and storage medium

A robot, comprising a processor and a memory, wherein the memory stores computer program instructions executable by the processor, and the processor, when executing the computer program instructions, implements a distance measurement method, comprising steps of:

• acquiring a first image, wherein the first image at least comprises a to-be-detected object and a ground on which the to-be-detected object is located;
• determining an initial constraint condition of the ground based on the first image;
• acquiring a second image, wherein the second image at least comprises an intersection line of a line structured light beam with at least one of the ground and the to-be-detected object;
• determining a position parameter of the ground based on the second image, and correcting the initial constraint condition of the ground based on the position parameter;
• and
• determining a distance to the to-be-detected object based on the corrected initial constraint condition of the ground and the first image;
• wherein, before the step of acquiring the second image, the method comprises a step of:
• emitting at least one surface-scanning light beam that is not parallel to the ground by a line structured light source, the surface-scanning light beam forming at least one intersection line with the ground.

A non-transitory computer-readable storage medium having computer program instructions stored thereon, wherein the computer program instructions, when called and executed by a processor, implement a distance measurement method, comprising steps of:

• acquiring a first image, wherein the first image at least comprises a to-be-detected object and a ground on which the to-be-detected object is located;
• determining an initial constraint condition of the ground based on the first image;
• acquiring a second image, wherein the second image at least comprises an intersection line of a line structured light beam with at least one of the ground and the to-be-detected object;
• determining a position parameter of the ground based on the second image, and correcting the initial constraint condition of the ground based on the position parameter;
• and
• determining a distance to the to-be-detected object based on the corrected initial constraint condition of the ground and the first image;
• wherein, before the step of acquiring the second image, the method comprises a step of:
• emitting at least one surface-scanning light beam that is not parallel to the ground by a line structured light source, the surface-scanning light beam forming at least one intersection line with the ground.