Interaction method and apparatus for mobile robot, and mobile robot and storage medium

An interaction method for a mobile robot, the mobile robot being provided with a projection device and an environmental perception sensor, the method comprising:

• acquiring map data information of a space where the mobile robot is located and real-time environmental perception data collected by the environmental perception sensor, wherein the real-time environmental perception data comprises real-time obstacle information and real-time indication information for indicating a road condition around the mobile robot;
• acquiring target traveling path information of the mobile robot based on the real-time obstacle information and the map data information, and determining a ground projection region according to the target traveling path information and the real-time indication information;
• acquiring a to-be-projected pattern, and determining a projection parameter corresponding to the to-be-projected pattern according to the to-be-projected pattern and the ground projection region, wherein the to-be-projected pattern is configured to indicate a traveling intention of the mobile robot;
• controlling the projection device according to the projection parameter to project the to-be-projected pattern onto the ground projection region;
• projecting the to-be-projected pattern in real time during an operating process, and acquiring an obstacle region existing on the road surface during the operating process;
• and
• detecting whether there exists an overlap region between the to-be-projected pattern and the obstacle region, adjusting the to-be-projected pattern according to the overlap region when there exists the overlap region between the to-be-projected pattern and the obstacle region, such that there is no overlap region between the to-be-projected pattern and the obstacle region;
• wherein the acquiring the obstacle region existing on the road surface during the operating process comprises:
• collecting obstacle information in real time during the operating process, and mapping pixel information corresponding to the obstacle information into a preset projection pattern;
• determining a region with a minimum area comprising all the pixel information from the projection region, and recording the region with the minimum area as the obstacle region;
• wherein the to-be-projected pattern comprises at least one of an initial to-be-projected pattern and the magnified to-be-projected pattern, the magnified to-be-projected pattern is obtained by magnifying the initial to-be-projected pattern according to a preset magnification scale, the projecting the to-be-projected pattern in real time during the operating process comprises:
• projecting the at least one of the initial to-be-projected pattern and the magnified to-be-projected pattern in the operating process;
• wherein the adjusting the to-be-projected pattern according to the overlap region comprises:
• determining two curve intersection points of an overlap to-be-projected pattern and the obstacle region in the overlap region, wherein the overlap to-be-projected pattern refers to the initial to-be-projected pattern or the magnified to-be-projected pattern;
• removing a line segment between the two curve intersection points in the overlap to-be-projected pattern, and obtaining two remaining curve segments in the overlap to-be-projected pattern after the removing of the line segment;
• determining a mid-perpendicular intersection point corresponding to a connecting line between the two curve intersection points;
• detecting a vertical distance between the mid-perpendicular intersection point and a boundary intersection point, and comparing the vertical distance to a preset distance threshold value, wherein the boundary intersection point refers to an intersection point of the mid-perpendicular and an edge of the obstacle region, and the boundary intersection point is located within the curve overlap region;
• when the vertical distance is less than or equal to the preset distance threshold value, adjusting the to-be-projected pattern according to the two remaining curve segments, the curve intersection points, and the boundary intersection point, to obtain the adjusted to-be-projected pattern, wherein there is no overlap region between the adjusted to-be-projected pattern and the obstacle region.