Detection method, mobile robot and storage medium

A detection method, applied to a mobile robot to detect a region environment for drawing a region environment map, wherein the mobile robot is provided with a detection sensor, the region environment map is gradually expanded by a combination of detection of the detection sensor and a behavior path of the mobile robot until an entire region environment map is finally generated, wherein a region detected by the detection sensor is a detected region, a region not detected by the detection sensor is an undetected region;

• the method comprises:
• step S1, obtaining a first region environment map through the detection sensor detecting the region environment, the first region environment map comprising an outer contour of a region environment currently detectable by the mobile robot and the undetected region, the outer contour comprising obstacles around the region environment, the obstacles representing a wall around the region environment, an obstacle placed against the wall and a free obstacle, the free obstacle being an obstacle that is less than or equal to a body width of the mobile robot from any other obstacle on the outer contour of the region environment;
• step S2, determining a detection target point based on the first region environment map, the detection target point being a position needed to be detected by the mobile robot, generating a first detection path based on the detection target point, the first detection path being configured for guiding the mobile robot to move, the first detection path comprising a start point of the first detection path and an end point of the first detection path, the start point of the first detection path being a current position of the mobile robot when detecting the first region environment map, a distance between the end point of the first detection path and the detection target point not exceeding a detection range of the detection sensor;
• step S3, during a movement of the mobile robot according to the first detection path, obtaining a second region environment map through the detection sensor detecting the region environment, the second region environment map comprising an outer contour of a region environment detected by the mobile robot during the movement and the outer contour of the first region environment map;
• and
• step S4, in response to detecting that path detection executed by the mobile robot is over, taking the end point of the first detection path as a start point of a second detection path and generating the second detection path based on the second region environment map, determining a third region environment map according to the second detection path, the third region environment map comprising an outer contour of a region environment detected by the mobile robot during a movement according to the second detection path and an outer contour of the second region environment map, loop executing an operation of determining a region environment map until the mobile robot detects that the entire region environment map is drawn;
• wherein the mobile robot is configured to move along the outer contour while keeping a certain distance from the outer contour and/or move along an edge of the outer contour when moving according to the detection path generated based on any one of region environment maps.