Environment sensing method of self-moving equipment, self-moving equipment, medium and equipment

The invention relates to the technical field of artificial intelligence, and provides an environment sensing method of a self-moving device, the self-moving device, a computer storage medium and an electronic device.The self-moving device is provided with a main depth camera, and the environment sensing method of the self-moving device comprises the steps that in the advancing process of the self-moving device, the self-moving device is provided with a main depth camera; collecting depth image data of each frame through a main depth camera; the main depth camera is configured to alternately acquire M frames of depth image data according to preset M exposure parameters in each data acquisition period; decoding each frame of depth image data to obtain each frame of point cloud corresponding to each frame of depth image data; and fusing the M frames of point clouds corresponding to each data acquisition period to obtain a first fused point cloud, and taking the first fused point cloud as the point cloud of each