Cleaning robot and controlling method thereof for avoiding barriers

Abstract

The invention relates to a cleaning robot, comprising at least a group of light emission and reception components, wherein each group of light emission and reception components comprises a light emission unit with two light emitters and a light reception unit with a light receiver, the two light emitters can emit two light beams with a large beam angle and a small beam angle respectively, the light emission area corresponding to the two light emitters and the light reception area corresponding to the light receiver are partially overlapped. As each group of light emission and reception components is provided with a first light emitter and a second light emitter which can emit light beams with different beam angles, the light receiver has higher receiving efficiency when being used for receiving the two reflected light beams from barriers, and also the robot is not influenced by texture and shape of the barriers when being used for judging whether the robot body is close to the barriers, so that the cleaning robot can well clean even in the surrounding area of the barriers when being used for cleaning.

Description

technical field [0001] The invention relates to a cleaning robot and a control method thereof. Background technique [0002] A cleaning robot is a fully intelligent cleaning device that performs the rest of the cleaning work by moving autonomously on the cleaned area without being controlled by the user. Since the cleaning robot moves automatically, it is inevitable to encounter obstacles such as walls and furniture during the movement. Moreover, once the robot collides with an obstacle, the moving direction of the robot will change, and this change is difficult to control. Therefore, in the prior art, the cleaning robot is equipped with an obstacle sensing module. The measurement module can make the cleaning robot collide with obstacles as little as possible. [0003] At present, the working principle of the obstacle sensing module on the cleaning robot is to emit light, ultrasonic waves, etc. through the sensor, and detect the returned light or ultrasonic waves after bei...

AI Technical Summary

Problems solved by technology

The disadvantages of the sensing module that uses emitted light to detect obstacles are: when the surface of the obstacle is not a flat surface or the surface of the obstacle with different light absorption rate, the detection time of the obstacle sensing module will be different, so that As a result, the distance between the robot and the obstacle varies when executing the obstacle avoidance command, so that the robot cannot complete the uniform cleaning standard

The disadvantage of the sensing module that uses ultrasonic waves to detect obstacles is that the sound wave emission requires a certain scanning time. For this reason, the robot may directly collide with the obstacle.

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