Self-mobile robot

Abstract

The invention relates to a self-mobile robot. The robot comprises a robot body. The robot body is provided with a steering system, a barrier detection system formed by a least one group of barrier detection apparatuses and a control system. Each group of barrier detection apparatuses comprises a first detection unit and a second detection unit. The first detection unit possesses a first detection area. The second detection unit possesses a second detection area covering the first detection area. The control system comprises a control circuit. The control circuit is connected to the first detection unit and the second detection unit in a signal connection mode. When the control circuit receives information that the robot body is gradually close to a barrier and simultaneously receives information that the barrier departs from the second detection area, the steering system is controlled to be turned so as to avoid the barrier, wherein the information that the robot body is gradually close to the barrier is fed back by the first detection unit and the information that the barrier departs from the second detection area is fed back by the second detection unit. The robot body can always execute a step of avoiding the barrier at a position which is close to the barrier. And the robot body in the scheme possesses a wide ground coverage rate.

Description

technical field [0001] The invention relates to a self-moving robot. Background technique [0002] A self-mobile robot is a fully intelligent mobile device that works by moving autonomously on the moved area without user control, such as a common floor vacuuming robot. Since the self-mobile robot moves autonomously, it is inevitable to encounter obstacles such as walls and seats during the movement process. And once the robot collides with the obstacle, the moving direction of the robot will change, and this change is difficult to control. Therefore, the self-moving robot of the prior art is equipped with an obstacle detection device. [0003] By setting up an obstacle detection device, the collision between the self-mobile robot and the obstacle can be avoided as much as possible. [0004] At present, the working principle of the obstacle sensing module on the ground cleaning robot is to emit light, ultrasonic waves, etc. through the sensor, and detect the returned light ...

AI Technical Summary

Problems solved by technology

Therefore, what is disclosed in this patent is to rely on whether the light intensity detected by the light receiver is attenuated to judge whether there are obstacles on the moving path of the robot, so as to know that the robot avoids obstacles. Position limitation, when the second light receiver receives light intensity attenuation, it is often far away from the obstacle, that is, the robot body will generally turn around when it is far away from the obstacle, so that it will be in a wide area near the obstacle. Neither can be cleaned, robot cleaning coverage is reduced

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