Autonomous mobile robot and control method thereof

Abstract

The invention relates to an autonomous mobile robot and a control method thereof. The robot is provided with a robot body which can move on ground, and comprises at least a driven wheel unit and a driven wheel rotation detection unit. The driven wheel unit comprises a driven wheel which is rotatably arranged on the bottom of the robot body through a rotating shaft. The driven wheel can rotate by movement of the robot body. The driven wheel rotation detection unit comprises at least a magnetic element and a magnetic field induction element. The magnetic element is arranged on the driven wheel and can generate a magnetic field around the driven wheel. The magnetic field induction element is arranged near the driven wheel, and is used to induce variation of the magnetic field which is generated by the magnetic element. When the driven wheel rotates, the magnetic element rotates with the driven wheel, so that the peripheral magnetic field changes regularly. The magnetic field induction element indirectly transmits a message that whether the robot body is in normal operation to a master control unit through detection of magnetic field conversion, so as to provide guarantee for the autonomous mobile robot to realize stable and continuous operation.

Description

technical field [0001] The invention relates to an autonomous mobile robot and a control method thereof, in particular to an autonomous mobile robot and a control method thereof which can be known by a main control unit in time when a movement abnormality occurs during the self-movement process. Background technique [0002] Autonomous mobile robots are robots that can move on the ground by themselves. At present, autonomous mobile robots include self-moving ground cleaning robots, self-moving patrol robots, etc. Since autonomous mobile robots move on the ground by themselves, autonomous mobile robots need to have one or more active wheels or feet for active walking and one or more passive wheels. The wheel can be a universal wheel or a wheel with a fixed shaft, which can support the weight of the robot or passively detect the speed of travel. When the robot moves normally, the passive wheels continue to rotate; when the robot encounters obstacles and is blocked or the acti...

AI Technical Summary

Problems solved by technology

[0004] In the above-mentioned first solution, the gears on the casters are easy to get dust, which is easy to break, and the production cost is too high, the mechanism is complicated and troublesome, and there are connecting wires in the wheels, which are easy to be turned and broken, and they also work in fixed-point rotation of the machine. mode, but it is impossible to judge whether the front is suspended

In the second solution, since the outer surface is easily polluted when the casters move on the ground, the light reflectance of coatings with different light reflectivity on the outer surface will tend to be the same in the long run, thus affecting the accurate judgment of the optical sensor

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