Autonomous robot and control method, device and system thereof and computer readable medium

Abstract

The invention provides an autonomous robot and a control method, device and system thereof and a computer readable medium. The autonomous robot comprises a perceptual system and a control system. Thecontrol system is configured to dynamically adjust the behavior safety threshold of the autonomous robot based on the motion state of the autonomous robot for controlling the motion behavior of the autonomous robot based on the perceptual data of the perceptual system and the dynamically adjusted behavior safety threshold. According to the autonomous robot and the control method, device and systemthereof and the computer readable medium, the behavior safety threshold of the autonomous robot is dynamically adjusted based on the motion state of the autonomous robot so as to ensure correct control of the behavior of the autonomous robot in various application scenes, improve the reliability of the autonomous robot and then enhance the user experience.

Description

technical field [0001] The present invention relates to the technical field of robots, and more particularly relates to an autonomous robot and its control method, device, system and computer readable medium. Background technique [0002] With the development of science and technology, robots with autonomous control capabilities have emerged, which can actively perceive the surrounding environment through a perception system including various types of sensors, and determine their own movement methods and routes. In different application scenarios, the sensing data measured by the sensing system may not fully reflect the real situation. At this time, if certain adjustments are not made, the movement behavior of the autonomous robot may be wrongly controlled. [0003] For example, among various types of sensors, the cliff sensor (cliff sensor) is an important component used to prevent autonomous robots from falling down steps, stairs, etc. When the measured distance exceeds a...

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Problems solved by technology

[0005] For example, when the autonomous robot is at a certain angle with the ground where its fuselage is located (such as when the autonomous robot is in the process of overcoming obstacles), since the fuselage is tilted relative to the ground, the ranging principle of the cliff sensor is to measure its vertical distance to the fuselage. Therefore, when the fuselage is tilted, the measured distance is not the real height distance between the autonomous robot and the cliff. At this time, using a constant predetermined safety threshold as the distance measurement criterion may cause problems, so that the robot that could have fallen The distance is judged to be a non-falling distance (if it is in the process of overcoming obstacles, it may cause obstacles that could have been surmounted to be unable to surmount), resulting in poor user experience

[0006] However, if only the size of the predetermined safety threshold is increased, although the ability to overcome obstacles will be enhanced, the increased predetermined safety threshold may not be suitable for the application scenario when the autonomous robot is on flat ground, because with the increase of the predetermined safety threshold, The original non-falling distance on flat ground will also be judged as the falling distance, but after falling, the autonomous robot may be damaged or unable to climb up after returning to this place after falling, which also leads to poor user experience.

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