A cleaning robot and its obstacle avoidance method
A cleaning robot and obstacle avoidance technology, applied in the field of robotics, can solve problems such as poor user experience, low efficiency of obstacle avoidance methods, frequent collisions, etc.
Active Publication Date: 2021-07-27
SHENZHEN SILVER STAR INTELLIGENT TECH CO LTD
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Problems solved by technology
[0004] The present invention aims to solve the problems of low efficiency, frequent collisions and poor user experience in the prior art obstacle avoidance method, and provides a cleaning robot and its obstacle avoidance method
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[0034] The technical solutions in the embodiments of the present invention will be clearly described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0035] figure 1 is a schematic diagram of the bottom structure of a cleaning robot 100 in an embodiment of the present invention, figure 2 yes figure 1 A side view of the cleaning robot 100 in, image 3 is a schematic diagram of the cleaning robot 100 in an application scenario. The cleaning robot 100 includes: a machine body 10 , a drive system, a cleaning mechanism 30 , a proximity sensor 40 and a controller 50 .
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The invention discloses a cleaning robot and an obstacle avoidance method thereof. In the cleaning mode, it traverses the ground autonomously at a cleaning speed; when an obstacle located in front of the cleaning robot is detected, the first proximity to the obstacle is determined according to a proximity sensor ; If the first proximity situation satisfies the first preset condition, then increase the signal sending and receiving frequency and / or power of the proximity sensor, and continue to travel to the obstacle at a cleaning speed; determine the second proximity situation with the obstacle according to the proximity sensor, if If the second proximity condition meets the second preset condition, the cleaning robot is controlled to change its direction, which can save energy and reduce the loss of components such as proximity sensors, improve cleaning efficiency, and solve the problem of poor user experience caused by frequent collisions.
Description
technical field [0001] The invention relates to the technical field of robots, in particular to a cleaning robot and an obstacle avoidance method thereof. Background technique [0002] With the development of intelligent technology, various types of cleaning robots such as sweeping robots and mopping robots have entered people's daily lives. Due to the complexity and diversity of the room environment, the cleaning robot needs to detect and avoid obstacles during the movement, just like the solution recorded in US Patent US8600553B2. When the robot detects that there may be obstacles ahead, it slows down and keeps moving. Accelerate until there is no obstacle ahead, and turn when the robot touches the obstacle and triggers the collision sensor. [0003] However, in the process of realizing the present invention, the inventor found that there are the following problems: slow down when detecting that there may be obstacles ahead, which reduces the efficiency of cleaning operat...
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IPC IPC(8): A47L11/24A47L11/28A47L11/40G05D1/02
CPCA47L11/24A47L11/28A47L11/4002A47L11/4011A47L11/4061A47L2201/04G05D1/0231G05D1/0255
Inventor 田蜜孙振坤邓绪意
Owner SHENZHEN SILVER STAR INTELLIGENT TECH CO LTD