Robot obstacle avoidance method and device, robot and computer readable storage medium

Abstract

The embodiment of the invention provides a robot obstacle avoidance method and device, a robot and a computer readable storage medium. The method comprises the steps that current height data between the robot and a current to-be-cleaned area is detected through a ground detection sensor; under the condition that the current height data is greater than or equal to a preset height threshold value, detecting attitude angle data of the robot through a gyroscope; when the attitude angle data is greater than or equal to a preset angle threshold value, detecting obstacle feedback data through a wall detection sensor; and under the condition that the obstacle feedback data is increased, it is determined that the first height difference between the current to-be-cleaned area and the previous cleaning area is larger than the second height difference between the front collision lowest point of the robot body of the robot and the previous cleaning area, and the robot is controlled to return to the previous cleaning area. Therefore, when the robot determines that the current to-be-cleaned area is the dangerous area with the trapped risk, the robot is controlled not to enter the dangerous area, the robot is prevented from being trapped, and the cleaning efficiency of the robot is improved.

Description

technical field [0001] The present application relates to the field of robotics, and in particular, to a method, device, robot and computer-readable storage medium for robot obstacle avoidance. Background technique [0002] In order to ensure the robot's ability to overcome obstacles, the height of the ground detection sensor of the robot is usually set to a preset threshold; when the ground detection sensor detects that the height of the robot and the ground exceeds the preset threshold, it will perform a backward action to avoid falling. However, in the actual use of the robot by the user, there is a height difference between the ground of the two rooms in some users' homes, and the height difference is smaller than the preset threshold of the ground inspection sensor, which is not enough to trigger the ground inspection, and the robot can enter from the high ground room normally. The low-level room performs cleaning work, but when the machine enters the low-level room and...

AI Technical Summary

Problems solved by technology

However, in the scene where the user actually uses the robot, there is a height difference between the floors of the two rooms in some users' homes, and the height difference is smaller than the preset threshold of the ground detection sensor, which is not enough to trigger the ground detection, and the robot can normally enter from the high ground room. The low-floor room performs cleaning work, but when the machine enters the low-floor room and the cleaning is completed, the robot cannot normally exit from the low-floor room

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