A method for area traversal of a robot

Abstract

The application discloses a robot area traversal method and belongs to the field of intelligent robots. The method first judges whether a feedback signal of a laser sensor is received when the robot receives a start signal for starting traversal, and when the feedback signal of the laser sensor is not received, the robot can rely on sensors such as a photosensitive sensor, a gyroscope and an odometer to perform area traversal in a non-laser navigation mode, so as to clean the bottom area of furniture with a relatively low bottom space, thereby improving the application range of the robot and remarkably improving practicability.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of intelligent robots, in particular to a region traversal method of a robot. BACKGROUND

[0002] Currently, the sweeping robot is mainly divided into three types of inertial navigation robot, visual navigation robot and laser navigation robot. The inertial navigation robot has the advantage of lower cost, the visual navigation robot and the laser navigation robot rely on visual sensor and laser sensor, and can realize higher precision visual navigation and laser navigation effect, so the cleaning effect is better. However, since the visual navigation robot is easily affected by the intensity of external light, at present, many users tend to choose the laser navigation sweeping robot. For this relatively high-priced sweeping robot, because the laser sensor is arranged at the top of the robot, the height of the robot is relatively high, and the robot cannot enter the bottom of some furniture with lower height to clean, such as the bottom of sofa or bed. If the height of the edge of the bottom of the furniture is just between the height position of the laser sensor on the robot body, most of the robot body can enter the bottom of the furniture, but the laser sensor is blocked, at this time, the user will be very helpless, and the product use experience is greatly reduced. SUMMARY

[0003] The present application provides a region traversal method of a robot, and the specific technical solutions are as follows:

[0004] A region traversal method of a robot, comprising the following steps: the robot receives a start signal for starting traversal; the robot sends a control signal to the laser sensor and judges whether a feedback signal of the laser sensor is received; when the robot does not receive the feedback signal of the laser sensor, the robot records the data detected by the current photosensitive sensor as a reference brightness value, then straightens forward and starts to traverse the region.

[0005] Further, the light-sensitive sensors are two, which are respectively arranged on the left and right sides of the top surface of the robot body, and the robot is characterized in that: when the robot is straightly moving forward and starting to traverse the area, the robot is specifically comprises the following steps: S10, the robot is straightly moving forward along a first direction, and when the robot judges that the data detected by any one of the light-sensitive sensors changes from large to small to a preset brightness value, the robot stops straightly moving forward and enters step S11; S11, the robot rotates, and judges whether the data detected by the two light-sensitive sensors is that one data is a reference brightness value and the other data is a preset brightness value, if yes, the robot enters step S12, and if no, the robot enters step S17; S12, the robot takes the current position as a starting point of edge following, takes the data detected by one light-sensitive sensor as the reference brightness value, and takes the state that the data detected by the other light-sensitive sensor is the preset brightness value as the reference state, and then the robot walks forward according to the reference state and enters step S13; S13, the robot judges whether the data detected by the two light-sensitive sensors reaches the preset brightness value, or the robot judges whether the collision sensor detects a collision signal, or the robot judges whether the robot returns to the starting point of edge following, if yes, the robot enters step S14, if no, the robot enters step S15, and if yes, the robot enters step S16; S14, the robot stops walking, turns to the side where the light-sensitive sensor with the data increasing is located, and then continues to walk forward according to the reference state and returns to step S13; S15, the robot stops walking, turns to the side where the light-sensitive sensor with the smaller data is located, and then walks along the edge of the obstacle, when the robot is in the reference state again, the robot walks forward according to the reference state and returns to step S13; S16, the robot stops walking and enters step S20; S17, the robot retreats a first preset distance along the first direction and returns to step S11; S20, the robot takes the area circled by the walking as a to-be-cleaned area, and traverses the to-be-cleaned area.

[0006] Further, the robot in step S20 takes the area circled by walking as the to-be-cleaned area, and traverses the to-be-cleaned area, specifically including the following steps: S21, the robot determines the path walked from the start point of walking along the edge to the stop point of walking along the edge based on the detection data of the gyroscope and the odometer, and takes the path as the boundary of the to-be-cleaned area, and enters step S22; S22, the robot takes the edge where the start point of walking along the edge is located as the starting edge, takes the edge connected with one end of the starting edge as the first reference edge, takes the edge connected with the other end of the starting edge as the second reference edge, takes the edge opposite to the starting edge and connecting the first reference edge and the second reference edge as the end edge, takes the intersection point of the starting edge and the first reference edge as the traversal start point, and the robot walks from the traversal start point, and enters step S23; S23, the robot walks along the first reference edge for a second preset distance, and judges whether the end edge is reached during walking, if yes, enters step S27, and if no, enters step S24; S24, the robot turns in the direction parallel to the starting edge, and walks straight to the second reference edge, and then enters step S25; S25, the robot walks along the second reference edge for a second preset distance, and judges whether the end edge is reached during walking, if yes, enters step S27, and if no, enters step S26; S26, the robot turns in the direction parallel to the starting edge, and walks straight to the first reference edge, and then enters step S23; S27, the robot judges whether there is an untraversed block in the to-be-cleaned area, if yes, walks to the untraversed block for supplementary cleaning, and if no, completes the traversal of the to-be-cleaned area.

[0007] Further, the robot walks to the untraversed block to perform the supplementary sweeping according to step S27, specifically including the following steps: S271, the robot walks to the untraversed block, and reaches a position point closest to the current position of the robot, and enters step S272; S272, the robot takes an edge of the block corresponding to the position point as a supplementary sweeping edge, takes an edge connected with one end of the supplementary sweeping edge as a third reference edge, takes an edge connected with the other end of the supplementary sweeping edge as a fourth reference edge, takes an edge opposite to the supplementary sweeping edge and connecting the third reference edge and the fourth reference edge as a completion edge, takes an intersection point of the supplementary sweeping edge and the third reference edge as a supplementary sweeping starting point, and the robot walks from the supplementary sweeping starting point, and enters step S273; S273, the robot walks along the third reference edge for a second preset distance, and judges whether the completion edge is reached during the walking, if yes, enters step S277, and if no, enters step S274; S274, the robot turns in a direction parallel to the supplementary sweeping edge, and walks straight to the fourth reference edge, and then enters step S275; S275, the robot walks along the fourth reference edge for the second preset distance, and judges whether the completion edge is reached during the walking, if yes, enters step S277, and if no, enters step S276; S276, the robot turns in a direction parallel to the supplementary sweeping edge, and walks straight to the third reference edge, and then enters step S273; S277, the robot judges whether there is an untraversed block in the to-be-cleaned region, if yes, walks to the untraversed block, and returns to step S271, and if no, completes the traversal of the to-be-cleaned region.

[0008] Further, the first preset distance is one sixth of the width of the robot body.

[0009] Further, the second preset distance is the width of the robot body.

[0010] Further, the laser sensor comprises a shell and a sensing assembly arranged in the shell; a conductive terminal and a first communication terminal are arranged at the middle of the bottom surface of the shell, and the sensing assembly is electrically connected with the conductive terminal and the first communication terminal; a fixing plate is arranged around the bottom surface of the shell; the top of the robot body is provided with a fixing position for mounting the laser sensor, and the fixing position comprises a guide piece, a limiting piece and a fastener; the fixing plate is inserted into the limiting piece through the guide space formed between the two inner right angles of the two right-angled strip blocks, and then is fixed by the fastener.

[0011] Further, the guide piece is a right-angled strip block, and two right-angled strip blocks are symmetrically arranged left and right, so that a guide space is formed between the two inner right angles of the two right-angled strip blocks, and the fixing plate is inserted into the limiting piece through the guide space.

[0012] Further, a power supply terminal capable of being electrically connected with the conductive terminal is arranged on the plane of the top surface of the robot body corresponding to the fixing position, and the power supply terminal is connected with a power supply module in the robot body.

[0013] Further, on the plane of the top surface of the body corresponding to the fixed position, a second communication terminal capable of electrically connecting with the first communication terminal is arranged, and the second communication terminal is connected with the control module in the body.

[0014] The area traversal method of the robot described in the application, by receiving the start signal of the start of the traversal of the robot, first judging whether the feedback signal of the laser sensor is received, when no feedback signal of the laser sensor is received, relying on the photosensitive sensor, gyroscope, odometer and other sensors to perform area traversal in the non-laser navigation mode, to realize the cleaning of the bottom area of some furniture with lower bottom space, thereby improving the application range of the robot and significantly improving the practicability. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 The structural schematic diagram of the robot of an embodiment of the application is described.

[0016] Figure 2 The structural schematic diagram of the guide of an embodiment of the application is described. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the application will be described in detail below with reference to the drawings in the embodiments of the application. It should be understood that the specific embodiments described below are only used to explain the application and not to limit the application.

[0018] The area traversal method of the robot described in the application, wherein, as shown in the figure, Figure 1 The laser robot includes a body 10 and a laser sensor arranged on the top of the body 10. The laser sensor is detachably fixed on the top of the body 10. Of course, in addition to this, the robot also includes a power supply module for supplying power to the robot, a control module for controlling the movement of the robot, a driving module and a driving wheel 21 for driving the robot to walk, a dust collection assembly for performing cleaning work, a control panel 22 for controlling the robot, a gyroscope for detecting the rotation angle of the robot, an odometer for detecting the walking distance of the robot, etc. These components and structures together constitute a complete intelligent robot that can walk and work autonomously.

[0019] As an embodiment of the application, the area traversal method includes the following steps:

[0020] Firstly, the robot receives a start signal of starting to traverse. The start signal can be generated by triggering a start button on the body by a user, or generated by remote control through a smart terminal such as a mobile phone, an iPad or a remote controller. The robot receives the start signal, indicating that the robot is about to start the traversal cleaning operation. The traversal can be understood as that the robot walks on the ground to be cleaned in a planned manner until the trajectory walked covers the ground to be cleaned.

[0021] Then, the robot sends a control signal to the laser sensor and judges whether a feedback signal of the laser sensor is received. The feedback signal is a signal fed back by the laser sensor to the control module of the robot, indicating that the laser sensor is about to start the detection work. When the robot receives the feedback signal of the laser sensor, it indicates that the laser sensor is still normally connected to the body of the robot, and the laser sensor is about to start the detection work. Subsequently, the robot performs operations according to the detection data of the laser sensor, and the specific operations include: positioning, navigation, mapping, recharging, etc. according to the point cloud data detected by the laser sensor in combination with the detection data of sensors such as gyroscopes and odometers. These operations have been designed by programs and fixed in the control module of the robot, and the robot only needs to execute the corresponding programs.

[0022] When the robot does not receive the feedback signal of the laser sensor, it indicates that the laser sensor has been detached from the body of the robot. At this time, the robot defaults that the user has disassembled the laser sensor and wants the robot to enter the bottom of a sofa or a bed with a lower height to perform the cleaning operation. Therefore, the robot first records the data detected by the photosensitive sensor on the top surface of the body of the robot as a reference brightness value, which is beneficial to detecting the brightness outside the body. Then, the robot detects and controls according to the sensor data other than the laser sensor, so that the robot moves straight forward and starts to traverse the area. The specific detection and control includes detecting and controlling the rotation angle of the robot according to the rotation angle detected by the gyroscope, detecting and controlling the distance walked by the robot according to the odometer, and detecting obstacles according to the collision sensor at the front of the body. The robot constructs a grid map based on these detection data and realizes positioning, navigation and other functions. The specific grid map construction method belongs to the prior art, and will not be described here.

[0023] The area traversal method of the robot described in the embodiment can realize cleaning of the bottom area of furniture with a lower bottom space by relying on the photosensitive sensor, the gyroscope, the odometer and other sensors to perform area traversal in a non-laser navigation mode when the robot receives the start signal of starting to traverse, thereby improving the application range of the robot and significantly improving the practicality.

[0024] As one of the embodiments, as shown in Figure 2 The light-sensitive sensors 36 are two, which are arranged on the left and right sides of the top surface 20 of the robot body. The robot straightly moves forward to start the area traversal, which includes the following steps:

[0025] S10, the robot straightly moves forward in a first direction, which is the current direction of the robot. When the user wants to clean the sofa or the bed, the user will move the robot to the side of the sofa or the bed, and then press the start button. The robot will take the current direction as the first direction, and then straightly move forward to clean the sofa or the bed. When the robot determines that the data detected by any one of the light-sensitive sensors changes from large to a preset brightness value, it indicates that the robot has entered the sofa or the bed. Since the brightness of the sofa or the bed is much lower than that of the surrounding area, when the data detected by the light-sensitive sensor changes from large to the preset brightness value, it can be determined that the robot has entered the sofa or the bed. Then the robot stops straightly moving forward and enters step S11. The preset brightness value is less than the reference brightness value, and is generally set to less than two-thirds of the reference brightness value and greater than one-third of the reference brightness value.

[0026] S11, the robot rotates and determines whether the data detected by the two light-sensitive sensors is that one data is the reference brightness value and the other data is the preset brightness value. If yes, it indicates that the robot is currently at the edge of the sofa or the bed, half of the robot body is inside the edge, and half of the robot body is outside the edge. Then the robot enters step S12. If no, it indicates that the robot has entered a deeper position of the sofa or the bed, and then enters step S17, in which the robot needs to exit to the edge position of the sofa or the bed. The inside of the edge refers to the ground area surrounded by the four edges of the bottom of the sofa or the bed, and the outside of the edge refers to the ground area outside the four edges of the bottom of the sofa or the bed.

[0027] S12, the robot takes the current position as the starting point along the edge, takes the data detected by one light-sensitive sensor as the reference brightness value, and takes the state that the data detected by the other light-sensitive sensor is the preset brightness value as the reference state. Then the robot walks forward according to the reference state, and then enters step S13. During the walking process, if the light-sensitive sensor on the side of the reference brightness value detects that the data becomes smaller, it indicates that the robot is deviating towards the sofa or the bed area. Then the robot adjusts the direction so that the robot gradually deviates away from the sofa or the bed area. If the light-sensitive sensor on the side of the preset brightness value detects that the data becomes larger, it indicates that the robot is deviating away from the sofa or the bed area. Then the robot adjusts the direction so that the robot gradually deviates towards the sofa or the bed area. Through this way of walking and adjusting the direction at the same time, the robot can walk along the edge of the sofa or the bed according to the reference state.

[0028] S13, the robot determines whether the data detected by both photosensitive sensors has reached the preset brightness value, or whether its collision sensor has detected a collision signal, or whether it should return to the starting point along the edge. If the data detected by both photosensitive sensors has reached the preset brightness value, it indicates that the robot has reached the end of the current edge corresponding to the bottom of the sofa or bed, and proceeds to step S14, where the robot needs to perform a turning operation. If a collision signal is detected, it indicates that the robot has collided with the support leg of the sofa or bed, or with the wall against which the sofa or bed is leaning, and proceeds to step S15. If it returns to the starting point along the edge, it indicates that the robot has walked around the edge of the bottom area of ​​the sofa or bed, and proceeds to step S16.

[0029] S14, the robot stops walking and turns towards the side where the photosensitive sensor with the increased detection data is located, turns to the other edge corresponding to the bottom area of ​​the sofa or bed, then continues to walk forward according to the reference state and returns to step S13;

[0030] S15, the robot stops walking and turns towards the side where the photosensitive sensor with the smaller detection data is located. Then it walks along the edge of the obstacle. When the robot is back in the reference state, it means that the robot has come to the other edge corresponding to the bottom area of ​​the sofa or bed. The robot then walks forward according to the reference state and returns to step S13.

[0031] S16, the robot stops walking and proceeds to step S20;

[0032] S17, the robot moves backward a first preset distance in the first direction. Specifically, the first preset distance is one-sixth of the robot's body width. Then the robot returns to step S11.

[0033] S20: The robot uses the area it circles as the area to be cleaned and then traverses that area.

[0034] The area traversal method described in this embodiment uses photosensitive sensors set on the left and right sides of the top surface of the robot as the main basis for determining the boundary. It can accurately and efficiently walk and delineate the boundary of the area to be cleaned, making the robot more efficient at cleaning areas such as under sofas or beds.

[0035] In one implementation method, step S20 describes the robot using the area circled by its movement as the area to be cleaned, and traversing this area, specifically including the following steps:

[0036] S21, the robot determines a path walked from a start point of walking along an edge to a stop point of walking along the edge based on detection data of the gyroscope and the odometer, and takes the path as a boundary of the to-be-cleaned region, and enters step S22.

[0037] S22, the robot takes an edge where the start point of walking along an edge is located as a start edge, takes an edge connected with one end of the start edge as a first reference edge, takes an edge connected with the other end of the start edge as a second reference edge, takes an edge opposite to the start edge and connecting the first reference edge and the second reference edge as an end edge, and takes an intersection point of the start edge and the first reference edge as a traversal start point, and the robot walks from the traversal start point, and enters step S23.

[0038] S23, the robot walks along the first reference edge for a second preset distance, and determines whether the end edge is reached during the walking, if yes, enters step S27, and if no, enters step S24.

[0039] S24, the robot turns in a direction parallel to the start edge, and walks straight to the second reference edge, and then enters step S25.

[0040] S25, the robot walks along the second reference edge for a second preset distance, and determines whether the end edge is reached during the walking, if yes, enters step S27, and if no, enters step S26.

[0041] S26, the robot turns in a direction parallel to the start edge, and walks straight to the first reference edge, and then enters step S23.

[0042] S27, the robot determines whether there is an untraversed block in the to-be-cleaned region, if yes, walks to the untraversed block to perform supplementary cleaning, and if no, completes the traversal of the to-be-cleaned region.

[0043] The region traversal method described in the embodiment takes the reference edge as a reference to perform traversal in an arch-shaped manner, and the traversal is more regular and efficient, and the effect of cleaning a region such as a sofa or a bed bottom by the robot is also better.

[0044] As one of the implementation manners, the robot walking to the untraversed block to perform supplementary cleaning in step S27 specifically includes the following steps.

[0045] S271, the robot walks to a position point closest to a current position of the robot in the untraversed block, and enters step S272.

[0046] S272, the robot takes the edge of the block corresponding to the position point as the supplementary scanning edge, takes the edge connected with one end of the supplementary scanning edge as the third reference edge, takes the edge connected with the other end of the supplementary scanning edge as the fourth reference edge, takes the edge opposite to the supplementary scanning edge and connecting the third reference edge and the fourth reference edge as the completion edge, takes the intersection point of the supplementary scanning edge and the third reference edge as the supplementary scanning starting point, and the robot walks from the supplementary scanning starting point to step S273;

[0047] S273, the robot walks along the third reference edge for a second preset distance, and judges whether the completion edge is reached in the walking process, if yes, enters step S277, and if no, enters step S274;

[0048] S274, the robot turns to the direction parallel to the supplementary scanning edge, and walks straight to the fourth reference edge, and then enters step S275;

[0049] S275, the robot walks along the fourth reference edge for a second preset distance, and judges whether the completion edge is reached in the walking process, if yes, enters step S277, and if no, enters step S276;

[0050] S276, the robot turns to the direction parallel to the supplementary scanning edge, and walks straight to the third reference edge, and then enters step S273;

[0051] S277, the robot judges whether there is an untraversed block in the to-be-cleaned region, if yes, walks to the untraversed block, and returns to step S271, and if no, completes the traversal of the to-be-cleaned region.

[0052] The supplementary scanning method described in the embodiment can also regularly traverse the supplementary scanning region by imitating the foregoing traversal method, and the supplementary scanning efficiency is higher, and the cleaning quality of the robot is further improved.

[0053] Specifically, the first preset distance is one sixth of the width of the robot body, and the setting of the parameter can enable the robot to quickly find the boundary to be determined, and improve the working efficiency of the robot.

[0054] Specifically, the second preset distance is the width of the robot body. The setting of the parameter can ensure the cleaning quality of the robot while achieving the best cleaning efficiency.

[0055] As shown in Figure 1 and Figure 2 The laser sensor includes a shell 40 and a sensing assembly arranged in the shell 40. The middle part of the bottom surface of the shell 40 is provided with a conductive terminal and a first communication terminal (not shown in the figure), and the sensing assembly is electrically connected with the conductive terminal and the first communication terminal. The periphery of the bottom surface of the shell 40 is provided with a fixing plate 41, and one end of the fixing plate 41 is provided with a fixing hole 411.

[0056] The top of the robot's body is provided with a mounting position for a laser sensor. This mounting position includes a guide 32, a limiting member 31, and fasteners. The mounting plate 41 of the laser sensor is inserted into the limiting member 31 via the guide 32 and then secured with the fasteners. The fasteners are screws.

[0057] like Figure 2 As shown, the guide 32 is a right-angled strip block. Two right-angled strip blocks are symmetrically arranged left and right, forming a guide space between the two inner right angles 321 of the two right-angled strip blocks. The fixing plate 41 is inserted into the limiting member 31 through the guide space. Then, screws pass through the fixing holes 411 and 33 to fasten the fixing plate 41 to the top surface of the machine body, thereby fixing the laser sensor on the machine body.

[0058] On the plane of the top surface 20 of the body corresponding to the fixed position, there is a power supply terminal 34 that can be electrically connected to the conductive terminal. The power supply terminal 34 is connected to the power module inside the body and is used to transmit the electrical energy output by the power module to the laser sensor, enabling the laser sensor to work normally. On the plane of the top surface 20 of the body corresponding to the fixed position, there is a second communication terminal 35 that can be electrically connected to the first communication terminal. The second communication terminal 35 is connected to the control module inside the body and is used to transmit the detection data of the laser sensor to the control module, and at the same time, transmit the control signals issued by the control module to the laser sensor. When the laser sensor is fixed in the fixed position, the conductive terminal and the power supply terminal 34 are in contact with each other to achieve electrical connection; the first communication terminal and the second communication terminal 35 are in contact with each other to achieve communication connection. When the laser sensor is removed from the fixed position, the conductive terminal and the power supply terminal 34 are no longer in contact, and the electrical connection is broken; the first communication terminal and the second communication terminal 35 are no longer in contact, and the communication connection is broken.

[0059] In the prior art, a Chinese invention patent application with patent number CN202010899245.8 discloses an autonomous cleaning device, which includes: a device body, a drive module, a cleaning module, and a sensing module; wherein, the drive module, the cleaning module, and the sensing module can be detachably assembled to the device body, thereby allowing for convenient disassembly and repair of damaged functional modules or replacement of new functional modules, greatly improving the maintenance efficiency of the autonomous cleaning device.

[0060] The detachable structure of the laser sensor is not for maintenance and replacement, but for reducing the height of the robot, so that the robot can smoothly enter the bottom of some furniture such as sofas or beds with lower bottom height for cleaning work. Of course, the bottom height of these sofas or beds with lower bottom height is between the height of the robot after detaching the laser sensor and the height of the robot without detaching the laser sensor. If the bottom height of the sofa or bed is lower than the height of the robot after detaching the laser sensor, the robot still cannot enter the bottom for cleaning work, and this case is not suitable for the method described in the application.

[0061] Those skilled in the art can understand that all or part of the steps of the above-mentioned method embodiments can be completed by program instruction related hardware. These programs can be stored in a computer readable storage medium (such as ROM, RAM, magnetic disc or optical disc, and various storage medium capable of storing program codes). When the program is executed, the steps of the above-mentioned method embodiments are executed.

[0062] In addition, it should be noted that each specific technical feature described in the above specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, various possible combinations are not described again in the embodiments of the application.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the application, and not to limit them; although the application has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the above embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the application.

Claims

1. A method for traversing a region using a robot, characterized in that, Includes the following steps: The robot receives the start signal to begin traversing; The robot sends control signals to the laser sensor and determines whether it receives feedback signals from the laser sensor. When the robot does not receive a feedback signal from the laser sensor, it records the data detected by the current photosensor as the reference brightness value, and then moves forward to begin traversing the region. The robot employs two photosensitive sensors, one on the left and one on the right of its top surface. The robot moves forward in a straight line to begin traversing the region, specifically including the following steps: S10, the robot moves forward in the first direction. When the robot determines that the data detected by any photosensitive sensor changes from large to small to the preset brightness value, it stops moving forward and proceeds to step S11. S11, the robot rotates and determines whether the data detected by the two photosensitive sensors is a reference brightness value and a preset brightness value. If yes, proceed to step S12; otherwise, proceed to step S17. S12, the robot takes the current position as the starting point along the edge, takes the data detected by one photosensitive sensor as the reference brightness value, and the data detected by another photosensitive sensor as the preset brightness value as the reference state, walks forward according to the reference state, and then proceeds to step S13. S13, the robot determines whether the data detected by the two photosensitive sensors have reached the preset brightness value, or the robot determines whether its collision sensor has detected a collision signal, or the robot determines whether to return to the starting point along the edge. If the data detected by the two photosensitive sensors have reached the preset brightness value, then proceed to step S14. If a collision signal is detected, then proceed to step S15. If return to the starting point along the edge, then proceed to step S16. S14, the robot stops walking and turns towards the side where the photosensitive sensor with the increased detection data is located, then continues to walk forward according to the reference state and returns to step S13; S15, the robot stops walking and turns towards the side where the photosensitive sensor with the smaller detection data is located. Then it walks along the edge of the obstacle. When the robot is back in the reference state, it walks forward according to the reference state and returns to step S13. S16, the robot stops walking and proceeds to step S20; S17, the robot moves backward a first preset distance in the first direction and returns to step S11; S20: The robot uses the area it circles as the area to be cleaned and then traverses that area.

2. The method according to claim 1, characterized in that, Step S20 describes the robot using the area circled by its movement as the area to be cleaned, and traversing this area, specifically including the following steps: S21, the robot determines the path it has traveled from the starting point of the edge to the stopping point of the edge based on the detection data of the gyroscope and odometry, and uses this path as the boundary of the area to be cleaned, and proceeds to step S22; S22, the robot takes the edge where the starting point of the edge is located as the starting edge, the edge connected to one end of the starting edge as the first reference edge, the edge connected to the other end of the starting edge as the second reference edge, the edge opposite to the starting edge and connecting the first reference edge and the second reference edge as the ending edge, and the intersection of the starting edge and the first reference edge as the traversal starting point. The robot starts walking from the traversal starting point and proceeds to step S23. S23, the robot walks a second preset distance along the first reference edge and determines whether it has reached the end edge during the walking process. If it has, proceed to step S27; otherwise, proceed to step S24. S24, the robot turns in a direction parallel to the starting edge, goes straight to the second reference edge, and then proceeds to step S25; S25, the robot walks a second preset distance along the second reference edge and determines whether it has reached the end edge during the walking process. If it has, proceed to step S27; otherwise, proceed to step S26. S26, the robot turns in a direction parallel to the starting edge, goes straight to the first reference edge, and then proceeds to step S23; S27, the robot determines whether there are any untraversed blocks in the area to be cleaned. If so, it moves to the untraversed block to perform additional cleaning; otherwise, it completes the traversal of the area to be cleaned.

3. The method according to claim 2, characterized in that, Step S27, which involves the robot moving to an untraversed area for supplementary scanning, specifically includes the following steps: S271, the robot walks to the point in the untraversed block that is closest to the robot's current position, and proceeds to step S272; S272, the robot uses the edge of the block corresponding to the position point as the supplementary cleaning edge, the edge connected to one end of the supplementary cleaning edge as the third reference edge, the edge connected to the other end of the supplementary cleaning edge as the fourth reference edge, the edge opposite to the supplementary cleaning edge and connecting the third reference edge and the fourth reference edge as the completion edge, and the intersection of the supplementary cleaning edge and the third reference edge as the supplementary cleaning starting point. The robot starts to move from the supplementary cleaning starting point and proceeds to step S273. S273, the robot walks a second preset distance along the third reference edge and determines whether it has reached the completion edge during the walking process. If yes, proceed to step S277; otherwise, proceed to step S274. S274, the robot turns in a direction parallel to the cleaning edge, goes straight to the fourth reference edge, and then proceeds to step S275; S275, the robot walks a second preset distance along the fourth reference edge and determines whether it has reached the completion edge during the walking process. If it has, proceed to step S277; otherwise, proceed to step S276. S276, the robot turns in a direction parallel to the cleaning edge, goes straight to the third reference edge, and then proceeds to step S273; S277, the robot determines whether there are any untraversed blocks in the area to be cleaned. If so, it moves to the untraversed block and returns to step S271. If not, the traversal of the area to be cleaned is completed.

4. The method according to claim 3, characterized in that: The first preset distance is one-sixth of the robot's body width.

5. The method according to claim 3, characterized in that: The second preset distance is the width of the robot's body.

6. The method according to any one of claims 1 to 5, characterized in that: The laser sensor includes a housing and a sensing component disposed within the housing; a conductive terminal and a first communication terminal are provided in the middle of the bottom surface of the housing, and the sensing component is electrically connected to the conductive terminal and the first communication terminal; The bottom surface of the casing is equipped with fixing plates around its perimeter; The top of the robot's body is provided with a mounting position for installing a laser sensor, and the mounting position includes a guide, a limiting member, and a fastener; The fixing plate of the laser sensor is inserted into the limiting member through the guide and then fixed by fasteners.

7. The method according to claim 6, characterized in that: The guide is a right-angled strip block. Two right-angled strip blocks are arranged symmetrically on the left and right sides, so that a guide space is formed between the two inner right angles of the two right-angled strip blocks. The fixing plate is inserted into the limiting member through the guide space.

8. The method according to claim 6, characterized in that: On the plane of the top surface of the body corresponding to the fixed position, there is a power supply terminal that can be electrically connected to the conductive terminal, and the power supply terminal is connected to the power module inside the body.

9. The method according to claim 6, characterized in that: On the plane of the top surface of the body corresponding to the fixed position, there is a second communication terminal that can be electrically connected to the first communication terminal. The second communication terminal is connected to the control module inside the body.

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