Control method of autonomous robot and autonomous robot

Abstract

The present invention discloses a control method of an autonomous robot and the autonomous robot, the control method of the autonomous robot comprises the following steps: obtaining the distance between each ranging sensor and an obstacle; when it is determined that the first distance between one ranging sensor and the obstacle is less than or equal to the first preset distance, obtaining the angle value of the central angle formed by the ranging sensor and the first edge sensor; controlling the robot body to rotate the angle value so that the first edge sensor rotates to keep the first preset distance with the obstacle. The autonomous robot of the present invention improves the edge performance and practicality of the autonomous robot.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a control method for an autonomous robot and an autonomous robot. Background Art

[0002] A cleaning robot is used for performing cleaning tasks such as vacuuming, sweeping, and washing on the ground. With the development of artificial intelligence, the cleaning robot has functions such as intelligent obstacle avoidance, anti-jamming, automatic charging, and autonomous navigation path planning, which greatly improves the intelligence level of the cleaning robot. The entire cleaning process does not require manual control, which greatly liberates people's hands, saves time and effort in the cleaning process, and is increasingly favored by young people.

[0003] Edge-following cleaning is one of the important functions of a cleaning robot. Edge-following cleaning means that the robot performs cleaning when moving along the contour edge of an object. When the robot performs edge-following cleaning, it needs to first find a following object, and the following object can be an object such as a wall, furniture, or household appliances arranged on the ground.

[0004] There are various methods for finding a following object. According to different sensors, there are at least the following two methods: First, when the edge of the robot collides with an object, the collision sensor is triggered, and it is considered that the following object is found. Second, when the ranging sensor on the robot measures that the distance between the object and the robot is appropriate, it is considered that the following object is found. After finding the following object, the robot needs to rotate to be substantially parallel to the contour edge of the following object, and then perform edge-following cleaning.

[0005] However, when most cleaning robots rotate, they need to collide multiple times or adjust their postures multiple times to be substantially parallel to the contour edge of the following object, which increases the probability of damaging items such as walls, furniture, and household appliances. The actions of the robot will also appear rigid and clumsy, resulting in poor user experience and reducing the practicality of the robot. Summary of the Invention

[0006] The main objective of the present invention is to propose a control method for an autonomous robot, aiming to solve the technical problem of how to improve the practicality of the autonomous robot.

[0007] To achieve the above objective, the autonomous robot proposed by the present invention includes:

[0008] The autonomous robot includes:

[0009] A robot body, the robot body having a front end, side ends, and a forward direction passing through the front end, and the connection line between the side ends and the center of the robot body is perpendicular to the forward direction; a detection area is formed at the periphery of the robot body between the two side ends, and the front end is located in the detection area;

[0010] A sensor system, including a plurality of ranging sensors, wherein the plurality of ranging sensors are distributed in the detection area, and at least one of them is defined as a first edge sensor;

[0011] A driving system, which supports and drives the robot body to rotate and move;

[0012] The control method of the autonomous robot includes the following steps:

[0013] Obtain the distances between each of the ranging sensors and the obstacle;

[0014] When it is determined that the first distance between one of the ranging sensors and the obstacle is less than or equal to the first preset distance, obtain the angular value of the central angle formed by this ranging sensor and the first edge sensor;

[0015] Control the robot body to rotate by the angular value so that the first edge sensor rotates to maintain the first preset distance from the obstacle.

[0016] Preferably, before the step of "controlling the robot body to rotate", the control method of the autonomous robot further includes:

[0017] Obtain the second distances between each of the ranging sensors and the obstacle;

[0018] Compare the second distances with the second preset distance;

[0019] When it is determined that at least one of the second distances is less than or equal to the second preset distance, control the robot body to stop.

[0020] Preferably, before the step of "controlling the robot body to stop", the control method of the autonomous robot further includes:

[0021] Obtain the third distances between each of the ranging sensors and the obstacle;

[0022] Compare the third distances with the third preset distance;

[0023] When it is determined that at least one of the third distances is less than or equal to the third preset distance, control the robot body to decelerate;

[0024] Wherein, the third preset distance is greater than the second preset distance.

[0025] Preferably, the second preset distance is not less than 1 cm and does not exceed 5 cm.

[0026] Preferably, the third preset distance is not less than 8 cm and does not exceed 12 cm.

[0027] Preferably, the ranging sensor is a laser sensor, an ultrasonic sensor, or an infrared sensor.

[0028] The present invention also provides an autonomous robot, comprising:

[0029] A robot body having a front end, side ends, and a forward direction passing through the front end, wherein the line connecting the side ends to the center of the robot body is perpendicular to the forward direction; a detection area is formed on the periphery of the robot body between the two side ends, and the front end is located within the detection area;

[0030] A sensor system including a plurality of ranging sensors distributed in the detection area, and at least one of them is defined as a first edge sensor;

[0031] A drive system that supports and drives the rotation and movement of the robot body; and,

[0032] A memory, a processor, and a control program of the autonomous robot stored on the memory and executable on the processor, and when the control program of the autonomous robot is executed by the processor, the steps of the above-mentioned control method of the autonomous robot are implemented.

[0033] Preferably, the number of the ranging sensors is 12 to 20.

[0034] Preferably, the installation height of the ranging sensor is not less than 1.5 cm and does not exceed 4.5 cm.

[0035] Preferably, the first edge sensor is adjacent to one of the side ends of the robot body.

[0036] Preferably, at least one of the plurality of ranging sensors is defined as a second edge sensor, and the second edge sensor is adjacent to the other side end of the robot body.

[0037] Preferably, the number of the first edge sensors is two, and the two first edge sensors are adjacent to each other.

[0038] Preferably, the detection area includes two side detection areas and a front detection area located between the two side detection areas, the front end is located within the front detection area, and the distribution density of the plurality of ranging sensors in the two side detection areas is greater than that in the front detection area.

[0039] Preferably, the autonomous robot is a floor cleaning robot or a cleaning robot.

[0040] In the autonomous robot of the present invention, multiple ranging sensors are arranged in the detection area of the robot body, and at least one of the ranging sensors is defined as an edge-following sensor. The central angles between the edge-following sensor and each ranging sensor are recorded. When a certain ranging sensor maintains a preset distance from an obstacle, the controller controls the drive system to drive the robot body to rotate. The rotation angle is the central angle between this ranging sensor and the edge-following sensor, so that the edge-following sensor rotates to maintain the preset distance from the obstacle. At this time, the advancing direction of the robot body is parallel to the extending direction of the obstacle or the tangent direction passing through the irradiation point of the edge-following sensor. Thus, the robot body can advance while maintaining the preset distance from the obstacle, realizing the edge-following working condition of the autonomous robot. Since the central angles between the edge-following sensor and each ranging sensor remain unchanged, when any ranging sensor maintains a preset distance from the obstacle, the robot body only needs to rotate by the corresponding central angle to make the edge-following sensor maintain the preset distance from the obstacle, achieving one-time rotation in place, that is, without going through multiple rotations, improving the edge-following performance and practicality of the autonomous robot. In addition, using a laser sensor can achieve non-contact long-distance measurement with high measurement accuracy, enabling the robot body to approach the obstacle as close as possible. At the same time, the laser sensor can also be immune to the interference of the surface color of the obstacle, improving the stability of the edge-following function of the autonomous robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following-described drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0042] Figure 1 It is a schematic structural diagram of an embodiment of the autonomous robot of the present invention;

[0043] Figure 2 It is a schematic flowchart of an embodiment of the control method of the autonomous robot of the present invention;

[0044] Figure 3 It is a schematic flowchart of another embodiment of the control method of the autonomous robot of the present invention.

[0045] Explanation of the reference numerals in the drawings:

[0046] Label Name Label Name Label Name 10 Robot body 20 Range sensor 30 First edge sensor 40 Second edge sensor

[0047] The realization, functional features, and advantages of the object of the present invention will be further described in conjunction with the embodiments with reference to the drawings. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0048] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0049] It should be noted that if there are directional indications (such as up, down, left, right, front, back,...) involved in the embodiments of the present invention, the directional indications are only used to explain the relative position relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0050] In addition, if there are descriptions such as "first", "second", etc. involved in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and / or" appearing throughout the text is to include three parallel solutions. Taking "A and / or B" as an example, it includes solution A, or solution B, or the solution where A and B are satisfied simultaneously. In addition, the technical solutions between the embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0051] The present invention provides an autonomous robot.

[0052] In the embodiments of the present invention, as Figures 1 to 3 shown, the autonomous robot includes:

[0053] A robot main body 10, the robot main body 10 having a front end, side ends, and a forward direction passing through the front end, the connection line between the side ends and the center of the robot main body 10 being perpendicular to the forward direction; a detection area is formed on the circumferential side of the robot main body 10 between the two side ends, and the front end is located in the detection area;

[0054] A sensor system, including a plurality of ranging sensors 20, the plurality of ranging sensors 20 being distributed in the detection area, and at least one of them being defined as a first edge sensor 30;

[0055] A drive system, the drive system supporting and driving the robot main body 10 to rotate and move;

[0056] A controller, electrically connected to the sensor system and the drive system, is configured to control the robot body 10 to rotate so that the first edge sensor 30 maintains a preset distance from the obstacle, and to control the robot body 10 to move while maintaining the preset distance.

[0057] In this embodiment, the outer contour of the robot body 10 includes, but is not limited to, a circular structure, and may also be a rectangle or a combination of a rectangle and a circle. The drive system is assembled on the robot body 10 and is configured to drive the robot body 10 to rotate and move. The drive system includes a driving device and driving wheels. The driving wheels include two moving wheels and a steering wheel. The steering wheel drives the robot body 10 to rotate, and the moving wheels drive the robot body 10 to move forward or backward. The forward direction of the moving wheels is determined by the steering wheel. The front end of the robot body 10 is the end that is farthest from the center of the robot body 10 in the forward direction of the robot body 10. The side ends of the robot body 10 are the left and right ends of the robot body 10. The line connecting the side ends to the center of the robot body 10 is perpendicular to the forward direction. The detection area is the area between the two side ends of the peripheral edge of the robot body 10 in the forward direction of the robot body 10. The front end of the robot body 10 is located in the middle of the detection area. The distance measurement sensor 20 can be an optoelectronic detection sensor, such as a laser sensor or an infrared sensor, and of course, it can also be an ultrasonic sensor.

[0058] During the forward movement of the robot body 10, the obstacle closest to the front in the detection area is always detected. Therefore, the distance measurement sensor 20 provided in the detection area can detect the obstacle first. It should be noted that the detection direction of the distance measurement sensor 20 is consistent with the radial direction of the robot body 10. The distance between any distance measurement sensor 20 and the obstacle is the distance between the position where the distance measurement sensor 20 is located and the obstacle. When the distance between a certain distance measurement sensor 20 and the obstacle meets the preset distance, the controller will control the drive system to rotate to drive the robot body 10 to rotate, so as to rotate the edge sensor to the position where the distance measurement sensor 20 is located, so that the edge sensor maintains the preset distance from the obstacle. It should be noted that when the edge sensor maintains the preset distance from the obstacle, the forward direction of the robot body 10 is parallel to the extension direction of the obstacle or parallel to the tangent direction of the detected point of the obstacle, so that the edge sensor always maintains the preset distance from the obstacle during the forward movement of the robot body 10.

[0059] If the first edge sensor 30 is adjacent to the side end of the robot body 10, the preset distance can be set as the minimum distance between each ranging sensor 20 and the obstacle; if the first edge sensor 30 is not adjacent to the side end of the robot body 10, the preset distance should be greater than the minimum distance between each ranging sensor 20 and the obstacle. The controller records in advance the central angles between the first edge sensor 30 and each ranging sensor 20. When it is necessary to rotate the first edge sensor 30 to the position of a certain ranging sensor 20, the robot body 10 only needs to be rotated once by the central angle between the first edge sensor 30 and this ranging sensor 20. The laser sensor can achieve non-contact long-distance measurement to avoid the collision between the robot body 10 and the obstacle; in addition, the laser sensor also has the advantages of high speed, high precision, large measuring range, strong anti-light and anti-electric interference ability, etc., and can also eliminate the interference of the surface color of the obstacle on the detection result to improve the detection accuracy, thereby improving the stability of the edge-following function of the robot body 10.

[0060] In the autonomous robot of the present invention, a plurality of ranging sensors 20 are arranged in the detection area of the robot body 10, and at least one of the ranging sensors 20 is defined as an edge sensor. The central angles between the edge sensor and each ranging sensor 20 are recorded. When a certain ranging sensor 20 maintains a preset distance from the obstacle, the controller controls the drive system to drive the robot body 10 to rotate, and the rotation angle is the central angle between this ranging sensor 20 and the edge sensor, so as to rotate the edge sensor to maintain the preset distance from the obstacle. At this time, the advancing direction of the robot body 10 is parallel to the extending direction of the obstacle or the tangent direction passing through the irradiation point of the edge sensor, so that the robot body 10 can advance while maintaining the preset distance from the obstacle, realizing the edge-following working condition of the autonomous robot. Since the central angles between the edge sensor and each ranging sensor 20 remain unchanged, when any ranging sensor 20 maintains a preset distance from the obstacle, the robot body 10 only needs to rotate by the corresponding central angle to make the edge sensor maintain the preset distance from the obstacle, achieving one-time rotation in place, that is, it does not need to rotate multiple times, improving the edge-following performance and practicability of the autonomous robot; in addition, using a laser sensor can achieve non-contact long-distance measurement and high measurement precision, enabling the robot body 10 to approach the obstacle as close as possible. At the same time, the laser sensor can also be immune to the interference of the surface color of the obstacle, improving the stability of the edge-following function of the autonomous robot.

[0061] Specifically, the number of the ranging sensors 20 is 12 to 20. In this embodiment, the field of view of a single ranging sensor 20 is 15°, and the central angle of the detection area is 180°. Therefore, at least 12 ranging sensors 20 need to be provided to enable the fields of view of the ranging sensors 20 to completely cover the circumferential side of the detection area and avoid detection blind spots. A single ranging sensor 20 has a detection range, and the central angle between the ranging sensor 20 and the first edge sensor 30 is fixed. Therefore, there will be an error between the distance between the rotated first edge sensor 30 and the obstacle and the preset distance. If the number of ranging sensors 20 is larger, the error can be controlled to be smaller. Therefore, setting the number of ranging sensors 20 to 20 can not only improve the accuracy of the autonomous robot moving along the edge but also ensure the stable installation of each ranging sensor 20.

[0062] In practical applications, the installation height of the ranging sensor 20 is not less than 1.5 cm and does not exceed 4.5 cm. In this embodiment, the installation height of the ranging sensor 20 refers to the distance between the center of the ranging sensor 20 and the ground. The vertical field of view of the ranging sensor 20 is also 15°. The distance between the lowest point of the field of view and the ground is the obstacle-crossing height, and the obstacle-crossing height is set to 2 cm. The effective detection distance of the ranging sensor 20 is 10 cm. Therefore, the installation height H of the ranging sensor 20 should be set as H = obstacle-crossing height + tan(7.5°) * effective detection distance = 2 + tan(7.5°) * 10 = 2.4 cm. Thus, setting the installation height of the ranging sensor 20 to 1.5 cm to 4.5 cm can effectively meet the obstacle-crossing height of the autonomous robot and avoid interference to the movement of the autonomous robot caused by non-obstacles.

[0063] In one embodiment, as Figure 1 shown, the first edge sensor 30 is adjacent to one side end of the robot main body 10. In this embodiment, the first edge sensor 30 can be adjacent to the right side end of the robot main body 10, so as to realize the movement of the robot main body 10 along the right edge of the obstacle. By arranging the first edge sensor 30 at the side end of the robot main body 10, when the robot main body 10 moves along the edge, the distance between the first edge sensor 30 and the obstacle is the minimum distance between the robot main body 10 and the obstacle, thereby avoiding the collision between the robot main body 10 and the obstacle during the edge rotation or movement of the robot main body 10 and simplifying the control process of the edge rotation of the robot main body 10.

[0064] Specifically, as Figure 1As shown, at least one of the multiple ranging sensors 20 is defined as a second edge sensor 40, and the second edge sensor 40 is adjacent to the other end of the robot body 10. In this embodiment, the second edge sensor 40 can be adjacent to the left end of the robot body 10. When the environmental characteristics meet specific conditions, the autonomous robot can switch to moving along the left edge with respect to the obstacle, so that the autonomous robot can adapt to more application environments, meet different application requirements, and improve the practicability of the autonomous robot.

[0065] In practical applications, the number of the first edge sensors 30 is two, and the two first edge sensors 30 are adjacent to each other. The number of the first edge sensors 30 being two can effectively overcome the errors that occur during the edge-following movement of a single edge sensor, enabling the autonomous robot to achieve dynamic adjustment during the edge-following movement, so as to further maintain a preset distance from the obstacle and improve the stability of the autonomous robot during the edge-following movement.

[0066] In one embodiment, the detection area includes two side detection areas and a front detection area located between the two side detection areas. The front end is located within the front detection area, and the distribution density of the multiple ranging sensors 20 in the two side detection areas is greater than that in the front detection area. In this embodiment, the circumferential dimension of the front detection area can be the same as that of the two side detection areas. During the forward movement of the robot body 10, obstacles directly in front are more easily detected by the ranging sensors 20 in the front detection area, while detection blind spots are more likely to occur in the side detection areas. Therefore, setting the distribution density of the ranging sensors 20 in the side detection areas to be greater than that in the front detection area can further improve the detection accuracy of the side detection areas and at the same time improve the effective utilization rate of the ranging sensors 20.

[0067] Specifically, the autonomous robot is a sweeping robot or a cleaning robot. In this embodiment, the autonomous robot is configured with a cleaning component so that the autonomous robot has the function of sucking dust, debris and other garbage on the ground. The cleaning component protrudes from the peripheral wall of the robot body 10 so that during the edge-following movement of the robot body 10, the cleaning component can effectively clean the area between the obstacle and the robot body 10.

[0068] The present invention also provides a control method for an autonomous robot. This control method is used to control an autonomous robot, and the specific structure of this autonomous robot refers to the above embodiment. This autonomous robot further includes a memory, a processor, and a control program for the autonomous robot stored in the memory and executable on the processor. When the control program for the autonomous robot is executed by the processor, the steps of the following control method for the autonomous robot are implemented. Among them, the control method for the autonomous robot includes the following steps:

[0069] Step S10: Obtain the distances between each of the ranging sensors 20 and the obstacle;

[0070] Step S20: When it is determined that the first distance between one of the ranging sensors 20 and the obstacle is less than or equal to the first preset distance, obtain the angular value of the central angle formed by the ranging sensor 20 and the first edge sensor 30.

[0071] Step S30: Control the robot body 10 to rotate by this angular value so that the first edge sensor 30 rotates to maintain the first preset distance from the obstacle.

[0072] In this embodiment, the ranging sensor 20 can be a laser sensor. The laser sensor can achieve non-contact long-distance measurement to avoid the robot body 10 from colliding with obstacles. In addition, the laser sensor also has the advantages of fast speed, high accuracy, large measurement range, strong anti-light and anti-electric interference capabilities, and can also eliminate the interference of the surface color of the obstacle on the detection result to improve the detection accuracy, thereby improving the stability of the function of the robot body 10 moving along the edge.

[0073] Specifically, before the step of "controlling the robot body 10 to rotate", the control method of the autonomous robot further includes:

[0074] Step S1: Obtain the second distances between the ranging sensors 20 and the obstacle.

[0075] Step S2: Compare the second distances with a second preset distance.

[0076] Step S3: When it is determined that at least one of the second distances is less than or equal to the second preset distance, control the robot body 10 to stop.

[0077] In this embodiment, the second preset distance can be the same as the first preset distance or greater than the first preset distance. After the robot body 10 approaches the obstacle, before controlling the robot body 10 to rotate, first controlling the robot body 10 to stop moving forward can make the rotation process of the robot body 10 more stable and avoid errors in the rotation angle caused by inertia. Thus, the stability of the rotation process of the robot body 10 is improved. Specifically, the second preset distance is not less than 1 cm and does not exceed 5 cm. Thus, the robot body 10 can be as close to the obstacle as possible while avoiding the robot body 10 from colliding with the obstacle.

[0078] In practical applications, before the step of "controlling the robot body 10 to stop", the control method of the autonomous robot further includes:

[0079] Step S01: Obtain the third distances between the ranging sensors 20 and the obstacle.

[0080] Step S02: Compare the third distances with a third preset distance.

[0081] Step S03: Determine that at least one of the third distances is less than or equal to the third preset distance, and control the robot main body 10 to decelerate; wherein, the third preset distance is greater than the second preset distance.

[0082] In this embodiment, when the robot main body 10 and the obstacle are at the third preset distance, it first decelerates at a preset deceleration rate. When the robot main body 10 and the obstacle are at the second preset distance, then control the robot main body 10 to stop. Thus, the stopping process of the robot main body 10 can be made more stable, avoiding errors in the stopping position due to inertia, and further improving the stability of the robot main body 10. Specifically, the third preset distance is not less than 8 cm and does not exceed 12 cm. Thus, it not only provides sufficient deceleration time for the robot main body 10, but also avoids too much time required for the robot main body 10 to approach the obstacle due to too long a deceleration travel, further improving the practicability of the autonomous robot.

[0083] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention. Any equivalent structural transformation made by using the content of the specification and drawings of the present invention under the inventive concept of the present invention, or direct / indirect application in other related technical fields are all included in the patent protection scope of the present invention.

Claims

1. A control method for an autonomous robot, characterized in that: The autonomous robot comprises: A robot body, the robot body having a front end, a side end, and a forward direction passing through the front end, wherein a line connecting the side end and the center of the robot body is perpendicular to the forward direction; a detection area located between the two side ends is formed on the periphery of the robot body, and the front end is located in the detection area; A sensor system, comprising a plurality of distance measuring sensors, wherein the plurality of distance measuring sensors are distributed in the detection area, and at least one of the sensors is defined as a first edge sensor; A driving system, the driving system supports and drives the robot body to rotate and move; The control method of the autonomous robot comprises the following steps: Obtaining the distance between each of the distance measuring sensors and the obstacle; When it is determined that the first distance between one of the distance measuring sensors and the obstacle is less than or equal to the first preset distance, obtaining the angle value of the central angle formed by the distance measuring sensor and the first edge sensor; The robot body is controlled to rotate the angle value, and the first edge sensor is rotated to the area where the distance measuring sensor is located, so that the first edge sensor is rotated to maintain the first preset distance with the obstacle.

2. The control method of the autonomous robot according to claim 1, characterized in that: Before the step of "controlling the robot body to rotate", the control method of the autonomous robot further includes: Acquire a second distance between each of the ranging sensors and the obstacle; comparing the second spacing with a second preset spacing; Determine that at least one of the second intervals is less than or equal to the second preset interval, and control the robot body to stop.

3. The control method of the autonomous robot according to claim 2, characterized in that: Before the step of "controlling the robot body to stop", the control method of the autonomous robot further includes: Acquire a third distance between each of the distance measuring sensors and the obstacle; Determine that at least one of the third intervals is less than or equal to a third preset interval, and control the robot body to decelerate; Wherein, the third preset distance is greater than the second preset distance.

4. The control method of the autonomous robot according to claim 2, characterized in that: The second preset distance is not less than 1 cm and not more than 5 cm.

5. The control method of the autonomous robot according to claim 3, characterized in that: The third preset distance is not less than 8 cm and not more than 12 cm.

6. The control method of an autonomous robot according to any one of claims 1 to 5, characterized in that: The distance measuring sensor is a laser sensor, an ultrasonic sensor, or an infrared sensor.

7. An autonomous robot, characterized in that: include: A robot body, the robot body having a front end, a side end, and a forward direction passing through the front end, wherein a line connecting the side end and the center of the robot body is perpendicular to the forward direction; a detection area located between the two side ends is formed on the periphery of the robot body, and the front end is located in the detection area; A sensor system, comprising a plurality of distance measuring sensors, wherein the plurality of distance measuring sensors are distributed in the detection area, and at least one of the sensors is defined as a first edge sensor; A driving system, the driving system supports and drives the robot body to rotate and move; as well as, A memory, a processor, and a control program for an autonomous robot stored in the memory and executable on the processor, wherein the control program for the autonomous robot, when executed by the processor, implements the steps of the control method for an autonomous robot as described in any one of claims 1 to 6.

8. The autonomous robot according to claim 7, characterized in that The number of the distance measuring sensors is 12 to 20.

9. The autonomous robot according to claim 7, characterized in that: The installation height of the distance measuring sensor is not less than 1.5 cm and does not exceed 4.5 cm.

10. The autonomous robot according to claim 7, characterized in that: The first edge sensor is adjacent to one side end of the robot body.

11. The autonomous robot according to claim 7, characterized in that: At least one of the plurality of distance measuring sensors is defined as a second edge sensor, wherein the second edge sensor is adjacent to the other side end of the robot body.

12. The autonomous robot according to claim 7, characterized in that: The number of the first edge sensors is two, and the two first edge sensors are adjacent to each other.

13. The autonomous robot according to claim 7, characterized in that: The detection area includes two side detection areas and a front detection area located between the two side detection areas, the front end is located in the front detection area, and the distribution density of the multiple distance measuring sensors in the two side detection areas is greater than the distribution density in the front detection area.

14. The autonomous robot according to claim 7, characterized in that: The autonomous robot is a sweeping robot or a cleaning robot.

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