Obstacle avoidance method of robot, cleaning robot and robot

Abstract

The application relates to the technical field of robots, and provides an obstacle avoidance method of a robot, a cleaning robot and the robot. The method comprises the following steps: when the robot performs a turning operation, detecting whether a first obstacle exists in a space to be turned by a first detection device, the space to be turned being a space covered by the robot body during the turning process; and if the first obstacle exists, controlling the robot to perform a preset obstacle avoidance operation on the first obstacle during the turning process. The obstacle avoidance method has the beneficial effect that: before the robot performs the turning operation, the first detection device is used to detect whether the first obstacle exists in the space to be turned; if the first obstacle exists, the robot is controlled to perform the preset obstacle avoidance operation on the first obstacle during the turning process, so that the robot avoids colliding with the first obstacle during the turning process, the technical problem that the existing robot is prone to colliding with obstacles during turning is solved, and the working efficiency and stability of the robot are improved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to an obstacle avoidance method for robots, a cleaning robot, and a robot in general. Background Technology

[0002] Cleaning robots are an important branch of modern robotics. They are robots capable of autonomously performing cleaning tasks in environments such as homes and large spaces. Common types include robotic vacuum cleaners, robotic mops, and combined vacuum and mop robots.

[0003] In existing technologies, when robots encounter obstacles such as right-angled obstacles during cleaning tasks, they are prone to colliding with obstacles located in the turning area when turning, which affects the robot's working efficiency and stability and reduces the cleaning effect. Summary of the Invention

[0004] The purpose of this invention is to provide a robot obstacle avoidance method, a cleaning robot, and a robot, which aims to solve the technical problem that existing robots are prone to colliding with obstacles when turning.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is: an obstacle avoidance method for a robot, comprising:

[0006] When the robot performs a turning operation, a first detection device detects whether there is a first obstacle in the space to be turned, and the space to be turned is the space that the robot body intends to cover during the turning process.

[0007] If the first obstacle exists, control the robot to perform a preset obstacle avoidance operation on the first obstacle during the turning process.

[0008] In one embodiment, the step before the robot performs a turning operation includes:

[0009] Determine whether the second detection device has detected the second obstacle;

[0010] If not, then it is determined that the robot needs to perform a turning operation.

[0011] In one embodiment, if the first obstacle exists, controlling the robot to perform a preset obstacle avoidance operation on the first obstacle during turning includes:

[0012] Detect the distance between the front end of the robot and the first obstacle;

[0013] When the distance between the front end of the robot and the first obstacle is detected to be a first preset distance, the robot is controlled to rotate.

[0014] In one embodiment, before controlling the robot to turn around when the distance between the robot's front end and the first obstacle is detected to be a first preset distance, the following steps are included:

[0015] Determine whether the fourth detection device has detected the first obstacle;

[0016] If not, the robot is controlled to perform rotation and / or backward movements until the fourth detection device can detect the first obstacle;

[0017] After the fourth detection device is able to detect the first obstacle, the attributes of the first obstacle are obtained through the fourth detection device.

[0018] The first preset distance is determined based on the properties of the first obstacle.

[0019] In one embodiment, detecting the distance between the robot's front end and the first obstacle includes:

[0020] The distance between the front end of the robot and the first obstacle is determined by the third detection device and / or the first detection device.

[0021] In one embodiment, controlling the robot to perform a preset obstacle avoidance operation on the first obstacle during a turn includes:

[0022] Determine whether the first obstacle hinders the robot's movement;

[0023] If the first obstacle does not impede the robot's movement, the turning operation continues.

[0024] In one embodiment, determining whether the first obstacle impedes the robot's movement includes:

[0025] The first distance between the bottom of the first obstacle and the working surface is determined by at least one of the first detection device, the second detection device and the third detection device;

[0026] If the first distance is not less than the third preset distance, then it is determined that the first obstacle does not impede the movement of the robot.

[0027] In one embodiment, determining whether the first obstacle impedes the robot's movement includes:

[0028] Determining whether the first obstacle hinders the robot's movement includes:

[0029] The second distance between the top of the first obstacle and the working surface is determined by at least one of the first detection device, the second detection device and the third detection device;

[0030] If the second distance is greater than the fourth preset distance, then it is determined that the first obstacle is hindering the robot's movement.

[0031] In one embodiment, after determining that the first obstacle impedes the robot's movement, the method further includes:

[0032] The distance between the robot and the first obstacle is detected by the first detection device and / or the second detection device;

[0033] The robot is controlled to maintain a second preset distance from the first obstacle while moving along its edge.

[0034] In one embodiment, before the robot performs a turning operation, the method further includes:

[0035] Determine the angle at which the robot performs the turning operation;

[0036] If the angle is within a preset angle range, the first detection device will detect whether the first obstacle exists in the space to be turned.

[0037] In one embodiment, the preset angle range is [40°, 180°].

[0038] In one embodiment, the preset obstacle avoidance operation includes:

[0039] The robot is controlled to increase its turning radius so that it can bypass the first obstacle;

[0040] During the process of controlling the robot to increase the turning radius, it is determined whether the first detection device can detect the first obstacle;

[0041] If the first obstacle cannot be detected, the robot is controlled to reduce the turning radius.

[0042] The present invention also provides a cleaning robot, comprising:

[0043] body;

[0044] A first detection device is used to detect whether a first obstacle exists in the space to be turned when the cleaning robot performs a turning operation; the space to be turned is the space covered by the robot's body during the turning process;

[0045] The controller is used to control the robot to perform a preset obstacle avoidance operation on the first obstacle during the turning process.

[0046] In one embodiment, the cleaning robot further includes a second detection device and a third detection device;

[0047] The second detection device is installed on the side of the fuselage, and the second detection device is used to determine the distance of the side of the fuselage from the second obstacle located on the side;

[0048] The third detection device is installed at the front end of the fuselage and is used to determine the distance between the front end of the fuselage and a third obstacle located in the forward direction.

[0049] In one embodiment, the angle between the central axis of the detection light emitted by the first detection device and the main axis of the body is not greater than a first preset angle.

[0050] In one embodiment, the first detection device is a single-point sensor or a multi-point laser ranging sensor.

[0051] The present invention also provides a robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, implements the steps of the method as described in any of the preceding claims.

[0052] The beneficial effects of the obstacle avoidance method, cleaning robot, and robot provided by the present invention are as follows: before the robot performs a turning operation, a first detection device is used to detect whether there is a first obstacle in the space to be turned. If there is a first obstacle, the robot is controlled to perform a preset obstacle avoidance operation on the first obstacle during the turning process to avoid colliding with the first obstacle during the turning process. This solves the technical problem that existing robots are prone to colliding with obstacles when turning, and improves the working efficiency and stability of the robot. Attached Figure Description

[0053] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0054] Figure 1 A simplified structural diagram of a robot provided in an embodiment of the present invention;

[0055] Figure 2 This is a flowchart illustrating the obstacle avoidance method for a robot provided in an embodiment of the present invention.

[0056] Figure 3 This is a schematic diagram of an environment in which a robot moves.

[0057] Figure 4 A schematic diagram illustrating the cleaning path planning for a robot performing a bow-shaped cleaning operation;

[0058] Figure 5 This is another environmental illustration of a robot during its movement;

[0059] Figure 6 This is another environmental illustration of a robot during its movement;

[0060] Figure 7 This is another environmental illustration of a robot during its movement;

[0061] Figure 8 This is another environmental illustration of a robot during its movement;

[0062] Figure 9 This is another environmental illustration of a robot during its movement;

[0063] Figure 10 This is another environmental illustration of a robot during its movement;

[0064] Figure 11 A simplified structural diagram of a cleaning robot provided in an embodiment of the present invention;

[0065] Figure 12 A simplified structural diagram of a cleaning robot provided in an embodiment of the present invention;

[0066] Figure 13 A simplified structural diagram of a cleaning robot provided in an embodiment of the present invention;

[0067] Figure 14 A schematic diagram of the internal structure of a cleaning robot;

[0068] Figure 15 for Figure 14 A magnified view of a portion of the image;

[0069] Figure 16 This is a schematic diagram of the robot provided in an embodiment of the present invention.

[0070] The following are the labeling elements in the figure:

[0071] 10. Robot; 11. Front end; 12. Side; 13. Main axis; 14. Wheel axle; 15. Turning space; 16. Body; 20. First detection device; 21. First sensing area; 30. Second detection device; 40. Third detection device; 41. Laser plane; 50. Fourth detection device; 61. First obstacle; 62. Second obstacle; 71. Ground medium detection sensor; 72. Laser rangefinder sensor;

[0072] 100. Robot; 110. Processor; 120. Memory; 121. Computer program. Detailed Implementation

[0073] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention. In some cases, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted below so as not to obscure the description of this application with unnecessary detail.

[0074] It should be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0075] In the description of this invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0076] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0077] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0078] In this embodiment, robot 10 may be equipped with, for example, Figure 1 The robot 10 with the hardware structure shown is as follows: Figure 1 As shown, the robot 10 may specifically include components such as a first detection device 20, a second detection device 30, a third detection device 40, and a fourth detection device 50. The first detection device 20 is installed on the side 12 of the robot 10 (e.g., Figure 1 (As shown on the right side). The second detection device 30 is also installed on the side 12 of the robot 10, and can be installed on the same side of the robot 10 as the first detection device 20 (e.g., on the right side). Figure 1 As shown), it can also be installed on a different side of the robot 10 than the first detection device 20 (e.g., as shown). Figure 12 (As shown). The third detection device 40 and the fourth detection device 50 are mounted on the front end 11 of the robot 10. Those skilled in the art will understand that... Figure 1 The structure of robot 10 shown in the figure does not constitute a limitation on robot 10. Robot 10 may include more or fewer parts than shown, or combine certain parts, or have different arrangements of parts.

[0079] Please refer to the following: Figure 1 The front end 11 of robot 10 is the part of robot 10 that is close to the direction of travel. The side 12 of robot 10 refers to the two sides located in the direction of travel of robot 10. The main axis 13 of robot 10 refers to the central axis passing through the front part of robot 10 in the horizontal plane. The wheel axis 14 of robot 10 refers to the central axis passing through the left and right drive wheels of robot 10 in the horizontal plane.

[0080] The first detection device 20, the second detection device 30, the third detection device 40, and the fourth detection device 50 can be at least one of a vision sensor, a lidar sensor, an infrared ranging sensor, an ultrasonic sensor, a microwave sensor, and a millimeter-wave sensor.

[0081] In this embodiment, a vision sensor refers to an instrument that uses optical elements and imaging devices to acquire image information of the external environment. A vision sensor can use one or more image sensors and obtain information such as the shape, distance, and speed of an object through certain algorithms; or it can use a sequence of images from a camera to calculate the distance and speed of a target; or it can calculate the relative displacement between the robot and obstacles based on a moving image from a camera lens.

[0082] LiDAR sensors measure distance using time-of-flight (ToF) by measuring the flight time of a laser beam, where d = ct / 2, d is the distance, c is the speed of light, and t is the time interval from transmission to reception. A lidar system consists of a transmitter and a receiver. The transmitter illuminates the target with a laser beam, and the receiver receives the reflected light wave. LiDAR sensors can be categorized into single-point and multi-point lidar rangefinders.

[0083] Line ranging sensors refer to sensors that acquire linear or area array distance data. Linear array sensors can be linear radar, linear CCD / CMOS, array lidar sensors, or array infrared sensors, etc.; area array sensors can be structured light depth sensors, TOF depth sensors, binocular sensors, lidar sensors, infrared sensors, vision sensors, ultrasonic sensors, etc. Line ranging sensors include line laser sensors, line infrared sensors, line vision sensors, etc.

[0084] Infrared ranging sensors emit infrared beams at a specific angle. When the beam encounters an object, it reflects back and is detected by a photodetector. The distance between the sensor and the object is then calculated using geometric relationships. Ultrasonic sensors measure the time difference between emitting and receiving the returned ultrasonic wave, and simultaneously calculate the distance to the object based on the speed of sound.

[0085] The ranging principle of microwave and millimeter-wave sensors is similar to that of ultrasonic sensors, and will not be elaborated here.

[0086] Example 1

[0087] Please refer to Figure 2 and Figure 3 This application provides an obstacle avoidance method for a robot 10, comprising:

[0088] S100: When the robot 10 performs a turning operation, the first detection device 20 detects whether there is a first obstacle 61 in the turning space 15. The turning space 15 is the space that the robot 10 body 16 intends to cover during the turning process.

[0089] S200: If there is a first obstacle 61, control the robot 10 to perform a preset obstacle avoidance operation on the first obstacle 61 during the turning process.

[0090] Please combine Figure 3 Before the robot 10 performs a turning operation, the first detection device 20 detects whether there is a first obstacle 61 in the space 15 to be turned. If there is a first obstacle 61, the robot 10 is controlled to perform a preset obstacle avoidance operation on the first obstacle 61 during the turning process to avoid colliding with the first obstacle 61 during the turning process. This solves the technical problem that the existing robot 10 is prone to colliding with obstacles when turning, and improves the working efficiency and stability of the robot 10.

[0091] The detection signal emitted by the first detection device 20 covers the first sensing area 21, and the first sensing area 21 fully or partially covers the turning space 15, so that the first detection device 20 can determine whether there is a first obstacle 61 in the turning space 15.

[0092] In one possible example, turning may occur during edge cleaning by robot 10. Edge cleaning includes cleaning along the edges of obstacles. Obstacles include room boundaries, as well as solid walls and virtual walls other than room boundaries. The virtual walls are virtual walls set by the user outside the boundaries of areas where the robot 10 is not desired to enter, to prevent the robot 10 from entering these areas, such as bathrooms with wet floors, children's play areas, etc. When robot 10 performs edge cleaning along obstacles, it will turn along the corners of the obstacles, thus requiring robot 10 to perform turning operations. By employing the obstacle avoidance method described above, robot 10 can avoid colliding with the first obstacle 61 and avoid missed or repeated cleaning when performing edge cleaning, which helps improve cleaning efficiency.

[0093] In one possible example, a turning maneuver might occur during a bow-shaped cleaning operation by robot 10. Bow-shaped cleaning refers to cleaning within a defined area along a bow-shaped path. Please refer to [reference needed]. Figure 4 In the bow-shaped cleaning path, the distance between adjacent cleaning trajectories is relatively large, and the cleaning areas formed by adjacent cleaning trajectories are adjacent but do not overlap. The increasing direction of the bow-shaped path is the direction in which the length of the bow-shaped path continuously increases in the vertical direction perpendicular to the horizontal direction. When the robot 10 needs to turn around while performing bow-shaped cleaning, the robot 10 needs to perform a turning operation. By adopting the obstacle avoidance method described above, the robot 10 can avoid colliding with the first obstacle 61 and avoid missed cleaning or repeated cleaning when performing bow-shaped cleaning, which helps to improve cleaning efficiency.

[0094] In one possible example, when a user sends a turning command to robot 10 via a terminal, robot 10 needs to perform a turning operation. Alternatively, robot 10 detects an obstacle in its direction of travel that needs to be avoided, in which case robot 10 needs to perform a turning operation.

[0095] Optionally, when the first detection device 20 is used as a blind spot sensor, the first detection device 20 can be at least one of a vision sensor, a lidar sensor, an infrared ranging sensor, an ultrasonic sensor, a microwave sensor, and a millimeter-wave sensor.

[0096] Specifically, the first detection device 20 can be a single-point sensor or a multi-point laser ranging sensor.

[0097] In one possible example, please refer to Figure 5 Before robot 10 performs the turning operation, the above method further includes:

[0098] S101: Determine whether the second detection device 30 has detected the second obstacle 62. If not, determine that the robot 10 needs to perform a turning operation.

[0099] For details, please refer to Figure 5 The second detection device 30 is installed on the side 12 of the robot 10 to measure the distance between the side 12 of the robot 10 and the second obstacle 62.

[0100] In this example, the robot 10 determines the timing of the turning operation through the second detection device 30. The robot 10 will only perform the turning operation when there is no second obstacle 62 on the side 12 of the robot 10, such as no wall, so as to avoid the robot 10 colliding with the second obstacle 62.

[0101] Accordingly, when there is a second obstacle 62 on the side 12 of robot 10, robot 10 continues to walk along the side and can only perform a turning operation after bypassing the second obstacle 62.

[0102] Optionally, when the second detection device 30 is used as an edge sensor, the second detection device 30 can be a line laser sensor, a single-point laser sensor, an infrared ranging sensor, an ultrasonic sensor, a microwave sensor, or a millimeter-wave sensor.

[0103] In one possible example, if a first obstacle 61 exists, the robot 10 is controlled to perform a preset obstacle avoidance operation on the first obstacle 61 during the turning process, including:

[0104] S301: Detect the distance between the front end 11 of robot 10 and the first obstacle 61.

[0105] S302: When the distance between the front end 11 of robot 10 and the first obstacle 61 is detected to be a first preset distance, control robot 10 to rotate.

[0106] In this embodiment, when the distance between the front end 11 of the robot 10 and the first obstacle 61 is a first preset distance, the robot 10 is relatively close to the first obstacle 61. If it turns directly, it is easy to collide with the first obstacle 61. Therefore, the robot 10 is controlled to turn around, change the turning path, and increase the distance between the front end 11 of the robot 10 and the first obstacle 61, so that the distance between the front end 11 of the robot 10 and the first obstacle 61 is greater than the first preset distance, and then the preset obstacle avoidance operation is considered.

[0107] In this context, "robot 10 rotation" refers to robot 10 turning in place or rotating while moving, which can be either left or right. Generally, the direction of rotation is different from the direction of turning.

[0108] Optionally, the first preset distance is [-2cm, 10cm]. After testing, when the distance between the front end 11 of the robot 10 and the first obstacle 61 is greater than 10cm, the robot 10 can avoid colliding with the first obstacle 61 when performing the preset obstacle avoidance operation.

[0109] The first preset distance value includes negative values, such as -2cm, because the front end 11 of the robot 10 is equipped with an elastic buffer anti-collision component that can retract after colliding with an obstacle. It is set that when the elastic buffer anti-collision component is naturally extended and contacts the obstacle, the distance between the front end 11 of the robot 10 and the obstacle is 0. Therefore, when the elastic buffer anti-collision component retracts, the distance between the front end 11 of the robot 10 and the obstacle is negative.

[0110] For details, please refer to Figure 6 The robot 10 determines the distance between the front end 11 of the robot 10 and the first obstacle 61 through the third detection device 40 and / or the first detection device 20.

[0111] The third detection device 40 is installed at the front end 11 of the robot 10. The third detection device 40 can directly measure the distance J between the front end 11 of the robot 10 and the first obstacle 61. Of course, the robot 10 can also determine the distance I between the side 12 of the robot 10 and the first obstacle 61 through the first detection device 20, and then calculate the distance J between the front end 11 of the robot 10 and the first obstacle 61 based on the positional relationship between the side 12 of the robot 10 and the front end 11 of the robot 10.

[0112] Optionally, when the third detection device 40 is used as an obstacle avoidance sensor, the third detection device 40 can be at least one of a line laser sensor, a vision sensor, an infrared ranging sensor, an ultrasonic sensor, a microwave sensor, and a millimeter wave sensor.

[0113] Alternatively, please refer to Figure 14 and Figure 15 When the third detection device 40 is a line laser sensor, the laser plane 41 of the third detection device 40 is set at an angle downward relative to the body 16 plane of the robot 10.

[0114] Specifically, before the step of controlling the robot 10 to rotate when the distance between the front end 11 of the robot 10 and the first obstacle 61 is detected to be a first preset distance, the above method further includes:

[0115] S303: Determine whether the fourth detection device 50 has detected the first obstacle 61.

[0116] S304: If not, control robot 10 to perform rotation and / or backward movements until the fourth detection device 50 can detect the first obstacle 61.

[0117] S305: After the fourth detection device 50 can detect the first obstacle 61, the attributes of the first obstacle 61 are obtained through the fourth detection device 50.

[0118] S306: Determine the first preset distance based on the properties of the first obstacle 61.

[0119] Please refer to Figure 7 The obstacle avoidance method first sets an initial first preset distance to ensure that the distance between the front end 11 of the robot 10 and the first obstacle 61 is not within the first preset distance. If the first obstacle 61 exists, it is determined whether the fourth detection device 50 has detected the first obstacle 61. If the first obstacle 61 is not detected, the robot 10 is controlled to rotate until the fourth detection device 50 can detect the first obstacle 61. The first preset distance is then re-determined based on the type of obstacle identified, thereby obtaining a reasonable first preset distance.

[0120] It should be noted that the attributes of the first obstacle 61 include at least one of the obstacle's height, material, shape, reflectivity, and color. The robot 10 can select a reasonable first preset distance according to different obstacle types to ensure that it neither gets too close to the first obstacle 61 to avoid collision or entanglement with it, nor moves too far away from the first obstacle 61 to avoid an excessively large turning radius that results in missed cleaning areas.

[0121] The higher the first obstacle 61, the smaller the right-hand value of the first preset distance. The larger the right-hand value of the first preset distance, the more flexible the first obstacle 61. For example, obstacles made of flexible materials such as plush toys, curtains, bed sheets, or carpets are prone to entanglement of the robot 10, requiring a larger first preset distance. The more irregular the shape of the first obstacle 61, the larger the right-hand value of the first preset distance. In this way, the robot 10 can determine a reasonable first preset distance based on different obstacle types.

[0122] The first preset distance is a distance range, such as [-2cm, 10cm], and its right-hand value refers to the maximum value in the range, such as 10cm.

[0123] Optionally, the fourth detection device 50 is mounted on the front end 11 of the robot 10.

[0124] Optionally, the fourth detection device 50 is a vision sensor. The fourth detection device 50 is used for AI-powered intelligent scene and object recognition, assisting in obstacle avoidance and zoning. For example, if the fourth detection device 50 identifies an obstacle located at the front end 11 of the robot 10 as a large, unwieldy obstacle, a hard material obstacle, or a pre-defined obstacle that cannot be cleaned (such as keys, valuable jewelry, and coins), then the robot 10 will avoid such obstacles. Alternatively, if the fourth detection device 50 identifies an obstacle located at the front end 11 of the robot 10 as paper scraps, hair, or sand, then the robot 10 will clean such obstacles.

[0125] In one possible example, please refer to Figure 8 When the distance between the front end 11 of the robot 10 and the first obstacle 61 is detected to be a first preset distance, the step of controlling the robot 10 to rotate includes: determining the distance between the side 12 of the robot 10 and the first obstacle 61 by the second detection device 30, controlling the robot 10 to maintain a second preset distance K along the edge of the first obstacle 61, so that the robot 10 and the first obstacle 61 maintain a second preset distance and avoid collision between the two.

[0126] In this example, please refer to Figure 8 During the rotation of robot 10, the distance between robot 10 and the first obstacle 61 is determined by the second detection device 30, and robot 10 is controlled to maintain a second preset distance K from the first obstacle 61 while moving along the edge.

[0127] Optionally, the second preset distance K can be in the range of 1cm to 5cm.

[0128] In one possible example, the steps for controlling robot 10 to perform a preset obstacle avoidance operation on the first obstacle 61 during a turn include:

[0129] S510: Determine whether the first obstacle 61 hinders the movement of robot 10.

[0130] S520: If the first obstacle 61 does not impede the movement of robot 10, then continue to perform the turning operation.

[0131] In this example, when the first obstacle 61 is a suspended obstacle or a fall zone, if it does not impede the movement of the robot 10, the turning is safe, and the turning operation continues to run under the suspended obstacle or the fall zone.

[0132] For details, please refer to Figure 9 The steps for determining whether the first obstacle 61 impedes the movement of the robot 10 include:

[0133] S511: Determine the first distance H between the bottom of the first obstacle 61 and the working surface by at least one of the first detection device 20, the second detection device 30 and the third detection device 40.

[0134] Generally, the working surface refers to the ground where robot 10 is located.

[0135] S512: If the first distance H is not less than the third preset distance, then it is determined that the first obstacle 61 does not obstruct the movement of the robot 10.

[0136] The obstacle avoidance method described in this embodiment determines the method for judging whether a suspended obstacle does not impede the movement of the robot 10. Please refer to... Figure 9 When the first distance H is greater than or equal to the third preset distance, the robot 10 can walk freely under the suspended obstacle without bumping its head.

[0137] For example, if the suspended obstacle is a sofa, and the distance between the bottom of the sofa and the working surface is greater than or equal to a third preset distance, then robot 10 can run under the sofa.

[0138] Optionally, the third preset distance can be h-1cm or h+1cm. Here, h refers to the height of the robot body 16.

[0139] When the first obstacle 61 is a fall-prone area, such as at least one of a cliff area, a step area, a steep slope area, and a recessed area, or when the first obstacle 61 is a raised obstacle, such as a threshold, the steps for determining whether the first obstacle 61 hinders the movement of the robot 10 include:

[0140] S513: Please refer to Figure 10 The second distance L between the top of the first obstacle 61 and the working surface is determined by at least one of the first detection device 20, the second detection device 30 and the third detection device 40.

[0141] S514: If the second distance L is less than or equal to the fourth preset distance, then it is determined that the first obstacle 61 does not obstruct the movement of the robot 10.

[0142] S515: If the second distance L is greater than the fourth preset distance, then it is determined that the first obstacle 61 is hindering the movement of the robot 10.

[0143] In this example, please refer to Figure 10 When the second distance L between the threshold or other protruding obstacle and the working surface is less than or equal to the fourth preset distance, or when the second distance L between the groove, step or other easily falling obstacle and the working surface is less than or equal to the fourth preset distance, the robot 10 can cross the first obstacle 61. Therefore, the first obstacle 61 will not hinder the movement of the robot 10.

[0144] Optionally, the fourth preset distance can be set to a value in the range of [-1.5cm, 1.5cm].

[0145] Furthermore, after determining that the first obstacle 61 hinders the movement of the robot 10, the above obstacle avoidance method includes:

[0146] S516: Detect the distance between robot 10 and first obstacle 61 by first detection device 20 and / or second detection device 30.

[0147] S517: Control robot 10 to maintain a second preset distance from the first obstacle 61 and move along the edge.

[0148] In this embodiment, if the robot 10 cannot cross the first obstacle 61, it will clean the edge of the first obstacle 61. This will prevent collisions or falls, and effectively clean the edges of protruding obstacles or areas prone to falling, thereby improving the efficiency of edge cleaning.

[0149] Optionally, the second preset distance can be set to [1cm, 5cm].

[0150] In one possible example, before the robot 10 performs a turning maneuver, the obstacle avoidance method described above further includes:

[0151] S610: Determine the angle at which robot 10 will perform a turning operation.

[0152] S620: If the angle is within the preset angle range, the first detection device 20 detects whether there is a first obstacle 61 in the turning space 15.

[0153] If the first obstacle 61 exists, the preset obstacle avoidance operation is executed. If the first obstacle 61 does not exist, the vehicle turns directly through.

[0154] Specifically, the preset angle range is [40°, 180°].

[0155] In any of the aforementioned obstacle avoidance methods, the preset obstacle avoidance operation includes:

[0156] S710: Control robot 10 to increase its turning radius so that robot 10 can bypass the first obstacle 61.

[0157] S720: During the process of controlling the robot 10 to increase the turning radius, determine whether the first detection device 20 can detect the first obstacle 61.

[0158] S730: If the first obstacle 61 cannot be detected, control the robot 10 to reduce the turning radius.

[0159] In this embodiment, if the robot 10 is not within the detection range of the first detection device 20 when it is moving along the edge of the first obstacle 61, it will reduce its turning radius, search for other obstacles, and clean the other obstacles along the edge to ensure that the robot 10 can turn safely along the edge.

[0160] In any of the aforementioned obstacle avoidance methods, the preset obstacle avoidance operation includes: controlling the robot 10 to move at a speed lower than or equal to a preset speed to pass through the space to be turned.

[0161] Optionally, the preset speed is 1 m / s.

[0162] In one possible example, to conserve power, the robot 10 activates the first detection device 20 when a turning maneuver is detected. After the robot 10 passes through the turning space 15, it can immediately or after a preset time deactivate the first detection device 20.

[0163] Example 2

[0164] Please refer to Figure 11 The present invention also provides a cleaning robot, including a body 16, a first detection device 20, and a controller. The first detection device 20 is used to detect whether a first obstacle 61 exists in the turning space 15 when the cleaning robot performs a turning operation. The controller is used to control the robot 10 to perform a preset obstacle avoidance operation on the first obstacle 61 during the turning process.

[0165] Please refer to the following: Figure 3 The turning space 15 is the space covered by the robot body 16 during the turning process.

[0166] Before the robot 10 performs a turning operation, the first detection device 20 determines whether there is a first obstacle 61 in the space 15 to be turned. If there is a first obstacle 61, the controller controls the robot 10 to perform a preset obstacle avoidance operation on the first obstacle 61 during the turning process to avoid colliding with the first obstacle 61 during the turning process.

[0167] In one possible example, please refer to Figure 11 The cleaning robot also includes a second detection device 30 and a third detection device 40.

[0168] The second detection device 30 is installed on the side of the fuselage 16. The second detection device 30 is used to determine the distance between the side 12 of the fuselage 16 and the second obstacle 62 located on the side 12 (please refer to...). Figure 5 The distance.

[0169] The third detection device 40 is installed at the front end 11 of the fuselage 16. The third detection device 40 is used to determine the distance between the front end 11 of the fuselage 16 and a third obstacle located in the forward direction. There is a detection blind zone ABCE between the sensing area of ​​the second detection device 30 and the sensing area of ​​the third detection device 40.

[0170] In the aforementioned cleaning robot, the first detection device 20 installed on the body 16 can make the detection signal emitted by the first detection device 20 cover the detection blind zone ABCE, thereby realizing the detection of whether there is a first obstacle 61 in the detection blind zone ABCE.

[0171] It should be noted that the detection blind zone is the area that cannot be detected by the second detection device 30 and the third detection device 40, i.e. Figure 11 The detection signal emitted by the first detection device 20 covers the detection blind zone ABCE, including both complete coverage of the detection blind zone ABCE and partial coverage of the detection blind zone ABCE.

[0172] Please refer to Figure 11 For example, the detection signal of the first detection device 20 covers the area ACD, partially covering the detection blind zone ABCE, thereby effectively detecting whether the first obstacle 61 exists in the detection blind zone ABCE.

[0173] It should be noted that the second detection device 30 can be installed on the left or right side of the fuselage 16, or both the left and right sides of the fuselage 16 can be equipped with the second detection device 30. The first detection device 20 can be installed on the same side of the fuselage 16 as the second detection device 30 (please refer to...). Figure 11 Alternatively, it can be installed in other locations on the fuselage 16 (please refer to...). Figure 12 ).

[0174] In one possible example, please refer to Figure 11 The first detection device 20 and the second detection device 30 are located on the same side of the fuselage 16.

[0175] In one embodiment, please refer to Figure 13 The angle between the detection signal emitted by the first detection device 20 and the main axis 13 of the fuselage 16 is not greater than the first preset angle ∠N.

[0176] If the angle between the detection signal of the first detection device 20 and the main axis 13 is too large, the first sensing area of ​​the first detection device 20 and the sensing area of ​​the third detection device 40 may not overlap. Although the first detection device 20 can also improve the probability of detecting obstacles in the detection blind zone, it cannot guarantee that obstacles in all positions in the detection blind zone will be detected 100%.

[0177] Specifically, experimental verification shows that when the first preset angle ∠N is 20°, 30°, 40° or 45°, the first detection device 20 can effectively detect obstacles appearing in the detection blind zone.

[0178] In one possible example, the first detection device 20 is a single-point sensor or a multi-point laser ranging sensor.

[0179] In one possible example, please refer to Figure 13 The angle between the central axis of the detection signal emitted by the second detection device 30 and the vertical plane containing the wheel axis 14 of the fuselage 16 is not greater than the second preset angle ∠M.

[0180] Specifically, the range of the second preset angle is: 0°≤∠M≤20°.

[0181] In one possible example, please refer to Figure 14 and Figure 15 When the third detection device 40 is a line laser sensor, the laser plane 41 of the third detection device 40 is set tilted downward relative to the body 16.

[0182] In one possible example, please refer to Figure 14 and Figure 15 The cleaning robot also includes a fourth detection device 50, which is installed at the front end 11 of the body 16. The fourth detection device 50 is used for AI intelligent recognition of scenes and objects, assisting in obstacle avoidance and zoning.

[0183] Optionally, the fourth detection device 50 is a vision sensor.

[0184] In one possible example, please refer to Figure 14 and Figure 15The cleaning robot also includes a floor surface detection sensor 71, which is installed at the front end 11 of the robot body 16. The floor surface detection sensor 71 is used to identify floor surfaces such as carpets, tiles, and wooden boards. Since the cleaning methods for carpets differ from those for tiles and wooden boards, using a mopping function on a carpet would damage it. The cleaning robot uses the floor surface detection sensor 71 to identify whether the surface is carpet in order to select the appropriate cleaning method.

[0185] Optionally, the surface medium detection sensor 71 is an ultrasonic sensor or an optical flow sensor. Specifically, the ultrasonic sensor is used to detect the level of sound reflection from the surface to be cleaned, thereby identifying whether it is a carpet.

[0186] In one possible example, please refer to Figure 14 and Figure 15 The cleaning robot also includes a laser rangefinder 72, which is mounted on the front end 11 of the cleaning robot. The horizontal sensing range of the laser rangefinder 72 is not less than 180°. The laser rangefinder 72 is used to detect the distance to obstacles in front of the cleaning robot.

[0187] The laser rangefinder 72 is rotatably mounted on the fuselage 16, with a rotation angle of not less than 180°, to scan and measure the distance to obstacles located in front of the fuselage 16.

[0188] Optionally, the laser rangefinder 72 is installed inside the body 16 instead of protruding from the top of the body 16, so that the cleaning robot can move freely in low spaces such as under the bed, under the cabinet or under the sofa without getting stuck or bumping its head.

[0189] It should be noted that the cleaning robot in Embodiment 2 can use any of the obstacle avoidance methods disclosed in Embodiment 1. Similarly, the obstacle avoidance method in Embodiment 1 can use any of the structural features of the cleaning robot disclosed in Embodiment 2.

[0190] Example 3

[0191] The present invention also provides a robot 100, including a memory 120, a processor 110, and a computer program 121 stored in the memory 120 and executable on the processor 110. When the processor 110 executes the computer program 121, it implements the steps of any of the methods described in the above embodiments.

[0192] Those skilled in the art will understand that Figure 16This is merely an example of a robot 100 and does not constitute a limitation on a robot 100. It may include more or fewer parts than shown, or combine certain parts, or different parts. For example, a robot 100 may also include input / output devices, network access devices, buses, etc.

[0193] The processor 110 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor, or the processor 110 may be any conventional processor 110, etc.

[0194] The memory 120 can be an internal storage unit of the robot, such as a hard drive or RAM. The memory 120 can also be an external storage device of the robot, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card. Furthermore, the memory 120 can include both internal and external storage units of the robot 100. The memory 120 is used to store the computer program 121 and other programs and data required by the robot 100. The memory 120 can also be used to temporarily store data that has been output or will be output.

[0195] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0196] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0197] In the embodiments provided by this invention, it should be understood that the disclosed terminal devices and methods can be implemented in other ways. For example, the terminal device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0198] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0199] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of the present invention can also be implemented by a computer program 121 instructing related hardware. The computer program 121 can be stored in a computer-readable storage medium. When executed by the processor 110, the computer program 121 can implement the steps of the various method embodiments described above. The computer program 121 includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content contained in computer-readable media may be appropriately added to or subtracted from the requirements of legislation and patent practice in a jurisdiction. For example, in some jurisdictions, computer-readable media may not include electrical carrier signals and telecommunication signals, in accordance with legislation and patent practice.

[0200] Those skilled in the art will understand that the terms "terminal" and "terminal device" as used herein include both devices that receive wireless signals, devices that only possess wireless signal receiver capabilities without transmission capabilities, and devices with receiving and transmitting hardware, devices that have receiving and transmitting hardware capable of bidirectional communication over a bidirectional communication link. Such devices may include: cellular or other communication devices having a single-line display, a multi-line display, or a cellular or other communication device without a multi-line display; PCS (Personal Communications Service) that can combine voice, data processing, fax, and / or data communication capabilities; PDA (Personal Digital Assistant) that may include a radio frequency receiver, pager, Internet / intranet access, web browser, notepad, calendar, and / or GPS (Global Positioning System) receiver; and conventional laptop and / or handheld computers or other devices that have and / or include radio frequency receivers. As used herein, "terminal" or "terminal device" can be portable, transportable, installed in a means of transportation (air, sea, and / or land), or suitable and / or configured to operate locally, and / or in a distributed manner, operating in any other location on Earth and / or in space. "Terminal" or "terminal device" as used herein can also be a communication terminal, an internet access terminal, or a music / video playback terminal, such as a PDA, a MID (Mobile Internet Device), and / or a mobile phone with music / video playback capabilities, or a smart TV, set-top box, etc.

[0201] The server connects to the terminal via a network and can be used to provide services to the terminal or the client installed on the terminal. A database can be set up on the server or independently of the server to provide data storage services to the server. The aforementioned network includes, but is not limited to, wide area network, metropolitan area network or local area network.

[0202] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An obstacle avoidance method for a robot, characterized in that, include: Determine whether the second detection device detects a second obstacle; the second obstacle includes a wall, and the second detection device is mounted on the side of the robot; If not, then it is determined that the robot needs to perform a turning operation; When the robot performs a turning operation, a first detection device detects whether there is a first obstacle in the space to be turned, and the space to be turned is the space that the robot body intends to cover during the turning process. If the first obstacle exists, control the robot to perform a preset obstacle avoidance operation on the first obstacle during turning, including: detecting the distance between the front end of the robot and the first obstacle; when the distance between the front end of the robot and the first obstacle is detected to be a first preset distance, control the robot to turn around; the step of controlling the robot to turn around when the distance between the front end of the robot and the first obstacle is detected to be a first preset distance includes: determining the lateral distance of the robot from the first obstacle through a second detection device, and controlling the robot to maintain a second preset distance from the first obstacle while moving along the edge; Before controlling the robot to turn around when the distance between the robot's front end and the first obstacle is detected to be a first preset distance, the method further includes: Determine whether the fourth detection device has detected the first obstacle; If not, the robot is controlled to perform rotation and / or backward movements until the fourth detection device can detect the first obstacle; After the fourth detection device detects the first obstacle, the attributes of the first obstacle are obtained through the fourth detection device; wherein, the attributes of the first obstacle include at least one of the obstacle's height, material and shape, reflectivity and color; The first preset distance is determined based on the properties of the first obstacle.

2. The obstacle avoidance method according to claim 1, characterized in that, The detection of the distance between the robot's front end and the first obstacle includes: The distance between the front end of the robot and the first obstacle is detected by a third detection device and / or the first detection device.

3. The obstacle avoidance method according to claim 1, characterized in that, The control of the robot to perform a preset obstacle avoidance operation on the first obstacle during turning includes: Determine whether the first obstacle hinders the robot's movement; If the first obstacle does not impede the robot's movement, the turning operation continues.

4. The obstacle avoidance method according to claim 3, characterized in that, Determining whether the first obstacle hinders the robot's movement includes: The first distance between the bottom of the first obstacle and the working surface is determined by at least one of the first detection device, the second detection device and the third detection device; If the first distance is not less than the third preset distance, then it is determined that the first obstacle does not impede the movement of the robot.

5. The obstacle avoidance method according to claim 3, characterized in that, Determining whether the first obstacle hinders the robot's movement includes: The second distance between the top of the first obstacle and the working surface is determined by at least one of the first detection device, the second detection device and the third detection device; If the second distance is greater than the fourth preset distance, then it is determined that the first obstacle is hindering the robot's movement.

6. The obstacle avoidance method according to claim 5, characterized in that, After determining that the first obstacle hinders the robot's movement, the method further includes: The distance between the robot and the first obstacle is detected by the first detection device and / or the second detection device; The robot is controlled to maintain a second preset distance from the first obstacle while moving along its edge.

7. The obstacle avoidance method according to claim 1, characterized in that, Before the robot performs a turning operation, the method further includes: Determine the angle at which the robot performs the turning operation; If the angle is within a preset angle range, the first detection device will detect whether the first obstacle exists in the space to be turned.

8. The obstacle avoidance method according to claim 7, characterized in that, The preset angle range is [40°, 180°].

9. The obstacle avoidance method according to any one of claims 1 to 8, characterized in that, The preset obstacle avoidance operation includes: The robot is controlled to increase its turning radius so that it can bypass the first obstacle; During the process of controlling the robot to increase the turning radius, it is determined whether the first detection device can detect the first obstacle; If the first obstacle cannot be detected, the robot is controlled to reduce the turning radius.

10. A cleaning robot, characterized in that, include: body; A second detection device; the second detection device is installed on the side of the robot body, and the second detection device is used to determine the distance of the side of the robot body from a second obstacle located on the side; wherein, it is determined whether the second detection device detects the second obstacle; the second obstacle includes a wall, and the second detection device is installed on the side of the robot; if not, it is determined that the robot needs to perform a turning operation; A first detection device is used to detect whether a first obstacle exists in the space to be turned when the cleaning robot performs a turning operation; the space to be turned is the space covered by the robot's body during the turning process; A controller is used to control the robot to perform a preset obstacle avoidance operation on the first obstacle during turning, including: detecting the distance between the front end of the robot and the first obstacle; when the distance between the front end of the robot and the first obstacle is detected to be a first preset distance, controlling the robot to turn around; the step of controlling the robot to turn around when the distance between the front end of the robot and the first obstacle is detected to be a first preset distance includes: determining the lateral distance of the robot from the first obstacle through a second detection device, and controlling the robot to maintain a second preset distance from the first obstacle while moving along the edge; Before controlling the robot to turn around when the distance between the robot's front end and the first obstacle is detected to be a first preset distance: Determine whether the fourth detection device has detected the first obstacle; If not, the robot is controlled to perform rotation and / or backward movements until the fourth detection device can detect the first obstacle; After the fourth detection device detects the first obstacle, the attributes of the first obstacle are obtained through the fourth detection device; wherein, the attributes of the first obstacle include at least one of the obstacle's height, material and shape, reflectivity and color; The first preset distance is determined based on the properties of the first obstacle.

11. The cleaning robot according to claim 10, characterized in that, The cleaning robot also includes a third detection device; The third detection device is installed at the front end of the fuselage and is used to determine the distance between the front end of the fuselage and a third obstacle located in the forward direction.

12. The cleaning robot according to claim 10, characterized in that, The angle between the central axis of the detection light emitted by the first detection device and the main axis of the machine body is not greater than a first preset angle.

13. The cleaning robot according to any one of claims 10 to 12, characterized in that, The first detection device is a single-point sensor or a multi-point laser ranging sensor.

14. A robot comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1 to 9.

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