A control method for a laser robot

Abstract

This application discloses a control method for a laser robot. By making the laser radar component detachable, when the user needs the robot to clean under sofas or beds with low bottom heights, they simply need to detach the laser radar component, place the robot next to the sofa or bed, and press the start button. At this time, the robot receives the start signal and, if it determines that it has not received a feedback signal from the laser radar component, it switches to inertial navigation mode and enters the area under the sofa or bed to clean based on the detection data from the inertial navigation component. This improves the robot's applicability and avoids the problem of the robot being too tall to enter the area under sofas or beds with low bottom heights, greatly enhancing the robot's practicality.

Description

Technical Field

[0001] This application relates to the field of intelligent robots, specifically to a control method for a laser robot. Background Technology

[0002] A laser cleaning robot is an intelligent cleaning robot that uses a lidar sensor for environmental detection, mapping, and localization navigation. Because the lidar sensor needs to perform a 360° rotating scan, it can only be mounted on the top of the robot. This makes the robot taller than cleaning robots using inertial navigation or visual navigation, preventing it from accessing the bottom of low-profile furniture such as sofas and beds for cleaning. Summary of the Invention

[0003] This application provides a control method for a laser robot, the specific technical solution of which is as follows:

[0004] A control method for a laser robot, the laser robot comprising a body, an inertial navigation system (INS), and a lidar component disposed on the top of the body, the lidar component being detachably fixed to the top of the body. The control method includes the following steps: the robot receives a start signal; the robot determines whether it has received a feedback signal from the lidar component; if yes, the robot performs an operation based on the detection data of the lidar component; if no, the robot switches to inertial navigation mode and performs an operation based on the detection data of the INS.

[0005] Furthermore, the inertial navigation system includes a collision sensor located at the front of the aircraft, a gyroscope located inside the aircraft, an odometer located on the drive wheels, and a photosensitive sensor located on the mounting surface of the lidar component located on the top of the aircraft.

[0006] Further, the robot switches to inertial navigation mode and performs operations based on the detection data from the inertial navigation component, specifically including: Step 11, the robot marks its current position as the starting position and records the data detected by the current photosensitive sensor as a reference value, then moves forward in the first direction to step 12; Step 12, the robot determines whether the data detected by the photosensitive sensor has increased from small to large to the reference value, or whether the collision sensor has detected a collision signal; if the robot determines that the data detected by the photosensitive sensor has increased from small to large to the reference value, or the robot determines that the collision sensor has detected a collision signal, then proceed to step 13; otherwise, the robot continues to move forward until the robot determines that the photosensitive sensor... If the data detected by the sensor increases from a small value to a reference value, or if the robot determines that the collision sensor has detected a collision signal, then proceed to step 13; in step 13, the robot stops moving straight, turns in the second direction, and then moves forward straight, proceeding to step S14; in step 14, the robot determines whether the data detected by its photosensitive sensor increases from a small value to a reference value before moving straight to the first preset distance, or whether the robot determines that the collision sensor has detected a collision signal; if the robot determines that the data detected by the photosensitive sensor increases from a small value to a reference value, or whether the robot determines that the collision sensor has detected a collision signal, then proceed to step S16; otherwise, the robot continues to move straight to the first preset distance, and then proceeds to step S17. Step 15; Step 15, the robot turns to a third direction opposite to the first direction, then moves forward straight, proceeding to step S12; Step 16, when the robot determines that the data detected by the photosensitive sensor has increased from small to a reference value, the robot stops moving straight and proceeds to step 20; when the robot determines that the collision sensor has detected a collision signal, it walks along the edge of the obstacle until the robot determines that the data detected by the photosensitive sensor has increased from small to a reference value, then the robot stops walking and proceeds to step 20; Step 20, the robot returns to the starting position and then proceeds to step 21; Step 21, the robot turns to a fourth direction opposite to the second direction, then moves forward straight, proceeding to step 22; Step 22, The robot determines whether the data detected by its photosensor has increased from a small value to a reference value before traveling straight to the first preset distance, or whether the collision sensor has detected a collision signal. If the robot determines that the data detected by the photosensor has increased from a small value to a reference value, or whether the collision sensor has detected a collision signal, then proceed to step 30; otherwise, the robot continues to travel straight to the first preset distance and then proceeds to step 23. In step 23, the robot turns in the first direction and then travels straight forward, proceeding to step S24. In step 24, the robot determines whether the data detected by the photosensor has increased from a small value to a reference value, or whether the collision sensor has detected a collision signal.If the robot determines that the data detected by the photosensor has increased from a small value to a reference value, or if the robot determines that the collision sensor has detected a collision signal, then proceed to step 25. Otherwise, the robot continues to move straight until it determines that the data detected by the photosensor has increased from a small value to a reference value, or if the robot determines that the collision sensor has detected a collision signal, then proceed to step 25. In step 25, the robot turns in a fourth direction opposite to the second direction, and then moves straight forward to step 26. In step 26, the robot determines whether the data detected by its photosensor has increased from a small value to a reference value before moving straight for a first preset distance, or whether the robot determines that the collision sensor has detected a collision signal. If the robot determines that the data detected by the photosensor has increased from a small value to a reference value, or if the robot determines that the collision sensor has detected a collision signal... If a collision signal is detected, proceed to step 30; otherwise, the robot continues straight for a first preset distance and then proceeds to step 27. In step 27, the robot turns to a third direction opposite to the first direction and then moves straight forward, proceeding to step S28. In step 28, the robot determines whether the data detected by the photosensitive sensor has increased from a small value to a reference value, or whether the collision sensor has detected a collision signal. If the robot determines that the data detected by the photosensitive sensor has increased from a small value to a reference value, or the collision sensor has detected a collision signal, proceed to step 21; otherwise, the robot continues straight until the robot determines that the data detected by the photosensitive sensor has increased from a small value to a reference value, or the collision sensor has detected a collision signal, then proceeds to step 21. In step 30, the robot stops moving.

[0007] Furthermore, the first direction forms a 90° angle with the second direction; the third direction forms a 90° angle with the fourth direction.

[0008] Furthermore, the first preset distance is the width of the robot's body.

[0009] Furthermore, the lidar assembly is detachably fixed to the top of the robot body, specifically including: the lidar assembly includes a housing and a lidar sensor disposed within the housing; a conductive terminal and a first communication terminal are provided in the center of the bottom surface of the housing, and the lidar sensor is electrically connected to the conductive terminal and the first communication terminal; feet are provided around the bottom surface of the housing; the top of the robot body is provided with a mounting position for installing the lidar assembly, the mounting position including a guide groove and a limiting member; the feet of the lidar assembly are inserted into the guide groove and fixed by the blocking of the limiting member.

[0010] Furthermore, the limiting components are disposed at both ends of the guide groove, with one end being a fixed block and the other end being an elastic block. Under the action of external force, the elastic block can be pressed down to be flush with the top surface of the machine body, and under the action of no external force, the elastic block remains protruding above the top surface of the machine body.

[0011] Furthermore, on the plane formed by the guide groove and the limiting member on the top surface of the body, there is a power supply terminal that can be electrically connected to the conductive terminal, and the power supply terminal is connected to the power module inside the body.

[0012] Furthermore, on the plane formed by the guide groove and the limiting member on the top surface of the machine body, there is a second communication terminal that can be electrically connected to the first communication terminal. The second communication terminal is connected to the control module inside the machine body.

[0013] The control method for the laser robot described in this application, by making the laser radar component a detachable structure, allows the user to easily clean areas under sofas or beds with low bottom heights. Simply detach the laser radar component, place the robot next to the sofa or bed, and press the start button. Upon receiving the start signal and determining that no feedback signal has been received from the laser radar component, the robot switches to inertial navigation mode and enters the area under the sofa or bed to clean based on the detection data from the inertial navigation component. This expands the robot's applicability and avoids the problem of the robot being too tall to access areas with low bottom heights, significantly improving its practicality. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of the robot according to one embodiment of this application;

[0015] Figure 2 This is a schematic diagram of the guide groove structure according to one embodiment of this application;

[0016] Figure 3 This is a schematic diagram of the structure of the elastic block according to one embodiment of this application. Detailed Implementation

[0017] The technical solutions in the embodiments of this application will now be described in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described below are only for explaining this application and are not intended to limit this application.

[0018] The control method for a laser robot described in this application, wherein, as Figure 1 As shown, the laser robot includes a body 10, an inertial navigation system, and a lidar assembly mounted on the top of the body. The lidar assembly is detachably fixed to the top of the body. In addition, it includes a power module for supplying power to the robot, a control module for controlling the robot's movement, a drive module and drive wheels 21 for driving the robot, a vacuuming assembly for performing cleaning tasks, and a control panel 22 for controlling the robot, etc. These components and structures together constitute a complete intelligent laser robot capable of autonomous walking and operation.

[0019] In the prior art, a Chinese invention patent publication number CN111973085B discloses an autonomous cleaning device, which includes: a device body, a drive module, a cleaning module, and a sensing module; wherein the drive module, cleaning module, and sensing module can be detachably assembled to the device body, thereby allowing for convenient disassembly and repair of damaged functional modules or replacement of new functional modules, greatly improving the maintenance efficiency of the autonomous cleaning device.

[0020] The detachable structure of the LiDAR component described in this application is not for repair or replacement, but rather to reduce the robot's height, allowing it to easily access the space under sofas or beds with low bases for cleaning. Of course, the base height of these sofas or beds is between the robot's height after removing the LiDAR component and its height with the LiDAR component intact. If the base height of the sofa or bed is lower than the robot's height after removing the LiDAR component, the robot still cannot access the space underneath for cleaning, and the control method described in this application is not applicable in this case.

[0021] As one embodiment of this application, the control method includes the following steps:

[0022] First, the robot receives a start signal. This start signal can be generated by the user pressing the start button on the robot itself, or by the user controlling it via a smartphone, iPad, or other smart device, or a remote control. Receiving the start signal indicates that the robot is about to begin cleaning operations.

[0023] Next, the robot determines whether it has received a feedback signal from the LiDAR component. This feedback signal is sent from the LiDAR component to the robot's control module, indicating that the LiDAR component is about to begin detection. When the robot receives the feedback signal from the LiDAR component, it means that the LiDAR component is still properly connected to the robot and is about to begin detection. Subsequently, the robot performs operations based on the detection data from the LiDAR component. These operations include: positioning, navigation, mapping, and recharging based on the point cloud data detected by the LiDAR component, combined with data from other sensors such as the gyroscope and odometry. These operations are pre-programmed and embedded in the robot's control module; the robot only needs to execute the corresponding program.

[0024] When the robot does not receive feedback signals from the LiDAR component, it indicates that the LiDAR component has been detached from the robot's body. In this case, the robot assumes the user has removed the LiDAR component and intends for the robot to clean under low-profile surfaces like sofas or beds. Therefore, according to its programming, the robot automatically switches to inertial navigation mode and performs operations based on the detection data from the inertial navigation system (INS). INS mode refers to a mode where the robot does not rely on the LiDAR component's detection data, but only on the INS's detection data for positioning, navigation, mapping, and other operations. The INS includes a collision sensor located at the front of the robot body, a gyroscope inside the robot body, an odometer on the drive wheels, and a photosensor on the mounting surface at the top of the robot body for mounting the LiDAR component. When the LiDAR component is detached, the photosensor is exposed outside the robot body and can detect the external light level.

[0025] In one implementation, the robot switches to inertial navigation mode and performs operations based on the detection data from the inertial navigation system, specifically including:

[0026] Step 11: The robot marks its current position as the starting position and records the data detected by the current photosensor as a reference value. Then, it moves forward in the first direction and proceeds to step 12. Since users typically need the robot to perform targeted cleaning under sofas or beds, they usually move the robot next to the sofa or bed, remove the LiDAR component, press the start cleaning button, and the robot will move forward in the direction set in the program to enter under the sofa or bed and begin cleaning.

[0027] Step 12: Since the area under the sofa or bed is darker than the surrounding area, the robot determines whether it has moved out of the sofa or bed by checking if the data detected by the photosensor has increased from a small value to a reference value. If the sofa or bed is against a wall, the robot will collide with the wall before moving out of the sofa or bed. Therefore, the robot can also determine whether it has reached the boundary of the sofa or bed by checking if the collision sensor has detected a collision signal. If the robot determines that the data detected by the photosensor has increased from a small value to a reference value, it means that the robot has moved out of the sofa or bed; or if the robot determines that the collision sensor has detected a collision signal, it means that the robot has reached the boundary of the sofa or bed; then proceed to step 13. Otherwise, the robot continues to move straight until it determines that the data detected by the photosensor has increased from a small value to a reference value, or the robot determines that the collision sensor has detected a collision signal, then proceed to step 13.

[0028] Step 13: The robot stops moving straight, turns in a second direction perpendicular to the first direction, and then moves forward straight to step S14;

[0029] Step 14: The robot determines whether the data detected by its photosensitive sensor has increased from small to large to the reference value before it travels straight to the first preset distance, or whether the collision sensor has detected a collision signal. If the robot determines that the data detected by the photosensitive sensor has increased from small to large to the reference value, or the robot determines that the collision sensor has detected a collision signal, then proceed to step 16; otherwise, the robot continues to travel straight to the first preset distance and then proceeds to step 15.

[0030] Step 15: The robot turns to a third direction opposite to the first direction, then moves forward in a straight line, and enters step S12. It then traverses and cleans one side of the area under the sofa or bed in this bow-shaped trajectory.

[0031] Step 16: When the robot determines that the data detected by the photosensor has increased from small to a reference value, indicating that the robot has cleaned one side of the area under the sofa or bed, the robot stops moving straight and proceeds to step 20 to clean the other side. When the robot determines that the collision sensor has detected a collision signal, indicating that one side of the sofa or bed is also a wall, the robot walks along the edge of the obstacle until the robot determines that the data detected by the photosensor has increased from small to a reference value, indicating that the robot has walked along the wall out of the area under the sofa or bed and completed cleaning one side of the area under the sofa or bed. Then the robot stops moving and proceeds to step 20 to clean the other side.

[0032] Step 20: The robot returns to its starting position and then proceeds to step 21.

[0033] Step 21: The robot turns in the fourth direction, which is opposite to the second direction, and then moves straight forward to step 22;

[0034] Step 22: The robot determines whether the data detected by its photosensitive sensor has increased from small to large to the reference value before it travels straight to the first preset distance, or whether the collision sensor has detected a collision signal. If the robot determines that the data detected by the photosensitive sensor has increased from small to large to the reference value, or the robot determines that the collision sensor has detected a collision signal, then proceed to step 30; otherwise, the robot continues to travel straight to the first preset distance and then proceeds to step 23.

[0035] Step 23: The robot turns in the first direction and then moves forward in a straight line, proceeding to step S24;

[0036] Step 24: The robot determines whether the data detected by the photosensitive sensor has increased from small to large to the reference value, or whether the collision sensor has detected a collision signal. If the robot determines that the data detected by the photosensitive sensor has increased from small to large to the reference value, or the collision sensor has detected a collision signal, then proceed to step 25. Otherwise, the robot continues to move straight until the robot determines that the data detected by the photosensitive sensor has increased from small to large to the reference value, or the collision sensor has detected a collision signal, and then proceeds to step 25.

[0037] Step 25: The robot turns in the fourth direction, which is opposite to the second direction, and then moves forward in a straight line to proceed to step 26.

[0038] Step 26: The robot determines whether the data detected by its photosensitive sensor has increased from small to large to the reference value before it travels straight to the first preset distance, or whether the collision sensor has detected a collision signal. If the robot determines that the data detected by the photosensitive sensor has increased from small to large to the reference value, or the robot determines that the collision sensor has detected a collision signal, then proceed to step 30; otherwise, the robot continues to travel straight to the first preset distance and then proceeds to step 27.

[0039] Step 27: The robot turns to a third direction opposite to the first direction, then moves forward in a straight line, proceeding to step S28;

[0040] Step 28: The robot determines whether the data detected by the photosensitive sensor has increased from small to large to the reference value, or whether the collision sensor has detected a collision signal. If the robot determines that the data detected by the photosensitive sensor has increased from small to large to the reference value, or the collision sensor has detected a collision signal, then proceed to step 21. Otherwise, the robot continues to move straight until the robot determines that the data detected by the photosensitive sensor has increased from small to large to the reference value, or the collision sensor has detected a collision signal, and then proceeds to step 21.

[0041] Step 30: The robot stops moving, having completed a thorough cleaning of the entire area under the sofa or bed.

[0042] Specifically, the first direction forms a 90° angle with the second direction, and the third direction forms a 90° angle with the fourth direction. By traversing the area using this 90° bow-shaped trajectory, a more comprehensive cleaning effect can be achieved.

[0043] Specifically, the first preset distance is the width of the robot body, which can ensure the robot's traversal efficiency while avoiding missed scans.

[0044] As one implementation method, such as Figure 1 and Figure 2As shown, the lidar assembly is detachably fixed to the top of the robot body, specifically including: the lidar assembly includes a housing 40 and a lidar sensor disposed within the housing 40. A conductive terminal and a first communication terminal are provided in the center of the bottom surface of the housing 40, and the lidar sensor is electrically connected to the conductive terminal and the first communication terminal. Foot plates 41 are provided around the bottom surface of the housing 40. The top of the robot body has a mounting position for installing the lidar assembly, the mounting position including a guide groove 321 and a limiting member. The foot plates 41 of the lidar assembly are inserted into the guide groove 321 and fixed by the limiting member.

[0045] Specifically, such as Figure 2 As shown, the guide groove 321 is formed by the inner right angles of the right-angled strip blocks 32. The two right-angled strip blocks 32 are symmetrically arranged, making the two guide grooves 321 parallel to each other, which facilitates the insertion of the two sides of the plate foot 41 into the guide groove 321 for positioning. Figure 1 As shown, the limiting components are disposed at both ends of the guide groove 321, with one end being a fixed block 31 and the other end being an elastic block 33. Figure 3 As shown, the elastic block 33 contains a spring 331. Under external force, i.e., when the user presses the elastic block 33, the elastic block 33 can be pressed down until it is flush with the top surface 20 of the body (i.e., the upper surface of the top of the body). This leaves an opening in the mounting position, through which one end of the foot 41 is inserted, and then inserted along the guide groove 321 to the position of the fixing block 31. When no external force is applied, i.e., when the user releases the hand pressing the elastic block 33, the elastic block 33 springs up and remains protruding above the top surface 20 of the body. At this time, the foot 41 is locked in the mounting position formed by the fixing block 31, the guide groove 321, and the elastic block 33, thereby fixing the lidar component. When the user needs to disassemble the lidar component, they only need to press the elastic block 33 to leave an opening in the mounting position, and then pull the lidar component out of the opening. This structure allows users to easily and quickly disassemble and install the LiDAR components without any tools, making it easier for users to use the robot to clean under sofas and beds where the bottom space is low. It is easy to operate and highly practical.

[0046] Specifically, on the plane formed by the guide groove 321 and the limiting member on the top surface 20 of the machine body, there is a power supply terminal 34 that can be electrically connected to the conductive terminal. The power supply terminal 34 is connected to the power module inside the machine body and is used to transmit the electrical energy output by the power module to the lidar component so that the lidar component can work normally.

[0047] Specifically, on the plane formed by the guide groove 321 and the limiting member on the top surface 20 of the machine body, there is a second communication terminal 35 that can be electrically connected to the first communication terminal. The second communication terminal 35 is connected to the control module inside the machine body and is used to transmit the detection data of the lidar component to the control module, and at the same time, it can transmit the control signal issued by the control module to the lidar component.

[0048] When the laser sensor is fixed in the fixed position, the conductive terminal and the power supply terminal 34 are in contact to achieve electrical connection; the first communication terminal and the second communication terminal 35 are in contact to achieve communication connection. When the laser sensor is removed from the fixed position, the conductive terminal and the power supply terminal 34 are no longer in contact, and the electrical connection is broken; the first communication terminal and the second communication terminal 35 are no longer in contact, and the communication connection is broken.

[0049] The control method for the laser robot described in this application, by making the laser radar component a detachable structure, allows the user to easily clean areas under sofas or beds with low bottom heights. Simply detach the laser radar component, place the robot next to the sofa or bed, and press the start button. Upon receiving the start signal and determining that no feedback signal has been received from the laser radar component, the robot switches to inertial navigation mode and enters the area under the sofa or bed to clean based on the detection data from the inertial navigation component. This expands the robot's applicability and avoids the problem of the robot being too tall to access areas with low bottom heights, significantly improving its practicality.

[0050] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. These programs can be stored in computer-readable storage media (such as ROM, RAM, magnetic disks, or optical disks, and other media capable of storing program code). When executed, the program performs the steps of the above-described method embodiments.

[0051] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the embodiments of the present invention will not describe the various possible combinations separately.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for a laser robot, the laser robot comprising a body, an inertial navigation system, and a laser radar assembly disposed on the top of the body, the laser radar assembly being detachably fixed to the top of the body, characterized in that, The control method includes the following steps: The robot received the start signal; The robot determines whether it has received a feedback signal from the lidar component; If so, the robot performs operations based on the detection data from the LiDAR components; If not, the robot switches to inertial navigation mode and performs operations based on the detection data from the inertial navigation system. The inertial navigation system includes a collision sensor located at the front of the robot body, a gyroscope located inside the robot body, an odometer located on the drive wheels, and a photosensitive sensor located on the mounting surface of the lidar component located on the top of the robot body. When the lidar component is removed, the photosensitive sensor is exposed outside the robot body and can detect the external light level. This allows the robot, after removing the lidar component, to use the photosensitive sensor and collision sensor to enter the space under sofas or beds with low bottom heights to perform cleaning operations. The bottom height of the sofa or bed with low bottom heights is between the height of the robot after removing the lidar component and the height of the robot before removing the lidar component.

2. The method according to claim 1, characterized in that, The robot switches to inertial navigation mode and performs operations based on the detection data from the inertial navigation system, specifically including: Step 11: The robot marks its current position as the starting position and records the data detected by the current photosensor as the reference value. Then it moves forward in the first direction and proceeds to step 12. Step 12: The robot determines whether the data detected by the photosensitive sensor has increased from small to large to the reference value, or whether the collision sensor has detected a collision signal. If the robot determines that the data detected by the photosensitive sensor has increased from small to large to the reference value, or the collision sensor has detected a collision signal, then proceed to step 13. Otherwise, the robot continues to move straight until the robot determines that the data detected by the photosensitive sensor has increased from small to large to the reference value, or the collision sensor has detected a collision signal, and then proceeds to step 13. Step 13: The robot stops moving straight, turns in the second direction, and then moves forward straight to step S14; Step 14: The robot determines whether the data detected by its photosensitive sensor has increased from small to large to the reference value before it travels straight to the first preset distance, or whether the collision sensor has detected a collision signal. If the robot determines that the data detected by the photosensitive sensor has increased from small to large to the reference value, or the robot determines that the collision sensor has detected a collision signal, then proceed to step 16; otherwise, the robot continues to travel straight to the first preset distance and then proceeds to step 15. Step 15: The robot turns to a third direction opposite to the first direction, then moves forward in a straight line, proceeding to step S12; Step 16: When the robot determines that the data detected by the photosensitive sensor has increased from small to large to the reference value, the robot stops moving straight and proceeds to step 20; when the robot determines that the collision sensor has detected a collision signal, it walks along the edge of the obstacle until the robot determines that the data detected by the photosensitive sensor has increased from small to large to the reference value, then the robot stops walking and proceeds to step 20. Step 20: The robot returns to its starting position and then proceeds to step 21. Step 21: The robot turns in the fourth direction, which is opposite to the second direction, and then moves straight forward to step 22; Step 22: The robot determines whether the data detected by its photosensitive sensor has increased from small to large to the reference value before it travels straight to the first preset distance, or whether the collision sensor has detected a collision signal. If the robot determines that the data detected by the photosensitive sensor has increased from small to large to the reference value, or the robot determines that the collision sensor has detected a collision signal, then proceed to step 30; otherwise, the robot continues to travel straight to the first preset distance and then proceeds to step 23. Step 23: The robot turns in the first direction and then moves forward in a straight line, proceeding to step S24; Step 24: The robot determines whether the data detected by the photosensitive sensor has increased from small to large to the reference value, or whether the collision sensor has detected a collision signal. If the robot determines that the data detected by the photosensitive sensor has increased from small to large to the reference value, or the collision sensor has detected a collision signal, then proceed to step 25. Otherwise, the robot continues to move straight until the robot determines that the data detected by the photosensitive sensor has increased from small to large to the reference value, or the collision sensor has detected a collision signal, and then proceeds to step 25. Step 25: The robot turns in the fourth direction, which is opposite to the second direction, and then moves forward in a straight line to proceed to step 26. Step 26: The robot determines whether the data detected by its photosensitive sensor has increased from small to large to the reference value before it travels straight to the first preset distance, or whether the collision sensor has detected a collision signal. If the robot determines that the data detected by the photosensitive sensor has increased from small to large to the reference value, or the robot determines that the collision sensor has detected a collision signal, then proceed to step 30; otherwise, the robot continues to travel straight to the first preset distance and then proceeds to step 27. Step 27: The robot turns to a third direction opposite to the first direction, then moves forward in a straight line, proceeding to step S28; Step 28: The robot determines whether the data detected by the photosensitive sensor has increased from small to large to the reference value, or whether the collision sensor has detected a collision signal. If the robot determines that the data detected by the photosensitive sensor has increased from small to large to the reference value, or the collision sensor has detected a collision signal, then proceed to step 21. Otherwise, the robot continues to move straight until the robot determines that the data detected by the photosensitive sensor has increased from small to large to the reference value, or the collision sensor has detected a collision signal, and then proceeds to step 21. Step 30: The robot stops walking.

3. The method according to claim 2, characterized in that, The first direction forms a 90° angle with the second direction; the third direction forms a 90° angle with the fourth direction.

4. The method according to claim 2, characterized in that, The first preset distance is the width of the robot body.

5. The method according to any one of claims 1 to 4, characterized in that, The lidar assembly is detachably fixed to the top of the machine body, specifically including: The lidar assembly includes a housing and a lidar sensor disposed within the housing; a conductive terminal and a first communication terminal are provided in the center of the bottom surface of the housing, and the lidar sensor is electrically connected to the conductive terminal and the first communication terminal; and feet are provided around the bottom surface of the housing. The top of the robot's body is provided with a mounting position for installing a lidar component, the mounting position including a guide groove and a limiting component; The feet of the lidar assembly are inserted into the guide groove and fixed by the blocking of the limiting member.

6. The method according to claim 5, characterized in that: The limiting components are set at both ends of the guide groove. One end of the limiting component is a fixed block, and the other end of the limiting component is an elastic block. Under the action of external force, the elastic block can be pressed down to be flush with the top surface of the machine body. Under the action of no external force, the elastic block remains protruding above the top surface of the machine body.

7. The method according to claim 6, characterized in that: On the plane formed by the guide groove and the limiting member on the top surface of the machine body, there is a power supply terminal that can be electrically connected to the conductive terminal, and the power supply terminal is connected to the power module inside the machine body.

8. The method according to claim 6, characterized in that: On the plane formed by the guide groove and the limiting member on the top surface of the machine body, there is a second communication terminal that can be electrically connected to the first communication terminal. The second communication terminal is connected to the control module inside the machine body.

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