Self-moving robot and control method thereof

Abstract

The invention relates to a self-moving robot and a control method thereof. The self-moving robot comprises a main body; the forward direction of the main body is recorded as the front, the display screen is arranged on the main body, and the display surface of the display screen faces the front; and an obstacle avoidance sensor configured to sense obstacle information based on the non-optical signal; wherein the obstacle avoidance sensor is arranged above the display screen along the vertical direction, and is configured to have a field angle facing the front of the display screen, and the field angle deviates from the edge of one side of the front of the display screen. According to the self-moving robot and the control method thereof, the robot does not depend on optical signals, whether obstacles exist around the display screen or not can be checked based on the obstacle avoidance sensor, the obstacle avoidance action is adopted or an alarm is given out, and the collision risk of the display screen is reduced.

Description

Technical Field

[0001] The present disclosure relates to the field of robot manufacturing technology, and in particular to a self-moving robot and a control method thereof. Background Art

[0002] In the related art, a self-propelled robot with a display screen uses optical sensing to sense obstacles in front of the display screen to protect the display screen from collision. However, the recognition effect of the optical sensor depends on light signals and will fail in some scenarios, such as strong light scenes, or scenes detecting low reflectivity, high reflectivity, and transparent objects, which will increase the risk of display screen collision. Summary of the invention

[0003] In order to solve the problems existing in the prior art, the present disclosure provides a self-moving robot and a control method thereof.

[0004] According to a first aspect of the present disclosure, there is provided a self-moving robot, comprising:

[0005] main body;

[0006] a display screen, with the forward direction of the main body being marked as the front, the display screen being arranged on the main body with the display surface facing the front; and

[0007] The obstacle avoidance sensor is configured to sense obstacle information based on non-optical signals; wherein,

[0008] The obstacle avoidance sensor is disposed above the display screen in a vertical direction and is configured such that the viewing angle faces the front of the display screen and the viewing angle deviates from the edge of the front side of the display screen.

[0009] In one embodiment of the present disclosure, the vertical field of view of the obstacle avoidance sensor has a lower boundary line, and the orthographic projection of the lower boundary line on the first vertical projection plane is a first straight line segment; the orthographic projection of the display surface of the display screen on the first vertical projection plane is a second straight line segment; wherein, the second straight line segment does not intersect with the first straight line segment, and the first vertical projection plane is perpendicular to the display surface and the horizontal plane.

[0010] In one embodiment of the present disclosure, the display surface of the display screen is inclined relative to the vertical direction, and the inclined direction is configured so that the display surface emits light obliquely upward.

[0011] In one embodiment of the present disclosure, in the horizontal direction, the installation point of the obstacle avoidance sensor is closer to the front than the upper edge of the display screen, or the installation point of the obstacle avoidance sensor is aligned front and back relative to the upper edge of the display screen.

[0012] In one embodiment of the present disclosure, the lower boundary line of the vertical field of view of the obstacle avoidance sensor is inclined downward at an angle of α1 relative to the first horizontal plane, and the first tangent line is inclined downward at an angle of α2 relative to the first horizontal plane, and α1 is less than α2.

[0013] Among them, the orthographic projection of the obstacle avoidance sensor on the first vertical projection plane is taken as the vertex, the first horizontal plane is a horizontal plane passing through the vertex, the second straight line segment includes a first endpoint formed by projecting the lower edge of the display screen onto the first vertical projection plane, and the first tangent line is a line connecting the vertex and the first endpoint on the first vertical projection plane.

[0014] In one embodiment of the present disclosure, in the horizontal direction, the installation point of the obstacle avoidance sensor is located behind the upper edge of the display screen.

[0015] In one embodiment of the present disclosure, the lower boundary line of the vertical field of view of the obstacle avoidance sensor is inclined downward at an angle α1 relative to the first horizontal plane, and the second tangent line is inclined downward at an angle α3 relative to the first horizontal plane, and α1 is less than α3;

[0016] Among them, the orthographic projection of the obstacle avoidance sensor on the first vertical projection plane is taken as the vertex, the first horizontal plane is a horizontal plane passing through the vertex, the second straight line segment includes a second endpoint formed by projecting the upper edge of the display screen onto the first vertical projection plane, and the second tangent line is a line connecting the vertex and the second endpoint on the first vertical projection plane.

[0017] In one embodiment of the present disclosure, the horizontal field of view angle coverage of the obstacle avoidance sensor is greater than or equal to the minimum viewing angle required by the subject in the horizontal direction, and the vertical field of view angle is greater than or equal to the minimum viewing angle required by the subject in the vertical direction.

[0018] In one embodiment of the present disclosure, the obstacle avoidance sensor includes an ultrasonic sensor.

[0019] In one embodiment of the present disclosure, the self-moving robot also includes a control unit, which is configured to output a control signal for controlling the main body to perform obstacle avoidance action and / or issue an alarm when receiving a sensing signal fed back from the obstacle avoidance sensor that is used to characterize the identification of an obstacle.

[0020] In one embodiment of the present disclosure, the self-moving robot also includes a photoelectric sensor, which is configured to sense obstacle information based on an optical signal reflected from the obstacle; the control unit is configured to output a control signal for controlling the main body to perform obstacle avoidance action and / or issue an alarm when receiving a sensing signal characterizing the identification of an obstacle fed back from either the photoelectric sensor or the obstacle avoidance sensor.

[0021] In one embodiment of the present disclosure, the subject comprises:

[0022] A chassis, wherein a walking unit is provided at the bottom of the chassis; and

[0023] The machine body is connected to the chassis, and the display screen and the obstacle avoidance sensor are installed on the machine body.

[0024] According to a second aspect of the present disclosure, a control method for a self-moving robot is provided, which is applied to the self-moving robot as described above, and when the self-moving robot further includes a control unit and a photoelectric sensor, the method includes:

[0025] During the walking process of the self-moving robot, when the control unit receives a sensing signal from any one of the photoelectric sensor and the obstacle avoidance sensor that indicates the recognition of an obstacle, it controls the main body to perform obstacle avoidance actions and / or issue an alarm.

[0026] One beneficial effect of the present disclosure is that an obstacle avoidance sensor is provided on a self-propelled robot with a display screen, and the obstacle avoidance sensor can sense obstacle information based on non-optical signals. The obstacle avoidance sensor is configured to have a field of view facing the front of the display screen to sense obstacles in the area in front of the display screen, and the field of view deviates from the edge of the front side of the display screen, so that the field of view will not be blocked by the edge of the display screen on the front side, so as to avoid the display screen being mistakenly identified as an obstacle and affecting the sensing result. In this way, the obstacle avoidance sensor can check whether there are obstacles around the display screen without relying on optical signals, and take obstacle avoidance actions or issue an alarm to reduce the risk of display screen collision.

[0027] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0029] Figure 1 is a structural front view of a self-moving robot provided by an embodiment of the present disclosure;

[0030] Figure 2 yes Figure 1 Side view of

[0031] Figure 3 It is a schematic diagram of the projection relationship between an obstacle avoidance sensor and a display screen on a first vertical projection plane in a self-moving robot provided by an embodiment of the present disclosure;

[0032] Figure 4 It is a schematic diagram of the relative position relationship between an obstacle avoidance sensor of a self-moving robot and a display screen provided by an embodiment of the present disclosure;

[0033] Figure 5 This is another schematic diagram of the relative position relationship between an obstacle avoidance sensor of a self-moving robot and a display screen provided in an embodiment of the present disclosure.

[0034] Figures 1 to 5 The one-to-one correspondence between the component names and the reference numerals is as follows:

[0035] 10. Main body; 11. Chassis; 12. Body; 20. Display screen; 20b. Display surface; 30. Obstacle avoidance sensor. DETAILED DESCRIPTION

[0036] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless otherwise specifically stated.

[0037] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0038] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0039] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0040] The specific embodiments of the present disclosure are described below in conjunction with the accompanying drawings.

[0041] In this document, “upper”, “lower”, “front”, “back”, “left”, “right”, etc. are only used to indicate the relative position relationship between related parts, rather than to limit the absolute positions of these related parts.

[0042] In this article, "first", "second", etc. are only used to distinguish each other, and do not indicate the importance and order, or the premise of each other's existence.

[0043] In this document, “equal”, “same”, etc. are not strictly limited in a mathematical and / or geometric sense, but also include errors that can be understood by those skilled in the art and are allowed in manufacturing or use.

[0044] The self-moving robot provided by the present invention can be an air purification robot, a consulting robot, a welcoming robot or a shopping guide robot, etc., or it can be a sweeping robot, a mopping robot, a sweeping and mopping robot, etc., which is a self-moving cleaning device used to clean work surfaces that need to be cleaned, such as floors, sofas, carpets, etc.

[0045] An embodiment of the present disclosure provides a self-moving robot, comprising: a main body, a display screen and an obstacle avoidance sensor, wherein the forward direction of the main body is recorded as the front, the display screen is arranged on the main body, and the display surface faces the front; the obstacle avoidance sensor is configured to sense obstacle information based on non-optical signals; wherein the obstacle avoidance sensor is arranged above the display screen in a vertical direction, and is configured so that the field of view angle faces the front of the display screen, and the field of view angle deviates from the edge of the front side of the display screen.

[0046] In the above scheme, an obstacle avoidance sensor is provided on the self-propelled robot with a display screen. The obstacle avoidance sensor can sense obstacle information based on non-optical signals. The obstacle avoidance sensor is configured to have a field of view facing the front of the display screen to sense obstacles in the area in front of the display screen, and the field of view deviates from the edge of the front side of the display screen, so that the field of view will not be blocked by the edge of the display screen on the front side, so as to avoid the display screen being mistakenly identified as an obstacle and affecting the sensing result. In this way, the obstacle avoidance sensor can check whether there are obstacles around the display screen without relying on optical signals, and take obstacle avoidance actions or issue an alarm to reduce the risk of display screen collision.

[0047] For ease of understanding, refer to Figures 1 to 5 , the specific structure and working principle of the self-moving robot disclosed in the present invention are explained in detail in combination with an embodiment.

[0048] Please refer to Figure 1 and Figure 2The self-propelled robot provided by the embodiment of the present disclosure includes a main body 10, a display screen 20 and an obstacle avoidance sensor 30, with the forward direction of the main body 10 being recorded as the front, and the backward direction of the main body 10 being recorded as the rear; the display screen 20 is arranged on the main body 10, and the display surface faces the front; the obstacle avoidance sensor 30 is used to sense obstacle information on the forward path of the main body 10, and the obstacle avoidance sensor 30 is configured to sense obstacle information based on non-optical signals; the obstacle avoidance sensor 30 is arranged above the display screen 20 along the vertical direction Y, and is configured so that the field of view (FOV) faces the front of the display screen 20, and the field of view deviates from the edge of the front side of the display screen 20.

[0049] In the above scheme, an obstacle avoidance sensor 30 is provided on the self-propelled robot with a display screen. The obstacle avoidance sensor 30 can sense obstacle information based on non-optical signals. The obstacle avoidance sensor 30 is configured to face the front of the display screen 20 with a field of view to sense obstacles in the area in front of the display screen 20, and the field of view deviates from the edge of the front side of the display screen 20, so that the field of view will not be blocked by the edge of the display screen on the front side, so as to avoid the display screen 20 being mistakenly identified as an obstacle and affecting the sensing result. In this way, the obstacle avoidance sensor 30 can check whether there are obstacles around the display screen 20 without relying on optical signals, and take obstacle avoidance actions or issue an alarm to reduce the risk of collision with the display screen 20.

[0050] It should be noted that the obstacle avoidance sensor 30 can sense obstacle information based on non-optical signals, which may include sound wave signals, electromagnetic wave signals, etc. The obstacle avoidance sensor 30 can emit non-optical signals such as sound wave signals or electromagnetic wave signals in front of the display screen 20, and sense obstacle information based on non-optical signals such as sound wave signals or electromagnetic wave signals reflected from obstacles.

[0051] It should also be noted that in the above scheme, the field of view (FOV) of the obstacle avoidance sensor 30 needs to cover the front of the display screen 20 as much as possible, but at the same time, it is necessary to avoid the obstacle avoidance sensor 30 mistakenly regarding the display screen 20 as an obstacle. Therefore, the field of view deviates from the edge of the front side of the display screen 20, that is, the display screen 20 should be located in the blind spot of the field of view of the obstacle avoidance sensor 30.

[0052] The blind area of ​​the obstacle avoidance sensor 30 refers to the area where the obstacle avoidance sensor 30 does not generate a sensing signal to identify an obstacle. In some embodiments, the obstacle avoidance sensor 30 identifies the obstacle based on the non-optical signal reflected from the obstacle. Whether the obstacle avoidance sensor 30 can generate a sensing signal is related to the signal strength of the non-optical signal reflected from the obstacle.

[0053] Taking the non-optical signal as an acoustic signal as an example, the obstacle avoidance sensor 30 has a certain field of view, which may include a vertical field of view and a horizontal field of view. For different obstacle avoidance sensors 30, even if the obstacle is within the field of view, if the intensity of the reflected acoustic signal is small enough, no sensing signal may be generated; and even if the obstacle is outside the field of view, if the intensity of the reflected acoustic signal is large enough, a sensing signal may be generated. Therefore, for different obstacle avoidance sensors 30, their field of view blind spots can be obtained through actual measurements in practical applications.

[0054] The display screen 20 is in the blind spot of the obstacle avoidance sensor 30, which may mean that: the display screen 20 is completely outside the field of view of the obstacle avoidance sensor 30, and the position of the display screen 20 is configured so that the obstacle avoidance sensor 30 receives the sound wave signal reflected from the display screen 20 without generating a sensing signal for identifying an obstacle; or, the display screen 20 may be partially within the field of view of the ranging sensing area, but the position of the display screen 20 is configured so that the obstacle avoidance sensor 30 receives the sound wave signal reflected from the display screen 20 without generating a sensing signal for identifying an obstacle.

[0055] It should also be noted that in the above solution, the field of view of the obstacle avoidance sensor 30 faces the front of the display screen (20). Figure 2 As shown in the example, the vertical field of view of the obstacle avoidance sensor 30 can be diagonally downward. That is, with the installation point of the obstacle avoidance sensor 30 as the vertex A, the vertical field of view faces the front of the display screen 20, and the bisector o of the vertical field of view is diagonally downward relative to the horizontal line passing through the vertex A.

[0056] In one embodiment of the present disclosure, Figure 3 As shown, the vertical field of view of the obstacle avoidance sensor 30 has a lower boundary line a, and the orthographic projection of the lower boundary line a on the first vertical projection plane Y1 is a first straight line segment (a'); the orthographic projection of the display surface 20b of the display screen 20 on the first vertical projection plane Y1 is a second straight line segment b'; wherein, the second straight line segment b' does not intersect with the first straight line segment (a'), and the first vertical projection plane Y1 is perpendicular to the display surface 20b and the horizontal plane.

[0057] In this way, the display screen 20 does not intersect with the lower boundary line a of the vertical field of view of the obstacle avoidance sensor 30, which can further ensure that the display screen 20 is completely outside the vertical field of view of the obstacle avoidance sensor 30, and there is a certain gap between the display screen 20 and the lower boundary line a of the vertical field of view, so as to avoid the field of view of the obstacle avoidance sensor 30 as much as possible.

[0058] In one embodiment of the present disclosure, Figure 2 and Figure 3 As shown, the display surface 20b of the display screen 20 is inclined relative to the vertical direction Y, and the inclined direction is configured so that the display surface 20b emits light obliquely upward.

[0059] With the above scheme, if the display screen 20 is set vertically, the vertical field of view angle direction of the obstacle avoidance sensor 30 is obliquely downward. Only when the field of view angle range is small enough can the display screen 20 be prevented from entering the field of view angle range. With the above scheme, the display screen 20 is tilted and has a certain pitch angle, and the tilt direction is that the display surface 20b emits light obliquely upward. While ensuring that the display screen 20 does not enter the field of view angle range of the obstacle avoidance sensor 30, the field of view angle of the obstacle avoidance sensor 30 can be ensured to be as large as possible, so as to meet the field of view angle range requirements and cover the area in front of the display screen 20 as much as possible.

[0060] In the embodiment of the present disclosure, in the horizontal direction X, the relative position between the obstacle avoidance sensor 30 and the display screen 20 can be as follows:

[0061] The obstacle avoidance sensor 30 is located forward of the upper edge of the display screen 20; or,

[0062] The installation point of the obstacle avoidance sensor 30 is aligned front and back relative to the upper edge of the display screen 20; or,

[0063] The installation point of the obstacle avoidance sensor 30 is located behind the upper edge of the display screen 20 .

[0064] When the relative positions of the obstacle avoidance sensor 30 and the display screen 20 are different, in order to prevent the display screen 20 from entering the field of view of the obstacle avoidance sensor 30 as much as possible, if the obstacle avoidance sensor 30 with the same field of view is selected, the pitch angle of the display screen 20 is different.

[0065] Specifically, in one embodiment of the present disclosure, Figure 4 As shown, in the horizontal direction X, when the obstacle avoidance sensor 30 is closer to the upper edge of the display screen 20, or the installation point of the obstacle avoidance sensor 30 is aligned front and back with respect to the upper edge of the display screen 20, the vertical field angle lower boundary line a of the obstacle avoidance sensor 30 is inclined downward at an angle α1 relative to the first horizontal plane X1, and the first tangent line c is inclined downward at an angle α2 relative to the first horizontal plane X1, and α1 is less than α2;

[0066] The orthographic projection of the obstacle avoidance sensor 30 on the first vertical projection plane Y1 is taken as the vertex A, the first horizontal plane X1 is a horizontal plane passing through the vertex A, the second straight line segment b' includes a first endpoint b1' formed by projecting the lower edge of the display screen 20 onto the first vertical projection plane Y1, and the first tangent line c is a line connecting the vertex A and the first endpoint b1' on the first vertical projection plane Y1.

[0067] With the above solution, in the horizontal direction X, when the obstacle avoidance sensor 30 is closer to the upper edge of the display screen 20, or the installation point of the obstacle avoidance sensor 30 is aligned front and back relative to the upper edge of the display screen 20, the lower edge of the display screen 20 is easier to enter the field of view of the obstacle avoidance sensor 30 than the upper edge. When the downward inclination angle α1 of the lower boundary line a of the vertical field of view of the obstacle avoidance sensor 30 relative to the first horizontal plane X1 is equal to the downward inclination angle α2 of the first tangent line c relative to the first horizontal plane X1, the lower edge of the display screen 20 is just tangent to the lower boundary line a of the vertical field of view.

[0068] Therefore, in order to prevent the display screen 20 from entering the field of view, if the field of view of the obstacle avoidance sensor 30 is fixed, the pitch angle of the display screen 20 should be smaller than the pitch angle when the lower edge of the display screen 20 is just tangent to the lower boundary line a of the vertical field of view, that is, the tilt angle α1 is smaller than the tilt angle α2.

[0069] In one embodiment of the present disclosure, Figure 5 As shown, in the horizontal direction X, when the installation point of the obstacle avoidance sensor 30 is relatively backward relative to the upper edge of the display screen 20, the vertical field angle lower boundary line a of the obstacle avoidance sensor 30 is inclined downward at an angle α1 relative to the first horizontal plane X1, and the second tangent line d is inclined downward at an angle α3 relative to the first horizontal plane X1, and α1 is less than α3;

[0070] The orthographic projection of the obstacle avoidance sensor 30 on the first vertical projection plane Y1 is taken as the vertex A, the first horizontal plane X1 is a horizontal plane passing through the vertex A, the second straight line segment b' includes a second endpoint b2' formed by projecting the upper edge of the display screen 20 onto the first vertical projection plane Y1, and the second tangent line d is a line connecting the vertex A and the second endpoint b2' on the first vertical projection plane Y1.

[0071] With the above solution, in the horizontal direction X, when the installation point of the obstacle avoidance sensor 30 is relatively backward relative to the upper edge of the display screen 20, the upper edge of the display screen 20 is easier to enter the field of view of the obstacle avoidance sensor 30 than the lower edge. When the downward inclination angle α1 of the lower boundary line a of the vertical field of view of the obstacle avoidance sensor 30 relative to the first horizontal plane X1 is equal to the downward inclination angle α3 of the second tangent line d relative to the first horizontal plane X1, the upper edge of the display screen 20 is just tangent to the lower boundary line a of the vertical field of view.

[0072] Therefore, in order to prevent the display screen 20 from entering the field of view, when the field of view of the obstacle avoidance sensor 30 is fixed, the pitch angle of the display screen 20 should be greater than the pitch angle when the upper edge of the second tangent line display screen 20 is just tangent to the lower boundary line a of the vertical field of view, that is, the tilt angle α1 is smaller than the tilt angle α3.

[0073] In one embodiment of the present disclosure, the horizontal field of view angle coverage of the obstacle avoidance sensor 30 is greater than or equal to the minimum viewing angle required by the main body 10 in the horizontal direction X, and the vertical field of view angle is greater than or equal to the minimum viewing angle required by the main body 10 in the vertical direction Y. In this way, it can be further ensured that the obstacle avoidance sensor 30 can cover the front and surroundings of the display screen 20 as much as possible to reduce the risk of collision with the display screen 20. The minimum viewing angle can be determined based on actual measurements.

[0074] In one embodiment of the present disclosure, an ultrasonic sensor may be used as the obstacle avoidance sensor 30. The ultrasonic sensor includes an ultrasonic transmitter and an ultrasonic receiver. The present invention does not limit the number and position of the ultrasonic transmitter and the ultrasonic receiver, and those skilled in the art may adjust them according to actual needs.

[0075] The characteristic of ultrasonic sensors is that they have a wide measurement angle, and obstacles in the working environment are generally on the ground. Therefore, the vertical field of view of ultrasonic sensors is tilted downward to minimize missed detection of obstacles. In addition, ultrasonic sensors have good detection effects on materials with low light reflectivity, such as glass, and can be used in strong light scenes, or to detect scenes with low reflectivity, high reflectivity, and transparent objects.

[0076] It should be noted that the obstacle avoidance sensor 30 may also be other sensors that recognize obstacles based on non-optical signals, such as a radar obstacle avoidance sensor, an electromagnetic wave obstacle avoidance sensor, and the like.

[0077] In addition, in one embodiment of the present disclosure, the self-moving robot also includes a control unit (not shown in the figure), which is configured to output a control signal for the control body 10 to perform obstacle avoidance action and / or issue an alarm when receiving a sensing signal fed back from the obstacle avoidance sensor 30 that is used to characterize the identification of an obstacle.

[0078] In the above scheme, the obstacle avoidance sensor 30 is electrically connected to the control unit, and can send the detected obstacle information to the control unit. The control unit receives the obstacle information, controls the self-moving robot to perform obstacle avoidance actions and / or issue an alarm. The obstacle avoidance actions include but are not limited to slowing down, stopping, turning, etc. The way of issuing an alarm may include but is not limited to voice prompts, light prompts or display prompts, etc.

[0079] In one embodiment of the present disclosure, the self-moving robot further includes a photoelectric sensor (not shown in the figure), which is configured to sense obstacle information based on an optical signal reflected from an obstacle. Specifically, the photoelectric sensor can emit light in front of the display screen, and based on the light signal reflected from the obstacle, generate a sensing signal representing the obstacle information. The control unit is configured to output a control signal for controlling the main body 10 to perform obstacle avoidance actions and / or issue an alarm when receiving a sensing signal for representing the identification of an obstacle fed back from either the photoelectric sensor and the obstacle avoidance sensor 30.

[0080] Preferably, a voice prompt can be issued while the main body 10 is walking to avoid obstacles, to alert people nearby.

[0081] The control unit can be constructed as an MCU chip. An MCU chip refers to a microcontroller unit (MCU), also known as a single-chip microcomputer or single-chip microcomputer. It appropriately reduces the frequency and specifications of the central processing unit, and integrates peripheral interfaces such as memory, counter, USB, A / D conversion, UART, PLC, DMA, and even display driver circuits on a single chip to form a chip-level computer, which can perform different combination controls for different application scenarios. The MCU chip can also include a read-write memory and a logic execution circuit.

[0082] In one embodiment of the present disclosure, Figure 1 and Figure 2 As shown, the main body 10 includes: a chassis 11 and a body 12, the body 12 includes the chassis 11, and a walking unit is provided at the bottom of the chassis 11; the body 12 is connected to the chassis 11, and the display screen 20 and the obstacle avoidance sensor 30 are installed on the body 12.

[0083] It should be noted that the chassis 11 may include components such as a walking unit (not shown in the figure), and the body 12 may include components such as a functional unit. The walking unit may be composed of a motor, a driving wheel and a driven wheel, and is used to drive the self-moving robot to walk. The functional unit may have a variety of structures. For example, when the functional unit includes a cleaning component, the self-moving robot can perform cleaning work. When the functional unit includes a mechanical arm, the self-moving robot can perform functions such as carrying and grasping. When the functional unit includes an air purifier, the self-moving robot can purify the air. The present invention does not limit the type of the functional unit.

[0084] In addition, it should be noted that there may be only one obstacle avoidance sensor 30 disposed above the display screen 20 . In other embodiments not shown, there may be two or more obstacle avoidance sensors 30 disposed on other sides around the display screen 20 .

[0085] The embodiment of the present disclosure further provides a control method for a self-moving robot. When the self-moving robot further includes a control unit and a photoelectric sensor, the method includes the following steps:

[0086] During the walking process of the self-moving robot, when any one of the photoelectric sensor and the obstacle avoidance sensor feeds back a sensing signal for indicating that an obstacle has been identified, the main body performs an obstacle avoidance action and / or issues an alarm.

[0087] Application scenario 1

[0088] The self-propelled robot provided by the embodiment of the present disclosure is provided with an obstacle avoidance sensor 30 with a display screen 20. The obstacle avoidance sensor 30 can sense obstacle information based on non-optical signals. The obstacle avoidance sensor 30 is configured with a field of view facing the front of the display screen 20 and a field of view deviating from the edge of the front side of the display screen 20 to avoid the display screen 20 being mistakenly identified as an obstacle and affecting the sensing result.

[0089] When the self-propelled robot moves forward along the planned walking path, the display screen 20 faces the moving direction, and the obstacle avoidance sensor 30 can detect obstacles in front of the display screen 20. When the obstacle avoidance sensor 30 senses that there is an obstacle in front of the display screen 20, the self-propelled robot can take obstacle avoidance actions and / or issue an alarm.

[0090] In particular, when a photoelectric sensor is provided in the self-propelled robot, the photoelectric sensor may fail in a strong light scene, or when detecting low reflectivity, high reflectivity, or transparent objects. At this time, if there is an obstacle in front of the display screen 20, the obstacle avoidance sensor 30 checks whether there are obstacles around the display screen 20, and takes obstacle avoidance action or issues an alarm.

[0091] It can be seen that the self-moving robot and control method provided by the embodiments of the present disclosure detect obstacles in front of the display screen 20 based on the ranging function of the obstacle avoidance sensor 30, and do not rely on optical signals. Therefore, in the scenario where the photoelectric sensor fails, the obstacle avoidance sensor 30 can be used to check whether there are obstacles around the display screen 20, and obstacle avoidance actions can be taken or an alarm can be issued to reduce the risk of collision with the display screen 20.

[0092] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the marketplace, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims

1. A self-propelled robot, characterized in that: include: Subject (10); A display screen (20), with the forward direction of the main body being the front, the display screen (20) being arranged on the main body (10), with the display surface (20b) facing the front; and The obstacle avoidance sensor (30) is configured to sense obstacle information based on non-optical signals; wherein: The obstacle avoidance sensor (30) is arranged above the display screen (20) along the vertical direction (Y), and is configured such that the viewing angle faces the front of the display screen (20), and the viewing angle deviates from the edge of the front side of the display screen (20).

2. The self-moving robot according to claim 1, characterized in that: The vertical field of view of the obstacle avoidance sensor (30) has a lower boundary line (a), and the orthographic projection of the lower boundary line (a) on the first vertical projection plane (Y1) is a first straight line segment (a'); the orthographic projection of the display surface (20b) of the display screen (20) on the first vertical projection plane (Y1) is a second straight line segment (b'); wherein the second straight line segment (b') does not intersect with the first straight line segment (a'), and the first vertical projection plane (Y1) is perpendicular to the display surface (20b) and the horizontal plane.

3. The self-moving robot according to claim 2, characterized in that: The display surface (20b) of the display screen (20) is inclined relative to the vertical direction (Y), and the inclined direction is configured so that the display surface (20b) emits light obliquely upward.

4. The self-moving robot according to claim 3, characterized in that: In the horizontal direction (X), the installation point of the obstacle avoidance sensor (30) is closer to the front than the upper edge of the display screen (20), or the installation point of the obstacle avoidance sensor (30) is aligned front and back relative to the upper edge of the display screen (20).

5. The self-moving robot according to claim 4, characterized in that: The lower boundary line (a) of the vertical field of view of the obstacle avoidance sensor (30) is inclined downward at an angle α1 relative to the first horizontal plane (X1), and the first tangent line (c) is inclined downward at an angle α2 relative to the first horizontal plane (X1), and α1 is less than α2; The orthographic projection of the obstacle avoidance sensor (30) on the first vertical projection plane (Y1) is taken as the vertex (A); the first horizontal plane (X1) is a horizontal plane passing through the vertex (A); the second straight line segment (b') includes a first endpoint (b1') formed by projecting the lower edge of the display screen (20) onto the first vertical projection plane (Y1); and the first tangent line (c) is a line connecting the vertex (A) and the first endpoint (b1') on the first vertical projection plane (Y1).

6. The self-moving robot according to claim 3, characterized in that: In the horizontal direction (X), the installation point of the obstacle avoidance sensor (30) is located behind the upper edge of the display screen (20).

7. The self-moving robot according to claim 6, characterized in that: The lower boundary line (a) of the vertical field of view of the obstacle avoidance sensor (30) is inclined downward at an angle α1 relative to the first horizontal plane (X1), and the second tangent line (d) is inclined downward at an angle α3 relative to the first horizontal plane (X1), and α1 is less than α3; The orthographic projection of the obstacle avoidance sensor (30) on the first vertical projection plane (Y1) is taken as the vertex (A); the first horizontal plane (X1) is a horizontal plane passing through the vertex (A); the second straight line segment (b') includes a second endpoint (b2') formed by projecting the upper edge of the display screen (20) onto the first vertical projection plane (Y1); and the second tangent line (d) is a line connecting the vertex (A) and the second endpoint (b2') on the first vertical projection plane (Y1).

8. The self-moving robot according to claim 1, characterized in that: The horizontal field of view angle coverage range of the obstacle avoidance sensor (30) is greater than or equal to the minimum viewing angle required by the subject (10) in the horizontal direction (X), and the vertical field of view angle is greater than or equal to the minimum viewing angle required by the subject (10) in the vertical direction (Y).

9. The self-moving robot according to claim 1, characterized in that: The obstacle avoidance sensor (30) comprises an ultrasonic sensor.

10. The self-moving robot according to claim 1, characterized in that: The self-propelled robot also includes a control unit, which is configured to output a control signal to control the main body (10) to perform obstacle avoidance actions and / or issue an alarm when receiving a sensing signal fed back from the obstacle avoidance sensor (30) for indicating the recognition of an obstacle.

11. The self-moving robot according to claim 10, characterized in that: The self-propelled robot also includes a photoelectric sensor, which is configured to sense obstacle information based on an optical signal reflected from the obstacle; the control unit is configured to output a control signal for controlling the main body (10) to perform obstacle avoidance actions and / or issue an alarm when receiving a sensing signal for indicating the identification of an obstacle fed back from either the photoelectric sensor or the obstacle avoidance sensor (30).

12. The self-moving robot according to claim 1, characterized in that: The main body (10) comprises: A chassis (11), wherein a walking unit is provided at the bottom of the chassis (11); and A machine body (12), the machine body (12) is connected to the chassis (11), and the display screen (20) and the obstacle avoidance sensor (30) are installed on the machine body (12).

13. A control method for a self-moving robot, characterized in that: When applied to the self-propelled robot according to any one of claims 1 to 12, wherein the self-propelled robot further comprises a control unit and a photoelectric sensor, the method comprises: During the walking process of the self-moving robot, when the control unit receives a sensing signal indicating the recognition of an obstacle fed back from any one of the photoelectric sensor and the obstacle avoidance sensor (30), the control unit controls the main body (10) to perform an obstacle avoidance action and / or issue an alarm.

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