CN108852182B - Intelligent obstacle avoidance method for sweeping robot - Google Patents
Intelligent obstacle avoidance method for sweeping robot Download PDFInfo
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- CN108852182B CN108852182B CN201810721244.7A CN201810721244A CN108852182B CN 108852182 B CN108852182 B CN 108852182B CN 201810721244 A CN201810721244 A CN 201810721244A CN 108852182 B CN108852182 B CN 108852182B
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides an intelligent obstacle avoidance method for a sweeping robot, which is used for judging the types of non-fixed obstacles and respectively executing corresponding sweeping strategies aiming at the non-fixed obstacles of different types, so that the accuracy of obstacle identification is improved, and the sweeping efficiency is further improved.
Description
Technical Field
The application relates to the technical field of robot control, in particular to an intelligent obstacle avoidance method for a sweeping robot.
Background
With the progress of scientific technology and the development of computer technology, the sweeping robot gradually enters thousands of households to become a powerful assistant for human beings. There are sweeping robots of various manufacturers on the market, and the sweeping robots can be roughly divided into two types according to the way of finding the way of the robots: random collision and path planning. The two have the advantages and the disadvantages, the random collision type has low requirement on the environment and high working reliability, but the cleaning efficiency is low, the time consumption is long, and the cleaning coverage rate is random; the path planning type integral sweeping has high efficiency and short time consumption, is not clear in the map of the cleaned area, has higher requirement on the environment and is easy to sweep unclean. However, in any of the route search methods, the obstacle is not properly handled, and the fixed obstacle and the non-fixed obstacle cannot be distinguished from each other, and the cleaning efficiency is extremely low. The existing manufacturers neglect a problem that the sweeping robot is usually fixed in an environment when working, so that the working environment is clearly searched, and distinguishing fixed obstacles from non-fixed obstacles is also a problem to be solved urgently in the field of sweeping robots.
With the development of cloud computing and big data, cloud storage is widely applied in the field of artificial intelligence, and in order to solve the problems, the document CN107643755A provides an efficient control method of a sweeping robot, which includes adding an edge infrared detector to the sweeping robot to detect an edge, finding a path along the edge, determining a layout map of a whole cleaned area, detecting an obstacle through the obstacle detector, acquiring an image and a position of the obstacle through an obstacle recognition device, judging whether the obstacle is a fixed obstacle or a non-fixed obstacle, marking the type of the obstacle on the map, performing cleaning along a layout map frame when executing a cleaning task, and storing fixed obstacle and non-fixed obstacle marking points in the environment through a big data cloud memory, thereby intelligently avoiding the obstacle and improving the work efficiency of the sweeping robot.
However, the method has many defects, although the method realizes the classification detection of the fixed obstacles and the non-fixed obstacles, the positions of the non-fixed obstacles are only cleaned tentatively, and the moving type of the method hinders the sweeping robot to advance and further interferes with the sweeping for animals such as stubborn puppies and kittens, so that the judgment of the sweeping robot on the non-fixed obstacles is seriously influenced, and therefore, a sweeping robot for performing the classification detection on the non-fixed obstacles is to be provided, and the sweeping speed and the efficiency are improved.
Disclosure of Invention
The invention provides an intelligent obstacle avoidance method for a sweeping robot, wherein the sweeping robot comprises an infrared detector and an ultrasonic detector, and the method comprises the following steps:
s1, the sweeping robot acquires a sweeping instruction, plans a sweeping path according to the sweeping instruction, and executes a sweeping task according to the sweeping path;
s2, the sweeping robot starts the ultrasonic detector to detect the obstacle on the sweeping path, if so, the sweeping robot continues to detect whether the position of the obstacle changes, if so, the obstacle is marked as an unfixed obstacle, and the process goes to step S3; if not, marking the obstacle as a fixed obstacle so as to bypass the obstacle to carry out sweeping operation;
s3, the sweeping robot starts the infrared detector to detect the heat of the obstacle, if the heat reaches a preset heat threshold value, the obstacle is marked as a prompting non-fixed obstacle, and if the heat does not reach the preset heat threshold value, the obstacle is marked as a non-prompting non-fixed obstacle;
s4, the sweeping robot sends out a prompt signal when approaching the prompt non-fixed obstacle; when the non-prompting non-fixed obstacle is approached, the cleaning is continued after the obstacle leaves, or the cleaning operation is carried out by bypassing the obstacle.
As a preferred embodiment, the planning of the cleaning path according to the cleaning instruction specifically includes:
s21, identifying the type of the cleaning instruction, and if the cleaning instruction carries cleaning area information, directly entering the step S23; if the cleaning instruction does not carry cleaning area information, the step S22 is carried out;
s22, the sweeping robot starts a camera device to automatically patrol each sweeping area according to the sweeping instruction;
and S23, the sweeping robot calculates the sweeping area of each sweeping area, and plans the sweeping path of the sweeping robot according to the sweeping areas and the sweeping areas.
As a preferred embodiment, the step S2 further includes:
the ultrasonic detector of the sweeping robot detects obstacles in a preset distance of a traveling direction on the sweeping path; if the obstacle is detected, continuously detecting whether the change of the position of the obstacle in preset time reaches a preset distance threshold, and if so, judging that the position of the obstacle changes; and if not, judging that the position of the obstacle is unchanged.
As a preferred embodiment, the sweeping robot sends out a prompt signal when approaching the prompting non-fixed obstacle, specifically including:
the sweeping robot sends out an alarm sound signal when approaching the prompting non-fixed barrier, continuously detects whether the prompting non-fixed barrier leaves the current traveling direction, and if so, closes the alarm sound signal and continuously executes the sweeping operation; if not, stopping the traveling, and changing the sound type of the alarm sound signal to continuously send out the alarm.
As a preferred embodiment, the method further comprises:
if the suggestive non-fixed obstacle does not leave the current advancing direction, the robot stops advancing, an abnormal threshold value which is used for detecting whether the cleaning power of a cleaning brush of the sweeping robot is increased or not is detected, if so, the cleaning operation of the cleaning brush is stopped, and the position of the sweeping robot is adjusted to avoid the suggestive non-fixed obstacle.
As a preferred embodiment, the method further comprises:
if the suggestive non-fixed barrier does not leave the current traveling direction, stopping traveling and changing the sound type of the alarm sound signal to continuously give an alarm;
and if the prompting non-fixed barrier does not leave after the preset waiting time is reached, the alarm sound signal is turned off, and the sweeping operation is continued by bypassing the prompting non-fixed barrier.
As a preferred embodiment, the method further comprises:
the sweeping robot detects the height of the prompting non-fixed barrier through the ultrasonic detector, and if the height of the prompting non-fixed barrier is not larger than a preset barrier height threshold value, a first prompt signal is sent out when the prompting non-fixed barrier is close to the prompting non-fixed barrier; and if the height of the suggestive non-fixed barrier is greater than a preset barrier height threshold value, a second prompting signal is sent out when the suggestive non-fixed barrier is close to.
As a preferred embodiment, the method further comprises:
the signal intensity of the first cue signal is higher than that of the second cue signal, or the first cue signal and the second cue signal are different signal types.
The invention provides an intelligent obstacle avoidance method for a sweeping robot, which is used for judging the types of non-fixed obstacles and respectively executing corresponding sweeping strategies aiming at the non-fixed obstacles of different types, so that the accuracy of obstacle identification is improved, and the sweeping efficiency is further improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the embodiments and the drawings used in the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is an exemplary schematic diagram of an intelligent obstacle avoidance method for a sweeping robot according to the present invention.
Detailed Description
The embodiments of the present invention are further described below with reference to the drawings.
The first embodiment is as follows:
as shown in fig. 1, the invention provides an intelligent obstacle avoidance method for a sweeping robot, wherein the sweeping robot comprises an infrared detector and an ultrasonic detector, and the method comprises the following steps:
s1, the sweeping robot acquires a sweeping instruction, plans a sweeping path according to the sweeping instruction, and executes a sweeping task according to the sweeping path; it should be noted that the cleaning command may be of different types, for example, a partial cleaning command or a full cleaning command; the sweeping robot acquires a sweeping instruction, identifies all sweeping areas and the sweeping area of each sweeping area according to the sweeping instruction, and distributes a sweeping task according to the sweeping areas and the sweeping areas; the sweeping zones of the present invention are relatively independent, e.g., each room in a home setting; the cleaning area is the area of the cleanable area, and the cleaning robot calculates and converts the cleanable area into a cleaning path of each cleaning area; and then executing a cleaning task according to the cleaning path.
S2, the sweeping robot starts the ultrasonic detector to detect the obstacle on the sweeping path, if so, the sweeping robot continues to detect whether the position of the obstacle changes, if so, the obstacle is marked as an unfixed obstacle, and the process goes to step S3; if not, marking the obstacle as a fixed obstacle so as to bypass the obstacle to carry out sweeping operation; the ultrasonic detector is used for determining whether an object is an obstacle by detecting a specific distance between the object and the traveling direction of the sweeping robot, for example, if an obstacle is detected to exist in the traveling direction of the sweeping robot, that is, within a distance of 20cm ahead of the current sweeping path, the obstacle is determined to be an obstacle; further, whether the position of the obstacle changes is determined, where the position may be a relative position with respect to the sweeping robot, or an absolute position of the obstacle, and is not limited herein. Preferably, the absolute position of the obstacle. Therefore, the invention effectively distinguishes the types of the obstacles, thereby improving the accuracy of judging the obstacles.
S3, the sweeping robot starts the infrared detector to detect the heat of the obstacle, if the heat reaches a preset heat threshold value, the obstacle is marked as a prompting non-fixed obstacle, and if the heat does not reach the preset heat threshold value, the obstacle is marked as a non-prompting non-fixed obstacle; it should be noted that, for example, the infrared detector is an infrared thermal imager to detect the energy stored in the obstacle itself, and further determine whether the obstacle is a living body such as a human body or an animal. When meeting an obstacle of a life body type, prompting information needs to be sent out so as to avoid injuring the life body, and at the moment, the obstacle is called as a prompting non-fixed obstacle; when encountering an obstacle of an inanimate object, the prompt information does not need to be sent, and at the moment, the obstacle is called a non-prompt non-fixed obstacle. Therefore, the method effectively distinguishes the type of the non-fixed barrier, and therefore the accuracy of judging the barrier is improved.
S4, the sweeping robot sends out a prompt signal when approaching the prompt non-fixed obstacle; when the non-prompting non-fixed obstacle is approached, the cleaning is continued after the obstacle leaves, or the cleaning operation is carried out by bypassing the obstacle. It should be noted that the prompt signal may be a sound type or a light type, which is not limited herein, and since the living body often has a feedback capability on light or sound, the living body will leave when receiving the prompt signal, and thus the sweeping robot will not be affected to completely sweep the ground. On the other hand, if the obstacle is an obstacle without a living body, the prompt message has no effect, so that the passive mode, such as waiting or bypassing, is adopted by the invention. Therefore, the method effectively distinguishes the type of the non-fixed barrier, and therefore the accuracy of judging the barrier is improved.
As a preferred embodiment, the planning of the cleaning path according to the cleaning instruction specifically includes:
s21, identifying the type of the cleaning instruction, and if the cleaning instruction carries cleaning area information, directly entering the step S23; if the cleaning instruction does not carry cleaning area information, the step S22 is carried out; the cleaning area information may be a cleaning area temporarily defined by the user, or may be a specific cleaning area corresponding to a specific cleaning command preset by the user, and is not limited herein.
S22, the sweeping robot starts a camera device to automatically patrol each sweeping area according to the sweeping instruction; it should be noted that the patrol can be implemented in the process of primary cleaning, and the cleanable area obtained by patrol is stored, so that the patrol can be directly called without being patrolled again when cleaning for the second time; in addition, the patrol area can be optimized in the subsequent cleaning process so as to improve the identification accuracy; the cleaning area is a cleanable area, namely an area which can be safely reached by the sweeping robot, and comprises an area which can be spanned, such as a carpet.
And S23, the sweeping robot calculates the sweeping area of each sweeping area, and plans the sweeping path of the sweeping robot according to the sweeping areas and the sweeping areas.
As a preferred embodiment, the step S2 further includes:
the ultrasonic detector of the sweeping robot detects obstacles in a preset distance of a traveling direction on the sweeping path; if the obstacle is detected, continuously detecting whether the change of the position of the obstacle in preset time reaches a preset distance threshold, and if so, judging that the position of the obstacle changes; and if not, judging that the position of the obstacle is unchanged. It should be noted that, the moving distance determination method is used here to determine whether the position of the obstacle moves, that is, whether the moving speed reaches a preset speed threshold.
As a preferred embodiment, the sweeping robot sends out a prompt signal when approaching the prompting non-fixed obstacle, specifically including:
the sweeping robot sends out an alarm sound signal when approaching the prompting non-fixed barrier, continuously detects whether the prompting non-fixed barrier leaves the current traveling direction, and if so, closes the alarm sound signal and continuously executes the sweeping operation; if not, stopping the traveling, and changing the sound type of the alarm sound signal to continuously send out the alarm. It should be noted that the suggestive non-fixed obstacle, such as a person or a plurality of animals, is far away from the sweeping robot after the warning sound signal is obtained, and at this time, the sweeping robot can continue to perform a sweeping task; and for some animals, the animals cannot actively get away because of being stubborn or resting on the ground, and at the moment, the sound type of the alarm sound signal is changed to continuously give an alarm, so that the obstacle is warned again to drive the animals to get away.
As a preferred embodiment, the method further comprises:
if the suggestive non-fixed obstacle does not leave the current advancing direction, the robot stops advancing, an abnormal threshold value which is used for detecting whether the cleaning power of a cleaning brush of the sweeping robot is increased or not is detected, if so, the cleaning operation of the cleaning brush is stopped, and the position of the sweeping robot is adjusted to avoid the suggestive non-fixed obstacle. It should be noted that, at this time, mainly for the animal which is hard to be skinned, the animal often touches the moving parts such as the sweeper brush due to curiosity, and here, it is detected whether the sweeping power of the sweeper brush of the sweeping robot is increased to an abnormal threshold, that is, whether the movement of the sweeper brush receives a large external resistance, such as being caught or bitten, and at this time, in order to avoid the sweeper brush being damaged, the sweeping operation of the sweeper brush needs to be stopped; further, the position of the sweeping robot is adjusted to avoid the suggestive non-fixed barrier, so that the sweeping robot is protected from being damaged.
As a preferred embodiment, the method further comprises:
if the suggestive non-fixed barrier does not leave the current traveling direction, stopping traveling and changing the sound type of the alarm sound signal to continuously give an alarm; after the warning sound signal is acquired, the warning non-fixed barrier, such as a human or a plurality of animals, is far away from the sweeping robot, and at the moment, the sweeping robot can continue to perform a sweeping task; and for some animals, the animals cannot actively get away because of being stubborn or resting on the ground, and at the moment, the sound type of the alarm sound signal is changed to continuously give an alarm, so that the obstacle is warned again to drive the animals to get away.
And if the prompting non-fixed barrier does not leave after the preset waiting time is reached, the alarm sound signal is turned off, and the sweeping operation is continued by bypassing the prompting non-fixed barrier. At this time, in order to avoid the cleaning brush from being damaged, the cleaning operation of the cleaning brush needs to be stopped; further, the position of the sweeping robot is adjusted to avoid the suggestive non-fixed barrier, so that the sweeping robot is protected from being damaged.
As a preferred embodiment, the method further comprises:
the sweeping robot detects the height of the prompting non-fixed barrier through the ultrasonic detector, and if the height of the prompting non-fixed barrier is not larger than a preset barrier height threshold value, a first prompt signal is sent out when the prompting non-fixed barrier is close to the prompting non-fixed barrier; and if the height of the suggestive non-fixed barrier is greater than a preset barrier height threshold value, a second prompting signal is sent out when the suggestive non-fixed barrier is close to. It should be noted that, for example, the infrared detector is an infrared thermal imager, which is not only used to detect the energy stored in the obstacle itself, but also used to analyze the height of the obstacle according to the imaging diagram of the obstacle, so as to identify the living body to distinguish whether it is a human or an animal; for example, the preset obstacle height threshold is 0.8m, and at this time, a living body with a height lower than 0.8m is identified as an animal, and a living body with a height greater than 0.8m is identified as a human; and then send different types of prompt signals according to people or animals, thereby improving the efficiency of information prompt.
As a preferred embodiment, the method further comprises:
the signal intensity of the first cue signal is higher than that of the second cue signal, or the first cue signal and the second cue signal are different signal types. It should be noted that the prompt signal to the person in the invention is softer, so that the person is not frightened; the prompt signal for the animal is larger, so that the animal can be driven away in time, and the cleaning operation of the sweeping robot is not affected. For example, the first prompt signal is music, and the second prompt signal is an alarm sound; or, the first prompt signal is a sound, and the second prompt signal is that the shape of the sweeping robot is enlarged, and the like, which is not limited herein.
The invention provides an intelligent obstacle avoidance method for a sweeping robot, which is used for judging the types of non-fixed obstacles and respectively executing corresponding sweeping strategies aiming at the non-fixed obstacles of different types, so that the accuracy of obstacle identification is improved, and the sweeping efficiency is further improved.
It will be understood by those within the art that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the methods specified in the block or blocks of the block diagrams and/or flowchart block or blocks.
Those of skill in the art will appreciate that various operations, methods, steps in the processes, acts, or solutions discussed in the present application may be alternated, modified, combined, or deleted. Further, various operations, methods, steps in the flows, which have been discussed in the present application, may be interchanged, modified, rearranged, decomposed, combined, or eliminated. Further, steps, measures, schemes in the various operations, methods, procedures disclosed in the prior art and the present invention can also be alternated, changed, rearranged, decomposed, combined, or deleted.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (5)
1. The intelligent obstacle avoidance method of the sweeping robot is characterized in that the sweeping robot comprises an infrared detector and an ultrasonic detector, and the method comprises the following steps:
s1, the sweeping robot acquires a sweeping instruction, plans a sweeping path according to the sweeping instruction, and executes a sweeping task according to the sweeping path;
s2, the sweeping robot starts the ultrasonic detector to detect the obstacle on the sweeping path, if so, the sweeping robot continues to detect whether the position of the obstacle changes, if so, the obstacle is marked as an unfixed obstacle, and the process goes to step S3; if not, marking the obstacle as a fixed obstacle so as to bypass the obstacle to carry out sweeping operation;
s3, the sweeping robot starts the infrared detector to detect the heat of the obstacle, if the heat reaches a preset heat threshold value, the obstacle is marked as a prompting non-fixed obstacle, and if the heat does not reach the preset heat threshold value, the obstacle is marked as a non-prompting non-fixed obstacle;
s4, the sweeping robot sends out a prompt signal when approaching the prompt non-fixed obstacle; when approaching the non-prompting non-fixed obstacle, continuing to clean after waiting for the obstacle to leave, or bypassing the obstacle to perform cleaning operation;
the robot of sweeping the floor is being close to send cue signal when the non-fixed barrier of promptness specifically includes: the sweeping robot sends out an alarm sound signal when approaching the prompting non-fixed barrier, continuously detects whether the prompting non-fixed barrier leaves the current traveling direction, and if so, closes the alarm sound signal and continuously executes the sweeping operation; if not, stopping traveling, and changing the sound type of the alarm sound signal to continuously give an alarm;
if the suggestive non-fixed obstacle does not leave the current advancing direction, stopping advancing, detecting whether the cleaning power of a cleaning brush of the sweeping robot is increased to an abnormal threshold value, if so, stopping the cleaning operation of the cleaning brush, and adjusting the position of the sweeping robot to avoid the suggestive non-fixed obstacle;
the sweeping robot detects the height of the prompting non-fixed barrier through the ultrasonic detector, and if the height of the prompting non-fixed barrier is not larger than a preset barrier height threshold value, a first prompt signal is sent out when the prompting non-fixed barrier is close to the prompting non-fixed barrier; and if the height of the suggestive non-fixed barrier is greater than a preset barrier height threshold value, a second prompting signal is sent out when the suggestive non-fixed barrier is close to.
2. The method according to claim 1, wherein planning a cleaning path according to the cleaning instruction specifically comprises:
s21, identifying the type of the cleaning instruction, and if the cleaning instruction carries cleaning area information, directly entering the step S23; if the cleaning instruction does not carry cleaning area information, the step S22 is carried out;
s22, the sweeping robot starts a camera device to automatically patrol each sweeping area according to the sweeping instruction;
and S23, the sweeping robot calculates the sweeping area of each sweeping area, and plans the sweeping path of the sweeping robot according to the sweeping areas and the sweeping areas.
3. The method according to claim 1, wherein the step S2 further comprises:
the ultrasonic detector of the sweeping robot detects obstacles in a preset distance of a traveling direction on the sweeping path; if the obstacle is detected, continuously detecting whether the change of the position of the obstacle in preset time reaches a preset distance threshold, and if so, judging that the position of the obstacle changes; and if not, judging that the position of the obstacle is unchanged.
4. The method of claim 1, further comprising:
if the suggestive non-fixed barrier does not leave the current traveling direction, stopping traveling and changing the sound type of the alarm sound signal to continuously give an alarm;
and if the prompting non-fixed barrier does not leave after the preset waiting time is reached, the alarm sound signal is turned off, and the sweeping operation is continued by bypassing the prompting non-fixed barrier.
5. The method of claim 1, further comprising:
the signal intensity of the first cue signal is higher than that of the second cue signal, or the first cue signal and the second cue signal are different signal types.
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| CN201810721244.7A CN108852182B (en) | 2018-07-04 | 2018-07-04 | Intelligent obstacle avoidance method for sweeping robot |
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| CN201810721244.7A CN108852182B (en) | 2018-07-04 | 2018-07-04 | Intelligent obstacle avoidance method for sweeping robot |
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2018
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