CN107608363A

CN107608363A - Avoidance processing method, device and the robot of robot

Info

Publication number: CN107608363A
Application number: CN201711052304.2A
Authority: CN
Inventors: 潘俊威; 谭平; 栾成志; 刘坤
Original assignee: Beijing Qihoo Technology Co Ltd
Current assignee: Beijing Qihoo Technology Co Ltd
Priority date: 2017-10-30
Filing date: 2017-10-30
Publication date: 2018-01-19

Abstract

The invention discloses avoidance processing method, device and the robot of a kind of robot.Wherein, method includes：When robot advances, by the distance between the range sensor monitoring robot of the predetermined position that is arranged on robot and the barrier of surrounding, the numerical value of the distance is defined as obstacle distance value；When obstacle distance value, which meets default avoidance, starts condition, according to the first round of the first rule adjustment robot and/or the second rotating speed taken turns, until robot meets default avoidance pause condition；The rotating speed of the first round and/or the second wheel is adjusted according to Second Rule, until robot meets default avoidance termination condition.Using the present invention program, make robot when running into the barrier to form an angle, for example, right angle barrier, the corner that can be cleared the jumps；And the position of robot can be adjusted, makes it close to barrier, in order to which robot continues to be cleaned along barrier.

Description

Obstacle avoidance processing method and device for robot and robot

Technical Field

The invention relates to the technical field of intelligent home furnishing, in particular to a robot obstacle avoidance processing method and device and a robot.

Background

Along with the development of science and technology and the requirement of people for quality of life constantly increases, intelligent house appears in people's daily life gradually, and wherein, especially representative cleans machine people and receives people's liking more and more. Due to the complexity of the cleaning environment, the cleaning robot can encounter various obstacles in the process of cleaning, wherein not only straight obstacles but also some obstacles with certain angles exist, such as corners of desks, wall corners and the like.

However, in the process of implementing the invention, the inventor finds that when the robot in the prior art travels near a corner of an obstacle with a certain angle, the robot can often only bypass the corner by means of manual moving. Even if some more intelligent cleaning robots can avoid the obstacle in a fixed mode after meeting the obstacle, the cleaning robots may collide with the obstacle in the obstacle avoiding process, and therefore the obstacle avoiding effect is poor. Therefore, no technical solution for solving the above problems is provided in the prior art.

Disclosure of Invention

In view of the above problems, the present invention is proposed to provide an obstacle avoidance processing method and apparatus for a robot, and a robot, which overcome the above problems or at least partially solve the above problems.

According to one aspect of the present invention, an obstacle avoidance processing method for a robot is provided, including:

monitoring the distance between the robot and surrounding obstacles through a distance sensor arranged at a preset position of the robot when the robot travels, and determining the value of the distance as an obstacle distance value;

when the obstacle distance value meets a preset obstacle avoidance starting condition, adjusting the rotating speed of a first wheel and/or a second wheel of the robot according to a first rule until the robot meets a preset obstacle avoidance suspension condition; the obstacle avoidance starting condition includes: the monitored change amount of the distance value of the obstacle exceeds a preset turning angle distance change amount threshold value; and/or when the monitored obstacle distance value is larger than a preset first turning angle distance threshold value;

and adjusting the rotating speed of the first wheel and/or the second wheel according to a second rule until the robot meets a preset obstacle avoidance finishing condition.

Further, the distance sensor is disposed at a front end of a first wheel or a second wheel of the robot, and the adjusting the rotation speed of the first wheel and/or the second wheel according to the first rule specifically includes: adjusting the rotational speed of the first wheel and/or the second wheel so that the rotational speed of the first wheel is less than the rotational speed of the second wheel;

and the adjusting the rotation speed of the first wheel and/or the second wheel according to the second rule specifically comprises: adjusting the rotational speed of the first wheel and/or the second wheel so that the rotational speed of the first wheel is greater than the rotational speed of the second wheel;

wherein a distance between the first wheel and the obstacle is greater than a distance between the second wheel and the obstacle.

Further, the step of adjusting the rotation speed of the first wheel and/or the second wheel to make the rotation speed of the first wheel smaller than the rotation speed of the second wheel specifically includes:

controlling a first wheel of the robot to stop rotating and a second wheel of the robot to rotate positively; or,

and controlling the first wheel and the second wheel to rotate forwards at the same time, wherein the rotating speed of the second wheel is greater than that of the first wheel.

Further, the step of stopping the robot until the robot meets a preset obstacle avoidance suspension condition specifically includes:

when the track length of the second wheel movement of the robot reaches a preset length, determining that the robot meets a preset obstacle avoidance suspension condition; and/or when the rotation angle of the second wheel of the robot around the first wheel reaches a preset angle, determining that the robot meets a preset obstacle avoidance suspension condition.

Further, the preset length and/or the preset angle are determined according to the traveling speed of the robot and/or the setting position of the distance sensor.

Further, the step of adjusting the rotation speed of the first wheel and/or the second wheel to make the rotation speed of the first wheel greater than the rotation speed of the second wheel specifically includes:

controlling the first wheel and the second wheel to rotate forwards at the same time, wherein the rotating speed of the first wheel is greater than that of the second wheel; or,

and controlling the second wheel to stop rotating, and controlling the first wheel to rotate positively.

Further, the step of ending until the robot meets the preset obstacle avoidance condition specifically includes:

when collision between the robot and the obstacle is detected, determining that the robot meets a preset obstacle avoidance finishing condition, and controlling the robot through a preset collision processing rule; and/or when the monitored obstacle distance value is smaller than a preset obstacle avoidance ending threshold value, determining that the robot meets a preset obstacle avoidance ending condition, and controlling the robot according to a preset edgewise traveling rule.

Further, the preset collision processing rule includes:

when collision between the robot and an obstacle is detected, controlling the robot to move to a rotating position and start rotating;

monitoring the change condition of the distance value of the obstacle sensed by a distance sensor arranged at a preset position of the robot in the process of the rotation movement;

judging whether the current orientation of the robot is parallel to the obstacle according to the change situation of the obstacle distance value;

and when the judgment result is yes, controlling the robot to stop rotating and move along the obstacle.

Further, when it is detected that the robot collides with an obstacle, the step of controlling the robot to move to the rotational position and start rotational movement specifically includes:

and when the collision between the robot and the obstacle is detected, controlling the robot to retreat from the collision position to the rotation position by a preset distance, and performing in-situ rotation movement at the rotation position.

Further, the orientation of the distance sensor is parallel to the transverse direction of the robot; wherein the lateral direction of the robot is perpendicular to the current orientation of the robot;

monitoring the change condition of the obstacle distance value sensed by a distance sensor arranged at a preset position of the robot; judging whether the current orientation of the robot is parallel to the obstacle according to the change situation of the obstacle distance value specifically comprises:

and drawing a corresponding change curve according to the change condition of the distance value of the obstacle sensed by the distance sensor, and judging whether the current orientation of the robot is parallel to the obstacle according to a trough in the change curve.

Further, the step of drawing a corresponding change curve according to the change condition of the obstacle distance value sensed by the distance sensor specifically includes: drawing a change curve when the obstacle distance value sensed by the distance sensor changes according to time and/or a rotation angle;

the step of determining whether the current orientation of the robot is parallel to the obstacle according to the trough in the variation curve specifically includes:

determining a time point and/or a rotation angle which can enable the current orientation of the robot and the obstacle to be parallel to each other according to the wave troughs in the change curve, and determining the corresponding position of the robot at the time point and/or the rotation angle as a parallel position; determining that the current orientation of the robot and the obstacle are parallel to each other when the robot is in the parallel position.

Furthermore, a preset included angle is formed between a connecting line between the distance sensor and the center position of the robot and the transverse direction of the robot; wherein, the preset included angle is 5 degrees to 10 degrees.

Further, the preset included angle is 3 degrees to 15 degrees.

Further, the edgewise travel rule includes:

and in the process that the robot travels along the edge of the obstacle, acquiring the obstacle distance value sensed by the distance sensor in real time, and adjusting the wheel speed of the first wheel and/or the second wheel of the robot in real time according to the acquired obstacle distance value.

According to another aspect of the present invention, there is provided an obstacle avoidance processing apparatus for a robot, including:

the robot comprises a monitoring module, a control module and a control module, wherein the monitoring module is suitable for monitoring the distance between the robot and surrounding obstacles through a distance sensor arranged at a preset position of the robot when the robot travels, and determining the value of the distance as an obstacle distance value;

the first adjusting module is suitable for adjusting the rotating speed of a first wheel and/or a second wheel of the robot according to a first rule when the obstacle distance value meets a preset obstacle avoidance starting condition until the robot meets a preset obstacle avoidance suspension condition; the obstacle avoidance starting condition includes: the monitored change amount of the distance value of the obstacle exceeds a preset turning angle distance change amount threshold value; and/or when the monitored obstacle distance value is larger than a preset first turning angle distance threshold value;

and the second adjusting module is suitable for adjusting the rotating speed of the first wheel and/or the second wheel according to a second rule until the robot meets a preset obstacle avoidance finishing condition.

Further, the distance sensor is arranged at the front end of the first wheel or the second wheel of the robot, and the first adjusting module is further adapted to: adjusting the rotational speed of the first wheel and/or the second wheel so that the rotational speed of the first wheel is less than the rotational speed of the second wheel;

and the second conditioning module is further adapted to: adjusting the rotational speed of the first wheel and/or the second wheel so that the rotational speed of the first wheel is greater than the rotational speed of the second wheel;

Further, the first adjusting module is further adapted to:

Further, the preset length and/or the preset angle are/is determined according to the traveling speed of the robot and/or the setting position of the distance sensor.

Further, the second adjustment module is further adapted to:

Further, the apparatus further comprises: the processing module is suitable for determining that the robot meets a preset obstacle avoidance finishing condition after the collision between the robot and the obstacle is detected, and controlling the robot according to a preset collision processing rule; and/or when the monitored obstacle distance value is smaller than a preset obstacle avoidance ending threshold value, determining that the robot meets a preset obstacle avoidance ending condition, and controlling the robot according to a preset edgewise traveling rule.

Further, the processing module is further adapted to:

the processing module is further adapted to:

Further, the processing module is further adapted to: drawing a change curve when the obstacle distance value sensed by the distance sensor changes according to time and/or a rotation angle;

Furthermore, a preset included angle is formed between a connecting line between the distance sensor and the center position of the robot and the transverse direction of the robot; wherein the preset included angle is 3-15 degrees.

Further, the preset included angle is 5 degrees to 10 degrees.

Further, the processing module is further adapted to:

if the obstacle distance value is larger than a preset reference range, controlling the first wheel to accelerate and the second wheel to decelerate so as to reduce the distance between the robot and the obstacle;

and if the obstacle distance value is smaller than a preset reference range, controlling the first wheel to decelerate and the second wheel to accelerate so as to increase the distance between the robot and the obstacle.

Further, the processing module is further adapted to: the robot travels along the edge of the obstacle according to a preset edgewise travel rule.

According to another aspect of the present invention, there is provided a robot including an obstacle avoidance processing device of the robot and a distance sensor provided at a preset position of the robot.

According to still another aspect of the present invention, there is provided an electronic apparatus including: the processor, the memory and the communication interface complete mutual communication through the communication bus;

the memory is used for storing at least one executable instruction, and the executable instruction enables the processor to execute the operation corresponding to the collision processing method of the robot.

According to still another aspect of the present invention, there is provided a computer storage medium having at least one executable instruction stored therein, the executable instruction causing a processor to perform operations corresponding to the collision processing method of the robot.

According to the obstacle avoidance processing method and device for the robot and the robot, the obstacle distance value between the robot and the obstacle is monitored in real time, and when the change quantity of the monitored obstacle distance value exceeds the preset turning angle distance change quantity threshold value; and/or when the monitored distance value of the obstacle is larger than a preset first turning angle distance threshold value, adjusting the rotating speeds of a first wheel and a second wheel of the robot according to the change conditions of the distance value of the obstacle and the distance value of the obstacle; controlling the robot to move by using the adjusted wheel speeds of the first wheel and the second wheel until the preset obstacle avoidance suspension condition is met, and enabling the driving wheel close to the obstacle to cross the corner of the obstacle with a certain included angle; and adjusting the rotating speed of the first wheel and/or the second wheel according to a second rule until the robot meets a preset obstacle avoidance finishing condition, so that the robot approaches to the obstacle. By utilizing the scheme of the invention, when the robot encounters an obstacle with a certain included angle, for example, a right-angle obstacle, the robot can cross the corner of the obstacle; and the position of the robot can be adjusted to be close to the obstacle, so that the robot can continuously clean along the obstacle.

The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

fig. 1 is a flowchart illustrating an obstacle avoidance processing method of a robot according to an embodiment of the present invention;

FIG. 2 is a schematic cross-sectional view of an angled obstruction suitable for use with embodiments of the present invention;

fig. 3 is a flowchart illustrating an obstacle avoidance processing method of a robot according to another embodiment of the present invention;

fig. 4 is a schematic cross-sectional view illustrating relative positions of a robot and an obstacle when a preset obstacle avoidance suspension condition is met according to an embodiment of the present invention;

fig. 5 is a flowchart illustrating a method for controlling a robot according to a preset collision processing rule according to an embodiment of the present invention;

FIG. 6 is a schematic cross-sectional view showing a relative positional relationship between a robot and an obstacle according to an embodiment of the present invention;

FIG. 7 is a schematic cross-sectional view showing the relative position relationship between the robot and the obstacle at a certain moment during the rotational movement of the robot in FIG. 6;

FIG. 8 illustrates a time-dependent change in the obstacle distance value in accordance with an exemplary embodiment of the present invention;

fig. 9 is a flowchart illustrating an obstacle avoidance processing method of a robot according to still another embodiment of the present invention;

fig. 10 is a functional block diagram showing a collision processing apparatus of a robot according to an embodiment of the present invention;

fig. 11 is a functional block diagram showing a collision processing apparatus of a robot according to another embodiment of the present invention;

fig. 12 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

Fig. 1 shows a flowchart of an obstacle avoidance processing method for a robot according to an embodiment of the present invention. As shown in fig. 1, the method comprises the steps of:

step S101: when the robot travels, the distance between the robot and a surrounding obstacle is monitored by a distance sensor provided at a preset position of the robot, and the value of the distance is determined as an obstacle distance value.

The distance sensor comprises a laser distance measuring sensor, an ultrasonic distance measuring sensor or an infrared distance measuring sensor; the distance sensor is arranged at a preset position which is convenient to install and can be used for monitoring the distance value of the obstacle in real time. Alternatively, the preset position is near the front of the left driving wheel (hereinafter, first wheel) or the right driving wheel (hereinafter, second wheel) of the robot, and the monitoring direction of the distance sensor is parallel to the transverse direction of the robot.

When the robot travels, if the traveling direction of the robot is not parallel to the obstacle, the surface of the obstacle is not in a straight line, and/or the obstacle is an obstacle having a certain angle, the distance between the robot and the surrounding obstacle is changed continuously. In this step, the distance between the robot and the surrounding obstacle is monitored in real time by using the distance sensor, and the value of the distance is determined as the obstacle distance value.

Step S102: and when the obstacle distance value meets the preset obstacle avoidance starting condition, adjusting the rotating speed of the first wheel and/or the second wheel of the robot according to a first rule until the robot meets the preset obstacle avoidance suspension condition.

Wherein, keep away the barrier and begin the condition and include: the monitored change amount of the distance value of the obstacle exceeds a preset turning angle distance change amount threshold value; and/or when the monitored obstacle distance value is greater than a preset first turning angle distance threshold value.

Although there are various situations in which the travel direction of the robot is not parallel to the obstacle, the surface of the obstacle is not in a straight line, and/or the obstacle is an obstacle having a certain angle, the obstacle distance value changes from moment to moment. However, in the case where the traveling direction of the robot is not parallel to the obstacle and/or the surface of the obstacle is not in a straight line, the obstacle distance value may change within a certain range, or the change speed of the obstacle distance value may be gentle and may not change abruptly. In this case, the distance between the robot and the obstacle may be adjusted according to the obstacle distance value using a conventional control strategy such as a PID control algorithm, so that the robot can travel parallel to the obstacle or the distance between the robot and the obstacle is kept within a preset range of the distance value between the robot and the obstacle.

However, in the case where the obstacle to which the present embodiment is applied is an obstacle having a certain angle, the change in the obstacle distance value is very large, or the obstacle distance value changes abruptly. Accordingly, the obstacle avoidance starting condition needs to be set according to the obstacle distance value and/or the change amount of the obstacle distance value.

Fig. 2 is a schematic cross-sectional view of an obstacle with an angle, to which an embodiment of the present invention is applicable, in which the relative position relationship between the robot 20 and the obstacle 21 is shown. As shown in fig. 2, the robot 20 travels forward in the direction indicated by the arrow in the figure, the line connecting the first wheel 201 and the second wheel 202 passes through the center position O of the robot 20, and the obstacle 21 is composed of two parts, a first obstacle 211 and a first obstacle 212, and the angle formed between the two parts is θ. In the figure, the obstacle distance value at the position corresponding to the distance sensor 203 is d1, and the obstacle distance value at the time when the robot 20 travels to the position corresponding to the distance sensor 204 is d2, it is obvious that the obstacle distance value suddenly increases, and the sudden change of the obstacle distance value becomes more obvious as θ decreases, and when θ is less than or equal to 90 degrees, the case where the obstacle distance suddenly increases to infinity occurs. At this time, if the position of the robot 20 is adjusted by a conventional PID control algorithm, the second wheel 202 lags behind the distance sensor 204, and the first obstacle 212 may be rubbed or collided with during the adjustment. In the step, when the obstacle distance value meets the preset obstacle avoidance starting condition, the rotating speed of the first wheel and/or the second wheel of the robot is adjusted according to a first rule, so that the driving wheel close to the obstacle can cross the position where the obstacle distance value changes suddenly. For example, the second wheel 202 in fig. 2 is made to pass over the corner of the first obstacle 211 and the first obstacle 212. Wherein, the specific value for adjusting the wheel speeds of the first wheel and the second wheel in the first rule can be determined according to the obstacle distance value before change and the change situation of the obstacle distance value.

In this step, the speed of the first wheel and/or the second wheel is adjusted to enable the driving wheel close to the obstacle to pass through the position where the obstacle distance value changes suddenly, so that the preset obstacle avoidance suspension condition in this step may be set to be a track length that the driving wheel close to the obstacle needs to move when passing through the position where the obstacle distance value changes suddenly, and/or an angle that the driving wheel needs to rotate relative to the driving wheel far from the obstacle.

Through the step, the robot moves to a position which accords with the preset obstacle avoidance suspension condition, the driving wheel close to the obstacle passes over the position where the obstacle distance value changes suddenly, and the robot is prevented from not rubbing and colliding with the obstacle.

Step S103: and adjusting the rotating speed of the first wheel and/or the second wheel according to a second rule until the robot meets a preset obstacle avoidance finishing condition.

Since the robot needs to continue the cleaning work after avoiding the position where the obstacle distance value changes abruptly, the robot needs to be moved to a position close to the obstacle in order to avoid the robot missing the cleaning of the periphery of the obstacle.

Specifically, in this step, the wheel speed of the first wheel and/or the second wheel is adjusted according to a second rule, so that the robot moves in a direction approaching the obstacle. For example, after meeting the preset obstacle avoidance suspension condition, the first wheel 201 and the second wheel 202 of the robot 20 are adjusted to make the robot 20 approach the first obstacle 211. The specific value for adjusting the wheel speed of the first wheel and/or the second wheel in the second rule may be determined according to a preset obstacle avoidance suspension condition and an obstacle distance value corresponding to the preset obstacle avoidance suspension condition. And when the robot moves to a state meeting a preset obstacle avoidance ending condition, finishing obstacle avoidance processing, wherein the preset obstacle avoidance ending condition can be set to be that the robot collides with an obstacle or that the obstacle distance value between the robot and the obstacle is in a preset range.

According to the obstacle avoidance processing method of the robot provided by the embodiment, the distance between the robot and the surrounding obstacles is monitored through the distance sensor, and the numerical value of the distance is determined as the obstacle distance value; when the obstacle distance value meets a preset obstacle avoidance starting condition, the robot is indicated to encounter an obstacle with a certain angle, at the moment, the robot is controlled to move by the wheel speed of a first wheel and/or a second wheel of the robot adjusted according to a first rule until the preset obstacle avoidance pause condition is met, and the driving wheel of the robot close to the obstacle is considered to cross a corner of the obstacle with a certain included angle, namely, the driving wheel crosses a position where the obstacle distance value changes suddenly; in this embodiment, the wheel speeds of the first wheel and/or the second wheel during movement of the robot are determined according to the distance value of the obstacle and a preset obstacle avoidance suspension condition, and obstacle avoidance processing is completed until the robot moves to meet a preset obstacle avoidance end condition. By using the obstacle avoidance processing method of the robot provided by the embodiment, the robot can avoid obstacles with a certain angle, and the robot can avoid friction and collision with the obstacles in the obstacle avoidance process; and when obstacle avoidance is finished, the robot moves to a position close to the obstacle, so that the robot can continuously clean the periphery of the obstacle.

Fig. 3 is a flowchart illustrating an obstacle avoidance processing method for a robot according to another embodiment of the present invention, where the preset obstacle avoidance end condition is that the robot collides with an obstacle. As shown in fig. 3, the method includes:

step S301: when the robot travels, the distance between the robot and a surrounding obstacle is monitored by a distance sensor provided at a preset position of the robot, and the value of the distance is determined as an obstacle distance value.

In this step, the distance between the robot and the surrounding obstacle is monitored in real time using a distance sensor, and the value of the distance is determined as an obstacle distance value. It is to be understood that the obstacle distance value is a distance between the robot and the obstacle in the direction of orientation (monitoring direction) of the distance sensor.

Specifically, in order to prejudge the traveling process of the robot through the obstacle distance value monitored by the distance sensor and reserve reaction time for controlling the robot to execute corresponding measures, the distance sensor is arranged at the front end of a first wheel or a second wheel of the robot. Here, it should be clear that the front end of the first wheel or the second wheel is determined by the direction of advance of the robot. For example, one end of the driving wheels close to the forward direction of the robot is referred to as a front end of the first wheel or a front end of the second wheel, and one end of the driving wheels away from the forward direction of the robot is referred to as a rear end of the first wheel or a rear end of the second wheel. For example, in fig. 2, the distance sensor 203 is disposed in front of the right driving wheel 202 in the forward direction of the robot (i.e., the direction indicated by the arrow in the figure).

in some specific embodiments of the present invention, considering that the distance sensor cannot influence the normal operation of the first wheel or the second wheel, the first wheel or the second wheel cannot block the monitoring direction of the distance sensor, and the distance sensor can monitor the obstacle distance value of the robot at each time point or rotation angle, based on this, the preset angle between the connection line between the distance sensor and the center position of the robot and the lateral direction of the robot is set to 3 degrees to 15 degrees, and more preferably, the preset angle between the connection line between the distance sensor and the center position of the robot and the lateral direction of the robot is set to 5 degrees to 10 degrees.

It is emphasized that in the embodiments of the present invention, the distance between the first wheel and the obstacle is greater than the distance between the second wheel and the obstacle, that is: the driving wheel far from the obstacle is referred to as a first wheel, and the driving wheel near the obstacle is referred to as a second wheel. For example, according to the positional relationship between the robot 20 and the obstacle 21 in fig. 2, the left driving wheel 201 is a first wheel, and the right driving wheel 202 is a second wheel.

Step S302: and when the obstacle distance value meets the preset obstacle avoidance starting condition, adjusting the rotating speed of the first wheel and/or the second wheel so as to enable the rotating speed of the first wheel to be smaller than that of the second wheel until the robot meets the preset obstacle avoidance suspension condition.

In this step, when the obstacle distance value or the change of the obstacle distance value indicates that the obstacle is an obstacle with a certain angle, that is: when the preset obstacle avoidance starting condition is met, the wheel speed of the first wheel far away from the obstacle is smaller than that of the second wheel close to the obstacle by adjusting the wheel speed of the first wheel and/or the second wheel; and controlling the robot to move at the adjusted wheel speed until the preset obstacle avoidance suspension condition is met.

The preset obstacle avoidance starting conditions comprise: the monitored change amount of the distance value of the obstacle exceeds a preset turning angle distance change amount threshold value; and/or when the monitored obstacle distance value is greater than a preset first turning angle distance threshold value. Specifically, the preset turning angle distance change threshold value, and/or the preset first turning angle distance threshold value may be set according to the requirement on the performance of the robot. For example, if the requirement for the overall cleaning performance of the robot is higher, the preset turning angle distance change threshold value and/or the preset first turning angle distance threshold value are/is set to be smaller. In addition, the preset turning angle distance change threshold and/or the preset first turning angle distance threshold may be a variable determined according to the above factors, or may be a fixed constant set according to an empirical value, and the present invention is not limited thereto.

In particular, the rotational speed of the first wheel and/or the second wheel is adjusted in order to enable the second wheel of the robot, which is close to the obstacle, to pass over the corner of the obstacle that is angled, in other words: the second wheel is not in frictional contact with the obstacle at the same time as the position of the obstacle is crossed by a sudden change in the distance value, and the second wheel is advanced relative to the first wheel if the aim is to be achieved. In the embodiment, the first wheel of the robot is controlled to stop rotating, and the second wheel of the robot rotates forwards; or controlling the first wheel and the second wheel to rotate forwards simultaneously, wherein the rotating speed of the second wheel is greater than that of the first wheel, so that the rotating speed of the first wheel is less than that of the second wheel, and the second wheel is enabled to be ahead of the first wheel in the process of advancing.

If the robot continues to move at the adjusted wheel speed of the first wheel and/or the second wheel, the robot gradually moves away from the obstacle, so that the cleaning work along the periphery of the obstacle cannot be completed. In this embodiment, the traveling of the robot is suspended according to the preset obstacle avoidance suspension condition to control the second wheel of the robot to pass through the corner of the obstacle with a certain included angle, in other words, pass through the position where the distance value of the obstacle suddenly changes, and control the distance value between the robot and the obstacle not too far, in other words, to control the track length of the second wheel of the robot to move, and/or to control the angle of the second wheel rotating around the first wheel, and accordingly, the robot is determined to meet the preset obstacle avoidance suspension condition in the following two ways: when the track length of the second wheel movement of the robot reaches a preset length, determining that the robot meets a preset obstacle avoidance suspension condition; and/or when the rotation angle of the second wheel of the robot around the first wheel reaches a preset angle, determining that the robot meets a preset obstacle avoidance suspension condition. Wherein the preset length and/or the preset angle are determined according to the traveling speed of the robot and/or the setting position of the distance sensor. In addition, the preset length and/or the preset angle may be a variable determined according to the above factors, or may be a fixed constant set according to an empirical value, and the present invention is not limited thereto.

Fig. 4 is a schematic cross-sectional view illustrating relative positions of the robot and the obstacle when a preset obstacle avoidance suspension condition is met according to an embodiment of the present invention. After this step, as shown in fig. 4, the second wheel (right driving wheel 202) of the robot crosses the corner of the obstacle with the included angle θ, in other words, crosses the position (point a in the figure) where the distance value of the obstacle suddenly changes, and pauses at the position meeting the preset obstacle avoidance pause condition, and the direction (i.e., the direction of the arrow in the figure) of the robot is away from the obstacle during pausing.

Step S303: and adjusting the rotating speed of the first wheel and/or the second wheel so that the rotating speed of the first wheel is greater than that of the second wheel until the robot is detected to collide with the obstacle.

Since the direction of the robot during the pause is a direction away from the obstacle, if the direction of the robot is a direction in which the robot travels, the robot gradually moves away from the obstacle, and the cleaning work around the obstacle cannot be completed. Taking fig. 4 as an example, when the robot 20 travels in the direction of the arrow in the figure, the cleaning work around the first obstacle 211 cannot be completed. In this step, the direction of the robot is gradually moved toward the obstacle by adjusting the wheel speed of the first wheel and/or the second wheel. In this embodiment, the preset obstacle avoidance end condition is that the robot collides with an obstacle.

Specifically, the rotation speed of the first wheel and/or the second wheel is adjusted to gradually move the orientation of the robot toward the obstacle, and if this is to be achieved, the wheel speed of the first wheel must be higher than that of the second wheel. In the embodiment, the first wheel and the second wheel are controlled to rotate forwards at the same time, and the rotating speed of the first wheel is greater than that of the second wheel; or controlling the second wheel to stop rotating and the first wheel to rotate positively so that the wheel speed of the first wheel is greater than that of the second wheel.

When the robot is monitored to collide with the obstacle, the step is ended.

Step S304: and when the collision between the robot and the obstacle is detected, determining that the robot meets a preset obstacle avoidance finishing condition, and controlling the robot according to a preset collision processing rule.

When the robot collides with an obstacle, the cleaning efficiency of the robot is affected or the robot cannot continue cleaning due to frictional resistance between the robot and the obstacle. In the step, the robot is controlled through a preset collision processing rule, so that the robot can effectively clean the obstacle.

Fig. 5 shows a flowchart of a method for controlling a robot according to a preset collision processing rule, in an embodiment of the present invention, that is: a detailed flowchart of step S304. As shown in fig. 5, step S304 specifically includes the following sub-steps:

substep S501: and when the collision of the robot with the obstacle is detected, controlling the robot to move to a rotating position and start rotating.

Wherein, the mode of detecting the collision between the robot and the obstacle includes but is not limited to at least one of the following modes: a wheel speed meter of a driving wheel of the robot detects whether the speed of the driving wheel changes abruptly and whether the robot comes into contact with an obstacle. It should be noted that any conventional method that can be used to detect a collision between the robot and an obstacle in the present embodiment is included in the scope of the present invention.

After the robot collides with the obstacle, if the robot continues to clean, the obstacle blocks the robot and the robot rubs against the obstacle, so that hardware of the robot is damaged, the working efficiency is reduced, and even the robot cannot work normally. In the embodiment, the robot is controlled to move so as to be far away from the obstacle, and then the contact between the robot and the obstacle is avoided.

Further, after the robot moves to the rotation position, it is necessary to appropriately adjust the orientation of the robot so that the robot can walk along the obstacle without colliding again. Optionally, the central position of the robot is used as a rotation center, the left driving wheel and the right driving wheel are controlled to move in opposite directions respectively, and the left wheel speed and the right wheel speed are the same, so that the robot rotates in situ.

In some embodiments of the present invention, in practical implementation, after the robot is detected to collide with the obstacle, the robot is controlled to retreat from the collision position to a rotation position by a preset distance, and the robot performs in-situ rotation at the rotation position.

Substep S502: during the rotation movement, the change of the obstacle distance value sensed by the distance sensor arranged at the preset position of the robot is monitored.

Fig. 6 is a schematic cross-sectional view showing a relative positional relationship between the robot and the obstacle according to the embodiment of the present invention. As shown in fig. 6, the distance between the distance sensor 203 and the first obstacle 211 sensed by the distance sensor 203 is denoted as an obstacle distance value d3, and in fig. 6, the robot 20 has two driving wheels, i.e., a left driving wheel 201 and a right driving wheel 202, which are located on a straight line where the center position of the robot 20 is located, where the direction of the arrow is the direction in which the robot 20 moves forward along the straight line.

In the embodiment of the present invention, the direction of the line connecting the left driving wheel 201 and the right driving wheel 202 is the transverse direction of the robot 20; a direction perpendicular to the lateral direction of the robot 20 and coinciding with the direction in which the robot 20 advances along the straight line is the current orientation of the robot 20 (i.e., the current orientation may also be understood as the advancing direction of the robot), and the angle between the current orientation and the obstacle is θ. The middle point of the connecting line between the left driving wheel 201 and the right driving wheel 202 is the center of the robot 20, and accordingly, the straight line corresponding to the advancing direction of the robot is parallel to the perpendicular bisector of the connecting line between the left driving wheel 201 and the right driving wheel 202 (i.e. the straight line passing through the center of the robot and perpendicular to the transverse direction of the robot).

The distance sensor comprises a laser distance measuring sensor, an ultrasonic distance measuring sensor or an infrared distance measuring sensor; optionally, the distance sensor is disposed in front of the left or right driving wheel close to the robot, and the sensing direction of the distance sensor is parallel to the transverse direction of the robot.

Fig. 7 is a schematic cross-sectional view showing a relative positional relationship between the robot and an obstacle at a certain time during the rotational movement of the robot in fig. 6. As shown in fig. 7, in the process of rotating the robot 20 from the position of fig. 6 to the position of fig. 7, the obstacle distance value is changed from d3 to d 4. Therefore, in the process of the rotation movement of the robot, the distance sensor can obtain the distance values of the obstacles at different moments or different rotation positions by continuously sensing the distance from the preset position to the obstacle, so that the change condition of the distance values of the obstacles can be monitored.

In some embodiments of the present invention, in order to determine that the current orientation of the robot is parallel to the obstacle when the sensed distance value of the obstacle is the minimum using the principle that the vertical distance is the shortest, the orientation of the distance sensor is set to be parallel to the lateral direction of the robot; wherein the lateral direction of the robot is perpendicular to the current orientation of the robot.

Through the steps, the change situation of the obstacle distance value along with the time or the rotation angle is obtained.

Substep S503: and judging whether the current orientation of the robot is parallel to the obstacle or not according to the change situation of the obstacle distance value.

The change of the obstacle distance value is mainly caused by the change of the current orientation of the robot in the process of the rotating motion, namely, the current orientation of the robot in the process of the rotating motion is in a mapping relation with the obstacle distance value. Specifically, according to the principle that the vertical distance is the shortest, as the included angle between the current orientation of the robot and the obstacle becomes smaller, the obstacle distance value also becomes smaller, and when the included angle is 0 degree, the current orientation of the robot is parallel to the obstacle, and the orientation of the distance sensor is perpendicular to the edge of the obstacle, so that the corresponding obstacle distance value is the smallest at this time.

That is, according to the change of the obstacle distance value with time or the rotation angle, the time or the rotation angle corresponding to the time or the rotation angle at which the current orientation of the robot is parallel to the obstacle is determined, where the obstacle distance value is the smallest.

In some embodiments of the present invention, when the method is implemented in real time, a corresponding variation curve is drawn according to a variation of the distance from the obstacle sensed by the distance sensor; and judging whether the current orientation of the robot is parallel to the obstacle or not according to the wave troughs in the change curve. More specifically, a change curve of the obstacle distance value sensed by the distance sensor when the obstacle distance value changes according to time and/or a rotation angle is drawn; determining a time point and/or a rotation angle which can enable the current orientation of the robot to be parallel to the obstacle according to the wave troughs in the change curve, and determining the corresponding position of the robot at the time point and/or the rotation angle as a parallel position; when the robot is in a parallel position, it is determined that the current orientation of the robot and the obstacle are parallel to each other. The following is a more detailed description with reference to fig. 6 and 7 as an example: assuming that the robot rotates from fig. 6 to fig. 7 by a counterclockwise rotation movement, it is obvious that as the angle between the current orientation of the robot and the obstacle becomes smaller, the obstacle distance value sensed by the distance sensor also decreases, and when the current orientation of the robot is parallel to the obstacle, the obstacle distance value is the smallest, as shown in fig. 7, and as the robot continues to rotate counterclockwise on the basis of fig. 7, the obstacle distance value will continue to increase from the minimum value d4, and thus, a change curve of the corresponding change process can be drawn. Fig. 8 shows a variation curve of the obstacle distance value with time according to an embodiment of the present invention, as shown in fig. 8, where (t1, d3) in the diagram corresponds to the case of fig. 6, and the trough (t2, d4) in the diagram corresponds to the case of fig. 7, it can be determined that the current orientation of the robot at time t2 is parallel to the obstacle, and accordingly, the position of the robot corresponding to fig. 7 is a parallel position.

In addition, the meaning that the current orientation of the robot and the obstacle are parallel to each other in the present embodiment may mean that the current orientation of the robot is strictly parallel to the edge of the obstacle, or the current orientation of the robot is substantially parallel to the edge of the obstacle. Where substantially parallel, a certain angle error may be preset, e.g. when the angle between the robot and the obstacle is less than 3 degrees, it is determined that the current orientation of the robot is substantially parallel to the edge of the obstacle.

Substep S504: and when the judgment result is yes, controlling the robot to stop rotating and move along the obstacle.

The control of the robot to stop the rotary motion means: and controlling the robot to stop rotating at the time point or the rotating angle when the corresponding obstacle distance value is minimum so as to enable the robot to be parallel to the obstacle, wherein the orientation of the robot is adjusted. The robot then continues to travel along the obstacle in the adjusted orientation to complete the cleaning job, specifically, to travel along the obstacle including substantially parallel to the edge of the obstacle, and/or to travel with the distance between the robot and the obstacle kept within a preset range.

According to the obstacle avoidance processing method of the robot provided by the embodiment, the distance between the robot and the surrounding obstacles is monitored through the distance sensor, and the numerical value of the distance is determined as the obstacle distance value; when the obstacle distance value meets a preset obstacle avoidance starting condition, the robot is indicated to encounter an obstacle with a certain angle, at the moment, the robot is controlled to move by the wheel speed of a first wheel and/or a second wheel of the robot adjusted according to a first rule until the preset obstacle avoidance suspension condition is met, and the driving wheel of the robot close to the obstacle is considered to cross the position where the obstacle distance value changes suddenly; then, in order to enable the robot to perform cleaning work along the obstacle, the robot needs to move towards the direction close to the obstacle, in the embodiment, the wheel speeds of the first wheel and/or the second wheel when the robot moves are determined according to the obstacle distance value and the preset obstacle avoidance suspension condition until the robot collides with the obstacle; after the robot collides with the obstacle, the robot is controlled by using a preset collision processing rule, so that the robot is far away from the obstacle, and further the robot can effectively clean along the obstacle.

Fig. 9 is a flowchart illustrating an obstacle avoidance processing method for a robot according to still another embodiment of the present invention. The difference between this embodiment and the embodiment corresponding to fig. 3 is that the preset obstacle avoidance ending condition of this embodiment is that the monitored obstacle distance value is smaller than the preset obstacle avoidance ending threshold. As shown in fig. 9, the method includes:

step S901: when the robot travels, the distance between the robot and a surrounding obstacle is monitored by a distance sensor provided at a preset position of the robot, and the value of the distance is determined as an obstacle distance value.

Step S902: and when the obstacle distance value meets the preset obstacle avoidance starting condition, adjusting the rotating speed of the first wheel and/or the second wheel so as to enable the rotating speed of the first wheel to be smaller than that of the second wheel until the robot meets the preset obstacle avoidance suspension condition.

Step S903: and adjusting the rotating speed of the first wheel and/or the second wheel so as to enable the rotating speed of the first wheel to be larger than that of the second wheel until the obstacle distance value is smaller than a preset obstacle avoidance ending threshold value.

The specific implementation principle and manner of the above steps S901 to S903 are the same as those of the steps S301 to S303 in the embodiment corresponding to fig. 3, and the description of the steps S301 to S303 can be referred to specifically.

Step S904: and when the monitored obstacle distance value is smaller than a preset obstacle avoidance ending threshold value, determining that the robot meets a preset obstacle avoidance ending condition, and controlling the robot according to a preset edgewise traveling rule.

When the obstacle distance value between the robot and the obstacle is smaller than the preset obstacle avoidance finishing threshold value, the current obstacle distance value is kept to continue to move, and the robot can finish the cleaning work around the obstacle. However, since the current orientation of the robot corresponding to the current time may not be parallel to the obstacle, and due to the complexity and variability of the cleaning environment, it cannot be guaranteed that the distance between the robot and the obstacle can be always kept within a proper range to complete the cleaning work along the obstacle during the following traveling. Based on this, in this step, the robot is controlled by a preset edgewise travel rule.

Wherein, it specifically is to control the robot through the rule of marcing along the limit that predetermines: acquiring an obstacle distance value sensed by a distance sensor in real time in the process that the robot travels along the edge of an obstacle; and adjusting the wheel speed of the first wheel and/or the second wheel of the robot in real time according to the acquired obstacle distance value. More specifically, if the obstacle distance value is greater than a preset reference range, controlling the first wheel to accelerate and the second wheel to decelerate so as to reduce the distance between the robot and the obstacle; and if the distance value of the obstacle is smaller than the preset reference range, controlling the first wheel to decelerate and the second wheel to accelerate so as to increase the distance between the robot and the obstacle.

It should be noted that, after the above adjustment corresponding to the embodiment of fig. 3 and 9, although the distance between the robot and the obstacle is within the preset reference range, there may be an included angle between the current orientation of the robot and the obstacle, so that the robot may collide with the obstacle during the following traveling process. The preset convolution angle can be determined according to an included angle between the current orientation of the robot and the obstacle. Particularly, when the wheel speeds of the first wheel and the second wheel of the robot are greatly different in the adjusting process, the robot needs to be further controlled to rotate by a preset rotation angle after the adjustment. For example, after the wheel speeds of the first wheel and/or the second wheel of the robot are adjusted in step S904 so that the distance between the robot and the obstacle is within the reference range, if the difference between the distance between the robot and the obstacle before the adjustment and the reference range exceeds a preset difference, resulting in a sudden change in the orientation of the robot, the robot should be further controlled to rotate by a preset turning angle after the wheel speeds are adjusted.

In addition, when the robot travels along the obstacle, the robot is approximately parallel to the edge of the obstacle to avoid the collision of the two to the maximum extent. However, when the edge of the obstacle is irregular, for example, when the edge of the obstacle has a curve, the robot may advance in a tangential direction of each point in the curve to better fit the obstacle and achieve a thorough cleaning effect. Alternatively, when the edge of the obstacle is uneven, the robot and the obstacle may be made approximately parallel, rather than strictly parallel, so as to avoid frequent adjustment of the wheel speed of the robot. In summary, the person skilled in the art can flexibly set the rule of the robot to travel along the obstacle, which is not limited by the present invention.

In this embodiment, only when it is monitored that the obstacle distance value is smaller than the preset obstacle avoidance end threshold value, the robot is controlled according to the preset edgewise travel rule, so that the robot can travel substantially parallel to the obstacle, or the robot and the obstacle can travel within the preset reference range. However, the edge traveling rule preset in the present embodiment can also be applied to the step of robot traveling in the present embodiment, and/or to the step of robot traveling in other embodiments of the present invention. Specifically, the robot travels along the edge of the obstacle according to a preset edgewise travel rule. For example, in step S301 and step S901 of the embodiments corresponding to fig. 3 and fig. 9, respectively, the process of the robot traveling may travel along the obstacle according to a preset edgewise travel rule; after step S304 in the embodiment corresponding to fig. 3 is finished, the robot may continue to travel from a position parallel to the obstacle according to a preset edgewise travel rule, so as to complete the cleaning work around the obstacle.

According to the obstacle avoidance processing method of the robot provided by the embodiment, the distance between the robot and the surrounding obstacles is monitored through the distance sensor, and the numerical value of the distance is determined as the obstacle distance value; when the obstacle distance value meets a preset obstacle avoidance starting condition, the fact that the robot meets an obstacle with a certain angle is indicated, at the moment, the robot is controlled to move through the wheel speed of a first wheel and/or a second wheel of the robot adjusted according to a first rule until the preset obstacle avoidance suspension condition is met, and the fact that the driving wheel of the robot close to the obstacle crosses the position where the obstacle distance changes suddenly is considered; in order to enable the robot to perform cleaning work along the obstacle, the robot needs to move in a direction close to the obstacle, in this embodiment, the wheel speeds of the first wheel and/or the second wheel when the robot moves are determined according to the obstacle distance value and a preset obstacle avoidance suspension condition until it is monitored that the obstacle distance value is smaller than a preset obstacle avoidance ending threshold value; when the distance value of the obstacle is smaller than a preset obstacle avoidance finishing threshold value, the robot is controlled by using a preset edgewise traveling rule, so that the robot and the obstacle can travel within a proper range, and the robot can effectively clean the obstacle.

Fig. 10 shows a functional block diagram of a collision processing apparatus of a robot according to an embodiment of the present invention. As shown in fig. 10, the apparatus includes: a monitoring module 111, a first adjustment module 112, and a second adjustment module 113.

A monitoring module 111 adapted to monitor a distance between the robot and a surrounding obstacle through a distance sensor provided at a preset position of the robot while the robot travels, and determine a value of the distance as an obstacle distance value;

the first adjusting module 112 is adapted to adjust the rotating speed of the first wheel and/or the second wheel of the robot according to a first rule when the obstacle distance value meets a preset obstacle avoidance starting condition until the robot meets a preset obstacle avoidance suspending condition; the obstacle avoidance starting condition includes: the monitored change amount of the distance value of the obstacle exceeds a preset turning angle distance change amount threshold value; and/or when the monitored obstacle distance value is larger than a preset first turning angle distance threshold value;

and the second adjusting module 113 is adapted to adjust the rotation speed of the first wheel and/or the second wheel according to a second rule until the robot meets a preset obstacle avoidance end condition.

Fig. 11 is a functional block diagram of a collision processing apparatus of a robot according to another embodiment of the present invention. As shown in fig. 11, the apparatus further includes, in addition to fig. 10: processing module 114

Optionally, the distance sensor is disposed at a front end of a first wheel or a second wheel of the robot, and the first adjusting module is further adapted to: adjusting the rotational speed of the first wheel and/or the second wheel so that the rotational speed of the first wheel is less than the rotational speed of the second wheel;

and the second adjustment 113 module is further adapted to: adjusting the rotational speed of the first wheel and/or the second wheel so that the rotational speed of the first wheel is greater than the rotational speed of the second wheel;

Optionally, the first adjusting module 112 is further adapted to:

Optionally, the preset length and/or the preset angle are determined according to a traveling speed of the robot and/or a setting position of the distance sensor.

Optionally, the second adjusting module 113 is further adapted to:

Optionally, the apparatus further comprises: the processing module 114 is adapted to determine that the robot meets a preset obstacle avoidance end condition after detecting that the robot collides with the obstacle, and control the robot according to a preset collision processing rule; and/or when the monitored obstacle distance value is smaller than a preset obstacle avoidance ending threshold value, determining that the robot meets a preset obstacle avoidance ending condition, and controlling the robot according to a preset edgewise traveling rule.

Optionally, the processing module 114 is further adapted to:

Optionally, the orientation of the distance sensor is parallel to the transverse direction of the robot; wherein the lateral direction of the robot is perpendicular to the current orientation of the robot;

the processing module 114 is further adapted to:

Optionally, the processing module 114 is further adapted to: drawing a change curve when the obstacle distance value sensed by the distance sensor changes according to time and/or a rotation angle;

Optionally, a preset included angle is formed between a connecting line between the distance sensor and the center of the robot and the transverse direction of the robot; wherein the preset included angle is 3-15 degrees.

Optionally, the preset included angle is 5 degrees to 10 degrees.

Optionally, the processing module 114 is further adapted to:

Optionally, the processing module 114 is further adapted to: the robot travels along the edge of the obstacle according to a preset edgewise travel rule.

The specific structure and operation principle of each module described above may refer to the description of the corresponding step in the method embodiment, and are not described herein again.

In addition, the embodiment of the application also provides a robot, which comprises the obstacle avoidance processing device of the robot shown in fig. 10 or fig. 11 and the distance sensor arranged at the preset position of the robot. The specific structure of the collision processing device and the specific arrangement position of the distance sensor may refer to the description of the corresponding parts above, and are not described herein again.

The embodiment of the application provides a non-volatile computer storage medium, wherein at least one executable instruction is stored in the computer storage medium, and the computer executable instruction can execute the collision processing method of the robot in any method embodiment.

Fig. 12 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, and the specific embodiment of the present invention does not limit the specific implementation of the electronic device.

As shown in fig. 12, the electronic device may include: a processor (processor)122, a Communications Interface (Communications Interface)124, a memory (memory)126, and a Communications bus 128.

Wherein:

the processor 122, communication interface 124, and memory 126 communicate with one another via a communication bus 128.

A communication interface 124 for communicating with network elements of other devices, such as clients or other servers.

The processor 122 is configured to execute the program 120, and may specifically execute relevant steps in the collision processing method embodiment of the robot.

In particular, program 120 may include program code comprising computer operating instructions.

The processor 122 may be a central processing unit CPU, or an application specific Integrated Circuit ASIC (application specific Integrated Circuit), or one or more Integrated circuits configured to implement an embodiment of the present invention. The electronic device comprises one or more processors, which can be the same type of processor, such as one or more CPUs; or may be different types of processors such as one or more CPUs and one or more ASICs.

And a memory 126 for storing the program 120. The memory 126 may comprise high-speed RAM memory and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.

The program 120 may specifically be configured to cause the processor 122 to perform the following operations:

In an alternative manner, the program 120 may be further specifically configured to cause the processor 122 to perform the following operations: the distance sensor is arranged at the front end of a first wheel or a second wheel of the robot, and the rotating speed of the first wheel and/or the second wheel is adjusted to enable the rotating speed of the first wheel to be smaller than that of the second wheel;

adjusting the rotational speed of the first wheel and/or the second wheel so that the rotational speed of the first wheel is greater than the rotational speed of the second wheel;

In an alternative manner, the program 120 may be further specifically configured to cause the processor 122 to perform the following operations:

In an alternative manner: the preset length and/or the preset angle are/is determined according to the traveling speed of the robot and/or the setting position of the distance sensor.

In an alternative manner, the program 120 may be further specifically configured to cause the processor 122 to perform the following operations: the orientation of the distance sensor is parallel to the transverse direction of the robot; wherein the lateral direction of the robot is perpendicular to the current orientation of the robot;

In an alternative manner, the program 120 may be further specifically configured to cause the processor 122 to perform the following operations: drawing a change curve when the obstacle distance value sensed by the distance sensor changes according to time and/or a rotation angle;

In an alternative manner: a preset included angle is formed between a connecting line between the distance sensor and the center of the robot and the transverse direction of the robot; wherein the preset included angle is 3-15 degrees.

In an alternative manner: the preset included angle is 5 degrees to 10 degrees.

the robot travels along the edge of the obstacle according to a preset edgewise travel rule.

The algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose systems may also be used with the teachings herein. The required structure for constructing such a system will be apparent from the description above. Moreover, the present invention is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.

In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.

Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that while some embodiments herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.

The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It will be appreciated by those skilled in the art that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components in the obstacle avoidance processing apparatus of a robot according to embodiments of the present invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.

Claims

1. An obstacle avoidance processing method for a robot comprises the following steps:

2. The method according to claim 1, wherein the distance sensor is arranged at a front end of a first wheel or a second wheel of the robot, and the adjusting the rotation speed of the first wheel and/or the second wheel according to the first rule specifically comprises: adjusting the rotational speed of the first wheel and/or the second wheel so that the rotational speed of the first wheel is less than the rotational speed of the second wheel;

3. The method according to claim 2, wherein the step of adjusting the rotational speed of the first and/or second wheel such that the rotational speed of the first wheel is less than the rotational speed of the second wheel comprises in particular:

4. The method according to claim 3, wherein the step of stopping the robot until the robot meets a preset obstacle avoidance suspension condition specifically comprises:

5. The method according to claim 4, wherein the preset length and/or the preset angle is determined according to a travel speed of the robot and/or a set position of the distance sensor.

6. Method according to any of claims 2-5, wherein the step of adjusting the rotational speed of the first and/or second wheel such that the rotational speed of the first wheel is greater than the rotational speed of the second wheel comprises in particular:

7. An obstacle avoidance processing apparatus for a robot, comprising:

8. A robot comprising the obstacle avoidance processing device of the robot of claim 7 and a distance sensor provided at a preset position of the robot.

9. An electronic device, comprising: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;

the memory is used for storing at least one executable instruction, and the executable instruction causes the processor to execute the operation corresponding to the obstacle avoidance processing method of the robot as claimed in any one of claims 1-6.

10. A computer storage medium, wherein at least one executable instruction is stored in the storage medium, and the executable instruction causes a processor to execute operations corresponding to the obstacle avoidance processing method of the robot according to any one of claims 1 to 6.