WO2021120997A1

WO2021120997A1 - Method for controlling autonomous robot, and autonomous robot

Info

Publication number: WO2021120997A1
Application number: PCT/CN2020/131390
Authority: WO
Inventors: 杨勇; 吴泽晓; 郑志帆; 罗治佳
Original assignee: 深圳市杉川机器人有限公司
Priority date: 2019-12-20
Filing date: 2020-11-25
Publication date: 2021-06-24
Also published as: CN110989621A

Abstract

A method for controlling an autonomous robot, and an autonomous robot. The method for controlling an autonomous robot comprises the following steps: acquiring distances between distance measuring sensors and an obstacle (S10); when it is determined that a first distance between a distance measuring sensor in the distance measuring sensors and the obstacle is less than or equal to a first preset distance, acquiring an angle value of a central angle formed by the distance measuring sensor and a first edge tracing sensor (S20); and controlling a robot main body to rotate by the angle value such that the first edge tracing sensor rotates to maintain at the first preset distance from the obstacle (S30). The control method for an autonomous robot improves the edge tracing performance and the practicability of the autonomous robot.

Description

Control method of autonomous robot and autonomous robot

This application claims the priority of the Chinese patent application filed on December 20, 2019, with application number 201911344021.4, titled "Autonomous Robot Control Method and Autonomous Robot", the full text of which is hereby incorporated by reference.

Technical field

This application relates to the field of robotics, and in particular to a control method of an autonomous robot and an autonomous robot.

Background technique

The cleaning robot is used to vacuum, sweep, and clean the ground. With the development of artificial intelligence, the cleaning robot has functions such as intelligent obstacle avoidance, anti-jamming, automatic charging, and autonomous navigation path planning, making the cleaning robot intelligent The degree of chemistry has been greatly improved. The entire cleaning process does not need to be controlled, which greatly liberates people's hands. The cleaning process saves time and effort and is more and more popular among young people.

Edge-following cleaning is one of the important functions of the cleaning robot. Edge-following cleaning refers to cleaning when the robot moves along the contour edge of an object. When the robot is cleaning along the edge, it needs to find the follower first. The follower can be objects arranged on the ground such as walls, furniture and household appliances.

There are many ways to find the follower. Depending on the sensor, there are at least the following two methods: 1. When the edge of the robot collides with an object and the collision sensor is triggered, it is considered that the follower has been found. 2. When the distance measuring sensor on the robot measures the proper distance between the object and the robot, it is considered that the follower has been found. After finding the follower, the robot needs to rotate to be substantially parallel to the contour edge of the follower, and then follow the edge to clean.

However, most cleaning robots are basically parallel to the contour edge of the follower after multiple collisions or multiple adjustments when rotating. This increases the probability of damaging objects such as walls, furniture and appliances, and the robot's actions will also appear stiff and clumsy. , The user experience is not good, which reduces the practicality of the robot.

Technical solutions

The main purpose of this application is to propose a control method of an autonomous robot, which aims to solve the technical problem of how to improve the practicality of the autonomous robot.

In order to achieve the above-mentioned purpose, the autonomous robot proposed in this application includes:

The autonomous robot includes:

A robot body, the robot body has a front end, a side end, and a forward direction passing through the front end. The line connecting the side end and the center of the robot body is perpendicular to the forward direction; the periphery of the robot body is formed with A detection area located between the two side ends, and the front end is located in the detection area;

The sensor system includes a plurality of ranging sensors, the plurality of ranging sensors are distributed in the detection area, at least one of which is defined as a first edge sensor;

A driving system, which supports and drives the robot body to rotate and move;

The control method of the autonomous robot includes the following steps:

Acquiring the distance between each of the distance measuring sensors and the obstacle;

When it is determined that the first distance between one of the distance measuring sensors and the obstacle is less than or equal to the first preset distance, acquiring the angle value of the central angle formed by the distance measuring sensor and the first edge sensor;

The robot body is controlled to rotate the angle value so that the first edge sensor rotates to maintain the first preset distance from the obstacle.

In an embodiment, before the step of "controlling the rotation of the robot body", the control method of the autonomous robot further includes:

Acquiring the second distance between each of the distance measuring sensors and the obstacle;

Comparing the second distance with a second preset distance;

It is determined that at least one of the second distances is less than or equal to the second preset distance, and the robot body is controlled to stop.

In an embodiment, before the step of "controlling the main body of the robot to stop", the control method of the autonomous robot further includes:

Acquiring the third distance between each of the distance measuring sensors and the obstacle;

Comparing the third distance with a third preset distance;

Determine that at least one of the third distances is less than or equal to the third preset distance, and control the main body of the robot to decelerate;

Wherein, the third preset distance is greater than the second preset distance.

In one embodiment, the second predetermined distance is not less than 1 cm and not more than 5 cm.

In one embodiment, the third predetermined distance is not less than 8 cm and does not exceed 12 cm.

In an embodiment, the distance measuring sensor is a laser sensor, an ultrasonic sensor, or an infrared sensor.

This application also proposes an autonomous robot, including:

A driving system, which supports and drives the robot body to rotate and move; and,

A memory, a processor, and a control program of an autonomous robot that is stored on the memory and can run on the processor, and the control program of the autonomous robot is executed by the processor to implement the steps of the control method of the autonomous robot described above .

In an embodiment, the number of the distance measuring sensors is 12 to 20.

In an embodiment, the installation height of the distance measuring sensor is not less than 1.5 cm and not more than 4.5 cm.

In an embodiment, the first edge edge sensor is adjacent to a side end of the robot body.

In an embodiment, at least one of the plurality of distance measuring sensors is defined as a second edge edge sensor, and the second edge edge sensor is adjacent to the other side end of the robot body.

In an embodiment, the number of the first edge sensors is two, and the two first edge sensors are adjacent to each other.

In an embodiment, the detection area includes two side detection areas and a front detection area located between the two side detection areas, the front end is located in the front detection area, and a plurality of the distance measuring sensors are located at two sides. The distribution density of the side detection area is greater than the distribution density of the front detection area.

In an embodiment, the autonomous robot is a sweeping robot or a cleaning robot.

The autonomous robot of this application sets up multiple ranging sensors in the detection area of the robot body, and defines at least one ranging sensor as an edge sensor, and records the center angle of the edge sensor and each ranging sensor. When the object maintains a preset distance, the controller controls the drive system to drive the robot body to rotate. The angle of rotation is the central angle of the distance measuring sensor and the edge sensor to keep the edge sensor rotating and the obstacle at the preset distance. At this time, the robot body The advancing direction of the robot is parallel to the extension direction of the obstacle or the tangential direction passing the irradiated point of the edge sensor, so that the main body of the robot can keep the preset distance from the obstacle, realizing the edge working condition of the autonomous robot. Since the center angle of the edge sensor and each distance sensor is unchanged, when any distance sensor and the obstacle maintain a preset distance, the robot body only needs to rotate the corresponding center angle to keep the edge sensor and the obstacle at the same distance. The preset distance realizes one rotation in place, that is, no need to go through multiple rotations, which improves the edge performance and practicability of the autonomous robot; in addition, the use of laser sensors can achieve non-contact long-distance measurement with high measurement accuracy, which makes the main body of the robot It can get close to obstacles as much as possible, and the laser sensor can also avoid the interference of the obstacle surface color, which improves the stability of the edge function of the autonomous robot.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present application. For those of ordinary skill in the art, without creative work, other drawings can be obtained based on the structure shown in these drawings.

FIG. 1 is a schematic structural diagram of an embodiment of an autonomous robot according to this application;

2 is a schematic flowchart of an embodiment of an autonomous robot control method according to this application;

FIG. 3 is a schematic flowchart of another embodiment of an autonomous robot control method according to this application.

Attached icon number description:

标号 Label	名称 name	标号 Label	名称 name	标号 Label	名称 name
10 10	机器人主体 Robot body	20 20	测距传感器 Ranging sensor	30 30	第一沿边传感器 The first edge sensor
40 40	第二沿边传感器 Second edge sensor	To	To	To	To

The realization, functional characteristics, and advantages of the purpose of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

Embodiments of the present invention

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

It should be noted that if there are directional indications (such as up, down, left, right, front, back...) in the embodiments of this application, the directional indications are only used to explain in a specific posture (as shown in the drawings). If the specific posture changes, the relative positional relationship, movement, etc. of the components below will also change the directional indication accordingly.

In addition, if there are descriptions related to "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes, and cannot be understood as instructions or implications Its relative importance or implicitly indicates the number of technical features indicated. Therefore, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and/or" in the full text means including three parallel schemes, taking "A and/or B as an example", including scheme A, scheme B, or schemes in which both A and B meet. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on what can be achieved by a person of ordinary skill in the art. When the combination of technical solutions is contradictory or cannot be achieved, it should be considered that such a combination of technical solutions does not exist. , Is not within the scope of protection required by this application.

This application proposes an autonomous robot.

In the embodiment of the present application, as shown in Figs. 1 to 3, the autonomous robot includes:

A robot body 10 having a front end, a side end, and a forward direction passing through the front end, and a line connecting the side end and the center of the robot body 10 is perpendicular to the forward direction; the robot body 10 A detection area located between the two side ends is formed on the peripheral side of, and the front end is located in the detection area;

The sensor system includes a plurality of ranging sensors 20, the plurality of ranging sensors 20 are distributed in the detection area, and at least one of them is defined as a first edge sensor 30;

A driving system, which supports and drives the robot body 10 to rotate and move;

The controller is electrically connected to the sensor system and the driving system to control the rotation of the robot body 10 to keep the first edge sensor 30 and the obstacle at a preset distance, and to control the robot body 10 to maintain the preset distance Spacing moves.

In this embodiment, the outline of the robot body 10 includes but is not limited to a circular structure, and may also be a rectangle or a combination of a rectangle and a circle. The driving system is assembled to the robot main body 10 and is configured to drive the robot main body 10 to rotate and move. The driving system includes a driving device and a driving wheel. The driving wheel includes two moving wheels and a steering wheel. The steering wheel drives the robot body 10 to rotate, and the moving wheel drives the robot body 10 to move forward or backward. The forward direction of the moving wheel is determined by the steering wheel. The front end of the robot main body 10 is the end farthest from the center of the robot main body 10 in the advancing direction of the robot main body 10. The side ends of the robot main body 10 are the left and right ends of the robot main body 10, and the line connecting the side ends and the center of the robot main body 10 is perpendicular to the forward direction. The detection zone is the area in which the peripheral edge of the robot main body 10 is located between the two ends in the advancing direction of the robot main body 10, and the front end of the robot main body 10 is located in the middle of the detection zone. The distance measuring sensor 20 may be a photoelectric detection sensor, such as a laser sensor or an infrared sensor, and of course, it may also be an ultrasonic sensor.

When the robot body 10 is advancing, the detection area is always closest to the obstacle in front. Therefore, the distance measurement sensor 20 provided in the detection area can detect the obstacle first. It needs to be explained that the detection direction of the distance measurement sensor 20 is the same as The radial direction of the robot body 10 is consistent, and the distance between any distance measuring sensor 20 and the obstacle is the distance between the position of the distance measuring sensor 20 and the obstacle. When the distance between a certain distance measuring sensor 20 and the obstacle meets the preset distance, the controller will control the driving system to rotate to drive the robot body 10 to rotate, thereby rotating the edge sensor to the position of the distance measuring sensor 20, so that The edge sensor maintains the preset distance from the obstacle. It should be noted that when the edge sensor and the obstacle maintain the preset distance, the forward direction of the robot body 10 is parallel to the extension direction of the obstacle, or is close to the point where the obstacle is detected. The tangential directions are parallel, so that during the advancing process of the robot body 10, the edge sensor and the obstacle are always kept at a preset distance.

If the first edge edge sensor 30 is adjacent to the side end of the robot body 10, the preset distance can be set to the minimum distance between each distance measuring sensor 20 and the obstacle; if the first edge edge sensor 30 is not adjacent to the side end of the robot body 10, The preset distance should be greater than the minimum distance between each distance measuring sensor 20 and the obstacle. The controller records the center angle of the first edge sensor 30 and the distance measuring sensors 20 in advance. When the first edge edge sensor 30 needs to be rotated to the position of a certain distance measuring sensor 20, it only needs to rotate the robot body 10 once. The center angle between the edge sensor 30 and the distance measuring sensor 20 is sufficient. The laser sensor can realize non-contact long-distance measurement to avoid the collision of the robot body 10 with obstacles; in addition, the laser sensor also has the advantages of fast speed, high accuracy, large range, strong resistance to light and electrical interference, and can eliminate obstacles. The color of the object surface interferes with the detection result, so as to improve the accuracy of the detection, thereby improving the stability of the function of moving the robot body 10 along the edge.

The autonomous robot of the present application sets a plurality of ranging sensors 20 in the detection area of the robot body 10, and defines at least one ranging sensor 20 as an edge sensor, and records the center angle of the edge sensor and each ranging sensor 20. When the distance sensor 20 maintains a preset distance from the obstacle, the controller controls the driving system to drive the robot body 10 to rotate. The rotation angle is the central angle of the distance sensor 20 and the edge sensor to keep the edge sensor rotating and the obstacle at the predetermined Set the distance. At this time, the advancing direction of the robot body 10 is parallel to the extension direction of the obstacle or the tangential direction passing through the edge sensor irradiation point, so that the robot body 10 can advance with the obstacle at the preset distance, which realizes the edge work of the autonomous robot. condition. Since the center angles of the edge sensors and the distance measuring sensors 20 remain unchanged, when any distance measuring sensor 20 maintains a preset distance from the obstacle, the robot body 10 only needs to rotate the corresponding center angle to make the edge sensor and the obstacle The object maintains the preset distance to achieve one rotation in place, that is, it does not need to go through multiple rotations, which improves the edge performance and practicability of the autonomous robot; in addition, the use of laser sensors can achieve non-contact long-distance measurement with high measurement accuracy. The main body of the robot 10 can be as close to the obstacle as possible, and the laser sensor can also avoid the interference of the surface color of the obstacle, which improves the stability of the edge function of the autonomous robot.

Specifically, the number of the distance measuring sensors 20 is 12 to 20. In this embodiment, the field of view of a single ranging sensor 20 is 15°, and the central angle of the detection area is 180°. Therefore, at least 12 ranging sensors 20 are required to make the field of view of the ranging sensor 20 complete. Cover the peripheral side of the detection area to avoid detection blind areas. A single distance measuring sensor 20 has a detection range, and the central angles of the distance measuring sensor 20 and the first edge sensor 30 are fixed. Therefore, the distance between the first edge sensor 30 and the obstacle after the rotation may have an error with the preset distance. If the number of distance measuring sensors 20 is larger, the error can be controlled to be smaller; therefore, the number of distance measuring sensors 20 is set to 20, which can improve the accuracy of the edge movement of the autonomous robot and ensure that the distance measuring sensors 20 The stable installation.

In practical applications, the installation height of the distance measuring sensor 20 is not less than 1.5 cm and not more than 4.5 cm. In this embodiment, the installation height of the ranging sensor 20 refers to the distance between the center of the ranging sensor 20 and the ground. The field of view of the distance measuring sensor 20 in the longitudinal direction is also 15°, and the distance between the lowest point of the field of view and the ground is the obstacle clearance height, and the obstacle clearance height is set to 2 cm. The effective detection distance of the ranging sensor 20 is 10cm, so the installation height H of the ranging sensor 20 should be set as H=obstacle crossing height+tan(7.5°)*effective detection distance=2+tan(7.5°)*10=2.4 cm. Therefore, setting the installation height of the distance measuring sensor 20 to be 1.5 cm to 4.5 cm can effectively meet the obstacle crossing height of the autonomous robot, and prevent non-obstacles from interfering with the movement of the autonomous robot.

In one embodiment, as shown in FIG. 1, the first edge edge sensor 30 is adjacent to a side end of the robot body 10. In this embodiment, the first edge sensor 30 may be adjacent to the right side end of the robot body 10, so as to realize the right edge movement of the robot body 10 to the obstacle. The first edge sensor 30 is arranged at the side end of the robot body 10. When the robot body 10 moves along the edge, the distance between the first edge sensor 30 and the obstacle is the minimum distance between the robot body 10 and the obstacle, so that the robot body can be avoided. 10 collides with obstacles during the edge rotation or movement, and the control process of the edge rotation of the robot body 10 is simplified.

Specifically, as shown in FIG. 1, at least one of the plurality of distance measuring sensors 20 is defined as a second edge edge sensor 40, and the second edge edge sensor 40 is adjacent to the other side end of the robot body 10. In this embodiment, the second edge sensor 40 can be adjacent to the left side of the robot body 10. When the environment characteristics meet certain conditions, the autonomous robot can switch to moving the obstacle to the left edge, so that the autonomous robot can adapt to more applications. Environment to meet the needs of different applications and improve the practicability of autonomous robots.

In practical applications, the number of the first edge sensors 30 is two, and the two first edge sensors 30 are adjacent to each other. The number of the first edge sensor 30 is two, which can effectively overcome the error of a single edge sensor in the process of walking along the edge, so that the autonomous robot can realize dynamic adjustment during the edge movement process, so as to further maintain the preset distance with the obstacle and improve Stability of autonomous robot moving along the edge.

In an embodiment, the detection area includes two side detection areas and a front detection area located between the two side detection areas, the front end is located in the front detection area, and a plurality of the ranging sensors 20 are located in the front detection area. The distribution density of the two side detection areas is greater than the distribution density of the front detection area. In this embodiment, the circumferential size of the front detection zone can be the same as that of the two detection zones. When the robot body 10 is advancing, the obstacles directly in front are more likely to be detected by the distance sensor 20 in the front detection area, and the side detection area is more likely to have detection blind areas. Therefore, the distance sensor 20 is placed in the side detection area. The distribution density is set to be greater than the distribution density of the previous detection area, which can further improve the detection accuracy of the side detection area and at the same time increase the effective utilization rate of the ranging sensor 20.

Specifically, the autonomous robot is a sweeping robot or a cleaning robot. In this embodiment, the autonomous robot is equipped with a cleaning component, so that the autonomous robot has the function of sucking in dust, sundries and other garbage on the ground. The cleaning component protrudes from the peripheral wall of the robot main body 10, so that the cleaning component can effectively clean the area between the obstacle and the robot main body 10 when the robot main body 10 moves along the edge.

This application also proposes a control method of an autonomous robot, the control method is used to control an autonomous robot, the specific structure of the autonomous robot refers to the above-mentioned embodiment, the autonomous robot also includes a memory, a processor and stored on the memory The control program of the autonomous robot can be run on the processor, and when the control program of the autonomous robot is executed by the processor, the following steps of the control method of the autonomous robot are realized. Wherein, the control method of the autonomous robot includes the following steps:

Step S10: Obtain the distance between each of the distance measuring sensors 20 and the obstacle;

Step S20: when it is determined that the first distance between one of the distance measuring sensors 20 and the obstacle is less than or equal to the first preset distance, obtain the angle value of the central angle formed by the distance measuring sensor 20 and the first edge sensor 30;

Step S30: Control the robot body 10 to rotate the angle value so that the first edge sensor 30 rotates to maintain the first preset distance from the obstacle.

In this embodiment, the distance measuring sensor 20 may be a laser sensor, which can realize non-contact long-distance measurement to avoid collision of the robot body 10 with obstacles; in addition, the laser sensor also has high speed, high accuracy, and large range. It has the advantages of strong resistance to light and electrical interference, and can eliminate the interference of the surface color of obstacles on the detection result, so as to improve the accuracy of detection, thereby improving the stability of the function of moving the robot body 10 along the edge.

Specifically, before the step of "controlling the rotation of the robot body 10", the control method of the autonomous robot further includes:

Step S1: Obtain the second distance between each of the distance measuring sensors 20 and the obstacle;

Step S2: comparing the second distance with a second preset distance;

Step S3: Determine that at least one of the second distances is less than or equal to the second preset distance, and control the robot body 10 to stop.

In this embodiment, the second preset distance may be the same as the first preset distance, or may be greater than the first preset distance. After the robot body 10 is close to the obstacle, before controlling the rotation of the robot body 10, the robot body 10 is controlled to stop moving forward, which can make the rotation process of the robot body 10 more stable and avoid errors in the rotation angle due to inertia, thereby improving the robot body 10 Stability of the rotation process. Specifically, the second preset distance is not less than 1 cm and not more than 5 cm, so that the robot main body 10 can be made as close to the obstacle as possible, and the collision of the robot main body 10 with the obstacle can be avoided.

In practical applications, before the step of "controlling the robot body 10 to stop", the control method of the autonomous robot further includes:

Step S01: Obtain the third distance between each of the distance measuring sensors 20 and the obstacle;

Step S02: compare the third distance with a third preset distance;

Step S03: Determine that at least one of the third distances is less than or equal to the third preset distance, and control the robot body 10 to decelerate; wherein the third preset distance is greater than the second preset distance.

In this embodiment, when the robot body 10 and the obstacle are at the third preset distance, first decelerate at a preset deceleration rate, and when the robot body 10 and the obstacle are at the second preset distance, then the robot body 10 is controlled to stop Therefore, the stopping process of the robot body 10 can be made more stable, avoiding errors in the stopping position due to inertia, and further improving the stability of the robot body 10. Specifically, the third preset distance is no less than 8cm and no more than 12cm, thereby not only providing sufficient deceleration time for the robot body 10, but also avoiding the need for the robot body 10 to approach the obstacle due to the excessively long deceleration stroke. Too much time has further improved the practicability of autonomous robots.

The above are only the preferred embodiments of the application, and do not limit the scope of the patents of the application. All the equivalent structural transformations or direct/indirect applications made by using the contents of the specification and drawings of the application under the inventive concept of the application Other related technical fields are included in the scope of patent protection of this application.

Claims

A control method of an autonomous robot, wherein the autonomous robot includes:

A robot body, the robot body has a front end, a side end, and a forward direction passing through the front end. The line connecting the side end and the center of the robot body is perpendicular to the forward direction; the periphery of the robot body is formed with A detection area located between the two side ends, and the front end is located in the detection area;

The sensor system includes a plurality of ranging sensors, the plurality of ranging sensors are distributed in the detection area, at least one of which is defined as a first edge sensor; and

A driving system, which supports and drives the robot body to rotate and move;

The control method of the autonomous robot includes the following steps:

Acquiring the distance between each of the distance measuring sensors and the obstacle;

When it is determined that the first distance between one of the distance measuring sensors and the obstacle is less than or equal to the first preset distance, acquiring the angle value of the central angle formed by the distance measuring sensor and the first edge sensor; and

The robot body is controlled to rotate the angle value so that the first edge sensor rotates to maintain the first preset distance from the obstacle.
The control method of an autonomous robot according to claim 1, wherein, before the step of "controlling the rotation of the robot body", the control method of the autonomous robot further comprises:

Acquiring the second distance between each of the distance measuring sensors and the obstacle;

Comparing the second distance with a second preset distance; and

It is determined that at least one of the second distances is less than or equal to the second preset distance, and the robot body is controlled to stop.
3. The control method of an autonomous robot according to claim 2, wherein, before the step of "controlling the main body of the robot to stop", the control method of the autonomous robot further comprises:

Acquiring the third distance between each of the distance measuring sensors and the obstacle; and

Determine that at least one of the third distances is less than or equal to the third preset distance, and control the robot body to decelerate;

Wherein, the third preset distance is greater than the second preset distance.
3. The control method of an autonomous robot according to claim 2, wherein the second preset distance is not less than 1 cm and not more than 5 cm.
The control method of an autonomous robot according to claim 3, wherein the third preset distance is not less than 8 cm and not more than 12 cm.
The control method of an autonomous robot according to any one of claims 1 to 5, wherein the distance measuring sensor is a laser sensor, an ultrasonic sensor, or an infrared sensor.
An autonomous robot, which includes:

A robot body, the robot body has a front end, a side end, and a forward direction passing through the front end. The line connecting the side end and the center of the robot body is perpendicular to the forward direction; the periphery of the robot body is formed with A detection area located between the two side ends, and the front end is located in the detection area;

The sensor system includes a plurality of ranging sensors, the plurality of ranging sensors are distributed in the detection area, at least one of which is defined as a first edge sensor;

A driving system, which supports and drives the robot body to rotate and move; and,

A memory, a processor, and a control program of an autonomous robot that is stored on the memory and can run on the processor, and the control program of the autonomous robot is executed by the processor to implement any one of claims 1 to 6 The steps of the control method of the autonomous robot described in the item.
The autonomous robot according to claim 7, wherein the number of the distance measuring sensors is 12 to 20.
The autonomous robot according to claim 7, wherein the installation height of the distance measuring sensor is not less than 1.5 cm and not more than 4.5 cm.
7. The autonomous robot according to claim 7, wherein the first edge sensor is adjacent to a side end of the robot body.
7. The autonomous robot according to claim 7, wherein at least one of the plurality of distance measuring sensors is defined as a second edge edge sensor, and the second edge edge sensor is adjacent to the other side end of the robot body.
7. The autonomous robot according to claim 7, wherein the number of the first edge sensor is two, and the two first edge sensors are adjacent to each other.
The autonomous robot according to claim 7, wherein the detection area includes two side detection areas and a front detection area located between the two side detection areas, the front end is located in the front detection area, and a plurality of The distribution density of the distance measuring sensor in the two side detection areas is greater than the distribution density in the front detection area.
The autonomous robot according to claim 7, wherein the autonomous robot is a sweeping robot or a cleaning robot.