CN110083150B

CN110083150B - Robot and robot control method

Info

Publication number: CN110083150B
Application number: CN201910051910.5A
Authority: CN
Inventors: 林高民; 李育睿
Original assignee: Suzhou Raken Technology Co Ltd
Current assignee: Suzhou Raken Technology Co Ltd
Priority date: 2019-01-21
Filing date: 2019-01-21
Publication date: 2022-05-06
Anticipated expiration: 2039-01-21
Also published as: CN110083150A

Abstract

A robot and a robot control method are provided. The processor is used for indicating the driving module to control the roller module to adjust a traveling direction to enable the robot to pass through the bridge lane when the sensing target is judged to be the bridge lane according to the first sensing signal and the second sensing signal. Compared with the prior art, the invention is beneficial to realizing the autonomous walking of the robot, can effectively detect the environmental obstacle and avoid the occurrence of the obstacle in real time.

Description

Robot and robot control method

Technical Field

The invention relates to the technical field of robots, in particular to a robot and a robot control method.

Background

With the development of science and technology, robots are applied to an increasingly high degree in industry and life. However, the movement of the robot is often mechanical, and the robot cannot effectively detect the environment, and suffers from the obstacle of autonomous walking, which results in the interruption of the task execution process.

In view of the above, it is an urgent technical problem to effectively detect environmental obstacles and avoid the obstacles in real time for autonomous walking of a robot.

Disclosure of Invention

The invention aims to provide a robot and a robot control method.

In order to achieve the purpose, the invention adopts the technical scheme that:

a robot, comprising:

the sensing module comprises a first sensor and a second sensor, wherein the first sensor and the second sensor are used for respectively receiving a first sensing signal and a second sensing signal;

the driving module is used for controlling the operation and the traveling direction of a roller module; and

and the processor is coupled with the sensing module and the driving module, and when the processor judges that a sensing target is a bridge lane according to the first sensing signal and the second sensing signal, the processor controls the roller module through the driving module so as to adjust the traveling direction to enable the robot to pass through the bridge lane.

The relevant content in the above technical solution is explained as follows:

1. in the above solution, the processor determines a first distance between the first sensor and the sensing target according to the first sensing signal, determines a second distance between the second sensor and the sensing target according to the second sensing signal, and determines whether the sensing target is the bridge lane according to the first distance and the second distance.

2. In the above solution, when the sensing target is determined to be the bridge lane, the processor is configured to:

instructing the driving module to control the roller module to rotate from a first direction to a second direction, and recording a first angle between the first direction and the second direction, wherein the first sensor detects a first side of the bridge lane in the second direction;

instructing the driving module to control the roller module to rotate from the second direction to a third direction, and recording a second angle between the first direction and the third direction, wherein the first sensor detects a second side of the bridge lane in the third direction;

calculating a correction angle according to the first angle and the second angle, wherein the second angle is larger than the first angle; and

and instructing the driving module to adjust the traveling direction of the roller module by the correction angle.

3. In the above scheme, when the processor determines that a channel width of the bridge lane is greater than a width of a shell of the robot, the processor instructs the driving module to control the roller module to pass through the bridge lane.

4. In the above solution, the apparatus further includes a housing, the housing is configured to configure the sensing module, a sensing included angle is included between a center of the housing and a sensing direction of the sensing module, wherein the processor is further configured to calculate an average of differences between the second angle and the first angle, and a sum of the average of the differences and the sensing included angle is taken as the correction angle.

5. In the above solution, when the processor determines that one of the following is determined, it is determined that the sensing target is the bridge lane:

the first distance is smaller than a first threshold and the second distance is larger than a second threshold, the first distance is larger than the second threshold and the second distance is smaller than the first threshold, the first distance and the second distance are smaller than the first threshold, and the second distance are larger than the second threshold, wherein the second threshold is larger than the first threshold.

6. In the above solution, the roller module includes a first roller module and a second roller module, wherein the processor is further configured to:

reading a first speed of movement of the first roller module and a second speed of movement of the second roller module when the sensing target is determined to be a wall according to the first sensing signal and the second sensing signal;

calculating a speed difference between the first speed and the second speed to calculate a displacement angle before and after the moving of the traveling direction; and

and adjusting the speed of the first roller module and the second roller module according to the displacement angle.

7. In the above solution, the processor adjusts the speed of the first roller module and the second roller module to further:

increasing the first speed of the first roller module and decreasing the second speed of the second roller module when the wall is to the left of the first sensor and the direction of rotation is counterclockwise; and

instructing the drive module to control the first wheel module movement at the increased first speed and first rotational direction and to control the second wheel module movement at the decreased second speed and second rotational direction.

8. In the above solution, when the processor determines that the traveling direction does not maintain a fixed distance from the wall, the processor is further configured to:

decreasing the first speed of the first wheel module and increasing the second speed of the second wheel module when the wall is to the left of the first sensor and the direction of rotation is clockwise; and

instructing the drive module to control the first wheel module movement at the decreased first speed and the first rotational direction and to control the second wheel module movement at the increased second speed and the second rotational direction.

9. In the above solution, the roller module includes a first roller module and a second roller module, wherein the processor is further configured to determine that the sensing target is a cliff when the first sensor does not receive the first sensing signal or the second sensor does not receive the second sensing signal.

In order to achieve the purpose, the invention adopts another technical scheme that:

a robot control method, comprising:

receiving a first sensing signal of a first sensor and a second sensing signal of a second sensor;

when a sensing target is determined to be a bridge lane according to the first sensing signal and the second sensing signal, a driving module is indicated to control a roller module to adjust a traveling direction so that the robot passes through the bridge lane.

The relevant content in the above technical solution is explained as follows:

1. in the above scheme, the method further comprises:

judging a first distance between the first sensor and the sensing target according to the first sensing signal;

judging a second distance between the second sensor and the sensing target according to the second sensing signal; and

and judging whether the sensing target is the bridge lane according to the first spacing and the second spacing.

2. In the above scheme, the method further comprises:

when the sensing target is judged to be the bridge lane, the driving module is indicated to control the roller module to rotate from a first direction to a second direction, a first angle between the first direction and the second direction is recorded, and the first sensor detects a first side of the bridge lane in the second direction;

instructing the driving module to adjust the traveling direction of the roller module by the correction angle.

3. In the above solution, the method further includes instructing the driving module to control the roller module to pass through the bridge lane when it is determined that a width of a passage of the bridge lane is greater than a width of a housing of the robot.

4. In the above solution, the method further includes calculating an average difference between the second angle and the first angle, and taking a sum of the average difference and a sensing included angle as the correction angle, where the sensing included angle is an included angle between a center of a housing and a sensing direction of the sensing module.

5. In the above aspect, when it is determined that one of the following is included, it is determined that the sensing target is the bridge lane:

6. In the above scheme, the method further comprises:

when the sensing target is determined to be a wall according to the first sensing signal and the second sensing signal, reading a first speed of movement of a first roller module and a second speed of movement of a second roller module;

7. In the above solution, the step of adjusting the speed of the first roller module and the second roller module further includes:

instructing the drive module to control the first wheel module to move at the increased first speed and first rotational direction and to control the second wheel module to move at the decreased second speed and second rotational direction.

8. In the above solution, the step of not maintaining a fixed distance from the wall in the traveling direction further comprises:

decreasing the first speed of the first roller module and increasing the second speed of the second roller module when the wall is located to the left of the first sensor and the direction of rotation is clockwise; and

9. In the above scheme, the method further comprises:

when the first sensing signal or the second sensing signal is not received, the sensing target is determined to be a cliff.

The working principle and the advantages of the invention are as follows:

the invention discloses a robot and a robot control method. The processor is used for indicating the driving module to control the roller module to adjust a traveling direction to enable the robot to pass through the bridge lane when the sensing target is judged to be the bridge lane according to the first sensing signal and the second sensing signal.

Compared with the prior art, the invention is beneficial to realizing the autonomous walking of the robot, can effectively detect the environmental obstacle and avoid the occurrence of the obstacle in real time.

Drawings

FIG. 1 is a schematic top view, an appearance and a function of a robot according to an embodiment of the present invention;

FIG. 2A is a schematic side view of the robot of FIG. 1 during sensing;

FIG. 2B is a schematic top view of the robot of FIG. 1 during sensing;

FIG. 3 is a functional block diagram of a robot in an embodiment of the present invention;

FIG. 4 is a flowchart illustrating steps for determining a state of a sensing target during a robot traveling according to an embodiment of the present invention;

fig. 5 is a flowchart illustrating steps of controlling the robot to travel in the bridge lane after the robot determines that the sensing target is the bridge lane according to the embodiment of the present invention;

fig. 6A to 6F are schematic top views illustrating a robot controlling the robot to travel in a bridge lane after the robot determines that a sensing target is the bridge lane according to an embodiment of the present invention;

FIG. 7 is a flowchart illustrating steps of controlling the robot to move after the robot determines that the sensing object is a wall according to an embodiment of the present invention;

fig. 8 is a flowchart illustrating steps of controlling the robot to travel after the robot determines that the sensing target is a cliff according to an embodiment of the present invention.

In the above drawings: 100. a robot; 110. a sensing module; 113. a first sensor; 115. a second sensor; 120. a processor; 130. a drive module; 140. a roller module; 143. a first roller module; 145. a second roller module; 150. a direction of movement; 160. a sensing range; 190. a housing; 192. a straight line; 615. bridge lanes; 611. a first side; 613. a second side; A. b, C; C. a center point; f. f', distance; P1-P5. points; l, length; l1, L2 distance; w, width; rho, theta, delta, angle; s410 to S462; S710-S770; s810 to S850.

Detailed Description

The invention is further described with reference to the following figures and examples:

example (b): the following description provides many different embodiments, or examples, for implementing different features of the invention. Specific examples of components and arrangements are described below to simplify the present disclosure. Of course, the following examples are exemplary only and not limiting. For example, forming a first feature over or on a second feature in the description that follows may include embodiments in which the first and second features are formed in direct contact, and may also include embodiments in which additional features may be formed between the first and second features such that the first and second features may not be in direct contact. Additionally, the present disclosure may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed.

Further, spatially relative terms, such as "under," "below," "lower," "above," "higher," and the like, may be used herein for ease of description to describe one component or feature's relationship to another component (or components) or feature (or features) in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. The apparatus may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

Fig. 1 is a schematic top view of a robot 100 according to an embodiment. The robot 100 includes a housing 190. In one embodiment, the upper plane of the housing 190 is provided with sensing modules, such as a first sensing module 113 and a second sensing module 115 as shown in the figure. The first sensing module 113 and the second sensing module 115 are respectively disposed at a first end and a second end (e.g., a corner end near the plane) of the upper plane of the housing 190. For example, the first end point is an end point of the upper plane of the housing 190, the second end point is another end point of the opposite side of the upper plane of the housing 190, and the two end points are sides located on the upper plane of the housing 190 near the traveling direction of the robot 100.

The first sensor 113 and the second sensor 115 are respectively configured to receive the first sensing signal and the second sensing signal for subsequent calculation of a distance between the robot 100 and the sensing target. In one embodiment, the first sensor 113 and the second sensor 115 are the same type and/or function of sensor, and the distance-related calculation is described below with reference to the first sensor 113. The first sensor 113 and the second sensor 115 may be, but are not limited to, time-of-flight sensors (TOF). In one embodiment, the sensor emits, for example, infrared light, and receives the infrared light reflected by the sensing target, and the distance between the sensor and the sensing target is calculated by the time difference.

As shown in fig. 1, the first sensor 113 is configured to face the ground at an angle ρ to receive the first sensing signal. From the first sensing signal, the distance f between the first sensor 113 and the point a on the ground can be calculated. The first sensor 113 is moved from forward to left by an angle θ. The first sensor 113 is moved down from horizontal by an angle p. In one embodiment, the first sensor 113 is fixedly disposed on the housing 190, and the angle θ and the angle ρ of the first sensor 113 are not changed when the robot 100 moves. A center point C of the housing 190 on the two-dimensional plane. Length of

To length

Angle p between, the length can be obtained

Length of

To length

Angle theta therebetween, can be obtained

Length of

Since the center point C is located at the center of the housing 190, the length f' (i.e., the length) from the center point C to the point a on the sensing ground can be calculated by half the length L and half the width W of the housing 190

) Wherein

Referring to fig. 2A, a schematic side view of the robot 100 of fig. 1 for sensing is shown. As shown in fig. 2A, the wheel module 140 of the robot 100 travels in a direction of movement 150. The second sensor 115 receives the sensing signal reflected from the ground, and obtains a sensing length L1 (e.g. the length of fig. 1) from the front end (e.g. the moving direction 150) of the robot 100 to the detection ground

fcos ρ cos θ). Fig. 2B is a schematic top view of the robot 100 of fig. 1 for sensing. As shown in fig. 2B, the first sensor 113 receives the sensing signal reflected from the ground, and obtains a sensing width L2 (e.g., the length of fig. 1) of the front end (e.g., the moving direction 150) of the robot 100 to the left

fcosρsinθ)。

Referring to fig. 3, a functional block diagram of the robot 100 according to some embodiments of the invention is shown. The robot 100 includes a sensing module 110, a processor 120, a driving module 130, and a wheel module 140. The sensing module 110 and the driving module 130 are respectively coupled to the processor 120. The sensing module 110 includes one or more sensors. In one embodiment, the sensing module 110 includes a first sensor 113 and a second sensor 115, as described above. The roller module 140 is coupled to the driving module 130. The driving module 130 is used for operating the roller module 140, for example, controlling the traveling direction of the roller module 140. The roller module 140 includes one or more roller modules. In one embodiment, the roller module 140 includes a first roller module 143 and a second roller module 145. The driving module 130 can control the operation of each roller module separately, so that the walking operation of the robot 100 is more detailed. Since the robot 100 may sense various environmental conditions during the traveling process, the robot 100 may determine which environmental condition the robot 100 encounters in advance according to the received signal of the sensing module 110.

Referring to fig. 4, a flowchart illustrating steps of determining a state of a sensing target during the robot 100 travels according to some embodiments of the present invention is shown. The following description refers to fig. 3. The robot 100 autonomously walks on the ground. In an embodiment, the robot 100 walks on a flat ground, and in step S410, the first sensor 113 receives the first sensing signal while the second sensor 115 receives the second sensing signal. Next, in step S420, the processor 120 calculates a distance (first distance) from the robot 100 to the sensing target according to the first sensing signal, and calculates a distance (second distance) from the robot 100 to the sensing target according to the second sensing signal. In step S430, it is determined in which step the length of the first pitch and the length of the second pitch fall. For example, if the pitch is less than a first threshold (e.g., 30 cm), the pitch is of a "near" order. If the spacing is between the first threshold and the second threshold (e.g., 100 cm), the spacing is of the "normal" order. If the spacing is greater than the second threshold, the spacing is of the "far" step size. As shown in the following table one, when the first distance and the second distance belong to the "near" and/or "far" step, it is determined that the robot 100 is walking in the bridge lane environment. The environment of a bridge lane is, for example, a walking surface of approximately uniform width that extends for a length such that the appearance appears as a long, narrow plane.

Table one: condition of pitch

First interval	Second pitch	Sensing target species
			Far away	Near to	Bridge lane
Near to	Far away	Bridge lane
			Far away	Far away	Bridge lane
Near to	Near to	Bridge lane

In step S440, if it is determined that the sensing target is a bridge lane, step S442 is executed to start a control flow of the bridge lane.

Referring to fig. 5, a flowchart illustrating steps of controlling the robot 100 to travel in the bridge lane 615 after the robot 100 determines that the sensing target is the bridge lane 615 according to the embodiment of the present invention is shown. Referring to fig. 6A to 6F, the robot 100 is controlled to move after determining that the sensing target is the bridge lane 615 according to some embodiments of the present invention.

When the robot 100 in fig. 6A determines that it is currently walking/facing the environment of the bridge lane 615, in step S505, a control program for walking in the bridge lane is started. Next, in step S510, the processor 120 instructs the driving module 130 to control the wheel module 140, so that the robot 100 starts rotating from the first direction. In one embodiment, the robot 100 starts rotating in a first direction, such as counterclockwise, until the second sensor 113 detects the first side 611 of the bridge lane 615 in a second direction. In one embodiment, the first direction is the direction from which the second sensor 115 begins (e.g., the direction pointing to point P1). The second direction is the direction indicated by the second sensor 115 detecting the first side 611 of the bridge lane 615 (e.g., the direction pointing to point P2 shown in fig. 6B). In one embodiment, the robot 100 is operated with the sensing signal of the second sensor 115, and in another embodiment, the robot 100 is also operated with the sensing signal of the first sensor 113.

In step S520, the processor 120 records a first angle α between the first direction and the second direction. For example, the first angle α may be the radian or the angle converted from the radian of the point P1 and the point P2 on the circular sensing range 160 shown in fig. 6B. Next, in step S530, the processor 120 instructs the driving module 130 to operate the roller module 140, so that the roller module 140 continues to rotate from the second direction to a third direction, wherein the second sensor 115 detects the second side 613 of the bridge lane 615 in the third direction. In one embodiment, the third direction is the direction indicated by the second sensor 115 detecting the second side 613 of the bridge lane 615 (e.g., the direction pointing to point P3 shown in fig. 6C).

In step S540, a second angle β between the first direction and the third direction is recorded. For example, the second angle β may be the radian or the angle converted from the radian of the point P1 and the point P3 on the circular sensing range 160 shown in fig. 6C. Wherein the second angle beta is larger than the first angle alpha. Next, in step S550, the processor 120 determines whether the width of the bridge lane 615 is sufficient for the robot 100 to continue to pass through at the first angle α and the second angle β. In one embodiment, the processor 120 uses the following equation (1) to determine whether the robot 100 can pass:

if the determination of equation (1) is yes, step S560 is performed. In step S560, the processor 120 calculates a correction angle and instructs the driving module 130 to adjust the traveling direction of the wheel module 140 according to the calculated correction angle and the second rotation direction. In one embodiment, the correction angle is calculated by equation (2):

wherein

The robot 100 rotates by the correction angle in a second rotational direction, which is different from the first rotational direction. As shown in fig. 6D, the robot 100 rotates clockwise by the aforementioned correction angle so that the traveling direction 650 of the robot 100 may be close to the path of the bridge lane 615. Next, in step S570, the driving module 130 controls the wheel module 140 to move a distance, such as f' -L/2, in the adjusted traveling direction. As shown in fig. 6E to 6F, the robot 100 moves in the adjusted traveling direction.

In general, the robot 100 subtracts the first angle from the second angle, and then takes an average value, and adds the average value to the sum of the sensed angle (the angle δ in fig. 1) to obtain a corrected angle. The sensing angle is an angle between a forward line 192 of the center point C of the robot 100 and the sensing module 110, such as an angle δ shown in fig. 1.

On the other hand, if it is determined in step S550 that the robot 100 cannot pass through the bridge lane 615, the process returns to step S510 to continue the rotation angle step.

In an embodiment, after the step S570 is completed, the process may return to the step S510 to continue adjusting the traveling direction. For example, if the adjusted traveling direction causes the robot 100 to shift to the second side 613 of the bridge lane 615 while moving, and the traveling direction does not maintain a fixed distance from the wall, the similar steps are repeated to adjust the traveling direction until it is determined that the traveling direction of the robot 100 is close to the path of the bridge lane 615.

By detecting the first side 611 and the second side 613 of the lane 615, the width of the lane 615 can be estimated in terms of angle or arc, so that the robot 100 can evaluate whether to continue to pass forward or to need 180 degrees of rotation to avoid the place where the robot cannot walk. In addition, the correction angle may adjust the traveling direction of the robot 100 to conform to the path of the bridge lane 615, so that the robot 100 may avoid two sides of the bridge lane 615 and the robot 100 may walk smoothly.

It should be noted that fig. 6A to 6F illustrate an embodiment of detecting the lane and road width by the robot 100, and in order to clarify the content of the present disclosure, the following table ii shows the step S560 of all possible lane and road control procedures.

Table two: step S560 of the bridge lane control program

Referring to fig. 4 again, after determining which step the length of the first pitch and the length of the second pitch fall within, the type of the sensing target is determined. As shown in table three below, when the first distance and the second distance belong to the "near" or "normal" step, it is determined that the robot 100 is walking in the environment of the wall.

A third table: condition of pitch

First interval	Second pitch	Sensing target species
			Near to	Is normal	Wall(s)
Is normal	Near to	Wall(s)

In step S450, it is determined that the sensing target is a wall, and then step S452 is executed to start a control flow of walking along the wall.

Referring to fig. 7, a flowchart illustrating steps of controlling the robot 100 to move after the robot 100 determines that the sensing object is a wall according to the embodiment of the invention is shown. The following description refers to fig. 3 and 7 together. In step S710, the processor 120 reads a first speed at which the first wheel module 143 moves and a second speed at which the second wheel module 145 moves. Next, step S720 is executed to calculate a speed difference between the first speed and the second speed to calculate the displacement angle. For example, if the wheel rotation speed of the first wheel module is greater than the second wheel rotation speed of the second wheel module, it represents that the forward moving direction of the robot 100 is shifted clockwise. On the contrary, if the wheel rotation speed of the first wheel module is less than the second wheel rotation speed of the second wheel module, it represents that the forward moving direction of the robot 100 is shifted counterclockwise. To determine the offset direction, step S730 is performed to determine whether the rotation is clockwise.

If it is determined that the wall is shifted in the counterclockwise direction and the wall is located at the left side of the robot 100, the first speed of the first wheel module 143 is increased and the second speed of the second wheel module 145 is decreased in step S740. Next, in step S750, the driving module 130 controls the first roller module 143 at the increased first speed and controls the second roller module 145 at the decreased second speed, so that the traveling direction of the robot 100 can be corrected back to walk along the wall.

In one embodiment, the manner of calculating the first speed includes the following equation (3):

wherein speed ═ k₁×(d_w-d_min)，d_wDistance of sensor from wall, d_minIs a safe distance of the sensor from the wall, and

d_tis the target distance of the sensor from the wall surface, where d_min＜d_tF, wherein f is the detection distance of the sensor.

In one embodiment, the manner of calculating the second speed includes the following equation (4):

if it is determined that the wall is shifted in the clockwise direction and the wall is located on the left side of the robot 100, the first speed of the first wheel module 143 is decreased and the second speed of the second wheel module 145 is increased in step S760. Next, in step S770, the driving module 130 controls the first roller module 143 at the reduced first speed and controls the second roller module 145 at the increased second speed, so that the traveling direction of the robot 100 can be corrected back to walk along the wall. In this embodiment, the first speed is calculated by the above formula (4), and the second speed is calculated by the above formula (3).

Referring to fig. 4 again, after determining which step the length of the first pitch and the length of the second pitch fall within, the type of the sensing target is determined. As shown in table four below, when the first pitch and the second pitch belong to the "far" or "normal" step, it is determined that the robot 100 is walking in the environment near the cliff.

Table four: condition of pitch

First interval	Second pitch	Sensing target species
			Far away	Is normal	Cliff
Is normal	Far away	Cliff

In step S460, it is determined that the sensing target is a cliff, and then step S462 is executed to start the cliff control flow.

Referring to fig. 8, a flowchart illustrating steps of controlling the robot 100 to move after the robot 100 determines that the sensing target is a cliff according to some embodiments of the present invention is shown. The following description refers to fig. 3 and 8 together. In step S810, the processor 120 reads a first rotation direction in which the first wheel module 143 moves and a second rotation direction in which the second wheel module 145 moves. Next, step S820 is executed, if it is determined that the first sensing signal is not received, which indicates that one side of the first sensor 113 (e.g., the left side of the robot 100) faces an open place (i.e., a cliff) without a ground surface, the first roller module 113 and the second roller module 115 are controlled to rotate at an angle in a direction opposite to the current rotation direction, so that the direction facing the front of the robot 100 deviates from the open place. Next, in step S830, it is determined whether the first sensing signal can be received after the rotation. If the first sensing signal can be received, it represents that the direction faced by the robot 100 has deviated from the cliff. If the first sensing signal is still not received, it indicates that the direction faced by the robot 100 is still a cliff, and the process returns to step S810 to perform the step of deviating from the cliff.

On the other hand, in step S840, if it is determined that the second sensing signal is not received, which indicates that one side of the second sensor 115 (e.g., the right side of the robot 100) faces the open space without the ground, the first roller module 113 and the second roller module 115 are controlled to rotate at an angle in the opposite direction to the current rotation direction, so that the front facing direction of the robot 100 deviates from the open space. Next, in step S850, it is determined whether the second sensing signal can be received after the rotation. If the second sensing signal can be received, it represents that the direction faced by the robot 100 has deviated from the cliff. If the second sensing signal is still not received, it indicates that the direction faced by the robot 100 is still a cliff, and the process returns to step S810 to perform the step of deviating from the cliff.

In one embodiment, if no cliff is detected, the robot 100 is controlled to start traveling a distance in the current direction, such as formula (5):

wherein f' is the length from the center point C shown in FIG. 1 to the detection range of the sensor.

In summary, the present invention provides a robot 100 and a method for controlling the robot to avoid obstacles, wherein different obstacle avoidance programs are designed for different sensing targets, so that the robot 100 can avoid the dilemma during the autonomous walking process, and can leave the dilemma by itself or successfully find the best path to pass through the dilemma, thereby improving the operation performance of the robot 100.

The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.

Claims

1. A robot, characterized by: comprises the following steps:

a sensing module comprising a first sensor for receiving a first sensing signal and a second sensor for receiving a second sensing signal;

a processor coupled to the sensing module and the driving module, wherein when the processor determines that a sensing target is a bridge lane according to the first sensing signal and the second sensing signal, the processor controls the roller module through the driving module to adjust the traveling direction so that the robot passes through the bridge lane;

the processor judges a first distance between the first sensor and the sensing target according to the first sensing signal, judges a second distance between the second sensor and the sensing target according to the second sensing signal, and judges whether the sensing target is the bridge lane or not according to the first distance and the second distance;

when the sensing target is determined to be the bridge lane, the processor is configured to:

2. The robot of claim 1, wherein: and when the processor judges that the width of a channel of the bridge lane is greater than the width of a shell of the robot, the processor instructs the driving module to control the roller module to pass through the bridge lane.

3. The robot of claim 1, wherein: the processor is further configured to calculate an average of differences between the second angle and the first angle, and sum of the average of differences and the sensing included angle is used as the correction angle.

4. The robot of claim 1, wherein: when the processor determines that one of the following is true, determining that the sensing target is the bridge lane:

5. The robot of claim 1, wherein: the roller module comprises a first roller module and a second roller module, wherein the processor is further configured to:

6. The robot of claim 5, wherein: the processor adjusting the speed of the first roller module and the second roller module is further configured to:

instructing the drive module to control the first wheel module to move at the increased first speed and a first rotational direction and to control the second wheel module to move at the decreased second speed and a second rotational direction.

7. The robot of claim 5, wherein: when the processor determines that the direction of travel is not maintained a fixed distance from the wall, the processor is further configured to:

instructing the drive module to control the first wheel module movement at the decreased first speed and a first rotational direction and to control the second wheel module movement at the increased second speed and a second rotational direction.

8. The robot of claim 1, wherein: the roller module comprises a first roller module and a second roller module, wherein the processor is further configured to determine that the sensing target is a cliff when the first sensor does not receive the first sensing signal or the second sensor does not receive the second sensing signal.

9. A robot control method is characterized in that: comprises the following steps:

when a sensing target is judged to be a bridge lane according to the first sensing signal and the second sensing signal, indicating a driving module to control a roller module so as to adjust a traveling direction to enable the robot to pass through the bridge lane;

judging whether the sensing target is the bridge lane according to the first spacing and the second spacing;

further comprising:

10. The method of claim 9, wherein: the method further comprises the step of indicating the driving module to control the roller module to pass through the bridge lane when the width of a channel of the bridge lane is judged to be larger than the width of a shell of the robot.

11. The method of claim 9, wherein: the method further includes calculating an average difference between the second angle and the first angle, and taking a sum of the average difference and a sensing included angle as the correction angle, wherein the sensing included angle is an included angle between a center of a housing and a sensing direction of the sensing module.

12. The method of claim 9, wherein: determining that the sensing target is the bridge lane when one of the following is determined:

13. The method of claim 9, wherein: further comprising:

14. The method of claim 13, wherein: the step of adjusting the speed of the first roller module and the second roller module further comprises:

15. The method of claim 13, wherein: the step of not maintaining a fixed distance from the wall in the direction of travel further comprises:

16. The method of claim 9, wherein: further comprising: