CN110580047B - Anti-falling traveling method of autonomous robot and autonomous robot - Google Patents
Anti-falling traveling method of autonomous robot and autonomous robot Download PDFInfo
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Abstract
The invention discloses a method for preventing an autonomous robot from falling, wherein the autonomous robot is provided with a cliff sensor, and the method comprises the following steps: determining whether the autonomous robot is at a cliff location; when the autonomous robot is at the position of the cliff, the autonomous robot executes anti-falling movement; wherein, the dropproof motion includes: the autonomous robot starts from the position of the cliff, moves towards any direction far away from the cliff, and then moves towards the direction close to the cliff until the autonomous robot moves to the position of the next cliff or encounters an obstacle. The technical scheme disclosed by the invention can help the autonomous robot to quickly try out the boundary of the cliff and efficiently execute cleaning work near the terrain of the cliff. The invention also discloses an autonomous robot which can move according to the method of the invention, clean the cliff area on the premise of avoiding falling and improve the cleaning coverage rate.
Description
Technical Field
The invention belongs to the field of autonomous robots, and particularly relates to a method for preventing an autonomous robot from falling. The invention also relates to an autonomous robot.
Background
Autonomous robots are becoming more and more popular in residential environments and have been more widely used for ground cleaning and wet mopping. The ground environment of the autonomous robot is very complex, and the autonomous robot can encounter polar terrains such as steps and steep slopes to influence the travel of the autonomous robot under some conditions, so that the investigation of the ground environment is realized by the aid of a cliff sensor to avoid the damage of the autonomous robot caused by falling.
However, the conventional autonomous robot lacks a traveling route design for a cliff-like terrain such as a step or a steep slope, and thus the autonomous robot has low traveling efficiency in coping with the cliff-like terrain, and the coverage of cleaning or wet mopping is reduced, thereby affecting the user experience.
Therefore, it is desirable to provide a fall protection traveling mechanism of an autonomous robot and a corresponding autonomous robot to improve the intelligence level of the autonomous robot.
Disclosure of Invention
The invention provides a method for preventing an autonomous robot from falling, which aims to solve the technical problems in the prior art and is provided with a cliff sensor. The invention also discloses an autonomous robot for executing the anti-falling traveling method, which can automatically complete room cleaning work under the condition of no human intervention and can adapt to complex living environments such as multiple floors and the like.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a method of fall-protection travel of an autonomous robot provided with a cliff sensor, the method comprising: determining whether the autonomous robot is at a cliff location; when the autonomous robot is at the position of the cliff, the autonomous robot executes anti-falling movement; wherein, the dropproof motion includes: the autonomous robot starts from the position of the cliff, moves towards any direction far away from the cliff, and then moves towards the direction close to the cliff until the autonomous robot moves to the position of the next cliff or encounters an obstacle.
Further, the method further comprises: the boundary contour of the cliff is fitted based on a connecting line of at least two cliff positions.
Further, the step of the autonomous robot performing a fall arrest motion comprises: the fall arrest motion is repeated at a constant cycle.
Further, the method further comprises: based on the boundary profile, an edgewise sweeping mode is performed.
Further, the step of performing the edgewise sweeping mode includes: the autonomous robot travels along an edgewise path parallel to the boundary profile.
Furthermore, the geometric radius of the autonomous robot is R, and the maximum distance L between the geometric center of the autonomous robot and the corresponding point of the boundary contour meets the condition that L is less than or equal to 2R in the anti-falling movement process of the autonomous robot.
Further, the step of until the autonomous robot travels to a next cliff location or encounters an obstacle comprises: when the autonomous robot runs to the next cliff position, performing fall prevention movement again based on the newly determined cliff position; when the autonomous robot encounters an obstacle, an obstacle avoidance mode is executed to avoid the obstacle, or an obstacle avoidance mode is executed to travel along the edge of the obstacle.
Further, the autonomous robot is provided with at least two cliff sensors, the cliff sensors comprising infrared sensors and/or ultrasonic sensors.
Further, the autonomous robot comprises a housing, and the cliff sensor is arranged at a distance D from the corresponding position of the periphery of the housing, wherein the distance D is more than or equal to 0.5cm and less than or equal to 5 cm.
The invention also discloses an autonomous robot which advances according to the method of the invention:
an autonomous robot traveling according to the method of the invention comprises a housing, the autonomous robot being provided with a cliff sensor in communication with a control chip, the cliff sensor being adapted to determine whether the autonomous robot is in a position on a cliff; the control chip controls the autonomous robot to execute anti-falling movement when determining that the autonomous robot is positioned at the cliff position according to the change of the signal output by the cliff sensor; wherein, the dropproof motion includes: the autonomous robot starts from the position of the cliff, moves towards any direction far away from the cliff, and then moves towards the direction close to the cliff until the autonomous robot moves to the position of the next cliff or encounters an obstacle.
The technical scheme of the invention has the following beneficial effects:
the anti-falling advancing method of the autonomous robot disclosed by the invention can assist the autonomous robot to detect the position of the cliff and guide the autonomous robot to advance based on the detection result, so that the autonomous robot is ensured not to lose the boundary of the cliff when the autonomous robot is driven close to the boundary of the cliff, the autonomous robot is helped to efficiently pass through the cliff area, and the cleaning coverage rate is greatly improved. The invention also discloses an autonomous robot which can travel on the edge of the cliff terrain according to the anti-falling path and embodies higher intelligence.
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FIG. 1 is a block diagram of the steps in one embodiment of the method of the present invention;
FIG. 2 is a schematic diagram of a path followed by an autonomous robot along a cliff boundary in one embodiment of the method of the present invention;
FIG. 3 is a block diagram relating to steps in a further embodiment of the method of the present invention;
FIGS. 4a and 4b are schematic diagrams of paths followed by an autonomous robot along a cliff boundary in a further embodiment of the method of the invention;
FIG. 5 is a schematic diagram of a path followed by an autonomous robot along a cliff boundary in yet another embodiment of the method of the present invention;
FIG. 6 is a schematic diagram of a path followed by an autonomous robot along a cliff boundary in yet another embodiment of the autonomous robot of the present invention;
FIG. 7 is a schematic diagram of an autonomous robot in an embodiment of the method of the invention;
FIG. 8 is a block diagram of an autonomous robot according to an embodiment of the present invention.
Detailed Description
The technical solution provided by the present invention is described in more detail by the following figures and specific embodiments:
as shown in fig. 1 and 2, which relate to one embodiment of the method of the present invention. In the embodiment, disclosed in the block diagram of steps of fig. 1, a method for fall arrest travel of an autonomous robot provided with a cliff sensor is disclosed, the method comprising,
102, when the autonomous robot is positioned on a cliff, the autonomous robot executes anti-falling movement; wherein, the dropproof motion includes: the autonomous robot starts from the position of the cliff, moves towards any direction far away from the cliff, and then moves towards the direction close to the cliff until the autonomous robot moves to the position of the next cliff or encounters an obstacle.
Wherein figure 2 discloses a schematic diagram of the path followed by the autonomous robot along the cliff boundary in this embodiment. As shown in fig. 2, the autonomous robot 201 in this embodiment determines whether it is in the corresponding cliff position by the cliff sensors during its travel, and when it determines that it is in the cliff position, it performs a drop-prevention motion that causes the autonomous robot 201 to move away from the cliff and then toward the cliff until the autonomous robot moves to the next cliff position or encounters an obstacle. As an example, the autonomous robot 201 detects the existence of a cliff during walking, determines that it is located at the first cliff position, and performs a fall prevention motion; wherein, this dropproof motion includes: the autonomous robot 201 starts from the first cliff position, moves in any direction away from the cliff, and then moves in a direction close to the cliff until the autonomous robot 201 moves to the second cliff position. In this embodiment, the autonomous robot 201 moves from left to right as a whole, and its movement trajectory forms a plurality of circular arcs, and when it reaches the top of the circular arc, it moves away from the cliff in the upper right (↗) direction, and when it reaches the top of the circular arc, it moves closer to the cliff in the lower right (↘) direction, thereby realizing the fall prevention movement. Those skilled in the art will appreciate that autonomous robot 201, when in a cliff position, may travel in any direction away from the cliff, such as up (heel) or up left (↖); and then move towards the direction close to the cliff at any angle. The movement locus of the autonomous robot 201 is not necessarily circular, and may be, for example, rectangular or triangular, as long as the autonomous robot 201 can start from the start position and then return to the next cliff position or encounter an obstacle while moving forward.
The embodiment discloses a fall-prevention traveling method of an autonomous robot, which can control the autonomous robot to travel safely along a cliff under the condition of ensuring that the autonomous robot does not fall, so that the autonomous robot can quickly traverse an area near the cliff and clean the ground with high coverage rate.
Meanwhile, the method in the embodiment can also counteract errors caused by sensor drift of the autonomous robot navigation system to a certain extent by means of detection of the cliff sensor, so that the autonomous robot is prevented from losing the cliff boundary in the process of traveling. The reason is that the traditional autonomous robot usually depends on a mapping function to travel along the boundary (usually a straight line) of a cliff (such as a step), the straight line walking depends on the calibration of an inertial navigation system and other sensors, and in the long-term traveling process, the inertial navigation system and the sensors may generate a sensor drift phenomenon to cause the positioning, distance measurement and the like of the autonomous robot to be inaccurate, so that the autonomous robot deviates from a flight path and loses the boundary of the cliff; as home decoration environments are personalized at present, the potential non-linear cliff boundaries pose a great challenge to the terrain surveying capacity of the autonomous robot, and the traditional mapping mode is difficult to accurately know the irregular cliff boundaries. According to the technical scheme of the embodiment of the invention, the cliff sensor is used in combination with the corresponding anti-falling motion path design, so that the autonomous robot can effectively probe and acquire the position of the cliff, and the loss of the cliff boundary in the process of traveling is avoided.
Referring to fig. 2, in one embodiment of the method of the present invention, the method further comprises: the boundary contour of the cliff is fitted based on a connecting line of at least two cliff positions. In the method for preventing the autonomous robot from falling disclosed in this embodiment, the autonomous robot 201 has an opportunity to move in a direction close to the cliff a plurality of times, so that a plurality of cliff positions can be determined, and based on the obtained connection line between at least two cliff positions, the boundary contour of the cliff is fitted, so that the autonomous robot 201 is assisted in accurately knowing the boundary of the cliff and travels along the boundary of the cliff more stably. In order to fit the boundary contour of the cliff, at least two positions of the cliff need to be obtained, so that a boundary contour in a straight line shape is fitted, and the boundary contour in the straight line shape is the most common one in a domestic environment and can represent the existence of steps; for more cliff positions obtained by detection, the method can be used for verifying and correcting the boundary contour in a linear state on one hand, and can also be used for fitting the boundary contour in a non-linear state on the other hand, so that the method can be applied to more complex and diversified home decoration environments.
It will be appreciated by those skilled in the art that the smaller the spacing between two adjacent cliff locations, the more accurate the boundary profile is fit. Further disclosed in fig. 2 is one embodiment of the method of the present invention, wherein the step of performing a fall arrest motion by the autonomous robot comprises: the fall arrest motion is repeated at a constant cycle. In this embodiment, repeating the fall arrest motion with a constant period enables the autonomous robot 201 to have the opportunity to approach the cliff a number of times and detect the corresponding number of cliff locations, which helps to more accurately learn the cliff boundary and fit a boundary profile that is more consistent with the physical cliff boundary and smoother. The corresponding boundary contour may be displayed on the matched APP of the autonomous robot 201, thereby allowing the user to perceive the superior mapping and path planning capabilities of the autonomous robot 201. In this embodiment, the fall prevention movement is repeated at a constant cycle, the continuity of the traveling process of the autonomous robot 201 is ensured, and the obstacle can be encountered and avoided more efficiently.
As shown in fig. 3, 4a and 4b, to a further embodiment of the method of the invention. In this embodiment, a method of fall prevention travel of an autonomous robot provided with a cliff sensor is disclosed, the method including:
302, when the autonomous robot is at a cliff position, the autonomous robot executes a fall prevention movement;
With reference to fig. 4a and 4b, the autonomous robot 401 performs a fall arrest movement comprising: the autonomous robot 401 starts from the position of the cliff, moves in any direction away from the cliff, and then moves in a direction close to the cliff until the autonomous robot moves to the next position of the cliff or encounters an obstacle. In this embodiment, the trajectory of the autonomous robot 401 in the fall prevention movement is triangular as shown in fig. 4a, and the corresponding trajectory may be preset, and after the autonomous robot 401 travels to the maximum position far from the cliff, it reaches the vertex of the preset triangle, and then turns back toward the cliff until it travels to the next cliff position or encounters an obstacle. As can be seen from fig. 4a and 4b, the cliff in this embodiment is not completely linear, and the second half thereof is in an irregular arc shape, but with the method in this embodiment, the autonomous robot 401 can still fit the boundary contour of the cliff after multiple detections based on the connection line of at least two cliff positions, so as to construct a navigation map containing the boundary contour of the cliff to guide itself to travel.
As one embodiment of the method of the present invention, the method further includes: based on the boundary profile, an edgewise sweeping mode is performed. Fig. 4b reveals that the autonomous robot 401 performs an edgewise cleaning mode based on the boundary contour of the cliff. The motion trajectory in the edgewise sweeping mode is shown as the second trajectory in fig. 4b, which is the edgewise path parallel to the boundary profile. By adopting the method in the embodiment, the autonomous robot 401 not only can quickly probe and acquire the boundary of the cliff, but also can perform edgewise cleaning based on the boundary contour of the cliff, and scan and clean the area which is not scanned in the probing process on the premise of avoiding falling. In the edgewise cleaning process, because the boundary contour of the cliff is known, on one hand, the autonomous robot 401 can effectively make up for a missed cleaning area, and on the other hand, the autonomous robot 401 does not need to repeatedly try out the boundary of the cliff, so that the cleaning coverage rate and the cleaning efficiency of the autonomous robot 401 are greatly improved by the method in the embodiment. Preferably, as one embodiment of the method of the present invention, the step of performing the edge cleaning mode includes: the autonomous robot travels along an edgewise path parallel to the boundary profile. As shown in fig. 4b, when the autonomous robot 401 executes the edgewise cleaning mode, the second trajectory thereof is parallel to the boundary contour of the cliff, so that the autonomous robot 401 can be made to closely contact the boundary contour, thereby more efficiently and seamlessly cleaning the area near the boundary of the cliff.
In one embodiment of the method, the geometric radius of the autonomous robot is R, and the maximum distance L between the geometric center of the autonomous robot and the corresponding point of the boundary contour meets the condition that L is less than or equal to 2R in the falling-prevention movement process of the autonomous robot. As shown in fig. 5, the method of the present invention is related to another embodiment, which discloses some limitations for the motion trajectory of the autonomous robot 501 when performing the fall arrest motion, but the corresponding limitations are optional. In one embodiment, the radius of the shell of the autonomous robot 501 is R, when the autonomous robot 501 performs a fall-prevention motion, the motion trajectory of the geometric center thereof is as shown in fig. 5, a point on the motion trajectory farthest from the cliff is a point a, and a point located on the boundary contour of the cliff and corresponding to the point a is a point B, where a line segment AB represents the maximum distance L between the geometric center of the autonomous robot 501 and the corresponding point of the boundary contour during the fall-prevention motion, and L is 2R in this embodiment, and the condition that L is less than or equal to 2R is satisfied. Under the condition that L is less than or equal to 2R, when the autonomous robot 501 executes the anti-falling movement, the distance between the autonomous robot 501 and the boundary of the cliff does not exceed the width of the machine body, so that when the autonomous robot 501 executes the edgewise cleaning mode based on the boundary outline, all missed cleaning areas in the anti-falling movement can be made up only by once edgewise cleaning, and the cleaning efficiency of the autonomous robot is greatly improved.
In one embodiment of the method of the present invention, the step of moving the autonomous robot to the next cliff location or encountering an obstacle comprises: when the autonomous robot travels to the next cliff position, performing the fall arrest motion again based on the newly determined cliff position; when the autonomous robot encounters an obstacle, an obstacle avoidance mode is executed to avoid the obstacle, or an obstacle avoidance mode is executed to travel along the edge of the obstacle. Fig. 6 is a schematic diagram of a path followed by an autonomous robot along a cliff boundary in an embodiment of the method according to the invention. The autonomous robot 601 in this embodiment, traveling in accordance with the first trajectory in fig. 6 during the execution of the fall prevention motion, will execute the fall prevention motion again based on the newly determined position of the cliff (second cliff position) in order to avoid the fall when the autonomous robot 601 travels from one position of the cliff (first cliff position) to the next position of the cliff (second cliff position); when the autonomous robot 601 encounters the obstacle 602, the autonomous robot 601 may execute an obstacle avoidance mode to avoid the obstacle 602 or execute an obstacle avoidance mode to travel along an edge of the obstacle according to the setting of the program. In fig. 6, after encountering an obstacle 602, the autonomous robot 601 adopts an obstacle avoidance mode, and continues to travel after avoiding the obstacle along a second trajectory. It will be appreciated by those skilled in the art that the autonomous robot involved in the method disclosed in the present invention may be in various forms such as a circle, a D-shape, a square, or a reuleaux triangle.
Fig. 7 relates to a schematic structural diagram of an autonomous robot for performing the method according to an embodiment of the method of the present invention. In one embodiment of the method according to the invention, the autonomous robot is provided with at least two cliff sensors, said cliff sensors comprising infrared sensors and/or ultrasonic sensors. In one embodiment of the method according to the invention, the autonomous robot comprises a housing, the cliff sensor being arranged at a distance D from a corresponding position along the circumference of the housing, which satisfies 0.5cm < D < 5 cm. As shown in fig. 7, the autonomous robot in this embodiment is a bottom view of the autonomous robot, and includes a housing 701 provided with three cliff sensors 702, and the three cliff sensors 702 are located at the front and side circumferential positions of the autonomous robot, respectively, so as to detect cliffs located in different directions when the autonomous robot performs forward movement, left rotation, right rotation, and the like. The autonomous robot further comprises rolling brushes 703, driving wheels 704, universal wheels 705 and a dust suction opening 706, wherein the cliff sensors 702 are each arranged outside the respective wheel, the cliff sensors 702 being closer to the housing 701 than the respective wheel to detect the presence of a cliff before the wheel sinks into the cliff. In this embodiment, the distance between the cliff sensor 702 on the front side of the autonomous robot and the corresponding position on the peripheral edge of the housing 701 is D1, and the distance between the cliff sensor 702 on the front side peripheral edge of the autonomous robot and the corresponding position on the peripheral edge of the housing 701 is D2. Wherein D1 is more than or equal to 0.5cm and less than or equal to 5cm, D2 is more than or equal to 0.5cm and less than or equal to 5cm, and if D1 and D2 are too small, the processing difficulty of the autonomous robot is too large; if D1 and D2 are too large, timeliness of detection of the autonomous robot cliffs is affected.
The invention also discloses an autonomous robot 801 traveling according to the method of the invention, which comprises a housing, wherein the autonomous robot is provided with a cliff sensor 802, the cliff sensor 802 is in communication connection with a control chip 803, and the cliff sensor 802 is used for determining whether the autonomous robot 801 is at the position of the cliff; when the control chip 803 determines that the autonomous robot 801 is at the cliff position according to the change of the signal output by the cliff sensor 802, the autonomous robot 801 is controlled to perform anti-falling movement; wherein, the dropproof motion includes: the autonomous robot 801 starts from the position of the cliff, moves in any direction away from the cliff, and then moves in a direction close to the cliff until the autonomous robot 801 moves to the next position of the cliff or encounters an obstacle. The autonomous robot 801 of this embodiment further includes a movement mechanism 804, and the control chip 803 executes and implements the anti-falling movement by adjusting corresponding control parameters of the movement mechanism 804. The autonomous robot 801 in this embodiment can accurately detect the cliff boundary, and safely travel near the cliff terrain according to the fall-prevention travel method, so that the cliff boundary is not lost due to the problem of sensor drift during travel, the cleaning efficiency of the autonomous robot can be improved, and good user experience is brought to users.
The above embodiments are merely illustrative of the design method of the present invention and are not intended to limit the scope of the present invention. The modifications and changes guided by the idea of the technical scheme of the invention are all within the protection scope of the invention.
Claims (10)
1. A fall prevention traveling method of an autonomous robot provided with a cliff sensor, characterized by comprising: determining whether the autonomous robot is at a cliff location; when the autonomous robot is at a cliff position, the autonomous robot performs a fall prevention motion; wherein the fall arrest movement comprises: the autonomous robot starts from the position of the cliff, moves in any direction far away from the cliff, and then moves in the direction close to the next cliff until the autonomous robot moves to the position of the next cliff or encounters an obstacle.
2. The method of claim 1, further comprising: the boundary contour of the cliff is fitted based on a connecting line of at least two cliff positions.
3. The method of claim 1, wherein the step of the autonomous robot performing a fall arrest motion comprises: the fall arrest motion is repeated at a constant cycle.
4. The method of claim 2, further comprising: based on the boundary profile, an edgewise sweeping mode is performed.
5. The method of claim 4, wherein the step of performing an edgewise sweeping mode comprises: the autonomous robot travels along an edgewise path parallel to the boundary profile.
6. The method according to claim 2, wherein the geometric radius of the autonomous robot is R, and the maximum distance L between the geometric center of the autonomous robot and the corresponding point of the boundary contour during the falling prevention movement satisfies L ≦ 2R.
7. The method of any of claims 1-4, wherein the step of until the autonomous robot travels to a next cliff location or encounters an obstacle comprises: when the autonomous robot travels to the next cliff position, performing the fall arrest motion again based on the newly determined cliff position; when the autonomous robot encounters an obstacle, an obstacle avoidance mode is executed to avoid the obstacle, or an obstacle avoidance mode is executed to travel along the edge of the obstacle.
8. Method according to any of claims 1-6, characterized in that the autonomous robot is provided with at least two cliff sensors, said cliff sensors comprising infrared sensors and/or ultrasonic sensors.
9. The method of any of claims 4-6, wherein the autonomous robot comprises a housing, and wherein the cliff sensor is disposed at a distance D from a corresponding location along a perimeter of the housing that satisfies 0.5cm ≦ D ≦ 5 cm.
10. An autonomous robot traveling according to the method of any of claims 1-9, comprising a housing, the autonomous robot being provided with a cliff sensor, the cliff sensor being communicatively connected to a control chip, characterized in that: the cliff sensor is used for determining whether the autonomous robot is at a cliff position; the control chip controls the autonomous robot to execute anti-falling movement when determining that the autonomous robot is positioned at the cliff position according to the change of the signal output by the cliff sensor; wherein the fall arrest movement comprises: the autonomous robot starts from the position of the cliff, moves in any direction far away from the cliff, and then moves in the direction close to the next cliff until the autonomous robot moves to the position of the next cliff or encounters an obstacle.
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| CN113156929B (en) * | 2020-01-06 | 2024-02-23 | 苏州宝时得电动工具有限公司 | Self-moving equipment |
| WO2021139414A1 (en) * | 2020-01-06 | 2021-07-15 | 苏州宝时得电动工具有限公司 | Self-moving device |
| CN111557619B (en) * | 2020-04-24 | 2021-05-25 | 珠海格力电器股份有限公司 | Sweeping robot anti-falling method, sweeping robot and computer readable medium |
| CN111459169B (en) * | 2020-04-27 | 2023-11-24 | 四川智动木牛智能科技有限公司 | Comprehensive pipe gallery inspection method based on wheeled robot |
| CN111958610A (en) * | 2020-07-24 | 2020-11-20 | 深圳乐动机器人有限公司 | Method and device for cleaning edge of robot, robot and storage medium |
| CN118021214A (en) * | 2020-12-10 | 2024-05-14 | 云鲸智能创新(深圳)有限公司 | Cleaning method, cleaning robot, and computer-readable storage medium |
| CN114343507A (en) * | 2022-01-28 | 2022-04-15 | 深圳市优必选科技股份有限公司 | Map data generation method and device and sweeping robot |
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| TWI303754B (en) * | 2006-05-09 | 2008-12-01 | Ind Tech Res Inst | Obstacle and cliff avoiding system and method thereof |
| US10254403B1 (en) * | 2014-11-24 | 2019-04-09 | AI Incorporated | Edge detection system |
| KR102588486B1 (en) * | 2016-03-15 | 2023-10-11 | 에이비 엘렉트로룩스 | Robot cleaning device and method of performing cliff detection in the robot cleaning device |
| TWI653964B (en) * | 2016-05-17 | 2019-03-21 | Ｌｇ電子股份有限公司 | Mobile robot and its control method |
| KR20180106225A (en) * | 2017-03-17 | 2018-10-01 | 엘지전자 주식회사 | Robot cleaner |
| KR20190002152A (en) * | 2017-06-29 | 2019-01-08 | 엘지전자 주식회사 | Method of identifying entry restriction and robot implementing thereof |
| CN109186463B (en) * | 2018-09-04 | 2021-12-07 | 浙江梧斯源通信科技股份有限公司 | Anti-falling method applied to movable robot |
| CN109623852B (en) * | 2019-01-10 | 2024-03-29 | 苏州苏相机器人智能装备有限公司 | Cliff detection sensing device and mobile service robot |
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