US 11,771,291 B2
Robot and robot control method
Haojian Xie, Beijing (CN); and Yongfeng Xia, Beijing (CN)
Assigned to BEIJING XIAOMI MOBILE SOFTWARE CO., LTD., Beijing (CN); and BEIJING ROBOROCK TECHNOLOGY CO., LTD., Beijing (CN)
Filed by BEIJING XIAOMI MOBILE SOFTWARE CO., LTD., Beijing (CN); and BEIJING ROBOROCK TECHNOLOGY CO., LTD., Beijing (CN)
Filed on Jun. 4, 2021, as Appl. No. 17/338,923.
Application 17/338,923 is a continuation of application No. 16/236,559, filed on Dec. 30, 2018, granted, now 11,045,060.
Application 16/236,559 is a continuation of application No. PCT/CN2017/083111, filed on May 4, 2017.
Claims priority of application No. 201610781395.2 (CN), filed on Aug. 30, 2016.
Prior Publication US 2021/0290024 A1, Sep. 23, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. A47L 11/40 (2006.01); A47L 11/24 (2006.01); B25J 9/16 (2006.01); A47L 9/28 (2006.01); B25J 11/00 (2006.01); G05D 1/00 (2006.01); G05D 1/02 (2020.01)
CPC A47L 11/4061 (2013.01) [A47L 9/2852 (2013.01); A47L 11/24 (2013.01); A47L 11/40 (2013.01); B25J 9/16 (2013.01); B25J 9/1666 (2013.01); B25J 11/0085 (2013.01); G05D 1/0088 (2013.01); G05D 1/0276 (2013.01); A47L 2201/04 (2013.01); G05D 2201/0203 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A robot, comprising a controller configured to:
detect a virtual wall signal;
identify a virtual wall according to a signal threshold and the virtual wall signal; and
when the virtual wall is identified, adjust the signal threshold, and control the robot to travel along an outer side of the virtual wall according to an adjusted signal threshold and the virtual wall signal, such that a driving wheel of the robot is located at the outer side of the virtual wall when the robot is traveling along the outer side of the virtual wall;
wherein the outer side of the virtual wall is a side of the virtual wall within an active region of the robot;
wherein the controller is further configured to determine that the robot completes traveling along the outer side of the virtual wall in response to determining that a duration in which the virtual wall signal is continuously less that the adjusted signal threshold reaches a predetermined duration.