| CPC A47L 11/4061 (2013.01) [A47L 11/4011 (2013.01); A47L 2201/04 (2013.01)] | 11 Claims |
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1. An autonomous robot, comprising:
a robot body, wherein the robot body comprises a front collision body case, and a peripheral contour of the front collision body case is rectangular;
a movement component mounted on the robot body;
a collision sensor mounted on the robot body and arranged to be adjacent to the front collision body case, and configured to generate a collision detection signal when the front collision body case collides with an obstacle;
an edge sensor mounted on a left side or a right side of the robot body and configured to transmit and receive an edge detection signal at the left side or the right side of the robot body;
a controller mounted on the robot body and electrically connected to the collision sensor and the edge sensor and configured to control the robot body to perform an edgewise adjustment mode; wherein in the edgewise adjustment mode, the controller is configured to gradually adjust a forward direction of the movement component towards a same target according to the collision detection signal feedback by the collision sensor to gradually reduce a relative distance between the edge sensor and the obstacle until the relative distance is within a preset edge detection distance range;
wherein an execution of the edgewise adjustment mode comprises following steps:
in a step A, when the front collision body case collides with the obstacle, the collision sensor is triggered to generate the collision detection signal;
in a step B, the controller controls the movement component to drive the robot body to move backwards in respond to receiving the collision detection signal, the controller controls the movement component to drive the robot body to rotate at a preset angle towards a target deflection direction to finely adjust the relative distance;
in a step C, the controller controls the movement component to drive the robot body to move forward again in an adjusted posture, and accesses the collision sensor at a preset frequency during a forward movement of the robot body so as to detect whether the collision sensor generates another collision detection signal; if the controller detects that the collision sensor generates the another collision detection signal during the forward movement of the robot body, the autonomous robot repeatedly performs fine adjustment of the relative distance in the step B until the relative distance is within the preset edge detection distance range.
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