| 摘要 |
An obstacle avoidance walking method of a self-moving robot, comprising: step 1000: a self-moving robot walks along a Y-axis, identifies the position of an obstacle as an obstacle point, and stores the coordinates of the point as a recorded point; step 2000: determining whether a recorded point was previously stored, the coordinates on the Y-axis of the previously stored recorded point being within a numerical value interval formed by the coordinates on the Y-axis of the current obstacle point and a previous obstacle point; step 3000: if yes, then the recorded point is a turning point, and the self-moving robot walks along the X-axis from the current obstacle point toward the turning point to the coordinates on the X-axis of the turning point, deleting the coordinates of the turning point, walking in an area between the point and the current obstacle point, and returning to step 1000; and if not, then the self-moving robot moves a displacement M1 along the X-axis; step 4000: walking in a direction opposite to the original Y-axis walking direction, and returning to step 1000; step 5000: repeating step 1000 to step 4000 until the Y-axis is traversed. The method accurately determines an obstacle position and provides a concise route, and greatly improves the working efficiency of the self-moving robot. |
