Autonomous mobile robot and control method thereof

• US 10,245,730 B2
• Filed: 05/15/2017
• Issued: 04/02/2019
• Est. Priority Date: 05/24/2016
• Status: Active Grant

• Current Assignee: ASUSTek Computer, Inc.
• Original Assignee: ASUSTek Computer, Inc.
• Inventors: Chen, Hsin-Fu, Fang, Chao-Ching, Ho, Chi-Hwa
• Primary Examiner(s): Badii, Behrang
• Assistant Examiner(s): Testardi, David A
• Application Number:
  US15/594,663
• Publication Number:
  US 20170344016A1
• Time in Patent Office: 687 Days
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05D 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• CPC Class Codes: G05D 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S

Abstract

An autonomous mobile robot, adapted to move on a surface according to a moving datum plane, is provided. The autonomous mobile robot comprising: a first distance sensor configured to detect a first detecting distance between the first distance sensor and the surface along a first axial direction; a second distance sensor configured to detect a second detecting distance between the second distance sensor to the surface along a second axial direction; and a control unit configured to control the autonomous mobile robot to move in a speed limited mode when the first detecting distance is within a first distance range, and configured to control the autonomous mobile robot to stop moving when the second detecting distance is larger than a second pre-determined distance. A mobile control method is also provided.

Claims

1. An autonomous mobile robot, adapted to move on a surface according to a moving datum plane, the autonomous mobile robot comprising:

a first distance sensor configured to detect a first detecting distance between the first distance sensor and the surface along a first axial direction;

a second distance sensor configured to detect a second detecting distance between the second distance sensor and the surface along a second axial direction, the first distance sensor has a first projection on the moving datum plane along the first axial direction, the second distance sensor has a second projection on the moving datum plane along the second axial direction, a distance between the first projection and the autonomous mobile robot is larger than the distance between the second projection and the autonomous mobile robot; and

a control unit configured to control the autonomous mobile robot to move in a speed limited mode in response to the first detecting distance being within a first distance range that is greater than a safe distance range for which the speed of the mobile robot is not reduced, and configured to control the autonomous mobile robot to stop moving when the second detecting distance is larger than a second pre-determined distance.

2. The autonomous mobile robot according to claim 1, wherein the control unit is configured to reduce a movement speed of the autonomous mobile robot from a first speed to a second speed according to the speed limited mode.

3. The autonomous mobile robot according to claim 1, wherein the control unit is further configured to continuously detect the first detecting distance in a time period after the autonomous mobile robot moves in the speed limited mode, and the control unit is configured to stop the speed limited mode at the end of the time period when the first detecting distances in the time period are less than a lower limit of the first distance range.

4. The autonomous mobile robot according to claim 1, wherein the control unit is configured to continuously detect the first detecting distance in a time period after the autonomous mobile robot moves in the speed limited mode, and when the first detecting distance is within the first distance range at a time point of the time period, the control unit is configured to make the autonomous mobile robot keep moving in the speed limited mode.

5. The autonomous mobile robot according to claim 1, wherein the control unit is configured to control the autonomous mobile robot to stop moving when the first detecting distance is within a second range, and a lower limit of the second range is greater than an upper limit of the first distance range.

6. A mobile control method, adapted to an autonomous mobile robot that moves on a surface according to a moving datum plane, the mobile control method comprising:

obtaining a first detecting distance between a first position on the autonomous mobile robot and the surface along a first axial direction, the moving datum plane and the first axial direction have a first intersection;

obtaining a second detecting distance between a second position on the autonomous mobile robot and the surface along a second axial direction, the moving datum plane and the second axial direction have a second intersection, a distance between the first intersection and the autonomous mobile robot is larger than the distance between the second intersection and the autonomous mobile robot;

controlling the autonomous mobile robot to move in a speed limited mode in response to the first detecting distance being within a first distance range that is greater than a safe distance range for which the speed of the mobile robot is not reduced; and

controlling the autonomous mobile robot to stop moving when the second detecting distance is lamer than a second pre-determined distance.

7. The mobile control method according to claim 6, wherein the step of controlling the autonomous mobile robot to move in the speed limited mode when the first detecting distance is within the first distance range includes:

reducing a movement speed of the autonomous mobile robot from a first speed to a second speed.

8. The mobile control method according to claim 6, wherein the mobile control method further includes:

continuously detecting a difference between the first detecting distance and the first distance range in a time period that the autonomous mobile robot moves in the speed limited mode; and

stopping the speed limited mode when the first detecting distances in the time period are less than a lower limit of the first distance range.

9. The mobile control method according to claim 6, wherein the mobile control method further includes:

continuously detecting the first detecting distance in a time period while the autonomous mobile robot moves in the speed limited mode; and

making the autonomous mobile robot keep moving in the speed limited mode when the first detecting distance is within the first distance range at a time point in the time period.

10. The mobile control method according to claim 9, wherein the mobile control method further includes:

continuously detecting the first detecting distance in an another time period subsequent to the time point;

stopping the speed limited mode at the end of the another time period when the first detecting distances in the another time period are less than the first distance range; and

making the autonomous mobile robot keep moving in the speed limited mode when the first detecting distances is within the first distance range at an another time point in the another time period.

11. The mobile control method according to claim 6, wherein the mobile control method further includes:

controlling the autonomous mobile robot to stop moving when the first detecting distance is within a second range, a lower limit of the second range is greater than an upper limit of the first distance range.