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发明公开
CN105899112A 自主移动机器人 有权

自主移动机器人
摘要：
一种自主移动机器人(100)包含机器人主体(110)、驱动系统(120)、传感器系统(500)及控制器(120)。所述驱动系统支撑所述机器人主体且在地板表面(10)上操纵所述机器人。所述传感器系统包含用于测量所述机器人的姿势的惯性测量单元(510d)且发布传感器信号，所述传感器信号包含具有关于所述机器人的姿势的信息的数据。行为系统(210a)从所述传感器系统接收所述传感器信号且执行行为(300)。所述行为系统响应于传感器信号指示所述机器人受到约束而执行防停滞行为(300a)以评估约束状态。另外，所述行为系统响应于传感器信号指示所述机器人相对于重力方向倾斜而执行防倾斜行为(310b)以评估倾斜状态。
摘要（英）：

An autonomous mobile robot (100) includes a robot body (110), a drive system (120), a sensor system (500), and a controller (120). The drive system supports the robot body and maneuvers the robot over a floor surface (10). The sensor system includes an inertial measurement unit (510d) for measuring a pose of the robot and issues a sensor signal including data having information regarding a pose of the robot. A behavior system (210a) receives the sensor signal from the sensor system and executes a behavior (300). The behavior system executes an anti-stasis behavior (300a) in response to sensor signals indicating that the robot is constrained to evaluate a state of constraint. In addition, the behavior system executes an anti-tilt behavior (310b) in response to sensor signals indicating that the robot is tilted with respect to a direction of gravity to evaluate a state of tilt.

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