OBSTACLE AVOIDANCE METHOD, DETECTION RESULT VERIFICATION METHOD, AND ROBOT VACUUM CLEANER

An obstacle avoidance method, a detection result verification method, and a robot vacuum cleaner. The obstacle avoidance method comprises: decoding a charging signal sent by a charging device and received by a first sensor of the robot vacuum cleaner (S100); according to the decoding result, determining a position of the charging device relative to the robot vacuum cleaner and a first distance between the robot vacuum cleaner and the charging device (S200); when the first distance is greater than a first threshold, then according to the position of the charging device relative to the robot vacuum cleaner, determining a second distance between the robot vacuum cleaner and the charging device using a photon flight time sensor of the robot vacuum cleaner (S300); and when the second distance is smaller than the first threshold, adjusting the motion track of the robot vacuum cleaner, so as to clean the region around the charging device and avoid collision with the charging device (S400). The method uses the first