CN109508020A - Robot ambulation route automatic obstacle-avoiding method, system and robot - Google Patents
Robot ambulation route automatic obstacle-avoiding method, system and robot Download PDFInfo
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- CN109508020A CN109508020A CN201811631985.2A CN201811631985A CN109508020A CN 109508020 A CN109508020 A CN 109508020A CN 201811631985 A CN201811631985 A CN 201811631985A CN 109508020 A CN109508020 A CN 109508020A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
- G05D1/0229—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area in combination with fixed guiding means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
Abstract
The present invention provides a kind of robot ambulation route automatic obstacle-avoiding method, system and robots, are related to robotic technology field, and this method is applied to robot automatic obstacle-avoiding system；Robot automatic obstacle-avoiding system includes acquisition module, control module, drive module and steering module；This method comprises: acquisition module obtains robot information of road surface corresponding to the current walking position on default track route in real time, and information of road surface is sent to control module；Normal routine and barrier are provided on default track route；Control module controls drive module or/and steering module according to information of road surface, is walked with adjusting robot on normal routine.The present invention is able to ascend the efficiency of robot obstacle-avoiding.
Description
Technical field
The present invention relates to robotic technology fields, more particularly, to a kind of robot ambulation route automatic obstacle-avoiding method, are
System and robot.
Background technique
With the reach of science, robot progresses into daily life and provides various services for people, is being applied to
It services in such as catering industry, delivery industry and carrier, generally requires as the specific route of robot planning.
Existing robot obstacle-avoiding detection method carrys out avoidance mainly by infrared ray or ultrasonic wave mode are arranged in front of it, complicated
The barrier-avoiding method of the intelligent robot of scene avoidance is complex, when encountering each barrier when detection and the pause of programme path
Between it is longer, be easy to cause robot that cannot walk according to fixed route, influence the avoidance efficiency of robot.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of robot ambulation route automatic obstacle-avoiding method, system and machines
Device people, with the avoidance efficiency of hoisting machine people.
In a first aspect, the embodiment of the invention provides a kind of robot ambulation route automatic obstacle-avoiding method, this method application
In robot automatic obstacle-avoiding system；Robot automatic obstacle-avoiding system includes acquisition module, control module, drive module and turns to mould
Block；Method includes: that acquisition module obtains robot road surface corresponding to the current walking position on default track route in real time
Information, and information of road surface is sent to control module；Normal routine and barrier are provided on default track route；Control module
Drive module or/and steering module are controlled according to information of road surface, walked with adjusting robot on normal routine.
With reference to first aspect, the embodiment of the invention provides the first possible embodiments of first aspect, wherein adopts
Collecting module includes first sensor and second sensor；First sensor and second sensor are symmetrically set in robot；
Acquisition module obtains robot information of road surface corresponding to the current walking position on default track route in real time, and by road surface
Information is sent to the step of control module, comprising: acquisition module is preset on track route by first sensor real-time monitoring
First predeterminable area obtains the corresponding data of first sensor, and passes through the default walking road of second sensor real-time monitoring simultaneously
The second predeterminable area on line obtains the corresponding data of second sensor；Acquisition module by the corresponding data of first sensor and
The corresponding data of second sensor are sent to control module as information of road surface.
The possible embodiment of with reference to first aspect the first, the embodiment of the invention provides second of first aspect
Possible embodiment, wherein control module includes comparator and processor；Control module is according to information of road surface to drive module
Or/and steering module the step of being controlled, comprising: control module is corresponding to the first sensor received by comparator
Data and the corresponding data of second sensor carry out being converted to control signal, and send control signals to processor；Control
Module controls drive module or/and steering module according to control signal by processor.
The possible embodiment of second with reference to first aspect, the embodiment of the invention provides the third of first aspect
Possible embodiment, wherein normal routine is dark-coloured pavement；Barrier is white pavement；Barrier is set to normal routine
Two sides；The value range of the corresponding data of first sensor and the value range of the corresponding data of second sensor be 0 or
Person 1；Wherein, 0 expression first sensor or second sensor detect dark-coloured pavement；1 indicates first sensor or second
Sensor detects white pavement.
The third possible embodiment with reference to first aspect, the embodiment of the invention provides the 4th kind of first aspect
Possible embodiment, wherein control module passes the corresponding data of the first sensor received and second by comparator
The corresponding data of sensor carry out the step of being converted to control signal, comprising: it is corresponding to seek first sensor by comparator
The algebraical sum of data and the corresponding data of second sensor, and algebraical sum is determined as to control signal；Wherein, taking for signal is controlled
Being worth range is 0,1 or 2.
The 4th kind of possible embodiment with reference to first aspect, wherein drive module and steering module are set to machine
In people；The step of control module controls drive module or/and steering module according to control signal by processor, packet
Include: when controlling signal is 0, control module controls drive module by processor and keeps default normal walking state；
When controlling signal is 1, control module is kept in default first time period by processor control drive module
Default slow down state, and controlling steering module according to data value in first sensor and second sensor is 0 corresponding
Direction rotated, until control signal, when being changed into 0, control steering module stops operating, and control drive module entrance
Default normal walking state；
When controlling signal is 2, control module is kept in default second time period by processor control drive module
Pre-programmed emergency on-position, and control steering module and rotated according to default one direction, until when control signal is changed into 1,
It re-executes above-mentioned steps: drive module being controlled by processor and keeps default slow down shape in default first time period
State, and controlling steering module according to data value in first sensor and second sensor is that 0 corresponding direction is rotated, directly
When being changed into 0 to control signal, control steering module stops operating, and controls drive module and enter default normal walking state.
With reference to first aspect, the embodiment of the invention provides the 6th kind of possible embodiments of first aspect, wherein passes
Sensor is BISS0001 model infrared sensor；Processor is MPS430 model single-chip microcontroller.
Second aspect, the embodiment of the invention provides a kind of robot ambulation route automatic obstacle-avoiding system, which includes:
Acquisition module, control module, drive module and steering module；Acquisition module obtains robot on default track route in real time
Information of road surface corresponding to current walking position, and information of road surface is sent to control module；It is provided on default track route
Normal routine and barrier；Control module controls drive module or/and steering module according to information of road surface, to adjust machine
Device people walks on normal routine.
In conjunction with second aspect, the embodiment of the invention provides the first possible embodiments of second aspect, wherein adopts
Collecting module includes first sensor and second sensor；First sensor and second sensor are symmetrically set in robot.
The third aspect, the embodiment of the invention provides a kind of robot, which includes: robot body and such as second
The robot automatic obstacle-avoiding system of the possible embodiment of the first of aspect or second aspect；Robot automatic obstacle-avoiding system is set
It is placed on robot body.
The embodiment of the present invention bring it is following the utility model has the advantages that
The embodiment of the invention provides a kind of robot ambulation route automatic obstacle-avoiding method, system and robot, this method
Applied to robot automatic obstacle-avoiding system；Robot automatic obstacle-avoiding system includes acquisition module, control module, drive module and turns
To module；Method includes: that acquisition module obtains robot corresponding to the current walking position on default track route in real time
Information of road surface, and information of road surface is sent to control module；Normal routine and barrier are provided on default track route；Control
Module controls drive module or/and steering module according to information of road surface, is walked with adjusting robot on normal routine.
Aforesaid way provided in an embodiment of the present invention is based on the phase intercommunication between each module in robot ambulation route automatic obstacle-avoiding system
Letter, after getting information of road surface by acquisition module, being analyzed and processed by control module road pavement information can be quick
Robot is adjusted to walking on normal routine, when can effectively reduce for each barrier compared to the prior art detection and
The dead time of programme path, the avoidance efficiency of hoisting machine people.
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention are in specification, claims
And specifically noted structure is achieved and obtained in attached drawing.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of flow chart of robot ambulation route automatic obstacle-avoiding method provided in an embodiment of the present invention；
Fig. 2 is a kind of flow chart of obstacle avoidance algorithm provided in an embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of robot ambulation route automatic obstacle-avoiding system；
Fig. 4 is a kind of structural schematic diagram of robot provided in an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
With the reach of science, robot progresses into daily life and provides various services, service type machine for people
Device people, which often requires that, for example to be received voice command with people's interaction capability and have information fan-out capability etc., service humanoid robot
There are many barriers in daily life scene, these barriers be often laid out it is complicated, unordered, for servicing, food and drink
Industry, delivery industry and the industry of transport are to generally require the specific route of robot planning, existing robot obstacle-avoiding detection side
Method is arranged infrared ray or ultrasonic wave mode mainly by front and carrys out avoidance, the barrier-avoiding method of the intelligent robot of complex scene avoidance compared with
For complexity, and the route planned is also more various, cannot consider the traveling structure of different programme paths, and encounter each barrier
The dead time of detection and programme path is also longer when hindering object, and being easy to cause cannot walk according to fixed route, influences
The efficiency of robot obstacle-avoiding.
Based on this, a kind of robot ambulation route automatic obstacle-avoiding method, system and robot provided in an embodiment of the present invention,
It is long to have can solve the dead time of detection and programme path when robot encounters each barrier, and has been easy in multiple obstacles
The problem of endless loop route between object, the efficiency of hoisting machine people's avoidance.
For convenient for understanding the present embodiment, first to a kind of robot ambulation route disclosed in the embodiment of the present invention
Automatic obstacle-avoiding method describes in detail, and this method is applied to robot automatic obstacle-avoiding system；Robot automatic obstacle-avoiding system packet
Include acquisition module, control module, drive module and steering module.Specifically, a kind of robot ambulation route shown in Figure 1
The flow chart of automatic obstacle-avoiding method, this method comprises:
Step S102, acquisition module obtain robot in real time and are presetting corresponding to the current walking position on track route
Information of road surface, and information of road surface is sent to control module；Normal routine and barrier are provided on default track route.
Step S104, control module control drive module or/and steering module according to information of road surface, to adjust machine
Device people walks on normal routine.
The embodiment of the invention provides a kind of robot ambulation route automatic obstacle-avoiding methods, this method comprises: acquisition module
Robot information of road surface corresponding to the current walking position on default track route is obtained in real time, and information of road surface is sent
To control module；Normal routine and barrier are provided on default track route；Control module is according to information of road surface to driving mould
Block or/and steering module are controlled, and are walked with adjusting robot on normal routine.Above-mentioned side provided in an embodiment of the present invention
Formula is getting road by acquisition module based on being in communication with each other between each module in robot ambulation route automatic obstacle-avoiding system
After the information of face, being analyzed and processed by control module road pavement information quickly to be adjusted robot to normal routine uplink
It walks, the dead time with programme path, elevator is detected when can effectively reduce for each barrier compared to the prior art
The avoidance efficiency of device people.
Further, to be convenient to carry out, in a kind of optional embodiment, acquisition module includes first sensor and second
Sensor；First sensor and second sensor are symmetrically set in robot；Above-mentioned steps S102 namely acquisition module are real
When obtain robot information of road surface corresponding to the current walking position on default track route, and information of road surface is sent to
Control module can refer to following manner implementation:
(1) acquisition module presets the first predeterminable area on track route by first sensor real-time monitoring, obtains the
The corresponding data of one sensor, and the second predeterminable area on track route is preset by second sensor real-time monitoring simultaneously,
Obtain the corresponding data of second sensor.
Wherein, the first predeterminable area and the second predeterminable area are symmetrical, and specific regional scope can be set according to the actual situation
It sets, herein without repeating.
(2) acquisition module is sent out using the corresponding data of first sensor and the corresponding data of second sensor as information of road surface
It send to control module.
Above-mentioned control module includes comparator and processor；Control module in above-mentioned steps S104 is according to information of road surface pair
The step of drive module or/and steering module are controlled, comprising:
Step (1), control module is by comparator to the corresponding data of the first sensor received and second sensor
Corresponding data carry out being converted to control signal, and send control signals to processor；
Step (2), control module control drive module or/and steering module according to control signal by processor
System.
When it is implemented, above-mentioned normal routine is dark-coloured pavement；Barrier is white pavement；Barrier is set to normal road
The two sides of line；Based on this, above-mentioned first sensor may be disposed at the front of robot, be used for monitoring robot front region, the
Two sensors can symmetrically be set to the rear of robot, be used for monitoring robot rear area.
The value range of the corresponding data of first sensor and the value range of the corresponding data of second sensor be 0 or
Person 1.
Wherein, perhaps second sensor detects dark-coloured pavement namely first sensor or the to 0 expression first sensor
Barrier is not present in the corresponding region (the first predeterminable area, the second predeterminable area) monitored in two sensors；1 indicates that first passes
Perhaps second sensor detects white pavement namely first sensor or the corresponding region monitored of second sensor to sensor
(the first predeterminable area, the second predeterminable area) there are barriers.
Based on this, a kind of specific embodiment of above-mentioned steps (1) are as follows: it is corresponding that first sensor is sought by comparator
The algebraical sum of data and the corresponding data of second sensor, and algebraical sum is determined as to control signal；Wherein, taking for signal is controlled
Being worth range is 0,1 or 2.
Further, it is divided according to the value of control signal, above-mentioned steps (2) namely control module pass through processor according to control
A kind of embodiment that signal processed controls drive module or/and steering module, specific as follows:
When controlling signal is 0, control module controls drive module by processor and keeps default normal walking state.
When controlling signal is 1, control module is kept in default first time period by processor control drive module
Default slow down state, and controlling steering module according to data value in first sensor and second sensor is 0 corresponding
Direction rotated, until control signal, when being changed into 0, control steering module stops operating, and control drive module entrance
Default normal walking state.
When controlling signal is 2, control module is kept in default second time period by processor control drive module
Pre-programmed emergency on-position, and control steering module and rotated according to default one direction, until when control signal is changed into 1,
It re-executes above-mentioned steps: drive module being controlled by processor and keeps default slow down shape in default first time period
State, and controlling steering module according to data value in first sensor and second sensor is that 0 corresponding direction is rotated, directly
When being changed into 0 to control signal, control steering module stops operating, and controls drive module and enter default normal walking state.
Wherein, above-mentioned drive module and steering module are set in robot；Default normal walking state is normal starting
It walks in a direction and at the uniform velocity, steering module does not change direction of travel at this time；Default slow down state is a certain to be decelerated to
Speed is slowly walked；Pre-programmed emergency on-position is to stop walking immediately.Specifically, above-mentioned uniform velocity, speed, row after deceleration
Walking direction etc. can be configured according to practical application, and above-mentioned default first time period and default second time period can be according to reality
Using setting, herein without setting.Default one direction can be left-hand or dextrad, namely such as when controlling signal is 2,
Controllable steering module is turned left always, until control signal is changed into 1.
In addition, when practical application, it can also be by the way of pre-loaded obstacle avoidance algorithm in the control module, based on default
Threshold value carries out logic judgment to the value of the control signal received, executes control drive module and steering according to the result of judgement
The corresponding subsequent step of module, for ease of understanding, the embodiment of the invention provides a kind of flow charts of obstacle avoidance algorithm, such as Fig. 2
The shown algorithm includes the following steps:
Step (1) controls robot normally travel, receives two sensor (aforementioned first sensors in acquisition module
And second sensor) the real-time acquisition roadblock information (namely aforementioned information of road surface) that sends.
Step (2) judges whether the sum of data of two sensors (namely aforementioned control signals) are 0；If it is (Fig. 2
It is middle to be with " Y " expression), it executes step (1)；(it is with " N " expression in Fig. 2) if not, executes step (3).
Step (3) judges whether the sum of data of two sensors are 1；If so, executing step (4)；If not, holding
Row step (5).
Step (4), Reduced Speed Now is (that is, aforementioned control drive module is protected in default first time period within the t1 time
Hold default slow down state), and the corresponding directional steering of sensor for being 0 to transmission data regulates and controls.
Step (5), emergency braking is (that is, aforementioned control drive module is protected in default second time period within the t2 time
Hold pre-programmed emergency on-position), and regulation is turned to the left.
Specifically, the sensor can be BISS0001 model infrared ray sensing in a kind of optional embodiment
Device；Processor can be MPS430 model single-chip microcontroller.Infrared ray when white pavement through that can be reflected back, and infrared ray is through black
It can be predominantly absorbed when road surface, indicate normal routine with dark-coloured pavement, the corresponding data value of mark sensor is 0, white pavement
For the temporary route namely aforementioned obstacles object for encountering barrier, the corresponding data value of mark sensor is 1.
In conclusion above-mentioned robot ambulation route automatic obstacle-avoiding method provided in an embodiment of the present invention passes through default walking
Dark-coloured pavement is arranged on track route, and white pavement is arranged in the two sides of dark-coloured pavement for route, can be avoided robot
Excessive complex barrier object in track route, also avoids the complicated barrier-avoiding method to be calculated therefrom, and by with it is predetermined
Route is corresponding and simple obstacle avoidance algorithm, detects when robot encounters each barrier and programme path stops so that reducing
Immediately between, the endless loop route between multiple barriers is solved the problems, such as, to effectively improve the avoidance effect of robot
Rate.
The corresponding above method, the embodiment of the invention provides a kind of robot ambulation route automatic obstacle-avoiding systems, referring to Fig. 3
Shown in a kind of structural schematic diagram of robot ambulation route automatic obstacle-avoiding system, system include: acquisition module 302, control mould
Block 304, drive module 306 and steering module 308；
Acquisition module 302 obtains robot road surface corresponding to the current walking position on default track route in real time to be believed
Breath, and information of road surface is sent to control module 304；Normal routine and barrier are provided on default track route；
Control module 304 controls drive module 306 or/and steering module 308 according to information of road surface, to adjust machine
Device people walks on normal routine.
The embodiment of the invention provides a kind of robot ambulation route automatic obstacle-avoiding system, acquisition module obtains machine in real time
People's information of road surface corresponding to the current walking position on default track route, and information of road surface is sent to control module；
Normal routine and barrier are provided on default track route；Control module is according to information of road surface to drive module or/and steering
Module is controlled, and is walked with adjusting robot on normal routine.It is automatic that the embodiment of the present invention is based on robot ambulation route
Being in communication with each other between each module is satisfied the need after getting information of road surface by acquisition module by control module in obstacle avoidance system
Face information, which is analyzed and processed, quickly to be adjusted robot to walking on normal routine, can be had compared to the prior art
The dead time of detection and programme path, the avoidance efficiency of hoisting machine people when effect is reduced for each barrier.
Specifically, above-mentioned acquisition module includes first sensor and second sensor；First sensor and second sensor
Symmetrically it is set in robot.
Corresponding above system, the embodiment of the invention also provides a kind of robot, a kind of robot shown in Figure 4
Structural schematic diagram, the robot 400 include: robot body 402 and such as above-mentioned robot automatic obstacle-avoiding system 404；Robot
Automatic obstacle-avoiding system 404 is set on robot body 402.
It should be appreciated that Fig. 4 is only a kind of structural schematic diagram of robot, rather than the exclusive architecture of robot, in reality
Border can also include other function structure, specifically be subject to and actually use situation, this hair in use, in addition to structure shown in Fig. 4
Bright embodiment is not limited this.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in the executable non-volatile computer-readable storage medium of a processor.Based on this understanding, of the invention
Technical solution substantially the part of the part that contributes to existing technology or the technical solution can be with software in other words
The form of product embodies, which is stored in a storage medium, including some instructions use so that
One computer equipment (can be personal computer, server or the network equipment etc.) executes each embodiment institute of the present invention
State all or part of the steps of method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-
Only Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can be with
Store the medium of program code.
Finally, it should be noted that embodiment described above, only a specific embodiment of the invention, to illustrate the present invention
Technical solution, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, those skilled in the art should understand that: anyone skilled in the art
In the technical scope disclosed by the present invention, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention, should all cover in protection of the invention
Within the scope of.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of robot ambulation route automatic obstacle-avoiding method, which is characterized in that the method is applied to robot automatic obstacle-avoiding
System；The robot automatic obstacle-avoiding system includes acquisition module, control module, drive module and steering module；The method
Include:
The acquisition module obtains robot road surface corresponding to the current walking position on default track route in real time
Information, and the information of road surface is sent to the control module；Normal routine and barrier are provided on the default track route
Hinder object；
The control module controls the drive module or/and the steering module according to the information of road surface, to adjust
The robot is saved to walk on the normal routine.
2. the method according to claim 1, wherein the acquisition module includes first sensor and the second sensing
Device；The first sensor and the second sensor are symmetrically set in the robot；
The acquisition module obtains robot road surface corresponding to the current walking position on default track route in real time
Information, and the step of information of road surface is sent to the control module, comprising:
The acquisition module is obtained by presetting the first predeterminable area on track route described in the first sensor real-time monitoring
To the corresponding data of the first sensor, and simultaneously by being preset on track route described in the second sensor real-time monitoring
The second predeterminable area, obtain the corresponding data of the second sensor；
The acquisition module is using the corresponding data of the first sensor and the corresponding data of the second sensor as described in
Information of road surface is sent to the control module.
3. according to the method described in claim 2, it is characterized in that, the control module includes comparator and processor；It is described
The step of control module controls the drive module or/and the steering module according to the information of road surface, comprising:
The control module passes the corresponding data of the first sensor received and described second by the comparator
The corresponding data of sensor carry out being converted to control signal, and the control signal is sent to the processor；
The control module is by the processor according to the control signal to the drive module or/and the steering module
It is controlled.
4. according to the method described in claim 3, it is characterized in that, the normal routine is dark-coloured pavement；The barrier is
White pavement；The barrier is set to the two sides of the normal routine；
The value range of the corresponding data of the first sensor and the value range of the corresponding data of the second sensor are equal
It is 0 or 1；Wherein, the 0 expression first sensor or the second sensor detect the dark-coloured pavement；1 indicates institute
It states first sensor or the second sensor detects the white pavement.
5. according to the method described in claim 4, it is characterized in that, the control module is by the comparator to receiving
The corresponding data of first sensor and the corresponding data of the second sensor carry out the step of being converted to control signal,
Include:
The generation of the corresponding data of the first sensor and the corresponding data of the second sensor is sought by the comparator
Number and, and by the algebraical sum be determined as control signal；Wherein, the value range of the control signal is 0,1 or 2.
6. according to the method described in claim 5, it is characterized in that, the drive module and the steering module be set to it is described
In robot；
The control module is by the processor according to the control signal to the drive module or/and the steering module
The step of being controlled, comprising:
When controlling signal is 0, the control module controls the drive module holding by the processor and presets normal row
Walk state；
When controlling signal is 1, the control module controls the drive module in default first time by the processor
Default slow down state is kept in section, and controls the steering module according to the first sensor and the second sensor
Middle data value is that 0 corresponding direction is rotated, until controlling the steering module when control signal is changed into 0 and stopping
Rotation, and the drive module is controlled into the default normal walking state；
When controlling signal is 2, the control module controls the drive module in default second time by the processor
Pre-programmed emergency on-position is kept in section, and controls the steering module and is rotated according to default one direction, until control letter
When number being changed into 1, above-mentioned steps are re-executed: the drive module is controlled in default first time period by the processor
Default slow down state is kept, and controls the steering module according to number in the first sensor and the second sensor
It is that 0 corresponding direction is rotated according to value, when control signal is changed into 0, controls the steering module and stop operating, and
The drive module is controlled into the default normal walking state.
7. the method according to claim 1, wherein the sensor is BISS0001 model infrared ray sensing
Device；The processor is MPS430 model single-chip microcontroller.
8. a kind of robot ambulation route automatic obstacle-avoiding system, which is characterized in that the system comprises: acquisition module, control mould
Block, drive module and steering module；
The acquisition module obtains robot road surface corresponding to the current walking position on default track route in real time
Information, and the information of road surface is sent to the control module；Normal routine and barrier are provided on the default track route
Hinder object；
The control module controls the drive module or/and the steering module according to the information of road surface, to adjust
The robot is saved to walk on the normal routine.
9. system according to claim 8, which is characterized in that the acquisition module includes first sensor and the second sensing
Device；The first sensor and the second sensor are symmetrically set in the robot.
10. a kind of robot, which is characterized in that the robot include: robot body and as claimed in claim 8 or 9
Robot automatic obstacle-avoiding system；The robot automatic obstacle-avoiding system is set on the robot body.
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