CN114355934A - Obstacle avoidance method and automatic walking equipment - Google Patents
Obstacle avoidance method and automatic walking equipment Download PDFInfo
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- CN114355934A CN114355934A CN202111661539.8A CN202111661539A CN114355934A CN 114355934 A CN114355934 A CN 114355934A CN 202111661539 A CN202111661539 A CN 202111661539A CN 114355934 A CN114355934 A CN 114355934A
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Abstract
The application provides an obstacle avoidance method and automatic walking equipment. The automatic walking equipment executes a fold-line-shaped obstacle avoidance path after detecting collision, can provide obstacle avoidance width relative to the deflection distance between the original specified paths through the bending angle positions of the obstacle avoidance path, returns to the original walking path direction after avoiding obstacles, and continues to execute traversing operation along the original specified paths. The utility model provides a keep away barrier mode can be with shorter distance by-pass the barrier, presses close to the barrier edge as far as possible and carries out the operation to overcome near the meadow of barrier under the current barrier mode of keeping away and not cut or the cutting effect is not good, smooth defect inadequately.
Description
Technical Field
The application relates to the technical field of self-walking control, in particular to an obstacle avoidance method and automatic walking equipment.
Background
The biggest problem encountered by automatic walking equipment such as a mowing robot and the like in the running process is how to avoid obstacles. In order to solve the above problems, various sensors are generally installed in the automatic traveling device for detecting obstacles, and when an obstacle is detected, the automatic traveling device can be controlled to retreat and turn to avoid or bypass the obstacle.
However, in the actual operation process, most of the obstacles which are often encountered in the working environment of the automatic walking equipment are fixed objects such as seats, trees and the like which are placed in the working area of the automatic walking equipment. Lawn mowing robots equipped with a collision sensor generally retreat immediately after receiving a collision signal and continue to operate by randomly selecting a steering angle to bypass an obstacle. The traversing running route of the automatic walking equipment after random steering may deviate from the original route too much, so that the ground in the area near the obstacle cannot complete the operation, and weeds cannot be cut due to the obstacle avoidance operation of the equipment.
For some automatic walking devices with the path planning function, the area where the obstacle is located can be planned in advance, and the traversal path is planned in advance according to the position of the obstacle. However, when an obstacle moves or a new obstacle is added in its working area, the automatic walking apparatus generally avoids the obstacle only by turning into an adjacent planned path. In this obstacle avoidance manner, the automatic traveling device needs to traverse the working areas at least along two mutually orthogonal dimension directions, respectively, and then can complete the traversal operation of all the working areas. Meanwhile, the automatic walking device only performs linear reciprocating motion in the mode, so that the trimming marks of the grassland around the obstacle are stepped or jagged, and the grassland is not attractive.
Disclosure of Invention
The automatic walking equipment has a broken line type obstacle avoidance path, can bypass obstacles by short distance, and timely returns to the original specified path to continuously execute traversal operation so as to overcome the defect that grasslands near the obstacles are not cut or the cutting effect is not good in the existing obstacle avoidance mode. The technical scheme is specifically adopted in the application.
Firstly, in order to achieve the above object, an obstacle avoidance method is provided, which is used for an automatic walking device with a collision detection device, and comprises the following steps: triggering the automatic walking equipment to adjust the operating state of the automatic walking equipment according to a collision signal of the collision detection device, executing an obstacle avoidance path, and driving the automatic walking equipment to return to the original specified path s0 along the obstacle avoidance path to continuously traverse the working area; the head end and the tail end of the obstacle avoidance path are both located on the original specified path s0, the middle of the obstacle avoidance path is provided with a bending angle far away from the collision position, and the distance between the position of the bending angle and the obstacle is not less than the obstacle avoidance width.
Optionally, the obstacle avoidance method includes, as an obstacle avoidance path, that: the collision detection device comprises a first path from the head end of the obstacle avoidance path to the position of the bending angle and a second path from the position of the bending angle to the tail end of the obstacle avoidance path, wherein the first path is perpendicular to the collision angle of the collision detection device.
Optionally, the obstacle avoidance method includes that the head end of the obstacle avoidance path is located at the collision position on the originally specified path s0, the second path is perpendicular to the first path, and the tail end of the obstacle avoidance path is located on the front side of the head end of the obstacle avoidance path along the originally specified path s 0.
Optionally, the obstacle avoidance method may further include determining an obstacle avoidance width according to any one or several of the following parameters: obstacle width, automatic walking device body width, original prescribed path s 0.
Optionally, the obstacle avoidance method includes that the length of the first path is the width of the obstacle, or the length of the first path is the width of the obstacle plus a half fuselage width of the automatic walking device.
Optionally, the obstacle avoidance method according to any one of the above, wherein the specific step of triggering the automatic walking device to adjust the operation state thereof according to the collision signal of the collision detection device includes any one of: triggering the automatic walking equipment to pause to advance along the original specified path s0 when receiving a collision signal of the collision detection device, and simultaneously triggering the automatic walking equipment to rotate to the direction of the first path in the opposite direction of the collision position in situ; and when receiving a collision signal of the collision detection device, triggering the automatic walking equipment to retreat for a preset distance along the original specified path s0, and simultaneously triggering the automatic walking equipment to rotate to the first path in the direction opposite to the collision position.
Optionally, the obstacle avoidance method includes that the collision angle is an angle corresponding to a geometric center of the automatic traveling device, a center of gravity of the automatic traveling device, and a connecting line between a center of a connecting line of driving wheels of the automatic traveling device and a collision position.
Meanwhile, in order to achieve the above object, the present application further provides an automatic walking device, which includes a memory, a processor, and a computer program stored on the memory and capable of running on the processor, and when the computer program is executed by the processor, the obstacle avoidance method according to any one of the above is implemented.
Optionally, the automatic traveling device as described above, wherein a detection area is disposed around the housing of the automatic traveling device, and a collision detection device is distributed in the detection area, and the collision detection device outputs a collision signal matching the collision position in response to a collision condition of the automatic traveling device, and triggers the traveling unit of the automatic traveling device to switch the operation direction according to the obstacle avoidance path.
Optionally, the automatic walking device as described above, wherein the collision detection device includes any one or a combination of a pressure sensing device, a displacement sensor, a touch sensor, and a hall sensor, which are uniformly arranged in the detection area around the periphery of the automatic walking device.
Advantageous effects
The automatic walking equipment executes a fold-line-shaped obstacle avoidance path after detecting collision, can provide obstacle avoidance width relative to the deflection distance between the original specified paths through the bending angle positions of the obstacle avoidance path, returns to the original walking path direction after avoiding obstacles, and continues to execute traversing operation along the original specified paths. The utility model provides a keep away barrier mode can be with shorter distance by-pass the barrier, presses close to the barrier edge as far as possible and carries out the operation to overcome near the meadow of barrier under the current barrier mode of keeping away and not cut or the cutting effect is not good, smooth defect inadequately.
Further, the self-propelled device of the present application, after colliding with an obstacle, first separates from the obstacle by a first path perpendicular to the collision position, and then returns to the original prescribed path s0 in a direction perpendicular to the first path to continue the operation. In this arrangement, the first path can escape the influence of the obstacle on the automatic traveling apparatus at the shortest distance, and the second path can quickly return to the original predetermined path s0 to continue the operation. The mutually perpendicular angle relationship between the two paths can reduce the calculation amount of the advancing distance of the return path, simplify the planning process of the obstacle avoidance path, reduce the lawn area which is not cut between the obstacle avoidance path and the originally specified path s0, and approach the edge of the obstacle as far as possible to realize the operation, thereby ensuring the beautiful mowing effect.
In addition, the automatic walking equipment of this application can also further set up to: and after the collision with the obstacle, the obstacle avoidance device retreats the preset distance in sequence, and then executes the obstacle avoidance path by taking the retreating final position as a starting point. The design can guarantee that the automatic walking equipment can not collide with the barrier when turning to the first route through the preset distance of backing, avoid secondary collision or adjust the planning direction of keeping away the barrier route because of the collision position difference repeatedly, therefore, the operating efficiency of keeping away the barrier process can be effectively improved to this application to guarantee equipment safety, reduce the influence of automatic walking equipment collision to the barrier.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the application.
Drawings
The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application and not limit the application. In the drawings:
fig. 1 is a schematic view of an external structure of an automatic walking apparatus of the present application;
fig. 2 is a schematic view illustrating a disassembled state of another automated walking device according to the present application;
FIG. 3 is a schematic diagram of another arrangement of sensors within the self-propelled device of the present application;
fig. 4 is a schematic diagram of an obstacle avoidance path executed by the automatic walking device in the present application;
fig. 5 is a schematic diagram of the automatic walking device executing obstacle avoidance paths with different steering centers in the application;
fig. 6 is a schematic diagram of the obstacle avoidance path executed by the automatic walking device on the other side of the obstacle in the present application;
fig. 7 is a schematic diagram of the obstacle avoidance path performed by the automatic walking device on a rectangular obstacle with different turning centers in the application;
fig. 8 is a schematic diagram of an obstacle avoidance path when the collision position is located right in front of the self-propelled device in the present application.
In the drawings, 1 denotes an automatic walking apparatus; 100 denotes a fuselage; 101 denotes a housing; 2 represents an obstacle; 3 denotes a detection area; 4 denotes a collision detecting device; 5 denotes a connecting member; 501 denotes a magnet; 6 denotes a magnetic sensor
Detailed Description
In order to make the purpose and technical solutions of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings of the embodiments of the present application. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the application without any inventive step, are within the scope of protection of the application.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The meaning of "and/or" as used herein is intended to include both the individual components or both.
The meaning of "inside and outside" in the present application means that the direction from the housing of the self-propelled device to the working device inside the body is inside, and vice versa, with respect to the self-propelled device itself; and not as a specific limitation on the mechanism of the device of the present application.
The terms "left and right" as used herein refer to the user's left side as the left side and the user's right side as the right side of the user facing the forward direction of the self-propelled device, rather than the specific limitations on the mechanism of the device of the present application.
The term "connected" as used herein may mean either a direct connection between components or an indirect connection between components via other components.
The meaning of "up and down" in this application means that the direction from the ground to the top of the housing of the automatic walking device is up when the user is facing the forward direction of the automatic walking device, and vice versa is down, not the specific limitation of the mechanism of the device of this application.
The meaning of "front and back" in this application means that the direction of travel along the automated walking device to traverse the work area is front and the direction of travel away from the automated walking device to traverse the work area is back, and is not a specific limitation on the mechanism of the apparatus of this application.
The invention provides an obstacle avoidance route planning method for automatic walking equipment, which can effectively realize the action of bypassing obstacles in a working area and simultaneously guarantee the operation effect of the ground of the working area around the obstacles by planning the route of bypassing the obstacles.
Fig. 1 is an automatic walking device according to the present application, which includes:
a control unit, such as a single chip microcomputer, a PLC control circuit, or a control chip;
the walking module comprises corresponding walking wheels, steering wheels, motors for driving the wheel sets and the like, and is used for driving the automatic walking equipment to realize forward movement, backward movement and corresponding steering according to control signals of the control unit;
the positioning module determines the real-time position of the automatic walking equipment through a GPS positioning signal, a base station communication interaction mode or monitoring of the running and steering state of the automatic walking equipment so as to correspondingly realize steering through adjusting the walking direction of the walking module and the rotating speed of the wheel set by the control unit;
the operation unit can be correspondingly arranged into various forms such as a grass cutter head, a blowing and sucking channel and the like according to operation requirements so as to correspondingly realize cutting operation on ground lawns or maintenance operation on the bottom surface conditions.
The automatic walking equipment is correspondingly matched with the operation range. The working range can be set through the boundary line of an entity, and can also be marked as one or more working areas in the map range through control software. And the control unit of the automatic walking equipment correspondingly drives the automatic walking equipment such as the mowing robot and the like to walk within the working range according to a preset traversal path according to the real-time positioning signal. When the automatic walking equipment touches an obstacle in the process of traversing and walking in the working area, obstacle avoidance operation needs to be correspondingly executed.
In the process of traversing operation of the automatic walking equipment in a working area, whether the obstacle is a living body can be detected through living body sensors such as an infrared sensor and a capacitance sensor so as to avoid in advance. For fixed obstacles such as trees, lighting facilities, irrigation nozzles and the like in the lawn area, the operation needs to be carried out as close to the edge of the obstacle as possible while avoiding the obstacle so as to ensure the consistency of the operation effect of the bottom surface of the working area.
Therefore, the method is designed as follows so as to avoid the influence of the obstacle avoidance operation on the automatic walking equipment to continuously traverse other parts of the working area as far as possible.
Referring to fig. 1, the automatic walking device 1 is provided with a detection area 3 around the housing of the body. Since the detection region 3 is arranged at the outermost contour of the fuselage around the circumference of the fuselage shell, the crash detection devices distributed in the detection region 3 can output crash signals adapted to the crash orientation in response to the crash situation in their installation position. The collision detecting means can be selected accordingly in various forms of the pressure sensing means 4, the collision sensor, the distance detecting means, and the like. When the automatic walking equipment collides, the pressure sensing devices 4 arranged around the shell 1 of the automatic walking equipment can correspondingly convert the external force touch received by the collision position of the automatic walking equipment into a collision signal, so that the control unit of the automatic walking equipment is triggered through the collision signal to correspondingly detect the specific position of the collision according to the sensor installation position corresponding to the collision signal. The pressure sensing device 4 can be configured as one of a piezoresistive pressure sensor, a ceramic pressure sensor, a diffused silicon pressure sensor, a piezoelectric pressure sensor, a resistive touch sensor, a flexible surface pressure sensor, or a combination thereof.
After receiving the collision signal of the collision detection device, the automatic traveling equipment triggers the automatic traveling equipment to adjust the operation state according to the collision signal of the collision detection device, executes an obstacle avoidance path from s1 to s2 shown in fig. 4, and then drives the automatic traveling equipment to return to the original specified path s0 along the obstacle avoidance path to continue traversing the working area;
in order to avoid the situation that the automatic walking equipment cannot continuously complete the traversal operation of the rear end working area of the obstacle according to the original traversal path after obstacle avoidance walking, the head end and the tail end of the obstacle avoidance path are directly arranged on the original specified path s0 through a path planning algorithm, the middle of the obstacle avoidance path is far away from a collision position through the way of two obstacle avoidance paths in s1 and s2 in different directions, and a bending angle is formed.
In a specific implementation, the steering angle between the first path s1 from the head end of the obstacle avoidance path to the position of the bending angle and the second path s2 returning from the position of the bending angle to the original prescribed path s0 may be set to 90 ° to facilitate calculation of the distance returning to the original prescribed path s 0. In order to compress the distance between the obstacle avoidance path and the obstacle as much as possible, the direction of the first path may be set to an angle perpendicular to the collision direction of the collision detection device. Therefore, the running direction of the automatic walking equipment can be adjusted by tangent to the running route s1 of the collision area between the center of the obstacle and the steering center of the automatic walking equipment on the premise of not influencing the steering running of the automatic walking equipment, and the obstacle is deviated and avoided. And then, correspondingly determining a proper obstacle avoidance width according to the width of the obstacle obtained by detection of devices such as a laser sensor, an ultrasonic sensor and the like and the width of the body of the automatic walking device or the steering angle of the originally specified path s0 relative to s1 so as to ensure that the distance between the steering position between the two obstacle avoidance paths s1 and s2 and the obstacle reaches the obstacle avoidance requirement that the steering of the automatic walking device is not influenced and the obstacle is not collided any more.
The process of the obstacle avoidance path is as follows:
1. the automatic walking equipment 1 travels along the original specified path s0 to traverse the working area, and after the equipment shell touches the obstacle 2, the position of the collision contact point a can be identified through the installation position of the collision detection device according to the collision signal;
2. the automatic walking equipment 1 determines the steering direction according to the position of the contact point a, and the specific steering direction determining method comprises the following steps: establishing a virtual connecting line between a machine steering center beta and a collision contact point a, determining the angle of deflection required by the automatic walking equipment by using the included angle of the connecting line between the starting end of the steered first path s1 and a-beta as a 90-degree angle, and respectively arranging a steering path s1 and the connecting line a-beta on two sides of a specified path s0 so that the automatic walking equipment can avoid the area where the obstacle is located in the shortest obstacle avoiding direction, thereby realizing obstacle avoidance;
3. after the automatic walking device continues to travel a certain distance along s1 to reach the obstacle avoidance width and does not touch the obstacle any more, the automatic walking device turns to the specified path s0 and continues to walk along the return path s 2. The return path s2 can be directly arranged parallel to the line a- β, so that when the machine travels along the return path s2 to intersect with s0, the machine can be directly steered and guided into the originally specified traverse path s0 to continue traveling the remaining work area behind the obstacle in a predetermined traverse manner.
In the above steps, the length of the first path s1 on which the obstacle avoidance operation is performed may be directly set as the detection width of the obstacle 2, so that the automatic traveling device can continue to return to the predetermined path of the traversal operation s0 along the second path s2 after effectively avoiding the obstacle, and the influence on the path traversal mode of the automatic traveling device in the working area is reduced.
In addition to this, in order to more certainly achieve avoidance of an obstacle, the s1 path length may be set to the obstacle width plus half the body width of the automatic walking device. The path length of S1 should not be increased further, and excessive length may cause the machine to be too far from the obstacle, resulting in a large area between S0 and S1, S2 that cannot be cut by the automated walking equipment work apparatus.
The detection width of the obstacle 2 can be detected by sensors such as a laser sensor and an ultrasonic sensor arranged on the machine, in the method, the laser sensor, the ultrasonic sensor and the like in the machine only detect the width of the obstacle, and the distance between the machine and the obstacle is not calculated and analyzed, so that a certain amount of calculation is reduced. The machine can iteratively update the detection width value of the obstacle 2 in the driving path along s1, and determine s1 path length according to the real-time detection condition.
In this embodiment, the steering center β of the automatic walking device may be selected from the geometric center of the image of the machine plan, the center of gravity of the machine, the center of the connecting line of the driving wheels, and the like. The location of the steering center β' affects the degree of deviation of the subsequent s1 and s2 routes compared to s 0. As shown in fig. 5, β is the geometric center of the image of the plane view of the machine, β ' is the center of the connecting line of the driving wheels, and as β ' is closer to the tail end of the machine than β, s1 ' and s2 ' generated based on β ' are more deviated from the predetermined path s0 than s1 and s2 generated based on β, the overall track is further away from the obstacle, and the machine can easily avoid the obstacle during obstacle avoidance. Thus, the steering center of the machine may be preferred to the drive wheel line center.
The steering control is simpler and more convenient, and the steering precision is higher.
For the obstacle on the other side of the walking direction of the automatic walking device, obstacle avoidance is performed according to the broken line modes s1 and s2 shown in fig. 6 according to the obstacle avoidance path planning mode.
For the rectangular obstacle shown in fig. 7, the automatic walking device may iteratively update the detection width value of the obstacle 2 in the driving path along s1, determine the path length of s1 according to the real-time detection condition, and also detect that the obstacle encroaches on the actual width of the originally planned traversal path s0 through an operation mode, thereby determining the travel distance along the first obstacle avoidance path.
In another implementation manner, if the detection area around the housing of the automatic traveling equipment is replaced by a collision detection device capable of correspondingly detecting the collision direction, the obstacle avoidance can be realized through the obstacle avoidance step, the automatic traveling equipment is driven to continue traveling operation in the direction of the original specified path s0 through the return value of the second path after the obstacle avoidance is completed, and the complete traversal of the obstacle avoidance operation impression on the working area is avoided.
In order to detect the collision direction, the present application may further select a displacement sensor, a touch sensor, and a hall sensor that are matched with different collision directions to be disposed between the automatic traveling apparatus body 100 shown in fig. 2 and the housing 101 connected to the outside of the body 100, so as to achieve the same function of detecting the collision position direction. In this embodiment, the body 100 and the housing 101 of the automatic walking device are connected by the connecting member 5 shown in fig. 3. The connecting piece 5 swing joint fuselage to can swing, mode swing joint casing 101 such as ball head connection is passed through to connecting piece 5 upper end, and when casing 101 collided, relative displacement took place between casing and the fuselage, and the connecting piece took place to swing. The magnet 501 may be correspondingly disposed at the lower end of the connecting member 5, and the magnetic sensor 6 capable of detecting the magnetic field signal of the magnet is disposed inside the body 100 to detect the moving direction of the magnet 501 according to the magnetic field signal. The magnetic sensor 6 may be a hall sensor. The body 100 and the housing 101 are connected by a plurality of connectors 5, so that when the automatic walking device collides, the control unit can judge the position of the collision contact point on the housing 101 or at least judge which direction of the automatic walking device the collision position is located according to the swing direction of the plurality of connectors 5. The following obstacle avoidance route planning operation scheme is further executed:
referring to fig. 7, when the automatic traveling device touches an obstacle along an originally planned operation path, the obstacle avoidance path provided in the foregoing embodiment bypasses the obstacle and returns to the original predetermined operation path direction to continue traversing operation, and the obstacle can be further prevented from colliding with other parts of the body in the obstacle avoidance steering process in the following manner:
triggering the automatic traveling equipment to pause to advance along the original specified path s0 when receiving a collision signal of the collision detection device, triggering the automatic traveling equipment to retreat for a short preset distance along the original specified path s0, and then triggering the automatic traveling equipment to rotate to a first path s1 in the direction opposite to the collision position;
after the walking distance along the first path s1 meets the requirement of the obstacle avoidance width, the vehicle turns to the original specified path s0 by 90 degrees, and returns to the second half section of the original specified path s0 at the rear side of the obstacle along the second path s2 to continue to perform traversing operation.
In the process, the receding small section of preset distance can leave an avoidance space, so that the machine is prevented from colliding with the barrier in the steering process.
In fig. 8, the collision point a of the autonomous traveling apparatus with the obstacle is located right in front of the machine. At this time, the machine traveling along the second route s2 planned in the foregoing embodiment cannot return to the prescribed route s 0. Therefore, in this special case, i.e., when the collision contact point a of the machine with the obstacle is located right in front of the machine, the present application may further set the automatic traveling apparatus to further turn to travel toward s0 after traveling along the second path s2 for a preset distance to return to the original traverse route to continue the work. Preferably, in order to avoid the rear end of the obstacle from being touched when the original working path is folded back, the length of the second path s2 is preferably set to be +2 times the width of the obstacle 2.
In conclusion, the obstacle avoidance method of the present application can be compared with the prior art: .
The non-contact sensor of combining automatic walking equipment itself can carry out comparatively accurate obstacle-avoiding route selection to the non-living body barrier in the work area, reduces the degree of deviation to the operation route of original regulation, avoids near the barrier meadow not cut as far as possible.
The above are merely embodiments of the present application, and the description is specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the protection scope of the present application.
Claims (10)
1. An obstacle avoidance method is used for automatic walking equipment with a collision detection device, and is characterized by comprising the following steps:
triggering the automatic walking equipment to adjust the operating state of the automatic walking equipment according to a collision signal of the collision detection device, executing an obstacle avoidance path, and driving the automatic walking equipment to return to the original specified path s0 along the obstacle avoidance path to continuously traverse the working area;
the head end and the tail end of the obstacle avoidance path are both located on the original specified path s0, the middle of the obstacle avoidance path is provided with a bending angle far away from the collision position, and the distance between the position of the bending angle and the obstacle is not less than the obstacle avoidance width.
2. An obstacle avoidance method according to claim 1, wherein the obstacle avoidance path comprises:
the collision detection device comprises a first path from the head end of the obstacle avoidance path to the position of the bending angle and a second path from the position of the bending angle to the tail end of the obstacle avoidance path, wherein the first path is perpendicular to the collision angle of the collision detection device.
3. An obstacle avoidance method according to claim 2, wherein the head end of the obstacle avoidance path is located at the collision position on the originally prescribed path s0, the second path is perpendicular to the first path, and the tail end of the obstacle avoidance path is located on the front side of the head end of the obstacle avoidance path along the originally prescribed path s 0.
4. An obstacle avoidance method according to claim 1, wherein the obstacle avoidance width is determined according to any one or more of the following parameters: obstacle width, automatic walking device body width, original prescribed path s 0.
5. An obstacle avoidance method according to claim 4, wherein the length of the first path is the width of the obstacle, or the length of the first path is the width of the obstacle plus half the width of the body of the automatic walking device.
6. An obstacle avoidance method according to claim 1, wherein the specific step of triggering the automatic walking device to adjust its operation state according to the collision signal of the collision detection device comprises any one of:
triggering the automatic walking equipment to pause to advance along the original specified path s0 when receiving a collision signal of the collision detection device, and simultaneously triggering the automatic walking equipment to rotate to the direction of the first path in the opposite direction of the collision position in situ;
and when receiving a collision signal of the collision detection device, triggering the automatic walking equipment to retreat for a preset distance along the original specified path s0, and simultaneously triggering the automatic walking equipment to rotate to the first path in the direction opposite to the collision position.
7. An obstacle avoidance method according to claim 2, wherein the collision angle is an angle corresponding to a geometric center of the automatic traveling apparatus, a center of gravity of the automatic traveling apparatus, a connecting line between a center of a connecting line of driving wheels of the automatic traveling apparatus and a collision position.
8. An autonomous walking device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the obstacle avoidance method according to any one of claims 1 to 7.
9. The automatic traveling device according to claim 8, wherein a detection area (3) is provided around the housing of the automatic traveling device, and collision detection devices are distributed in the detection area (3), and the collision detection devices output collision signals matched with collision positions in response to collision conditions of the automatic traveling device, and trigger the traveling units of the automatic traveling device to switch the traveling direction according to an obstacle avoidance path.
10. The automatic walking device according to claim 9, wherein the collision detection means comprises any one or a combination of pressure sensing means (4), displacement sensors, touch sensors, hall sensors, which are uniformly arranged in the detection area (3) around the outer circumference of the automatic walking device.
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| CN115599105A (en) * | 2022-11-28 | 2023-01-13 | 追觅创新科技（苏州）有限公司（Cn） | Obstacle avoidance method, self-moving robot, system thereof and computer-readable storage medium |
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| CN105700527A (en) * | 2016-01-26 | 2016-06-22 | 哈尔滨工业大学 | A path programming method for a plane redundancy robot to avoid obstacles and avoid singularities |
| CN111026114A (en) * | 2019-12-12 | 2020-04-17 | 南京苏美达智能技术有限公司 | Obstacle detouring method and self-walking equipment |
| CN113625700A (en) * | 2020-05-08 | 2021-11-09 | 北京石头世纪科技股份有限公司 | Self-walking robot control method, device, self-walking robot and storage medium |
| CN113064430A (en) * | 2021-03-18 | 2021-07-02 | 电子科技大学 | Quality inspection trolley obstacle avoidance and path planning algorithm based on Android mobile phone |
| CN112987755A (en) * | 2021-04-19 | 2021-06-18 | 浙江欣奕华智能科技有限公司 | Obstacle avoidance method and device of sweeping robot |
| CN113455962A (en) * | 2021-07-12 | 2021-10-01 | 北京顺造科技有限公司 | Method, device, system and medium for controlling traveling of autonomous cleaning device |
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| CN115599105A (en) * | 2022-11-28 | 2023-01-13 | 追觅创新科技（苏州）有限公司（Cn） | Obstacle avoidance method, self-moving robot, system thereof and computer-readable storage medium |
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