WO2018018597A1 - Robot capable of automatically detecting and avoiding obstacle, system, and method - Google Patents

Abstract

An automatic obstacle detection and avoidance system and method. The system comprises: a robot comprising a speed output module (101) detecting a moving speed of the robot; a detection sensor module (102) detecting distances between the robot and obstacles, sorting the distances to obtain a distance closest to the robot as a first distance, and a distance second closest to the robot as a second distance, and obtaining, according to the moving speed and the first distance, computation parameters of a moving speed and a moving direction of an obstacle; and a control module (103) computing, according to the computation parameters and a speed parameter, combined with a trigonometric formula, the moving speed and direction of the obstacle, determining whether the robot would collide with the obstacle, and if so, controlling the speed output module (101) to adjust the moving speed of the robot to avoid the obstacle. Therefore, the embodiment is utilized to enable a moving robot to automatically detect and avoid a moving obstacle, being low in costs, high in the automation, and easy to find an application.

Description

 Robot, system and method for automatically detecting and evading obstacles

Technical field

The present invention relates to the field of robot technology, and in particular, to a robot, system and method for automatically detecting and evading obstacles.

Background technique

Most of the current robot obstacle avoidance methods are to detect the position of the obstacle and store the record point of the obstacle at the coordinate point of the obstacle. When the robot moves, the obstacle is avoided according to the recorded obstacle point. The patent application number is 201410148490.X discloses a self-moving robot obstacle avoidance walking method, that is, a method for avoiding these obstacle points when a robot is walking while recording an obstacle point, and the obstacle recording method can only be applied to a fixed obstacle fixed at a fixed place. The prior art has not been able to automatically detect and evade obstacles in motion.

Summary of the invention

The technical problem to be solved by the present invention is to provide a system and method for automatically detecting and evading obstacles.

A system for automatically detecting and evading obstacles, including: robots, obstacles;

The robot includes: a speed output module, a sensor detection module, and a control module;

The speed output module is connected to the control module for detecting a speed at which the robot travels;

The sensor detecting module is connected to the control module, and is configured to detect a distance between the robot and the obstacle, and sort the distance value, and the first distance value of the obstacle is sorted as The first distance value and the second closest distance value are sorted into a second distance value, and the calculation parameters of the movement speed and the movement direction of the obstacle are obtained according to the detected speed of the robot traveling and the first distance value;

The control module is configured to read, according to a fixed frequency, a calculation parameter obtained by the sensor detection module, a speed parameter value of the detected speed of the robot traveling, according to the read calculation parameter and the speed a parameter value, combined with a triangle formula, calculating a moving speed and direction of the obstacle, and determining whether the obstacle collides with the robot, and when it is determined that the robot will collide with the obstacle, the control center The speed output module adjusts the speed at which the robot travels to circumvent the obstacle;

The speed output module is further configured to adjust a speed of the robot to adjust the obstacle according to the control of the control module.

The speed output module includes: a first driving wheel, a second driving wheel, a first servo motor, a second servo motor, and a speed sensor;

The first driving wheel is coaxial with the second driving wheel and connected to the first servo motor;

The second driving wheel is connected to the second servo motor;

The first servo motor is configured to rotate to drive the rotation of the first driving wheel, thereby driving the robot to travel;

The second servo motor is configured to rotate to drive the rotation of the second driving wheel, thereby driving the robot to travel;

a difference in rotation speed between the first servo motor and the second servo motor rotates to generate a speed difference between the first driving wheel and the second driving wheel, thereby enabling the robot to achieve steering;

The speed sensor is configured to detect the speed at which the robot travels, and adjust the speed of the robot to adjust to avoid obstacles according to the control of the control module.

The angular velocity of the steering of the robot is proportional to the difference in rotational speed between the first servo motor and the second servo motor, and inversely proportional to the distance between the first drive wheel and the second drive wheel.

The sensor detecting module includes: an ultrasonic sensor and an infrared sensor;

The ultrasonic sensor and the infrared sensor are distributed on a 360-degree circular arc in a horizontal direction on the robot, and the ultrasonic sensor is distributed at equal arc intervals on a 360-degree circular arc in the horizontal direction, and the infrared sensor is distributed. Located at an intermediate arc point of two adjacent ultrasonic sensors.

Wherein, when the sensor detecting module detects that the distance between the robot and the obstacle is less than a preset value, the infrared sensor is configured to detect a distance between the robot and the obstacle, and sort the distance value, and The first closest distance value of the obstacle is sorted into a first distance value, and the second closest distance value is sorted into a second distance value, and the motion speed and motion of the obstacle are obtained according to the detected speed of the robot traveling and the first distance value. The calculation parameters of the direction.

Wherein, when the sensor detecting module detects that the distance between the robot and the obstacle is greater than a preset value, the ultrasonic sensor is configured to detect a distance between the robot and the obstacle, and sort the distance value, and The first closest distance value of the obstacle is sorted into a first distance value, and the second closest distance value is sorted into a second distance value, and the motion speed and motion of the obstacle are obtained according to the detected speed of the robot traveling and the first distance value. The calculation parameters of the direction.

The preset value includes: 0.4 m.

Wherein, the ultrasonic sensor comprises nine.

The control module includes: a microprocessor;

The microprocessor is configured to read, according to a fixed frequency, a calculation parameter obtained by the sensor detection module, and a speed parameter value of the detected speed of the robot traveling. In the first time period, the detected robot travels. The speed parameter value of the speed includes a first period speed parameter value, and the detected distance between the robot and the obstacle includes a first period first distance value, a first period second distance value, and in the second time period, the detected The speed parameter value of the speed at which the robot travels includes a second period speed parameter value, and the detected distance between the robot and the obstacle includes a second period first distance value, a second period second distance value, and the first detected The distance between the first sensor detecting module applied in the time period and the second sensor detecting module applied in the second time period is a first pitch distance value, according to the first period first distance value, the first period second distance value, a first pitch distance value, combined with a triangle formula, and a first distance value according to the second period, a second period second distance value, and a first pitch distance And combined with the triangle formula, calculate the moving speed and direction of the obstacle, and determine whether the obstacle will collide with the robot. When it is determined that the robot will collide with the obstacle, the speed output module is controlled to adjust the robot to travel. Speed to avoid obstacles.

The invention also provides a method for automatically detecting and evading obstacles, comprising:

Providing a robot and providing an obstacle, the robot comprising: a speed output module, a sensor detection module, and a control module;

The speed output module detects a speed at which the robot travels;

The sensor detecting module detects a distance between the robot and the obstacle, and sorts the distance value, and the first distance value of the obstacle is sorted into a first distance value, and the second closest distance value is sorted into a second. a distance value, according to the detected speed of the robot traveling and the first distance value, obtaining a calculation parameter of the movement speed and the movement direction of the obstacle;

The control module reads the calculation parameter obtained by the sensor detection module and the speed parameter value of the detected speed of the robot travel according to a fixed frequency, according to the read calculation parameter and the speed parameter value, and combine The triangle formula calculates the moving speed and direction of the obstacle, and determines whether the obstacle will collide with the robot. When it is determined that the robot will collide with the obstacle, the speed output module adjusts the speed of the robot to avoid obstacles. .

The invention provides a system for automatically detecting and evading obstacles, including a robot and an obstacle; a robot, comprising a speed output module, a sensor detecting module and a control module; a speed output module detecting a speed of the robot traveling; a sensor detecting module, detecting the robot and the obstacle The distance between the objects, and sorting the distance values, the value of the minimum distance from the obstacle, that is, the first closest distance value is sorted into the first distance value, and the second closest distance value is sorted into the second distance value, the sensor The detecting module obtains the calculation parameters of the movement speed and the movement direction of the obstacle according to the detected speed of the robot and the first distance value; the control module reads the calculation parameters obtained by the sensor detection module according to the fixed frequency, and reads the sensor detection. The speed parameter value of the speed of the robot travel detected by the module, according to the read calculation parameter and the speed parameter value, combined with the triangle formula, calculate the moving speed and direction of the obstacle, and determine whether the obstacle will be The robot hits, when it is judged that the robot will collide with the obstacle Control module adjusts the speed of the output speed of the robot travels to circumvent obstacles to achieve the realization of the traveling robot can automatically detect and avoid moving obstacles, low cost, high degree of automation, easy to spread.

The invention provides a method for automatically detecting and evading an obstacle, comprising providing a robot and providing an obstacle, the robot comprising: a speed output module, a sensor detecting module, a control module; a speed output module detecting a speed of the robot traveling; and a sensor detecting module detecting a distance between the robot and the obstacle, and sorting the distance value, the value of the minimum distance from the obstacle, that is, the first closest distance value is sorted into a first distance value, and the second near distance value is sorted into a second distance The sensor detecting module obtains the calculation parameter of the moving speed and the moving direction of the obstacle according to the detected speed of the robot and the first distance value; the control module reads the calculated parameter obtained by the sensor detecting module according to the fixed frequency, and reads Taking the speed parameter value of the speed of the robot traveling detected by the sensor detecting module, calculating the moving speed and direction of the obstacle according to the calculated calculating parameter and the speed parameter value, and combining the triangle formula, and determining the obstacle Will it collide with the robot when it is judged that the robot will be incompatible with the obstacle? When the object hit, the speed of the output control module adjusts the speed of travel of the robot to avoid obstacles, to achieve the realization of the traveling robot can automatically detect and avoid moving obstacles, low cost, high degree of automation, easy to spread.

DRAWINGS

1 is a schematic view of a robot for automatically detecting and evading an obstacle according to the present invention;

2 is a schematic diagram of a system for automatically detecting and evading obstacles according to the present invention;

FIG. 3 is a schematic diagram of a method for automatically detecting and evading obstacles according to the present invention.

detailed description

The invention provides a system and method for automatically detecting and evading obstacles, and is applied to the field of robot technology, wherein the robot comprises a speed output module, a sensor detection module and a control module; the speed output module detects the speed of the robot traveling; the sensor detection module detects the robot a distance from the obstacle and sorting the distance value, the value of the minimum distance from the obstacle, that is, the first closest distance value is sorted into a first distance value, and the second closest distance value is sorted into a second distance value The sensor detecting module obtains the calculation parameter of the moving speed and the moving direction of the obstacle according to the detected speed of the robot and the first distance value; the control module reads the calculated parameter obtained by the sensor detecting module according to the fixed frequency, and reads The speed parameter value of the speed of the robot traveling detected by the sensor detecting module, according to the calculated calculated parameter and the speed parameter value, combined with the triangle formula, calculates the moving speed and direction of the obstacle, and determines whether the obstacle is Will collide with the robot, when judging that the robot will be obstacles When hit, the speed of the output control module adjusts the speed of travel of the robot to avoid obstacles, to achieve the realization of the traveling robot can automatically detect and avoid moving obstacles, low cost, high degree of automation, easy to spread.

The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The present invention provides a robot that automatically detects and evades obstacles.

1 is a schematic diagram of a robot for automatically detecting and evading obstacles according to the present invention. The robot 10 for automatically detecting and evading obstacles includes: a speed output module 101, a sensor detecting module 102, and a control module 103;

The speed output module 101 is connected to the control module 103, and includes: a first driving wheel 1011, a second driving wheel 1012, a first servo motor 1013, a second servo motor 1014, and a speed sensor 1015;

The first driving wheel 1011 is coaxial with the second driving wheel 1012 and connected to the first servo motor 1013;

The second driving wheel 1012 is coaxial with the first driving wheel 1011 and connected to the second servo motor 1014;

The first servo motor 1013 is connected to the first driving wheel 1011 for rotating to drive the rotation of the first driving wheel 1011, thereby driving the robot 10 to travel;

The second servo motor 1014 is connected to the second driving wheel 1012 for rotating to drive the rotation of the second driving wheel 1012, thereby driving the robot 10 to travel;

The difference in rotational speed between the first servo motor 1013 and the second servo motor 1014 causes the first drive wheel 1011 and the second drive wheel 1012 to rotate to generate a speed difference, thereby causing the robot 10 to achieve steering;

The angular velocity of the steering of the robot 10 is proportional to the difference in rotational speed between the first servo motor 1013 and the second servo motor 1014, and inversely proportional to the distance between the first drive wheel 1011 and the second drive wheel 1012;

a speed sensor 1015 for detecting the speed at which the robot 10 travels;

The sensor detecting module 102 is connected to the control module 103, and includes: an ultrasonic sensor 1021 and an infrared sensor 1022;

The ultrasonic sensor 1021 and the infrared sensor 1022 are distributed on the robot 10 in a horizontal arc of 360 degrees. Since the ultrasonic sensor 1021 has an incident angle greater than 40 degrees, a large error is caused in the detection result, and the ultrasonic sensor 1021 has 0. - 0.4m detection blind zone, therefore, there are 9 ultrasonic sensors 1021, distributed in equal arc spacing on a 360-degree arc in the horizontal direction, and an infrared sensor 1022 on the middle arc point of each two ultrasonic sensors 1021. In order to enable the robot 10 to detect obstacles in all directions; the effective detection accuracy range of the infrared sensor 1022 includes between 0.1 and 0.4 m, and when the sensor detecting module 102 detects that the obstacle is at a distance of 0.4 m, the ultrasonic sensor 1021 The detected value is a valid detection value. When the sensor detecting module 102 detects that the distance of the obstacle is less than 0.4 m, the value detected by the infrared sensor 1022 is a valid detection value;

When the obstacle enters the detection range of the sensor detecting module 102, the ultrasonic sensor 1021 detects the distance between the obstacle and the robot 10, and sorts the distance value, and the minimum distance from the obstacle is the first closest distance. The value is sorted into a first distance value, and the second closest distance value is sorted into a second distance value. The ultrasonic sensor 1021 obtains the speed and motion of the obstacle according to the speed of the robot 10 and the first distance value detected by the speed sensor 1015. Directional calculation parameters;

The control module 103 is connected to the speed output module 101 and the sensor detecting module 102, respectively, and includes: a microprocessor 1031;

The microprocessor 1031 reads the calculation parameter obtained by the ultrasonic sensor 1021 and the speed parameter value of the speed of the robot 10 detected by the reading speed sensor 1015 at a fixed frequency, assuming that the read speed parameter value is V, and The L1 of the first distance value and the L2 of the second distance value detected by the ultrasonic sensor 1021, the robot 10 still travels at the speed of V when reading the next first distance value and the second distance value; After the read cycle, the first distance value read by the microprocessor 1031 is L11 and the second distance value L21, and the number of the ultrasonic sensor 1021 detected twice before and after is recorded, and the two control is assumed. The distance between the ultrasonic sensors 1021 is 1, the period read by the microprocessor 1031 is t; the triangles formed by L1, L2, and l are compared with the L11, L21, l, and V and t, respectively, and combined with the corresponding The formula of the triangle can calculate the moving speed and direction of the obstacle, and determine whether the obstacle will collide with the robot 10. When it is judged that the robot will collide with the obstacle, the speed is controlled. The controller 1015 adjusts the speed of the robot 10 to avoid obstacles. When the ultrasonic sensor 1021 detects that the first distance value is less than 0.4 m, the calculation parameter of the infrared sensor 1022 is used as the first distance value and the second distance value, and is calculated according to The above calculation method performs calculation and judgment operations;

The speed output module 101 is further configured to adjust the speed at which the robot 10 travels according to the control of the microprocessor 1031 to evade obstacles.

The present invention also provides a system for automatically detecting and evading obstacles.

Referring to FIG. 2, FIG. 2 is a schematic diagram of a system for automatically detecting and evading obstacles according to the present invention. The system 20 for automatically detecting and evading obstacles includes: a robot 201 and an obstacle 202;

The robot 201 includes: a speed output module 2011, a sensor detection module 2012, and a control module 2013;

The speed output module 2011 is connected to the control module 2013 for detecting the speed at which the robot 201 travels;

The sensor detecting module 2012 is connected to the control module 2013 for detecting the distance between the robot 201 and the obstacle 202, and sorting the distance value, and the value of the minimum distance from the obstacle 202 is the first closest distance value. Sorting the first distance value and the second closest distance value into a second distance value, the sensor detecting module 2012 obtains the moving speed and the moving direction of the obstacle 202 according to the detected speed of the robot 201 and the first distance value. Calculation parameter

The control module 2013 is connected to the speed output module 2011 and the sensor detection module 2012, respectively, and reads the calculation parameters obtained by the sensor detection module 2012 according to a fixed frequency, and reads the speed of the speed of the robot 201 detected by the sensor detection module 2012. The parameter value, according to the read calculation parameter and the speed parameter value, combined with the triangle formula, calculate the moving speed and direction of the obstacle 202, and determine whether the obstacle 202 will collide with the robot 201, when judging When the robot 201 collides with the obstacle 202, the control speed output module 2011 adjusts the speed at which the robot 201 travels to evade the obstacle 202;

The speed output module 2011 is further configured to adjust the speed at which the robot 201 travels according to the control of the control module 2013 to evade the obstacle 202.

The structure, function, and the like of the robot 20 are the same as those of the robot 10 for automatically detecting and evading obstacles shown in FIG. 1 and will not be described herein.

The structure, function, and the like of the speed output module 2011 are the same as those of the speed output module 101 shown in FIG. 1 and will not be described herein.

The structure, function, and the like of the sensor detecting module 2012 are the same as those of the sensor detecting module 102 shown in FIG. 1 and will not be described herein.

The structure, function, and the like of the control module 2013 are the same as those of the control module 103 shown in FIG. 1 and will not be described herein.

The present invention further provides a method of automatically detecting and evading obstacles.

Please refer to FIG. 3. FIG. 3 is a schematic diagram of a method for automatically detecting and evading an obstacle according to the present invention. The method for automatically detecting and evading an obstacle according to the present invention includes:

S31. Providing a robot and providing an obstacle; the robot includes: a speed output module, a sensor detection module, and a control module;

S32. The speed output module detects the speed at which the robot travels;

S33. The sensor detecting module detects a distance between the robot and the obstacle, and sorts the distance value, and the value of the minimum distance of the obstacle, that is, the first closest distance value, is sorted into a first distance value and a second short distance. The value is sorted into a second distance value, and the sensor detecting module obtains a calculation parameter of the moving speed and the moving direction of the obstacle according to the detected speed of the robot traveling and the first distance value;

S34. The control module reads the calculation parameter obtained by the sensor detection module according to a fixed frequency, and reads a speed parameter value of the speed of the robot travel detected by the sensor detection module, according to the read calculation parameter and the speed parameter value. Combined with the triangle formula, the moving speed and direction of the obstacle are calculated, and it is judged whether the obstacle will collide with the robot. When it is judged that the robot will collide with the obstacle, the speed output module adjusts the speed of the robot to avoid the obstacle. obstacle;

S35. The speed output module adjusts the speed of the robot to adjust to avoid obstacles according to the control of the control module.

The structure, function, and the like of the robot in the method for automatically detecting and evading obstacles of the present invention are the same as those of the robot 10 for automatically detecting and evading obstacles shown in FIG. 1 , and details are not described herein. .

The structure, function, and the like of the speed output module in the method for automatically detecting and evading obstacles of the present invention are the same as those of the speed output module 101 shown in FIG. 1 and will not be described herein.

The structure and function of the sensor detecting module in the method for automatically detecting and evading obstacles of the present invention are the same as those of the sensor detecting module 102 shown in FIG. 1 and will not be described herein.

The structure, function, and the like of the control module in the method for automatically detecting and evading obstacles of the present invention are the same as those of the control module 103 shown in FIG. 1, and are not described herein again.

The robot 10 for automatically detecting and evading obstacles provided by the present invention comprises a speed output module 101, a sensor detecting module 102, and a control module 103; the speed output module 101 detects the speed at which the robot 10 travels; the sensor detecting module 102 detects the robot 10 and the obstacle The distance between the distance values is sorted, and the value of the minimum distance from the obstacle, that is, the first closest distance value is sorted into the first distance value, and the second closest distance value is sorted into the second distance value, and the sensor detects The module 102 obtains the calculation parameters of the movement speed and the movement direction of the obstacle according to the detected speed of the robot 10 and the first distance value; the control module 103 reads the calculation parameters obtained by the sensor detection module 102 according to the fixed frequency, and reads Taking the speed parameter value of the speed of the robot 10 detected by the sensor detecting module 102, calculating the moving speed and direction of the obstacle according to the read calculating parameter and the speed parameter value, and combining the triangle formula, and determining Whether the obstacle will collide with the robot 10, when it is judged that the robot 10 will collide with an obstacle Output speed control module 101 to adjust the speed of travel of the robot 10 to avoid obstacles, to achieve the realization of the traveling robot 10 can automatically detect and avoid moving obstacles, low cost, high degree of automation, easy to spread.

The system for automatically detecting and evading obstacles provided by the present invention includes a robot 201, an obstacle 202, a robot 201, including a speed output module 2011, a sensor detecting module 2012, a control module 2013, and a speed output module 2011 detecting a speed at which the robot 201 travels; The sensor detecting module 2012 detects the distance between the robot 201 and the obstacle 202, and sorts the distance value, and the value of the minimum distance from the obstacle 202, that is, the first closest distance value, is sorted into a first distance value, and a second The near distance value is sorted into a second distance value, and the sensor detecting module 2012 obtains the calculation parameter of the moving speed and the moving direction of the obstacle 202 according to the detected speed of the robot 201 and the first distance value; the control module 2013 is fixed according to The frequency is used to read the calculation parameter obtained by the sensor detection module 2012, read the speed parameter value of the speed of the robot 201 detected by the sensor detection module 2012, according to the read calculation parameter and the speed parameter value, and combine the triangle formula Calculating the moving speed and direction of the obstacle 202, and determining that the obstacle 202 is When the robot 201 is determined to collide with the obstacle 202, the control speed output module 2011 adjusts the speed of the robot 201 to evade the obstacle 202, thereby achieving automatic detection of the traveling robot 201. And avoiding obstacles in the movement, the cost is low, the degree of automation is high, and it is easy to promote.

The invention provides a method for automatically detecting and evading an obstacle, comprising providing a robot and providing an obstacle, the robot comprising: a speed output module, a sensor detecting module, a control module; a speed output module detecting a speed of the robot traveling; and a sensor detecting module detecting a distance between the robot and the obstacle, and sorting the distance value, the value of the minimum distance from the obstacle, that is, the first closest distance value is sorted into a first distance value, and the second near distance value is sorted into a second distance The sensor detecting module obtains the calculation parameter of the moving speed and the moving direction of the obstacle according to the detected speed of the robot and the first distance value; the control module reads the calculated parameter obtained by the sensor detecting module according to the fixed frequency, and reads Taking the speed parameter value of the speed of the robot traveling detected by the sensor detecting module, calculating the moving speed and direction of the obstacle according to the calculated calculating parameter and the speed parameter value, and combining the triangle formula, and determining the obstacle Will it collide with the robot when it is judged that the robot will be incompatible with the obstacle? When the object hit, the speed of the output control module adjusts the speed of travel of the robot to avoid obstacles, to achieve the realization of the traveling robot can automatically detect and avoid moving obstacles, low cost, high degree of automation, easy to spread.

It should be noted that, in this context, relational terms such as first and second are used merely to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these entities or operations. There is any such actual relationship or order between them. Furthermore, the terms "comprising," "comprising," or "include" or "the" or "the" Other elements, or elements that are inherent to such a process, method, item, or device. In the absence of further limitation, the elements defined by the phrase "comprising a", ",", "," are not exclusive of the same elements in the process, method, item, device or device including the element. .

The robots, systems, and methods for automatically detecting and evading obstacles of the present invention are implemented in a variety of forms. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and scope of the present invention are intended to be included within the scope of the present invention.

Claims (10)

1.  A system for automatically detecting and evading obstacles, comprising: a robot, an obstacle;

   The robot includes: a speed output module, a sensor detection module, and a control module;

   The speed output module is connected to the control module for detecting a speed at which the robot travels;

   The sensor detecting module is connected to the control module, and is configured to detect a distance between the robot and the obstacle, and sort the distance value, and the first distance value of the obstacle is sorted as The first distance value and the second closest distance value are sorted into a second distance value, and the calculation parameters of the movement speed and the movement direction of the obstacle are obtained according to the detected speed of the robot traveling and the first distance value;

   The control module is configured to read, according to a fixed frequency, a calculation parameter obtained by the sensor detection module, a speed parameter value of the detected speed of the robot traveling, according to the read calculation parameter and the speed a parameter value, combined with a triangle formula, calculating a moving speed and direction of the obstacle, and determining whether the obstacle collides with the robot, and when it is determined that the robot will collide with the obstacle, the control center The speed output module adjusts the speed at which the robot travels to circumvent the obstacle;

   The speed output module is further configured to adjust a speed of the robot to adjust the obstacle according to the control of the control module.
2. The system for automatically detecting and evading obstacles according to claim 1, wherein the speed output module comprises: a first driving wheel, a second driving wheel, a first servo motor, a second servo motor, and a speed sensor. ;

   The first driving wheel is coaxial with the second driving wheel and connected to the first servo motor;

   The second driving wheel is connected to the second servo motor;

   The first servo motor is configured to rotate to drive the rotation of the first driving wheel, thereby driving the robot to travel;

   The second servo motor is configured to rotate to drive the rotation of the second driving wheel, thereby driving the robot to travel;

   a difference in rotation speed between the first servo motor and the second servo motor rotates to generate a speed difference between the first driving wheel and the second driving wheel, thereby enabling the robot to achieve steering;

   The speed sensor is configured to detect the speed at which the robot travels, and adjust the speed of the robot to adjust to avoid obstacles according to the control of the control module.
3. A system for automatically detecting and evading obstacles according to claim 2, wherein an angular velocity of said robot steering is proportional to a difference in rotational speed between said first servo motor and said second servo motor, and said The distance between the first drive wheel and the second drive wheel is inversely proportional.
4. The robot for automatically detecting and evading obstacles according to claim 3, wherein the sensor detecting module comprises: an ultrasonic sensor and an infrared sensor;

   The ultrasonic sensor and the infrared sensor are distributed on a 360-degree circular arc in a horizontal direction on the robot, and the ultrasonic sensor is distributed at equal arc intervals on a 360-degree circular arc in the horizontal direction, and the infrared sensor is distributed. Located at an intermediate arc point of two adjacent ultrasonic sensors.
5. The system for automatically detecting and evading obstacles according to claim 4, wherein the infrared detecting sensor detects the robot when the sensor detecting module detects that the distance between the robot and the obstacle is less than a preset value. a distance from the obstacle and sorting the distance values, the distance value closest to the obstacle is sorted into a first distance value, and the second closest distance value is sorted into a second distance value, according to the detected The speed at which the robot travels and the first distance value obtain the calculation parameters of the moving speed and the moving direction of the obstacle.
6. The system for automatically detecting and evading obstacles according to claim 4, wherein the ultrasonic detecting sensor detects the robot when the sensor detecting module detects that the distance between the robot and the obstacle is greater than a preset value. a distance from the obstacle and sorting the distance values, the distance value closest to the obstacle is sorted into a first distance value, and the second closest distance value is sorted into a second distance value, according to the detected The speed at which the robot travels and the first distance value obtain the calculation parameters of the moving speed and the moving direction of the obstacle.
7. The system for automatically detecting and evading obstacles according to claim 5 or 6, wherein the preset value comprises: 0.4 m.
8. A system for automatically detecting and evading obstacles according to claim 4, wherein said ultrasonic sensors comprise nine.
9. The system for automatically detecting and evading obstacles according to claim 1, wherein the control module comprises: a microprocessor;

   The microprocessor is configured to read, according to a fixed frequency, a calculation parameter obtained by the sensor detection module, and a speed parameter value of the detected speed of the robot traveling. In the first time period, the detected robot travels. The speed parameter value of the speed includes a first period speed parameter value, and the detected distance between the robot and the obstacle includes a first period first distance value, a first period second distance value, and in the second time period, the detected The speed parameter value of the speed at which the robot travels includes a second period speed parameter value, and the detected distance between the robot and the obstacle includes a second period first distance value, a second period second distance value, and the first detected The distance between the first sensor detecting module applied in the time period and the second sensor detecting module applied in the second time period is a first pitch distance value, according to the first period first distance value, the first period second distance value, a first pitch distance value, combined with a triangle formula, and a first distance value according to the second period, a second period second distance value, and a first pitch distance And combined with the triangle formula, calculate the moving speed and direction of the obstacle, and determine whether the obstacle will collide with the robot. When it is determined that the robot will collide with the obstacle, the speed output module is controlled to adjust the robot to travel. Speed to avoid obstacles.
10. A method for automatically detecting and evading obstacles, comprising:

    Providing a robot and providing an obstacle, the robot comprising: a speed output module, a sensor detection module, and a control module;

    The speed output module detects a speed at which the robot travels;

    The sensor detecting module detects a distance between the robot and the obstacle, and sorts the distance value, and the first distance value of the obstacle is sorted into a first distance value, and the second closest distance value is sorted into a second. a distance value, according to the detected speed of the robot traveling and the first distance value, obtaining a calculation parameter of the movement speed and the movement direction of the obstacle;

    The control module reads the calculation parameter obtained by the sensor detection module and the speed parameter value of the detected speed of the robot travel according to a fixed frequency, according to the read calculation parameter and the speed parameter value, and combine The triangle formula calculates the moving speed and direction of the obstacle, and determines whether the obstacle will collide with the robot. When it is determined that the robot will collide with the obstacle, the speed output module adjusts the speed of the robot to avoid obstacles. .