Obstacle avoidance method and automatic walking equipment

Abstract

The invention provides an obstacle avoidance method and automatic walking equipment. According to the automatic walking device, after collision is detected, the broken-line-shaped obstacle avoidance path is executed, the obstacle avoidance width can be provided through the deflection distance between the bending angle position of the obstacle avoidance path and the original specified path, the automatic walking device returns to the original walking path direction after obstacle avoidance, and traversal operation continues to be executed along the original specified path. According to the obstacle avoidance mode, the obstacle can be bypassed at a short distance, and operation is carried out by being close to the edge of the obstacle as far as possible, so that the defects that the grassland near the obstacle is not cut or the cutting effect is poor and is not flat enough in an existing obstacle avoidance mode are overcome.

Description

technical field [0001] The present application relates to the technical field of self-propelled control, in particular to an obstacle avoidance method and self-propelled equipment. Background technique [0002] During the operation of automatic walking equipment such as lawn mowing robots, the biggest problem encountered is how to avoid obstacles. In order to solve the above problems, the automatic walking equipment is generally equipped with a variety of sensors for obstacle detection. When an obstacle is detected, the automatic walking equipment can be controlled to retreat or turn to avoid or bypass the obstacle. [0003] However, in the actual operation process, most of the most frequently encountered obstacles in the working environment of automatic walking equipment are fixed objects such as seats and trees placed in its working area. A lawn mowing robot equipped with a collision sensor usually backs up immediately after receiving a collision signal and randomly selec...

AI Technical Summary

Problems solved by technology

[0005] This application aims at the deficiencies in the prior art, and provides an obstacle avoidance method and automatic walking equipment. The automatic walking equipment of this application has an obstacle avoidance path in the form of a broken line, which can bypass obstacles in a short distance and return to the original regulations in time. Continue to perform traversal operations on the path to overcome the defect that the grass near the obstacle is not cut or the cutting effect is not good in the existing obstacle avoidance mode

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