Autonomous navigation device and autonomous navigation method

Abstract

The present invention discloses an autonomous navigation device and an autonomous navigation method. The autonomous navigation device comprises: a device body and a driving wheel body, wherein the driving wheel body and the device body are mechanically connected via a bearing; at least one position sensor, which is mounted on the device body and is used to generate position sensing information; at least one environment detection sensor, which is mounted on the surface of the device body and is used to generate environment sensing information; a relative angle deviation sensor, which is mounted on the driving wheel body and is used to generate relative angle information between the driving wheel body and the device body; a first processor, which is used to generate path information according to the position sensing information, the environment sensing information and the relative angle information; and a driving module, which is used to rotate a motor of the driving wheel body, thereby reducing the maintenance cost of the autonomous navigation device and improving the flexibility, intelligence, accuracy and practicality of the application in the scene.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of autonomous navigation technology, and in particular to an autonomous navigation device and an autonomous navigation method. Background Art

[0002] Autonomous navigation equipment does not rely on external information, can determine its relative position and driving direction, and freely move along the established guidance path. Due to its advantages of high automation and intelligence, autonomous navigation equipment has received more and more attention in intelligent service industries such as robots and unmanned guided vehicles.

[0003] At present, autonomous navigation equipment mostly adopts electromagnetic navigation, magnetic tape navigation, visual navigation or reflector laser navigation. Although these navigation methods can realize autonomous navigation, it is necessary to lay guide wires, magnetic strips or reflectors in the scene for auxiliary positioning. Therefore, in the prior art, not only the autonomous navigation equipment itself needs to be maintained, but also the guide wires, magnetic strips or reflectors in the scene need to be maintained, and the maintenance cost is high. In addition, the workload of changing the path in the scene or expanding the path is large, which requires a lot of manpower and material resources. Summary of the invention

[0004] The present invention provides an autonomous navigation device and an autonomous navigation method, so as to reduce the maintenance cost of the autonomous navigation device and improve the flexibility, intelligence, accuracy and practicality of application in scenes.

[0005] In a first aspect, an embodiment of the present invention provides an autonomous navigation device, including:

[0006] Equipment body;

[0007] A driving wheel body, wherein the driving wheel body and the device body are mechanically connected via a bearing;

[0008] at least one position sensor, mounted on the device body, including a position information output terminal for generating position sensing information;

[0009] At least one environment detection sensor, mounted on the surface of the device body, including an environment information output terminal for generating environment sensing information;

[0010] A relative angle deviation sensor, mounted on the driving wheel body, comprising a relative angle information output terminal for generating relative angle information between the driving wheel body and the device body;

[0011] A first processor includes a plurality of position sensor information input terminals, a plurality of environment information input terminals, a relative angle information input terminal and a path information output terminal, wherein the position sensor information input terminal is electrically connected to the position information output terminal, the environment information input terminal is electrically connected to the environment information output terminal, and the relative angle information input terminal is electrically connected to the relative angle information output terminal, and is used to generate path information according to the position sensor information, the environment sensor information and the relative angle information;

[0012] The driving module comprises a path information input terminal, wherein the path information input terminal is electrically connected to the path information output terminal and is used to drive the motor of the driving wheel body to rotate.

[0013] In a second aspect, an embodiment of the present invention further provides an autonomous navigation method, comprising:

[0014] The position sensor obtains position sensing information according to the moving position of the device body;

[0015] The environmental detection sensor obtains environmental sensing information according to the environmental conditions in the scene;

[0016] The relative angle deviation sensor obtains relative angle information according to the angle deviation between the driving wheel body and the device body in the autonomous navigation device;

[0017] The first processor constructs a scene map and generates path information according to the environmental sensing information and the relative angle information;

[0018] The driving module drives the motor of the driving wheel body to rotate according to the path information.

[0019] The present invention provides an autonomous navigation device including a device body and a driving wheel body, and the driving wheel body and the device body are mechanically connected by a bearing, so that the autonomous navigation device can be more flexibly turned and turned around during use and operation. At least one position sensor and at least one environment detection sensor are provided, and there is no need to lay auxiliary tools such as guide wires, magnetic strips or reflective plates in the scene for auxiliary positioning, so that the autonomous navigation device is more intelligent, and the cost of maintaining the guide wires, magnetic strips or reflective plates is saved. In addition, the path change in the scene or the path expansion can be set to the autonomous navigation device itself, which solves the problem of large workload, manpower and material resources consumption in the path change of the existing autonomous navigation device. The relative angle deviation sensor is provided to maintain the consistency of the device body and the driving wheel body, accurately calculate the environment and position of the autonomous navigation device, and accurately calculate the path information of the autonomous navigation device, thereby avoiding the problem of the running path error of the autonomous navigation device caused by the deviation between the driving wheel body and the device body. In summary, the technical solution of this embodiment reduces the maintenance cost of the autonomous navigation device and improves the flexibility, intelligence, accuracy and practicality of application in the scene. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of the mechanical structure of an autonomous navigation device provided in Embodiment 1 of the present invention;

[0021] Figure 2 A schematic diagram of the structure of an autonomous navigation device provided in Embodiment 1 of the present invention;

[0022] Figure 3 A schematic diagram of the structure of an autonomous navigation device provided in Embodiment 2 of the present invention;

[0023] Figure 4 A schematic diagram of the structure of an autonomous navigation device provided in Embodiment 3 of the present invention;

[0024] Figure 5 A flowchart of an autonomous navigation method provided in Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0025] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0026] Embodiment 1

[0027] Figure 1A schematic diagram of the mechanical structure of an autonomous navigation device provided in Embodiment 1 of the present invention, Figure 2 This is a schematic diagram of the structure of an autonomous navigation device provided by Embodiment 1 of the present invention. Figure 1 The autonomous navigation device comprises: a device body 10 and a driving wheel body 20, wherein the driving wheel body 20 and the device body 10 are mechanically connected via a bearing. The driving wheel body 20 is driven by a motor to run, thereby driving the device body 10 to run.

[0028] See also Figure 1 and Figure 2 , the autonomous navigation device also includes:

[0029] At least one position sensor 110 is installed on the device body 10 and includes a position information output terminal 111 for generating position sensing information.

[0030] At least one environment detection sensor 120 is installed on the surface of the device body 10, including an environment information output terminal 121 for generating environment sensing information.

[0031] The relative angle deviation sensor 210 is installed on the driving wheel body 20 and includes a relative angle information output terminal 211 for generating relative angle information between the driving wheel body 20 and the device body 10 .

[0032] The first processor 140 includes multiple position sensor information input terminals 141, multiple environment information input terminals 142, a relative angle information input terminal 143 and a path information output terminal 144. The position sensor information input terminal 141 is electrically connected to the position information output terminal 111, the environment information input terminal 142 is electrically connected to the environment information output terminal 121, and the relative angle information input terminal 143 is electrically connected to the relative angle information output terminal 211, and is used to generate path information according to the position sensor information, the environment sensor information and the relative angle information.

[0033] The driving module 150 includes a path information input terminal 151 , which is electrically connected to the path information output terminal 144 and is used to rotate the motor of the driving wheel body 20 .

[0034] Among them, the position sensor 110 refers to a sensor that converts the moving angle and moving distance of an object into a signal form that can be used for communication, transmission and storage. The environmental detection sensor 120 refers to a sensor that emits laser beams or ultrasonic waves to detect the position, speed and other characteristic quantities of environmental targets, and restores the pulse signal reflected from the environmental target into an electrical pulse through a receiver. The relative angle deviation sensor 210 refers to a sensor that compiles and converts angular displacement signals or data into a signal form that can be used for communication, transmission and storage.

[0035] The working process of the autonomous navigation device is that the position sensor 110 installed on the device body 10 can sense the position of the device body 10 and convert it into position sensing information, which is output to the first processor 140. At the same time, the environment detection sensor 120 installed on the surface of the device body 10 can detect the environmental conditions around the device body 10, and convert it into environmental sensing information, which is output to the first processor 140. The relative angle deviation sensor 210 installed on the driving wheel body 20 can detect the relative angle deviation between the driving wheel body 20 and the device body 10, and convert it into relative angle information, which is output to the first processor 140. The first processor 140 accurately calculates the position of the autonomous navigation device and the direction in which it should navigate based on the received position sensing information, environmental sensing information and relative angle information, thereby generating path information. Path information refers to information such as the angle, distance or speed that the autonomous navigation device should move forward. The driving module 150 controls the rotation of the motor of the driving wheel body 20 based on the path information. The driving wheel body 20 drives the device body 10 to run along the specified route through the bearing.

[0036] The technical solution of this embodiment, by setting the autonomous navigation device including the device body 10 and the driving wheel body 20, the driving wheel body 20 and the device body 10 are mechanically connected by the bearing, so that the autonomous navigation device can be used and operated in a more flexible manner, such as turning and U-turning, while ensuring that the autonomous navigation device has a greater load capacity. At least one position sensor 110 and at least one environment detection sensor 120 are set, and there is no need to lay auxiliary tools such as guide wires, magnetic strips or reflective plates in the scene for auxiliary positioning, so that the autonomous navigation device is more intelligent, and the cost of maintaining the guide wires, magnetic strips or reflective plates is saved. In addition, the path change in the scene or the path expansion can be set by the autonomous navigation device itself, which solves the problem of large workload and human and material resources consumption in the path change of the existing autonomous navigation device. Furthermore, since the environment detection sensor 120 needs to emit detection information such as laser or ultrasonic waves to the environment outside the autonomous navigation device, at least one environment detection sensor 120 is set to be installed on the surface of the device body 10, which is convenient for the information collection of the environment detection sensor 120, and is conducive to accurately collecting the environmental sensing information of the device body 10. Since there may be a certain angle deviation between the device body 10 and the driving wheel body 20 during the operation of the autonomous navigation device, if the influence of the deviation is not considered, the scene mapping and running path of the autonomous navigation device will deviate. This is because the position sensing information and environmental sensing information generated by the position sensor 110 and the environmental detection sensor 120 are generated for the position of the device body 10, and the path information generated by the first processor 140 is also generated for the device body 10. However, the driving module 150 drives the motor rotation of the driving wheel body 20 and controls the running direction of the driving wheel body 20. Setting the relative angle deviation sensor 210 can maintain the consistency of the device body and the driving wheel body, accurately calculate the environment and position of the autonomous navigation device, and accurately calculate the path information of the autonomous navigation device, thereby avoiding the problem of the running path error of the autonomous navigation device caused by the deviation between the driving wheel body 20 and the device body 10. In summary, the technical solution of this embodiment reduces the maintenance cost of the autonomous navigation device and improves the flexibility, intelligence, accuracy, stability and practicality of application in the scene.

[0037] It should be noted that the autonomous navigation device of this embodiment may be an unmanned guided vehicle, a sweeper or an intelligent robot, and the present invention is not limited to this.

[0038] Continue to see Figure 1 and Figure 2 The environment detection sensor 120 may further include: a laser radar 160 and at least one ultrasonic sensor 170 .

[0039] The laser radar 160 includes a long-range environment information output terminal 161 for generating long-range environment sensing information. The ultrasonic sensor 170 includes a short-range environment information output terminal 171 for generating short-range environment sensing information. This arrangement can increase the accuracy of detecting the surrounding environment information.

[0040] Optionally, by limiting the threshold of the relative angle information, the angular velocity of the autonomous navigation device when turning can be further limited, thereby improving the stability of the operation of the autonomous navigation device.

[0041] Continue to see Figure 1 Optionally, the laser radar 160 is installed at the top of the device body 10, which is conducive to the laser radar 160 detecting the long-distance environmental conditions of the autonomous navigation device. The ultrasonic sensor 170 is installed below the laser radar 160, which is conducive to detecting the short-distance environmental conditions of the autonomous navigation device.

[0042] Embodiment 2

[0043] Figure 3 This is a schematic diagram of the structure of an autonomous navigation device provided by Embodiment 2 of the present invention. Figure 3 On the basis of the above embodiment, the position sensor 110 may further include: a heading angle sensor 180 , a mileage sensor 190 and a second processor 240 .

[0044] The heading angle sensor 180 includes a heading angle information output terminal 181, which is used to generate the heading angle information of the device body 10. The heading angle sensor 180 can detect the heading angle during the operation of the autonomous navigation device. The heading angle sensor 180 can be, for example, a gyroscope. The present invention does not limit the heading angle sensor 180, and any heading angle sensor that can provide heading angle information is within the protection scope of the present invention.

[0045] The mileage sensor 190 includes a mileage information output terminal 191, which is used to generate mileage information of the device body 10. The mileage sensor 190 can detect the moving mileage of the autonomous navigation device during operation, and cooperate with the heading angle sensor 180 to accurately calculate the position of the autonomous navigation device in the scene. The mileage sensor 190 can be, for example, an odometer. The present invention does not limit the mileage sensor 190, and any mileage sensor that can provide mileage information is within the protection scope of the present invention.

[0046] The second processor 240 includes a first integrated input terminal 241, a second integrated input terminal 242 and an integrated information output terminal 243. The first integrated input terminal 241 is electrically connected to the heading angle information output terminal 181, and the second integrated input terminal 242 is electrically connected to the mileage information output terminal 191, and is used to integrate the heading angle information and the mileage information, generate and send the integrated sensor information to the first processor 140.

[0047] The first processor 140 further includes an integrated information input terminal 144. The integrated information input terminal 144 is electrically connected to the integrated information output terminal 243 and is used to receive integrated sensor information. The first processor 140 is also used to construct a scene map and generate path information according to the integrated sensor information, environmental sensor information and relative angle information.

[0048] The technical solution provided in this embodiment can accurately calculate the position of the autonomous navigation device in the scene by setting the heading angle sensor 180 and the mileage sensor 190. In addition, the technical solution provided in this embodiment can generate and send integrated sensor information to the first processor 140 by setting the second processor 240 to integrate the heading angle information and the mileage information. The technical solution provided in this embodiment can be implemented in modules, which is convenient for debugging each independent functional module, increasing the convenience of implementing the technical solution and the stability of system operation.

[0049] Optionally, the second processor and the driving processor may be integrated on a chip or circuit board, or may be separately provided.

[0050] Embodiment 3

[0051] Figure 4 This is a schematic diagram of the structure of an autonomous navigation device provided by Embodiment 3 of the present invention. Figure 4 On the basis of the above embodiments, the first processor 140 further includes: a positioning module 145 , a mapping module 146 , a path learning module 147 and a navigation module 148 .

[0052] The positioning module 145 includes a position information input terminal 541 and a position information output terminal 542. The position information input terminal 541 is electrically connected to the position information output terminal 111 and is used to generate positioning information according to the position sensing information.

[0053] The mapping module 146 includes multiple mapping environment information input terminals 641, mapping relative angle information input terminals 642, mapping positioning input terminals 644 and mapping information output terminals 643. The mapping environment information input terminals 641 are electrically connected to the environment information output terminals 121, the mapping relative angle information input terminals 642 are electrically connected to the relative angle information output terminals 211, and the mapping positioning input terminals 644 are electrically connected to the positioning information output terminals 542, for constructing scene map information.

[0054] The mapping module 146 uses the environmental sensing information output by the environmental detection sensor, combines with the positioning module to calculate the positioning information of the autonomous navigation device, and uses the simultaneous localization and mapping (SLAM) algorithm to scan the working environment of the autonomous navigation device, and performs scene incremental mapping during operation. The positioning module 145 and the mapping module 146 can work simultaneously to achieve simultaneous positioning and scene incremental mapping.

[0055] The environmental sensing information may be detected point cloud data, which refers to parameter values ​​such as specific angles and distances obtained by scanning the surrounding environment information.

[0056] The path learning module 147 includes a scene map input terminal 741 and a learning path output terminal 743. The scene map input terminal 741 is electrically connected to the mapping information output terminal 643, and is used to generate planning path information according to the scene map information and the preset target location.

[0057] According to the scene map information output by the mapping module 146, as well as the place to be reached according to the working requirements of the autonomous navigation device and the scheduled running path, the initial position of the planned path is located. Save the initial position as path trajectory point 0, and after the autonomous navigation device runs a certain distance on the scheduled running path, save the position as path trajectory point 1. Run multiple distances in sequence, and save trajectory points 2, 3...n respectively. The planned path composed of the above path trajectory points completes the path learning planning. In actual applications, the number of path trajectory points can be reasonably set according to the scene map information. For example, if there are many turns in the scheduled running path, the number of path trajectory points can be appropriately increased. For example, if the distance of the scheduled running path is short, the number of path trajectory points can be appropriately reduced.

[0058] The navigation module 148 includes a planned path input terminal 841, a positioning point information input terminal 842, a target point input terminal 844 and a navigation information output terminal 843. The planned path input terminal 841 is electrically connected to the learning path output terminal 743, the positioning point information input terminal 842 is electrically connected to the positioning information output terminal 542, and the navigation information output terminal 843 is electrically connected to the path information input terminal 151, for generating path information.

[0059] When the target point input terminal 844 receives the working mode command, the navigation module 148 performs working path planning according to the planned path information, the positioning point information and the target point information. Then, the scene map information is matched according to the working path planning and the environmental sensor information, and real-time positioning and path information are generated.

[0060] Continue to see Figure 4The first processor 140 may also include: an obstacle avoidance module 149, including an obstacle avoidance range input terminal 943, an obstacle information input terminal 941 and an obstacle avoidance output terminal 942, the obstacle information input terminal 941 is electrically connected to the environmental information output terminal 121, and the obstacle avoidance output terminal 942 is electrically connected to the driving module, and is used to generate an obstacle avoidance instruction according to the obstacle avoidance range preset value and the environmental sensor information.

[0061] The driving module 150 also includes an obstacle avoidance information input terminal 152; the obstacle avoidance information input terminal 152 is electrically connected to the obstacle avoidance output terminal 942, and is used to drive the autonomous navigation device to slow down or stop according to the obstacle avoidance instruction. This arrangement enables the autonomous navigation device to avoid collision with obstacles and improves the safety of the autonomous navigation device.

[0062] Embodiment 4

[0063] Figure 5 A flowchart of an autonomous navigation method provided in Embodiment 4 of the present invention is provided. The main navigation method specifically includes the following steps:

[0064] Step S1: The position sensor obtains position sensing information according to the moving position of the device body.

[0065] Step S2: The environment detection sensor obtains environment sensing information according to the environment conditions in the scene.

[0066] Step S3: The relative angle deviation sensor obtains relative angle information according to the angle deviation between the driving wheel body and the device body in the autonomous navigation device.

[0067] Step S4: The first processor constructs a scene map and generates path information according to the environmental sensing information and the relative angle information.

[0068] Step S5: The driving module rotates the motor of the driving wheel body according to the path information.

[0069] The autonomous navigation method provided by the present invention obtains position sensing information according to the moving position of the device body through the position sensor and obtains environmental sensing information according to the environmental conditions in the scene through the environmental detection sensor. There is no need to lay auxiliary tools such as guide wires, magnetic strips or reflectors in the scene for auxiliary positioning, so that the autonomous navigation device is more intelligent, and the cost of maintaining the guide wires, magnetic strips or reflectors is saved. In addition, the path change in the scene or the path expansion can be set to the autonomous navigation device, which solves the problem of large workload, manpower and material resources consumption in the path change of the existing autonomous navigation device. The relative angle deviation sensor obtains relative angle information according to the angle deviation between the driving wheel body and the device body in the autonomous navigation device, which can maintain the consistency of the device body and the driving wheel body, accurately calculate the environment and position of the autonomous navigation device, and accurately calculate the path information of the autonomous navigation device, thereby avoiding the problem of the running path error of the autonomous navigation device caused by the deviation between the driving wheel body and the device body. In summary, the technical solution of this embodiment reduces the maintenance cost of the autonomous navigation device and improves the flexibility, intelligence, accuracy and practicality of application in the scene.

[0070] On the basis of the above technical solution, the autonomous navigation method may further include:

[0071] The heading angle sensor obtains heading angle information according to the heading angle of the device body.

[0072] The mileage sensor obtains mileage information based on the movement mileage of the device body.

[0073] The second processor integrates the heading angle information and the mileage information, generates and sends integrated sensing information to the first processor.

[0074] The first processor constructs a scene map and generates path information based on the integrated sensing information, position sensing information, environmental sensing information and relative angle information.

[0075] On the basis of the above technical solutions, the environment detection sensor may further include:

[0076] The laser radar obtains long-range environmental sensing information based on the long-range environmental conditions of the device body.

[0077] The ultrasonic sensor obtains close-range environmental sensing information based on the close-range environmental conditions of the device body.

[0078] On the basis of the above technical solutions, the first processor further includes:

[0079] The positioning module generates positioning information according to the position sensing information.

[0080] The mapping module constructs scene map information based on position sensing information, environmental sensing information and relative angle information.

[0081] The path learning module obtains the planned path information based on the scene map information and the preset target location.

[0082] The navigation module obtains path information based on the planned path information, positioning point information and target point information.

[0083] On the basis of the above technical solutions, the autonomous navigation method may further include:

[0084] The obstacle avoidance module obtains obstacle avoidance instructions based on the preset obstacle avoidance range and environmental sensor information;

[0085] The driving module drives the autonomous navigation device to slow down or stop according to the obstacle avoidance instruction.

[0086] In the process of building scene map information in the mapping module, obtaining planning path information in the path learning module, and obtaining path information in the navigation module, the environment detection sensor detects obstacles within the obstacle avoidance range in real time. When the distance between the obstacle and the autonomous navigation device is less than the preset value of the obstacle avoidance range, an obstacle avoidance instruction is sent to the driving module, and the driving module drives the autonomous navigation device to slow down or stop.

[0087] Optionally, multiple obstacle avoidance range preset values ​​can be set to achieve multi-level obstacle avoidance protection. For example, a first obstacle avoidance range preset value and a second obstacle avoidance range preset value can be set, and the first obstacle avoidance range preset value is smaller than the second obstacle avoidance range preset value. When the environmental detection sensor detects that the distance between the obstacle and the autonomous navigation device is less than the first obstacle avoidance range preset value, the driving module drives the autonomous navigation device to stop, and when the environmental detection sensor detects that the distance between the obstacle and the autonomous navigation device is greater than the first obstacle avoidance range preset value, the driving module drives the autonomous navigation device to resume operation. When the environmental detection sensor detects that the distance between the obstacle and the autonomous navigation device is less than the second obstacle avoidance range preset value, the driving module drives the autonomous navigation device to stop, and when the environmental detection sensor detects that the distance between the obstacle and the autonomous navigation device is greater than the second obstacle avoidance range preset value, the driving module drives the autonomous navigation device to resume the original operating speed.

[0088] Optionally, since the ultrasonic sensor can only detect and generate short-range environmental sensing information, the driving module can be configured to drive the autonomous navigation device to stop when the ultrasonic sensor detects an obstacle.

[0089] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. An autonomous navigation device, characterized in that: include: Equipment body; A driving wheel body, wherein the driving wheel body and the device body are mechanically connected via a bearing; at least one position sensor, mounted on the device body, including a position information output terminal for generating position sensing information; At least one environment detection sensor, mounted on the surface of the device body, including an environment information output terminal for generating environment sensing information; A relative angle deviation sensor, mounted on the driving wheel body, comprises a relative angle information output terminal, and is used to generate relative angle information between the driving wheel body and the device body; A first processor includes a plurality of position sensor information input terminals, a plurality of environment information input terminals, a relative angle information input terminal and a path information output terminal, wherein the position sensor information input terminal is electrically connected to the position information output terminal, the environment information input terminal is electrically connected to the environment information output terminal, and the relative angle information input terminal is electrically connected to the relative angle information output terminal, and is used to generate path information according to the position sensor information, the environment sensor information and the relative angle information; A driving module, comprising a path information input terminal, the path information input terminal being electrically connected to the path information output terminal and being used to drive the motor of the driving wheel body to rotate; Further limiting the angular speed of the autonomous navigation device when turning by limiting the threshold of the relative angle information; The environment detection sensor includes: at least one ultrasonic sensor, including a short-range environment information output terminal, which is used to generate short-range environment sensing information.

2. The device according to claim 1, characterized in that The position sensor comprises: A heading angle sensor, comprising a heading angle information output terminal, for generating heading angle information of the device body; A mileage sensor, comprising a mileage information output terminal, for generating mileage information of the device body; a second processor, comprising a first integrated input terminal, a second integrated input terminal and an integrated information output terminal, wherein the first integrated input terminal is electrically connected to the heading angle information output terminal, and the second integrated input terminal is electrically connected to the mileage information output terminal, and is used to integrate the heading angle information and the mileage information, generate and send integrated sensor information to the first processor; The first processor also includes: The integrated information input terminal is electrically connected to the integrated information output terminal and is used to receive the integrated sensing information; the first processor is also used to construct a scene map and generate path information based on the integrated sensing information, the environmental sensing information and the relative angle information.

3. The device according to claim 1, characterized in that The environment detection sensor comprises: The laser radar includes a long-range environmental information output terminal for generating long-range environmental sensing information.

4. The device according to claim 1, characterized in that The first processor also includes: A positioning module, comprising a position information input terminal and a positioning information output terminal, wherein the position information input terminal is electrically connected to the position information output terminal and is used to generate positioning information according to the position sensing information; A mapping module, comprising a plurality of mapping environment information input terminals, a mapping relative angle information input terminal, a mapping positioning input terminal and a mapping information output terminal, wherein the mapping environment information input terminal is electrically connected to the environment information output terminal, the mapping relative angle information input terminal is electrically connected to the relative angle information output terminal, and the mapping positioning input terminal is electrically connected to the positioning information output terminal, for constructing scene map information; A path learning module, comprising a scene map input terminal and a learning path output terminal, wherein the scene map input terminal is electrically connected to the mapping information output terminal, and is used to generate planning path information according to the scene map information and a preset target location; The navigation module includes a planned path input terminal, a positioning point information input terminal, a target point input terminal and a navigation information output terminal, wherein the planned path input terminal is electrically connected to the learning path output terminal, the positioning point information input terminal is electrically connected to the positioning information output terminal, and the navigation information output terminal is electrically connected to the path information input terminal, for generating the path information.

5. The device according to claim 1, characterized in that The first processor also includes: An obstacle avoidance module, comprising an obstacle avoidance range input terminal, an obstacle information input terminal and an obstacle avoidance output terminal, wherein the obstacle information input terminal is electrically connected to the environmental information output terminal, and the obstacle avoidance output terminal is electrically connected to the driving module, and is used to generate an obstacle avoidance instruction according to a preset obstacle avoidance range value and environmental sensor information; The driving module also includes: an obstacle avoidance information input terminal; The obstacle avoidance information input terminal is electrically connected to the obstacle avoidance output terminal, and is used to drive the autonomous navigation device to decelerate or stop according to the obstacle avoidance instruction.

6. An autonomous navigation method, characterized in that: include: The position sensor obtains position sensing information according to the moving position of the device body; The environmental detection sensor obtains environmental sensing information according to the environmental conditions in the scene; The relative angle deviation sensor obtains relative angle information according to the angle deviation between the driving wheel body and the device body in the autonomous navigation device; The first processor constructs a scene map and generates path information according to the environmental sensing information and the relative angle information; The driving module drives the motor of the driving wheel body to rotate according to the path information; Further limiting the angular speed of the autonomous navigation device when turning by limiting the threshold of the relative angle information; The environment detection sensor also includes: an ultrasonic sensor that obtains short-range environment sensing information according to the short-range environment conditions of the device body.

7. The method according to claim 6, characterized in that Also includes: The heading angle sensor obtains heading angle information according to the heading angle of the device body; The mileage sensor obtains mileage information according to the movement mileage of the device body; A second processor integrates the heading angle information and the mileage information, generates and sends integrated sensing information to the first processor; The first processor builds a scene map and generates path information according to the integrated sensing information, the position sensing information, the environmental sensing information and the relative angle information.

8. The method according to claim 6, characterized in that The environment detection sensor also includes: The laser radar obtains long-distance environmental sensing information according to the long-distance environmental conditions of the device body.

9. The method according to claim 6, characterized in that The first processor also includes: The positioning module generates positioning information according to the position sensing information; A mapping module constructs scene map information according to the position sensing information, the environment sensing information and the relative angle information; The path learning module obtains the planned path information according to the scene map information and the preset target location; The navigation module obtains the path information according to the planned path information, the positioning point information and the target point information.

10. The method according to claim 6, characterized in that Also includes: The obstacle avoidance module obtains obstacle avoidance instructions based on the preset obstacle avoidance range value and environmental sensor information; The driving module drives the autonomous navigation device to decelerate or stop according to the obstacle avoidance instruction.

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