Control method of robot tool and robot tool

Abstract

The present invention belongs to the field of robot tools, and specifically relates to a control method of a robot tool and a robot tool, the method comprising: the robot tool moves in a first direction along a preset path, and detects a first stop event; controls the robot tool to move a first preset distance in a second direction opposite to the first direction; sets an obstacle avoidance path; controls the robot tool to rotate a predetermined angle; controls the robot tool to walk along the obstacle avoidance path until it returns to the preset path; controls the robot tool to move in the second direction until a second stop event is detected; controls the robot tool to move in the first direction. The present invention enables the walking track of the lawn mower to cover as much of the area around the obstacle as possible, thereby improving the mowing coverage rate.

Description

Technical Field

[0001] The present invention belongs to the field of robot tools, and in particular relates to a control method of a robot tool and the robot tool. Background Art

[0002] Robotic tools such as smart lawn mowers can plan their walking paths in advance. When the robotic tools are working, they operate along the planned walking paths, and generally no human intervention is required. However, in actual application scenarios, some special situations often occur, such as obstacles such as pedestrians and buckets that temporarily appear in the working area. When the robotic tools are blocked by these obstacles, they need to make timely decisions to avoid these obstacles. However, the obstacle avoidance measures and methods in the prior art are too complicated. Generally, sensors are used to collect external obstacle information and then calculate the obstacle information, which requires a lot of calculations and is inefficient. In addition, high-precision external sensors are expensive. In addition, the robotic tools in the prior art will miss a large number of working areas around obstacles when avoiding obstacles, resulting in a lot of rework and affecting work efficiency. Summary of the invention

[0003] In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a control method and a robot tool with a simple control process and high working efficiency.

[0004] To achieve the above objectives and other related objectives, the present invention provides a control method for a robot tool, comprising:

[0005] The robotic tool travels in a first direction along a preset path and detects a first stop event;

[0006] Controlling the robot tool to move a first preset distance in a second direction opposite to the first direction;

[0007] Set obstacle avoidance paths;

[0008] Controlling the robot tool to rotate a predetermined angle;

[0009] Controlling the robot tool to walk along an obstacle-avoiding path until returning to the preset path;

[0010] controlling the robot tool to move in a second direction until a second stop event is detected;

[0011] The robotic tool is controlled to move along a first direction.

[0012] In an optional embodiment of the present invention, the first stopping event includes the presence of an obstacle within a first critical distance in a first direction of the robot tool.

[0013] In an optional embodiment of the present invention, the second stop event includes the presence of an obstacle within a second critical distance in a second direction of the robot tool.

[0014] In an optional embodiment of the present invention, the setting of the obstacle avoidance path includes:

[0015] Initializing an estimated radius of the obstacle, taking the estimated radius as an obstacle avoidance distance, and planning the obstacle avoidance path according to the obstacle avoidance distance;

[0016] In an optional embodiment of the present invention, when the robot tool walks along the obstacle avoidance path, the area in front of the robot tool is detected in real time to determine whether there is an obstacle within a third critical distance in front of the robot tool;

[0017] When there is an obstacle within the third critical distance in front of the robot tool, the robot tool is controlled to retreat a second preset distance, the obstacle avoidance distance plus a preset increment is used as a new obstacle avoidance distance, and a new obstacle avoidance path is replanned according to the new obstacle avoidance distance.

[0018] In an optional embodiment of the present invention, the obstacle avoidance path planning method is as follows:

[0019] Determine a starting point, taking the position of the robot tool after retreating a first preset distance as the starting point;

[0020] Determine the center of a circle, taking a point on the preset path of the robot tool in the first direction as the center of the circle, and the distance between the center of the circle and the starting point is equal to the obstacle avoidance distance;

[0021] A semicircular path is determined according to the center of the circle with the obstacle avoidance distance as the radius, and both ends of the semicircular path are respectively located on the preset path; the semicircular path is the obstacle avoidance path.

[0022] In an optional embodiment of the present invention, the obstacle avoidance path planning method is as follows:

[0023] Determine a starting point, taking the position of the robot tool after retreating a first preset distance as the starting point;

[0024] Determine a first section, the first section is perpendicular to the preset path, the starting point is used as the starting point of the first section, and the length of the first section is equal to the obstacle avoidance distance;

[0025] Determine a second section, the second section is parallel to the preset path, the end point of the first section is used as the starting point of the second section, and the length of the second section is equal to the obstacle avoidance distance;

[0026] Determine a third section, the third section is perpendicular to the preset path, the end point of the second section is used as the starting point of the third section, and the length of the third section is equal to the length of the first section;

[0027] The superposition of the first section, the second section and the third section constitutes the obstacle avoidance path.

[0028] In an optional embodiment of the present invention, when the robot tool walking along the second section detects that there is an obstacle within the third critical distance ahead, the obstacle avoidance distance is added with a preset increment as a new obstacle avoidance distance, so that the length of the first section and the length of the third section are equal to the new obstacle avoidance distance, and the length of the second section is kept unchanged;

[0029] When the robot tool walking along the third section detects the presence of an obstacle within the third critical distance ahead, the obstacle avoidance distance is added with a preset increment as a new obstacle avoidance distance, so that the length of the second section is equal to the new obstacle avoidance distance, and the length of the first section and the length of the third section are kept unchanged.

[0030] In an optional embodiment of the present invention, after replanning a new obstacle avoidance path according to the new obstacle avoidance distance, the robot tool is controlled to enter the new obstacle avoidance path from the position after retreating the second preset distance.

[0031] To achieve the above objectives and other related objectives, the present invention further provides a robot tool, comprising:

[0032] body;

[0033] A walking mechanism, installed at the bottom of the fuselage;

[0034] A detection module is installed on the body and is used to detect whether there are obstacles in the direction of travel of the robot tool.

[0035] A control module, wherein the control module is connected to the walking mechanism and the detection module. When the detection module detects that there is an obstacle within a preset distance in front of the fuselage, the control module can control the walking mechanism to retreat a certain distance, and the control module can generate an obstacle avoidance path and control the walking mechanism to move along the obstacle avoidance path.

[0036] The technical effects of the present invention are:

[0037] When the lawn mower of the present invention encounters an obstacle, the lawn mower is first controlled to continue walking a certain distance until the distance between the lawn mower and the obstacle is less than a first critical distance, and then the lawn mower is controlled to retreat a first preset distance, and then a subsequent avoidance action is performed, so that the walking trajectory of the lawn mower can cover as much area around the obstacle as possible, thereby improving the mowing coverage rate.

[0038] The present invention performs cyclic planning of the avoidance path according to the obstacle information detected by the detection module, reduces the complexity of the detection module and the operation flow, reduces the amount of calculation, improves the response speed, and reduces the equipment cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 is a flow chart of a robot tool tracking and obstacle avoidance method provided by an embodiment of the present invention;

[0040] Figure 2 is a flow chart of an obstacle avoidance path planning method provided by an embodiment of the present invention;

[0041] Figure 3 is a structural block diagram of a robot tool tracking and obstacle avoidance system provided by an embodiment of the present invention;

[0042] Figure 4 is a schematic structural diagram of a robot tool provided by an embodiment of the present invention;

[0043] Figures 5 to 11 is a schematic diagram of a robot tool tracking and obstacle avoidance process provided by an embodiment of the present invention;

[0044] Fig.12 is a schematic diagram of one obstacle avoidance path provided by an embodiment of the present invention;

[0045] Fig.13 is a schematic diagram of another obstacle avoidance path provided by an embodiment of the present invention;

[0046] Fig.14 is a schematic diagram of obstacle avoidance path planning under one of the working conditions provided by an embodiment of the present invention;

[0047] Fig.15 It is a schematic diagram of obstacle avoidance path planning under another working condition provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0048] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0049] It should be noted that the illustrations provided in the following embodiments are only used to illustrate the basic concept of the present invention in a schematic manner, and thus the illustrations only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0050] See also Figure 1-15 As shown, the present invention describes the technical solution of the present invention in detail in conjunction with a lawn mower. It can be understood that the control method of the robot tool of the present invention is not limited to application to lawn mowers. For example, the control method of the robot tool of the present invention can also be applied to other types of robot tools such as snow blowers, sweepers, hedge trimmers, etc.

[0051] See also Figure 4 As shown, a lawn mower includes a body 101, a walking mechanism 102, a detection module 11 and a control module, wherein the control module further includes a walking control module 13 and a path planning module 12; it can be understood that in order to obtain accurate position information of the lawn mower, the lawn mower also includes a necessary positioning module 15; in order to store the operating data and control program of the lawn mower, the lawn mower also includes a necessary storage module 14.

[0052] See also Figure 4 As shown, the walking mechanism 102 is installed at the bottom of the fuselage 101. In a specific embodiment, the walking mechanism 102 may include, for example, two driving wheels and one steering wheel. The two driving wheels are arranged at the rear of the fuselage 101, and the steering wheel is installed at the center of the front of the fuselage 101. The steering wheel covers the bottom of the fuselage 101 and is therefore not visible in the figure. The walking mechanism 102 can realize the walking action of the lawn mower. It can be understood that the specific form of the walking mechanism 102 is not unique. For example, two steering wheels and two driving wheels may be provided, or two sets of track wheels may be provided on both sides of the fuselage 101.

[0053] See also Figure 3 , 4As shown, the walking control module 13 is connected to the walking mechanism 102, and the walking control module 13 is configured to be able to at least control the forward, backward and turning movements of the robot tool.

[0054] See also Figure 4 As shown, the detection module 11 is at least installed at the front end of the fuselage 101, and the detection module 11 is used to detect whether there is an obstacle in front of the fuselage 101; in a specific embodiment, the detection module 11 can be provided in two groups, and is disposed at the front and rear ends of the fuselage 101; the function of the detection module 11 is to detect whether there is an obstacle in front of and behind the lawn mower, and the distance between the obstacle and the lawn mower, so the specific form of the detection module 11 is not particularly limited, for example, the detection module 11 can select one of a mechanical collision sensor, an ultrasonic radar, a laser radar, and an image recognition camera, or a combination of multiple detection modules 11 can be used to obtain more accurate detection data; the detection module 11 is connected to the walking control module 13.

[0055] See also Figure 4 , 8 As shown, the path planning module 12 is connected to the detection module 11 and the walking control module 13. When the detection module 11 detects that there is an obstacle within a first critical distance in front of the robot tool, the path planning module 12 can plan an obstacle avoidance path for the robot tool and send the obstacle avoidance path to the walking control module 13. The walking control module 13 controls the robot tool to walk along the obstacle avoidance path until the robot tool returns to the preset path.

[0056] See also Figure 1 As shown, the control method of the above lawn mower is as follows:

[0057] S10: Please refer to Figure 5 As shown, the area in front of the lawn mower 10 (i.e., the first direction) moving along the preset path L is detected in real time to determine whether there is an obstacle 20 within a first critical distance in front of the lawn mower 10 (i.e., whether the first stop event occurs).

[0058] It should be noted that the lawn mower 10 of the present invention can pre-plan a working path. When the lawn mower 10 is working, it walks along the pre-planned path, that is, the preset path L. The preset path L is as follows: Figure 5-11As shown by the horizontal dotted line in the figure, a relatively simple preset path L is shown. In actual applications, the preset path L of the lawn mower 10 needs to be set according to the shape of the working area and the distribution of buildings in the working area. Therefore, there may be a large number of curved paths. For this case, the perpendicularity to the preset path L mentioned in the present invention can be understood as perpendicular to the tangent direction of the preset path L at the current position of the lawn mower 10.

[0059] It is understandable that the real-time detection of the area in front of the lawn mower 10 moving along the preset path L is mainly achieved by the detection module 11 at the front end of the lawn mower 10 .

[0060] S20: When there is an obstacle 20 within a first critical distance in front of the lawn mower 10, the lawn mower 10 is controlled to retreat a first preset distance (ie, move the first preset distance along the second direction).

[0061] It should be noted that the lawn mower 10 of the present invention does not immediately perform an obstacle avoidance action once an obstacle 20 is detected. Instead, the lawn mower 10 is first controlled to continue walking for a certain distance until the distance between the lawn mower 10 and the obstacle 20 is less than a first critical distance, and then the lawn mower 10 is controlled to perform an obstacle avoidance action. This first critical distance can be 0. For example, a collision sensor is provided at the front end of the lawn mower 10. When the lawn mower 10 collides with the obstacle 20, the lawn mower 10 is controlled to perform an obstacle avoidance action. However, since the lawn mower 10 is too close to the obstacle 20 at this time and cannot flexibly make a turning action, the present invention first controls the lawn mower 10 to retreat a first preset distance, and then performs subsequent avoidance actions. In this way, the walking trajectory of the lawn mower 10 can cover as much of the area around the obstacle 20 as possible, thereby reducing the grass missing rate. The length of the first preset distance depends on the motion parameters of the lawn mower 10, specifically, it is determined according to the overall size and turning radius of the lawn mower 10.

[0062] S30: planning an obstacle avoidance path for the lawn mower 10, controlling the lawn mower to rotate a predetermined angle according to the obstacle avoidance path, and controlling the lawn mower 10 to move along the obstacle avoidance path until the lawn mower 10 returns to the preset path L.

[0063] See also Figure 2 As shown, the specific steps include:

[0064] The pre-stored estimated radius R is used as the obstacle avoidance distance, and the obstacle avoidance path is planned according to the obstacle avoidance distance; it can be understood that the obstacle described in the present invention refers to an obstacle that temporarily appears in the working area, the boundary range of the obstacle is not pre-stored in the path planning system, and the lawn mower cannot know the specific outline of the obstacle. Under this premise, the present invention first assumes an initial radius of an obstacle, namely the estimated radius R. Considering that in actual application scenarios, the temporary obstacles 20 that may appear are generally pedestrians or buckets, the initial value of the estimated radius R can be set to 40-80cm. Of course, the initial value of the estimated radius R can also be set to other values ​​according to different actual application scenarios. The present invention first calculates the obstacle avoidance path according to the estimated radius R. When the obstacle avoidance path cannot completely avoid the obstacle, the following steps are executed repeatedly until the lawn mower 10 returns to the preset path L;

[0065] Control the lawn mower 10 to move along the obstacle avoidance path, and perform real-time detection on the area in front of the lawn mower 10 to determine whether there is an obstacle 20 within a third critical distance in front of the lawn mower 10;

[0066] When an obstacle 20 exists within the third critical distance in front of the lawn mower 10, the lawn mower 10 is controlled to retreat a second preset distance, the obstacle avoidance distance plus a preset increment D is used as a new obstacle avoidance distance, and a new obstacle avoidance path is replanned according to the new obstacle avoidance distance.

[0067] Specifically, after the new obstacle avoidance path is re-planned according to the new obstacle avoidance distance, the lawn mower 10 is controlled to enter the new obstacle avoidance path from the position after retreating the second preset distance. It can be understood that when the new obstacle avoidance path planning is completed, the relative position between the lawn mower and the new obstacle avoidance path is determined. At this time, there must be a shortest distance between the lawn mower and the new obstacle avoidance path. The present invention can, for example, control the lawn mower to enter the new obstacle avoidance path along the shortest distance to improve the obstacle avoidance efficiency. Of course, in order to simplify the calculation process, the lawn mower can also enter the new obstacle avoidance path in a preset direction.

[0068] See also Fig.12 As shown, in one embodiment of the present invention, the obstacle avoidance path includes:

[0069] Determine a starting point, taking the position of the lawn mower 10 after retreating a first preset distance as the starting point;

[0070] Determine the center of the circle, take a point on the preset path L as the center of the circle, and make the distance between the center of the circle and the starting point equal to the obstacle avoidance distance; it can be understood that the actual outline of the obstacle may not be a circle, and in order to simplify the calculation process, the present invention assumes the outline of the obstacle as a standard circular area, and the circular area should be able to cover the entire obstacle; the center of the obstacle avoidance path should coincide with the center of the assumed obstacle, and the position of the center of the circle can be determined by the following method: first, the center of the circle must be located on the preset path L, and because the obstacle avoidance path passes through the starting point, therefore, the point on the first direction of the preset path L that is at a distance from the starting point equal to the obstacle avoidance distance is the position of the center of the circle.

[0071] A semicircular path is determined according to the center of the circle and the obstacle avoidance distance, and both ends of the semicircular path are respectively located on the preset path L; the semicircular path is the obstacle avoidance path.

[0072] See also Fig.13 As shown, in another embodiment of the present invention, the obstacle avoidance path may also be a linear path, for example. In this embodiment, the obstacle avoidance process of the lawn mower is as follows: the lawn mower first moves a distance in a direction perpendicular to the preset path L, then moves a distance in a direction parallel to the preset path L, and finally returns to the preset path L in a direction perpendicular to the preset path L. The specific planning method of the obstacle avoidance path is as follows:

[0073] Determine a starting point, taking the position of the lawn mower 10 after retreating a first preset distance as the starting point;

[0074] Determine a first section, the first section is perpendicular to the preset path L, the starting point is used as the starting point of the first section, and the length of the first section is equal to the obstacle avoidance distance;

[0075] Determine a second section, the second section is parallel to the preset path L, the end point of the first section is used as the starting point of the second section, and the length of the second section is equal to twice the obstacle avoidance distance;

[0076] Determine a third section, the third section is perpendicular to the preset path L, the end point of the second section is used as the starting point of the third section, and the length of the third section is equal to the length of the first section

[0077] The superposition of the first section, the second section and the third section constitutes the obstacle avoidance path.

[0078] For more details, see Fig.14As shown, when the lawn mower 10 moving along the second section detects the presence of an obstacle 20 within the third critical distance ahead, the obstacle avoidance distance is added with a preset increment D as a new obstacle avoidance distance, so that the length of the first section and the length of the third section are equal to the new obstacle avoidance distance, and the length of the second section is kept unchanged.

[0079] See also Fig.15 As shown, when the lawn mower 10 moving along the third section detects the presence of an obstacle 20 within the third critical distance ahead, the obstacle avoidance distance is added with a preset increment D as a new obstacle avoidance distance, so that the length of the second section is equal to the new obstacle avoidance distance, and the length of the first section and the length of the third section are kept unchanged.

[0080] It can be understood that, in this embodiment, the lengths of the avoidance paths of the lawn mower 10 in the vertical direction and the parallel direction can be adjusted separately, which can effectively reduce redundant strokes, improve the obstacle avoidance efficiency on the one hand, and further reduce the grass missing rate on the other hand.

[0081] S40: Control the lawn mower 10 to move towards the obstacle 20 (ie, control the lawn mower to move in the second direction) until the distance between the lawn mower 10 and the obstacle 20 is less than or equal to a second critical distance (ie, the second stop event occurs).

[0082] Specifically, in one embodiment of the present invention:

[0083] Controlling the lawn mower 10 to turn so that the front end of the lawn mower 10 faces the obstacle 20;

[0084] The lawn mower 10 is controlled to move forward toward the obstacle 20 .

[0085] In another embodiment of the present invention:

[0086] Controlling the lawn mower 10 to turn so that the rear end of the lawn mower 10 faces the obstacle 20;

[0087] The lawn mower 10 is controlled to move backward toward the obstacle 20 .

[0088] S50: Control the lawn mower 10 to continue walking along the preset path L.

[0089] It is understandable that the first critical distance, the second critical distance, and the third critical distance in the present invention may be equal or unequal, and the specific values ​​are determined by the size parameters of the lawn mower 10 and the contour of the obstacle 20 that may appear.

[0090] In summary, when the lawn mower 10 of the present invention encounters an obstacle 20, the lawn mower 10 is first controlled to reduce speed and continue to travel for a certain distance until the distance between the lawn mower 10 and the obstacle 20 is less than the first critical distance. Reducing speed can prevent the lawn mower from hitting the obstacle due to excessive speed. Then, the lawn mower 10 is controlled to retreat the first preset distance and then perform subsequent avoidance actions. In this way, the walking trajectory of the lawn mower 10 can cover as much area around the obstacle 20 as possible, thereby improving the mowing coverage rate.

[0091] The present invention performs cyclic planning of the avoidance path according to the information of the obstacle 20 detected by the detection module 11, thereby reducing the complexity of the detection module 11 and the operation flow, reducing the amount of calculation, improving the response speed, and reducing the equipment cost.

[0092] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A control method for a robot tool, characterized in that: include: The robotic tool travels in a first direction along a preset path and detects a first stop event; Controlling the robot tool to move a first preset distance in a second direction opposite to the first direction; Set obstacle avoidance paths; Controlling the robot tool to rotate a predetermined angle; Controlling the robot tool to walk along an obstacle-avoiding path until returning to the preset path; controlling the robot tool to move in a second direction until a second stop event is detected; Controlling the robot tool to move along a first direction; The setting of the obstacle avoidance path includes: Initialize an estimated radius of the obstacle, use the estimated radius as an obstacle avoidance distance, and plan the obstacle avoidance path according to the obstacle avoidance distance; The obstacle avoidance path planning method is as follows: Determine a starting point, taking the position of the robot tool after retreating a first preset distance as the starting point; Determine a first section, the first section is perpendicular to the preset path, the starting point is used as the starting point of the first section, and the length of the first section is equal to the obstacle avoidance distance; Determine a second section, the second section is parallel to the preset path, the end point of the first section is used as the starting point of the second section, and the length of the second section is equal to the obstacle avoidance distance; Determine a third section, the third section is perpendicular to the preset path, the end point of the second section is used as the starting point of the third section, and the length of the third section is equal to the length of the first section; The superposition of the first section, the second section and the third section constitutes the obstacle avoidance path.

2. The control method of the robot tool according to claim 1, characterized in that: The first stopping event includes the presence of an obstacle within a first critical distance in a first direction of the robotic tool.

3. The control method of the robot tool according to claim 1, characterized in that: The second stopping event includes the presence of an obstacle within a second critical distance in a second direction of the robot tool.

4. The control method of the robot tool according to claim 1, characterized in that: When the robot tool walks along the obstacle avoidance path, the area in front of the robot tool is detected in real time to determine whether there is an obstacle within a third critical distance in front of the robot tool; When there is an obstacle within the third critical distance in front of the robot tool, the robot tool is controlled to retreat a second preset distance, the obstacle avoidance distance plus a preset increment is used as a new obstacle avoidance distance, and a new obstacle avoidance path is replanned according to the new obstacle avoidance distance.

5. The control method of the robot tool according to claim 1, characterized in that: The obstacle avoidance path planning method is as follows: Determine a starting point, taking the position of the robot tool after retreating a first preset distance as the starting point; Determine the center of a circle, taking a point on the preset path of the robot tool in the first direction as the center of the circle, and the distance between the center of the circle and the starting point is equal to the obstacle avoidance distance; According to the center of the circle and taking the obstacle avoidance distance as a radius, a semicircular path is determined, and both ends of the semicircular path are respectively located on the preset path; the semicircular path is the obstacle avoidance path.

6. The control method of the robot tool according to claim 1, characterized in that: When the robot tool walking along the second section detects that there is an obstacle within the third critical distance ahead, the obstacle avoidance distance is added with a preset increment as a new obstacle avoidance distance, so that the length of the first section and the length of the third section are equal to the new obstacle avoidance distance, and the length of the second section is kept unchanged; When the robot tool walking along the third section detects the presence of an obstacle within the third critical distance ahead, the obstacle avoidance distance is added with a preset increment as a new obstacle avoidance distance, so that the length of the second section is equal to the new obstacle avoidance distance, and the length of the first section and the length of the third section are kept unchanged.

7. The control method of the robot tool according to claim 4, characterized in that: After replanning a new obstacle avoidance path according to the new obstacle avoidance distance, the robot tool is controlled to enter the new obstacle avoidance path from the position after retreating the second preset distance.

8. A robot tool, characterized in that: include: body; A walking mechanism, installed at the bottom of the fuselage; A detection module is installed on the body and is used to detect whether there are obstacles in the direction of travel of the robot tool. a control module, wherein the control module is connected to the walking mechanism and the detection module, and when the detection module detects that there is an obstacle within a preset distance in front of the fuselage, the control module can control the walking mechanism to retreat a certain distance, and the control module can generate an obstacle avoidance path, and control the walking mechanism to walk along the obstacle avoidance path; The control module is also used to perform the following steps: controlling the robot tool to move in a second direction until a second stop event is detected; Controlling the robot tool to move along a first direction; The step of the control module generating an obstacle avoidance path comprises: Initializing an estimated radius of the obstacle, taking the estimated radius as an obstacle avoidance distance, and planning the obstacle avoidance path according to the obstacle avoidance distance; The obstacle avoidance path planning method is as follows: Determine a starting point, taking the position of the robot tool after retreating a first preset distance as the starting point; Determine a first section, the first section is perpendicular to the preset path, the starting point is used as the starting point of the first section, and the length of the first section is equal to the obstacle avoidance distance; Determine a second section, the second section is parallel to the preset path, the end point of the first section is used as the starting point of the second section, and the length of the second section is equal to the obstacle avoidance distance; Determine a third section, the third section is perpendicular to the preset path, the end point of the second section is used as the starting point of the third section, and the length of the third section is equal to the length of the first section; The superposition of the first section, the second section and the third section constitutes the obstacle avoidance path.

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