Mobile Robot Inductive Collision System, Method and Its Circuit

Abstract

The present invention discloses a mobile robot collision sensing system, method and its circuit, comprising: the robot body includes a mechanical front collision, and the mechanical front collision includes a non-cylindrical front end face; at least four sensing systems are arranged on the robot body and are respectively located on both sides of the intersection of the front end face and the two side faces of the mechanical front collision of the non-cylindrical front end face. By arranging two sensing systems on both sides of the intersection of the front end face and the two side faces of the mechanical front collision of the non-cylindrical front end face, the mobile robot with a non-cylindrical mechanical front collision can accurately detect relevant information such as the collision direction when colliding with an obstacle, greatly reducing the frequency of secondary collisions occurring at the same place between the mobile robot with a non-cylindrical mechanical front collision and the obstacle. And it enables the main control chip of the robot body to still accurately detect the received collision signal after long-term use, so as to correctly judge and handle the relationship between the robot body and the obstacle.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile robots, and in particular to a mobile robot collision sensing system, method and its circuit. Background Art

[0002] A mobile robot is a machine device that automatically performs tasks. It can either accept human commands, run pre-programmed procedures, or act according to principles and guidelines formulated using artificial intelligence technology. Its task is to assist or replace human work, such as in the manufacturing industry, construction industry, or dangerous work.

[0003] In the prior art, the front collision of the mobile robot chassis or the overall mechanism is in the shape of a regular cylinder. When it encounters an obstacle, the shrapnel during the collision is evenly stressed, and there will be no phenomenon of rebound failure in the mechanical front collision. When the front collision of the mobile robot chassis or the overall mechanism is non-cylindrical, the elastic force during the collision of the traditional mobile robot with an obstacle is unevenly stressed, which easily leads to the failure of the mechanical front collision. And when the non-cylindrical front collision of the mobile robot chassis or the overall mechanism collides with an obstacle, due to the uneven stress of the shrapnel, the instructions received by the main control chip are deviated, resulting in incorrect instructions processed by the main control chip, and finally leading to incorrect execution instructions issued by the main control chip. For example, when the collision area is at the intersection of the front end face and the two side faces of the non-cylindrical front collision at the front end face of the non-cylindrical body, the mechanical front collision of the traditional non-cylindrical mobile robot will produce a certain deformation after long-term use, which easily affects the stress of the shrapnel on the front end face of the mechanical front collision due to the side collision force, resulting in the main control chip detecting an obstacle on the front end face of the mechanical front collision, and then the main control chip issues incorrect instructions, thus unable to avoid obstacles well, and even colliding multiple times at the same position of the obstacle in the same direction, resulting in a significant reduction in the walking coverage efficiency.

[0004] Therefore, designing a mobile robot collision sensing system, method and its circuit is an urgent problem to be solved in the industry. Summary of the Invention

[0005] In order to solve the problems existing in the above prior art, the present invention proposes a side collision system, method and its circuit for a cleaning robot, so that when a non-cylindrical mechanical front collision mobile robot collides with an obstacle, it can accurately detect relevant information such as the collision direction, thereby greatly reducing the frequency of secondary collisions between the non-cylindrical mechanical front collision mobile robot and the obstacle at the same place.

[0006] To achieve the above object, the present invention adopts the following technical solutions: A mobile robot induction collision system proposed by the present invention includes: a robot main body, the robot main body includes a mechanical front collision, and the mechanical front collision includes a non-cylindrical front end face; at least four sensing systems are provided on the robot main body and are respectively located on both sides of the intersection of the front end face and both side faces of the mechanical front collision on the non-cylindrical front end face.

[0007] Further, the sensing system is a magnetic sensor, including:

[0008] A magnet, the magnet is fastened on the mechanical front collision;

[0009] A magnetic force inductor, the magnetic force inductor is fastened inside the robot main body and forms a sensing system in mutual coupling with the magnet, and is respectively located on both sides of the intersection of the front end face and both side faces of the mechanical front collision on the non-cylindrical front end face.

[0010] Further, the magnetic force inductor is a Hall sensor.

[0011] Further, the sensing system is a microswitch or an optoelectronic sensor.

[0012] The present invention also discloses a mobile robot induction collision method, including the following steps implemented by the above-mentioned induction collision mobile robot:

[0013] The sensing system is configured to collect the signal that is converted into a voltage change after the mechanical front collision collides with an obstacle through the sensing system;

[0014] The sensing system outputs the signal converted into voltage to the main control chip for real-time monitoring and judgment;

[0015] According to the abnormal judgment result, the driving state of the driving wheels of the driving module is processed.

[0016] Further, the effective collision angles of the adjacent sensing systems on both sides of the intersection of the front end face and both side faces of the mechanical front collision on the non-cylindrical front end face are α and θ; wherein, the formed effective collision angles α and θ have a partially overlapping region angle β, and the collision angle is divided into three regions.

[0017] Further, the sensing system outputs the signal converted into voltage to the main control chip for real-time monitoring and judgment, including: when the main control chip only detects that the first sensing system triggers the α collision angle, the main control chip calculates and processes to obtain that it is a side collision, and controls the driving module to rotate the driving wheel to avoid the obstacle; when the main control chip only detects that the second sensing system triggers the θ collision angle, the main control chip calculates and processes to obtain that it is a front-end face collision, and controls the driving module to reverse the driving wheel to avoid the obstacle; when the main control chip simultaneously detects that the first sensing system triggers α and the second sensing system triggers the θ collision angle area, that is, it determines that the collision angle is the overlapping area angle β, the main control chip calculates and processes to obtain that it is a collision at the intersection of the front-end face and the two side faces of the mechanical front collision, so as to judge and control the driving module to control the driving wheel to avoid the obstacle.

[0018] Further, it further includes a storage module connected to the main control chip; the storage module is configured to record the movement trajectory of the robot body in real time.

[0019] Further, when the main control chip simultaneously detects that the first sensing system triggers α and the second sensing system triggers the θ collision angle area, the main control chip calculates and processes to obtain that it is a collision at the intersection of the front-end face and the two side faces of the mechanical front collision, so as to judge and control the driving module to control the driving wheel to avoid the obstacle, including: the storage module records the movement trajectory of the robot body in real time. When the main control chip detects that the collision area occurs in the intersection area of α and θ, the main control chip processes according to the movement trajectory of the robot body recorded by the storage module to obtain the reverse movement trajectory instruction, and then avoids the obstacle.

[0020] Further, the sensing system is a magnetic sensor.

[0021] Further, when the sensing system is a magnetic sensor, the signal of the magnetic force change after the collision is converted into a voltage change signal and output to the main control chip for real-time monitoring and judgment, including: monitoring the real-time voltage change of the voltage input end of the main control chip, synchronously calculating the voltage change situation of the input end, and comparing it with the set threshold.

[0022] Further, the principle of real-time monitoring and judgment of the voltage signal at the input end of the main control chip further includes:

[0023] If the voltage at the input end of the main control chip is equal to the threshold, it is judged that the main control chip is in a high-level state and outputs a normal detection result;

[0024] If the voltage at the input end of the main control chip is less than the threshold, it is judged that the main control chip is in a low-level state and outputs an abnormal detection result.

[0025] Further, according to the abnormal detection and judgment result, the driving state of the driving wheel of the driving module is processed, including:

[0026] According to the output abnormal judgment result, connect the output end of the main control chip to the driving module, and adjust the motion state of the driving wheel to reverse or turn the direction through the driving module until the main control chip detects that the voltage signal output by the sensing system is at a high level.

[0027] The present invention also discloses a mobile robot induction collision circuit, which includes a main control chip, four sensing systems, a driving module and a power supply module connected to a plurality of contacts of the main control chip; the sensing system includes four magnetic sensors, an anti-interference circuit, a signal output circuit and a common ground connected to the magnetic sensors.

[0028] Further, the anti-interference circuit includes two circuits connected in parallel. One circuit has a power supply VCC1 connected in series, and the other circuit has a first capacitor C1 connected in series. The other end of the first capacitor C1 is connected to the common ground.

[0029] Further, the signal output circuit includes two circuits connected in parallel. One circuit has a resistor R1 connected in series, and the other end of the resistor R1 is connected to the power supply VCC2; the other circuit is connected in series with the main control chip.

[0030] Further, the magnetic sensor is a Hall sensor.

[0031] Compared with the existing technology, the present invention has the following advantages:

[0032] By providing two sensing systems on each side of the intersection of the mechanical front collision front end face and the two side faces at the front end face of the non-cylindrical body, when the mobile robot with a non-cylindrical mechanical front collision collides with an obstacle, it can accurately detect relevant information such as the collision direction, etc., thus greatly reducing the frequency of secondary collisions between the mobile robot with a non-cylindrical mechanical front collision and the same place of the obstacle. And, because two sensing systems are provided on each side of the intersection of the mechanical front collision front end face and the two side faces at the front end face of the non-cylindrical body, the main control chip can still accurately detect the received collision signal after the robot body has been used for a long time, so as to correctly judge and handle the relationship between the robot body and the obstacle. Description of the Drawings

[0033] Figure 1 is a simplified schematic structural diagram of a mobile robot induction collision system according to an embodiment of the present invention;

[0034] Figure 2 is a simplified partial enlarged schematic structural diagram of a mobile robot induction collision system according to an embodiment of the present invention;

[0035] Figure 3 is a schematic structural diagram of a mobile robot induction collision system according to an embodiment of the present invention;

[0036] Figure 4 Schematic diagram of the collision sensing circuit of a mobile robot according to an embodiment of the present invention;

[0037] Figure 5 Schematic diagram of the sensing system module of the collision sensing circuit of a mobile robot according to an embodiment of the present invention;

[0038] Figure 6 Schematic diagram of the collision of a mobile robot with an obstacle directly in front according to an embodiment of the present invention Figure 1 ;

[0039] Figure 7 Schematic diagram of the collision of a mobile robot with an obstacle directly in front according to an embodiment of the present invention Figure 2 ;

[0040] Figure 8 Schematic diagram of the collision of a mobile robot with an obstacle directly in front according to an embodiment of the present invention Figure 3 ;

[0041] Among them, the symbols in the drawings are briefly explained as follows:

[0042] 1 - Robot main body; 2 - Mechanical front collision; 3 - Sensing system; 4 - Main control chip; 5 - Driving module; 6 - Storage module; 7 - Power supply module; 301 - Magnet; 302 - Magnetic force inductor; 303 - Magnetic sensor; 304 - Anti-interference circuit; 305 - Signal output circuit. Specific implementation mode

[0043] In order to more fully understand the technical content of the present invention, the present invention will be further described below in conjunction with the drawings, but not limited thereto.

[0044] Combined with Figures 1 to 3 As shown, a mobile robot collision sensing system proposed by the present invention includes: a robot main body 1, the robot main body 1 includes a mechanical front collision 2, the mechanical front collision 2 includes a non-cylindrical front end face, and the D-shaped cleaning robot adopted by the present invention has a square mechanical front collision 2. At least four sensing systems 3 are arranged on the robot main body 1 and are respectively located on both sides of the intersection of the front end face and the two side faces of the mechanical front collision 2 on the non-cylindrical front end face.

[0045] Combined with Figures 1 to 3 As shown, in an embodiment of the present invention, the sensing system 3 is a magnetic sensor, including:

[0046] A magnet 301, and the magnet 301 is fastened to the mechanical front collision 2.

[0047] The magnetic induction sensor 302 is fixedly installed inside the robot main body 1 and is coupled with the magnet 301 to form a sensing system 3, and is respectively located on both sides of the intersection of the front end face and the two side faces of the mechanical front collision 2 on the front end face of the non-cylindrical body.

[0048] Combined with Figure 1 and Figure 2 As shown, in an embodiment of the present invention, the magnetic induction sensor 302 is a Hall sensor.

[0049] Combined with Figures 1 to 3 As shown, in an embodiment of the present invention, the sensing system 3 is not limited to a magnetic sensor, and may also be other sensors such as a micro switch, a photoelectric sensor, etc.

[0050] The present invention also discloses a method for a mobile robot to sense a collision, including the above-mentioned mobile robot for sensing a collision, and implementing the following steps:

[0051] The sensing system 3 is configured to collect the signal that is converted into a voltage change after the mechanical front collision 2 collides with an obstacle through the sensing system 3;

[0052] The sensing system 3 outputs the signal converted into voltage to the main control chip 4 for real-time monitoring and judgment;

[0053] According to the abnormal judgment result, the driving module 5 is processed for the motion state of the driving wheels.

[0054] In an embodiment of the present invention, the effective collision angles of the sensing systems adjacent to both sides of the intersection of the front end face and the two side faces of the mechanical front collision 2 located on the front end face of the non-cylindrical body are α and θ. Among them, the formed effective collision angles α and θ have a partially overlapping region angle β, and the collision angle is divided into three regions. Among them, the overlapping region angle β is a product preset value, which is obtained through debugging. The setting range of the overlapping region angle β of the present invention is 0° < β ≤ 10°.

[0055] Combined with Figures 1 to 8 As shown, in an embodiment of the present invention, the sensing system 3 outputs the signal converted into voltage to the main control chip 4 for real-time monitoring and judgment, including: when the main control chip 4 only detects that the first sensing system triggers the α collision angle, the main control chip 4 calculates and processes to obtain that it is a collision on the side, and controls the driving module 5 to rotate the driving wheels to bypass the obstacle. When the main control chip 4 only detects that the second sensing system triggers the θ collision angle, the main control chip 4 calculates and processes to obtain that it is a collision on the front end face, and controls the driving module 5 to reverse the driving wheels to bypass the obstacle. When the main control chip 4 simultaneously detects that the first sensing system triggers α and the second sensing system triggers the θ collision angle region, the main control chip 4 calculates and processes to obtain that it is a collision at the intersection of the front end face and the two side faces of the mechanical front collision 2, thereby judging and controlling the driving module 5 to control the driving wheels to bypass the obstacle.

[0056] As Figure 4 shown, in an embodiment of the present invention, it further includes a storage module 6 connected to the main control chip 4. The storage module 6 is configured to record the movement trajectory of the robot body 1 in real time. It should be understood that the movement trajectory of the robot body 1 recorded by the storage module 6 includes parameters such as direction and travel distance, so that when a collision occurs with an obstacle, the main control chip 4 can adjust and control the movement trajectory of the robot body 1 according to its direction, travel, and other parameters.

[0057] Combined with Figure 1 、 Figure 3 and Figure 4 shown, in an embodiment of the present invention, when the main control chip 4 simultaneously detects that the first sensing system triggers α and the second sensing system triggers the θ collision angle region, the main control chip 4 calculates and processes to obtain that it is a collision at the intersection of the front end face and the two side faces of the mechanical front collision 2, so as to judge and control the drive module 5 to control the drive wheels to bypass the obstacle, including: the storage module 6 records the movement trajectory of the robot body 1 in real time. When the main control chip 4 detects that the collision region occurs in the intersection region of α and θ, that is, it judges that the collision angle is the overlapping region angle β. The main control chip 4 processes according to the movement trajectory of the robot body 1 recorded by the storage module 6 to obtain a reverse movement trajectory instruction, and then bypasses the obstacle.

[0058] Combined with Figures 1 to 5 shown, in an embodiment of the present invention, when the sensing system 3 is a magnetic sensor, the magnetic force change is converted into a voltage change signal and output to the main control chip 4 for real-time monitoring and judgment, including: monitoring the real-time voltage change at the voltage input end of the main control chip 4, synchronously calculating the voltage change situation at the input end, and comparing it with a set threshold.

[0059] As Figure 4 shown, in an embodiment of the present invention, the principle of real-time monitoring and judgment of the voltage signal at the input end of the main control chip 4 further includes:

[0060] If the voltage at the input end of the main control chip 4 is equal to the threshold, it is judged that the main control chip 4 is in a high-level state and outputs a normal detection result;

[0061] If the voltage at the input end of the main control chip 4 is less than the threshold, it is judged that the main control chip 4 is in a low-level state and outputs an abnormal detection result.

[0062] As Figure 4 shown, in an embodiment of the present invention, according to the abnormal detection judgment result, the drive state of the drive wheels of the drive module 5 is processed, including:

[0063] According to the abnormal judgment result of the output, connect the output end of the main control chip 4 to the driving module 5, and adjust the motion state of the driving wheel to reverse or turn the direction through the driving module 5 until the main control chip 4 detects that the voltage signal output by the sensing system 3 is at a high level.

[0064] As shown in Figures 1 to 5 In the present invention, a mobile robot sensing collision circuit is also disclosed, which includes a main control chip 4 and four sensing systems 3, a driving module 5 and a power supply module 7 connected to multiple contacts of the main control chip 4. The sensing system 3 includes four magnetic sensors 303, an anti-interference circuit 304, a signal output circuit 305 and a common ground connected to the magnetic sensors 303.

[0065] As shown in Figures 4 to 5 In an embodiment of the present invention, the anti-interference circuit 304 includes two circuits connected in parallel. One circuit has a power supply VCC1 connected in series, and the other circuit has a first capacitor C1 connected in series. The other end of the first capacitor C1 is connected to the common ground.

[0066] As shown in Figures 4 to 5 In an embodiment of the present invention, the signal output circuit 305 includes two circuits connected in parallel. One circuit has a resistor R1 connected in series, and the other end of the resistor R1 is connected to the power supply VCC2. The other circuit is connected in series with the main control chip 4.

[0067] As Figure 5 shown, in an embodiment of the present invention, the magnetic sensor 303 is a Hall sensor.

[0068] Among them, it should be understood that the robot body 1 adopted by the present invention can be a cleaning robot such as a mopping robot or a sweeping robot, etc., and can also be an AGV, a food delivery robot, etc.

[0069] In the present invention, two sensing systems are respectively provided on both sides of the intersection of the front end face and the two side faces of the mechanical front collision 2 on the front end face of the non-cylindrical body, so that when the mobile robot with the non-cylindrical mechanical front collision 2 collides with an obstacle, it can accurately detect relevant information such as the collision direction, etc., thereby greatly reducing the frequency of secondary collisions between the mobile robot with the non-cylindrical mechanical front collision 2 and the same place of the obstacle. And, because two sensing systems are respectively provided on both sides of the intersection of the front end face and the two side faces of the mechanical front collision 2 on the front end face of the non-cylindrical body, the main control chip 4 can still accurately detect the received collision signal after the robot body 1 has been used for a long time, so as to correctly judge and process the relationship between the robot body 1 and the obstacle.

[0070] The above specific embodiments are only used to illustrate the concept of the present invention, and those of ordinary skill in the art can make various deformations and changes under the concept of the present invention. These deformations and changes are all included in the protection scope of the present invention.

Claims

1. A mobile robot collision sensing system, characterized in that Comprising: a robot body (1), the robot body (1) includes a mechanical front collision (2), the mechanical front collision (2) includes a non-cylindrical front end face; at least four sensing systems (3) are provided on the robot body (1) and are respectively located on both sides of the intersection of the front end face and the two side faces of the mechanical front collision (2) with a non-cylindrical front end face; The effective collision angles of the sensing systems adjacent to both sides of the intersection of the front end face and the two side faces of the mechanical front collision with a non-cylindrical front end face are α and θ; wherein, the formed effective collision angles α and θ have a partially overlapping region angle β, dividing the collision angle into three regions; The sensing system outputs the signal converted into voltage to the main control chip for real-time monitoring and judgment, including: when the main control chip only detects that the first sensing system triggers the α collision angle, the main control chip calculates and processes to obtain that it is a side collision, and controls the driving module to rotate the driving wheel to avoid the obstacle; when the main control chip only detects that the second sensing system triggers the θ collision angle, the main control chip calculates and processes to obtain that it is a front end face collision, and controls the driving module to reverse the driving wheel to avoid the obstacle; when the main control chip simultaneously detects that the first sensing system triggers α and the second sensing system triggers the θ collision angle region, that is, judges that its collision angle is the overlapping region angle β, the main control chip calculates and processes to obtain that it is a collision at the intersection of the front end face and the two side faces of the mechanical front collision, thereby judging and controlling the driving module to control the driving wheel to avoid the obstacle.

2. The mobile robot collision sensing system according to claim 1, wherein The sensing system (3) is a magnetic sensor, including: A magnet (301), the magnet (301) is fastened on the mechanical front collision (2); A magnetic force inductor (302), the magnetic force inductor (302) is fastened inside the robot body (1) and is coupled with the magnet (301) to form a sensing system (3), and is respectively located on both sides of the intersection of the front end face and the two side faces of the mechanical front collision (2) with a non-cylindrical front end face.

3. The mobile robot induction collision system according to claim 2, wherein The magnetic force inductor (302) is a Hall sensor.

4. The mobile robot collision sensing system according to claim 1, wherein The sensing system (3) is a microswitch or an optical sensor.

5. A method for a mobile robot to sense collisions, characterized in that, Including the steps to realize the mobile robot collision sensing system according to any one of claims 1-4: The sensing system (3) is configured to collect the signal that is converted into a voltage change after the mechanical front collision (2) collides with an obstacle; The sensing system (3) outputs the converted voltage change signal to the main control chip (4) for real-time monitoring and judgment; According to the abnormal judgment result, perform driving wheel motion state processing on the driving module (5); The effective collision angles of the sensing systems adjacent to both sides of the intersection of the front end face and the two side faces of the mechanical front collision with a non-cylindrical front end face are α and θ; wherein, the formed effective collision angles α and θ have a partially overlapping region angle β, dividing the collision angle into three regions; The said sensing system (3) outputs the signal converted into voltage to the main control chip (4) for real-time monitoring and judgment, including: when the main control chip (4) only detects the first sensing system triggering the α collision angle, the main control chip (4) calculates and processes to obtain that it is a side collision, and controls the driving module (5) to rotate the driving wheel to avoid the obstacle; when the main control chip (4) only detects the second sensing system triggering the θ collision angle, the main control chip (4) calculates and processes to obtain that it is a front-end face collision, and controls the driving module (5) to reverse the driving wheel to avoid the obstacle; when the main control chip (4) simultaneously detects the first sensing system triggering α and the second sensing system triggering the θ collision angle area, that is, judges that the collision angle is the overlapping area angle β, the main control chip (4) calculates and processes to obtain that it is a collision at the intersection of the front-end face and the two side faces of the mechanical front collision (2), so as to judge and control the driving module (5) to control the driving wheel to avoid the obstacle.

6. The mobile robot collision sensing method according to claim 5, wherein It further includes a storage module (6) connected to the main control chip (4); the storage module (6) is configured to record the movement trajectory of the robot body (1) in real time.

7. The mobile robot collision sensing method according to claim 5, wherein When the main control chip (4) simultaneously detects the first sensing system triggering α and the second sensing system triggering the θ collision angle area, the main control chip (4) calculates and processes to obtain that it is a collision at the intersection of the front-end face and the two side faces of the mechanical front collision (2), so as to judge and control the driving module (5) to control the driving wheel to avoid the obstacle, including: the storage module (6) records the movement trajectory of the robot body (1) in real time. When the main control chip (4) detects that the collision area occurs in the intersection area of α and θ, the main control chip (4) processes according to the movement trajectory of the robot body (1) recorded by the storage module (6) to obtain the reverse movement trajectory instruction, and then avoids the obstacle.

8. The mobile robot collision sensing method according to claim 5, wherein The said sensing system (3) is a magnetic sensor.

9. The mobile robot collision sensing method according to claim 8, characterized in that, When the sensing system (3) is a magnetic sensor, the signal converting the magnetic force change after collision into a voltage change is output to the main control chip (4) for real-time monitoring and judgment, including: monitoring the real-time voltage change at the voltage input end of the main control chip (4), synchronously calculating the voltage change situation at the input end, and comparing it with the set threshold.

10. The mobile robot collision sensing method according to claim 9, characterized in that, The principle of real-time monitoring and judgment of the voltage signal at the input end of the main control chip (4) further includes: If the voltage at the input end of the main control chip (4) is equal to the threshold, it is judged that the main control chip (4) is in a high-level state and outputs a normal detection result; If the voltage at the input end of the main control chip (4) is less than the threshold, it is judged that the main control chip (4) is in a low-level state and outputs an abnormal detection result.

11. The mobile robot collision sensing method according to claim 10, wherein According to the abnormal detection and judgment result, the driving state of the driving wheel of the driving module (5) is processed, including: According to the output abnormal judgment result, connect the output end of the main control chip (4) to the driving module (5), and adjust the driving state of the driving wheel by the driving module (5) to reverse or turn the direction until the main control chip (4) monitors that the voltage signal output by the sensing system (3) is at a high level.

12. A mobile robot sensing and collision circuit, characterized in that, It includes a main control chip (4), as well as four sensing systems (3), a driving module (5) and a power supply module (7) connected to multiple contacts of the main control chip (4); the sensing system (3) includes four magnetic sensors (303), an anti-interference circuit (304), a signal output circuit (305) and a common ground connected to the magnetic sensors (303). The effective collision angles of the sensing systems adjacent to both sides at the intersection of the mechanical front collision front face and the two side faces located at the front end face of the non-cylindrical body are α and θ; among them, the formed effective collision angles α and θ have a partially overlapping region angle β, dividing the collision angle into three regions. The sensing system outputs the signal converted into voltage to the main control chip for real-time monitoring and judgment, including: when the main control chip only detects that the first sensing system triggers the α collision angle, the main control chip calculates and processes to obtain that it is a collision on the side, and controls the driving module to rotate the driving wheel to avoid the obstacle; when the main control chip only detects that the second sensing system triggers the θ collision angle, the main control chip calculates and processes to obtain that it is a collision on the front face, and controls the driving module to reverse the driving wheel to avoid the obstacle; when the main control chip simultaneously detects that the first sensing system triggers the α and the second sensing system triggers the θ collision angle region, that is, it judges that the collision angle is the overlapping region angle β, the main control chip calculates and processes to obtain that it is a collision at the intersection of the mechanical front collision front face and the two side faces, so as to judge and control the driving module to control the driving wheel to avoid the obstacle.

13. The mobile robot collision sensing circuit according to claim 12, characterized in that, The anti-interference circuit (304) includes two circuits connected in parallel, one of which has a power supply VCC1 connected in series, and the other has a first capacitor C1 connected in series, and the other end of the first capacitor C1 is connected to the common ground.

14. The mobile robot sensing collision circuit according to claim 13, characterized in that, The signal output circuit (305) includes two circuits connected in parallel, one of which has a resistor R1 connected in series, and the other end of the resistor R1 is connected to the power supply VCC2; the other circuit is connected in series with the main control chip (4).

15. The mobile robot sensing collision circuit according to any one of claims 12-14, characterized in that, The magnetic sensor (303) is a Hall sensor.

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