Travel method, travel collision avoidance device, readable storage medium, and mobile robot

Abstract

The application provides a traveling method, a traveling anti-collision device, a readable storage medium and a mobile robot. The traveling method comprises the following steps: determining a first distance from a preset center point of the mobile robot to an edge contour point of a body of the mobile robot, wherein the distance from the preset center point to at least two edge contour points of the body is different; determining a second distance from the preset center point of the mobile robot to an obstacle during a mobile rotation operation of the mobile robot; and adjusting the mobile rotation operation of the mobile robot according to the first distance and the second distance, so as to avoid collision between the mobile robot and the obstacle. The traveling method and the traveling anti-collision device determine the relative position relationship between all edge contour points of the body of the mobile robot and the obstacle during the operation of the mobile robot, and adjust the moving state and / or the rotating state of the mobile robot, so that the edge contour of the body of the mobile robot is far away from the obstacle, collision between the mobile robot and the obstacle is avoided, and the working safety of the mobile robot is improved.

Description

[Technical Field]

[0001] This invention relates to the field of mobile robots, and more particularly to a method for moving a mobile robot, a collision avoidance device, a readable storage medium, and a mobile robot. [Background Technology]

[0002] To prevent collisions with obstacles during operation, mobile robots typically incorporate obstacle detection equipment such as radar scanners. This equipment detects the location of obstacles, allowing the robot to brake and stop in time. However, when the robot is very close to obstacles like walls, the obstacle detection equipment may not be able to accurately and comprehensively measure the relative distance between the robot's outermost edge and the obstacle, leading to collisions during movement or rotation. Specifically, if the robot has a non-circular, irregular shape, the obstacle detection equipment may determine that the robot's tail will not collide with the wall when it is backed against it. However, when the robot rotates in place, the irregularly shaped tail may scrape against the wall, compromising the robot's safety during operation and failing to reduce wear and tear caused by movement or rotation. [Summary of the Invention]

[0003] The purpose of this invention is to provide a method for moving a mobile robot and a collision avoidance device. Based on a first distance from the preset center point of the mobile robot to the edge contour point of the robot body, and a second distance from the preset center point of the mobile robot to an obstacle, the mobile robot is adjusted to perform a movement and rotation operation to avoid collisions between the mobile robot and obstacles.

[0004] The objective of this invention is achieved through the following technical solution:

[0005] The methods of movement for mobile robots include:

[0006] A first distance is determined from the preset center point of the mobile robot to the edge contour point of the robot body. The mobile robot has at least a first edge contour point and a second edge contour point of the robot body. The distance from the preset center point to the first edge contour point and the distance to the second edge contour point of the robot body are different.

[0007] During the mobile robot's movement and rotation operation, a second distance from the preset center point of the mobile robot to the obstacle is determined;

[0008] Based on the first distance and the second distance, the mobile robot is adjusted to perform a movement and rotation operation to avoid collisions with the obstacle.

[0009] In one embodiment, determining the second distance from the preset center point of the mobile robot to the obstacle during the mobile robot's movement and rotation operation includes:

[0010] If the location of the obstacle distance detection unit of the mobile robot overlaps with the preset center point, then the distance detected by the obstacle distance detection unit to the obstacle is determined as the second distance from the preset center point to the obstacle.

[0011] In one embodiment, determining the second distance from the preset center point of the mobile robot to the obstacle during the mobile robot's movement and rotation operation includes:

[0012] If the location of the obstacle distance detection unit of the mobile robot does not overlap with the preset center point, then the location of the obstacle distance detection unit and the preset center point are merged, and the distance detected by the obstacle distance detection unit to the obstacle is determined as the second distance from the preset center point to the obstacle.

[0013] In one embodiment, determining the first distance from the preset center point of the mobile robot to the edge contour point of the robot body includes:

[0014] The rotation center point, wheel axle distance center point, or preset fixed point of the mobile robot is used as the preset center point;

[0015] A first Cartesian coordinate system is constructed using the preset center point as the origin;

[0016] Determine the first distance from the preset center point of the mobile robot to any edge contour point of the robot body in the first Cartesian coordinate system.

[0017] In one embodiment, fusing the location of the obstacle distance detection unit and the preset center point includes:

[0018] A second Cartesian coordinate system is constructed with the location of the obstacle distance detection unit of the mobile robot as the origin;

[0019] Based on the coordinate system transformation relationship between the first Cartesian coordinate system and the second Cartesian coordinate system, the location of the obstacle distance detection unit and the preset center point are fused.

[0020] In one embodiment, determining the distance to the obstacle detected by the obstacle distance detection unit as the second distance from the preset center point to the obstacle includes:

[0021] Determine the first obstacle distance between the obstacle distance detection unit and the obstacle;

[0022] Based on the coordinate system transformation relationship between the first Cartesian coordinate system and the second Cartesian coordinate system, the second distance between the preset center point and the obstacle is determined based on the first obstacle distance.

[0023] In one embodiment, adjusting the mobile robot's movement and rotation operation based on the first distance and the second distance to avoid collisions between the mobile robot and the obstacle includes:

[0024] During the mobile robot's movement and rotation operation, a first azimuth angle of the obstacle distance detection unit relative to the obstacle is determined;

[0025] The second azimuth angle of the preset center point relative to the obstacle is calculated based on the first azimuth angle.

[0026] Determine the first distance from the preset center point to the fuselage edge contour point when the preset center point is at the second azimuth angle;

[0027] When the mobile robot performs a movement and rotation operation, causing the second distance to gradually decrease and satisfy a preset condition with the first distance, the movement and rotation operation performed by the mobile robot is changed to avoid the mobile robot colliding with the obstacle.

[0028] A mobile robot anti-collision device includes:

[0029] The first distance determination module is used to determine the first distance from the preset center point of the mobile robot to the edge contour point of the robot body. The mobile robot has at least a first edge contour point and a second edge contour point of the robot body. The distance from the preset center point to the first edge contour point and the distance to the second edge contour point of the robot body are different.

[0030] The second distance determination module is used to determine the second distance from the preset center point of the mobile robot to the obstacle during the mobile robot's movement and rotation operation.

[0031] The movement control module is used to adjust the movement and rotation operations of the mobile robot based on the first distance and the second distance, so as to avoid the mobile robot colliding with the obstacle.

[0032] A computer-readable storage medium storing computer-readable instructions that, when executed by a processor, implement the movement method of any of the above-described mobile robots.

[0033] A mobile robot includes: a memory, a processor, and a program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the movement method of any of the above-described mobile robots.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] The mobile robot's movement method and anti-collision device provided in this application adjust the mobile robot's movement and rotation operations based on a first distance from the preset center point of the mobile robot to the edge contour point of the robot body, and a second distance from the preset center point of the mobile robot to the obstacle, so as to avoid the mobile robot colliding with the obstacle. [Attached Image Description]

[0036] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0037] Figure 1 This is a flowchart illustrating the movement method of the mobile robot provided in this application.

[0038] Figure 2 yes Figure 1 The diagram shows a planar outline of the robot's body edge in the robot's movement method.

[0039] Figure 3 yes Figure 1 The diagram illustrates the motion of the mobile robot rotating in place during its movement.

[0040] Figure 4 This is a structural block diagram of the mobile robot anti-collision device provided in this application.

[0041] Figure 5 This is a schematic diagram of the movement of the mobile robot provided in this application when it encounters an obstacle and performs collision avoidance maneuvers.

Detailed Implementation Methods

[0042] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, it should be noted that, for ease of description, only the parts relevant to this application are shown in the accompanying drawings, not the entire structure. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this application.

[0043] The terms “comprising” and “having”, and any variations thereof, used in this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus.

[0044] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0045] Please see Figure 1 As shown in the illustration, an embodiment of this application provides a method for controlling the movement state of a mobile robot during operation. This movement state may include, but is not limited to, a moving state and / or a rotating state. This allows the mobile robot to promptly change its movement state when encountering obstacles such as walls during operation, controlling the robot to avoid collisions or scrapes with the obstacles. The mobile robot may be, but is not limited to, a mobile robot.

[0046] The movement method of this mobile robot mainly includes the following processes:

[0047] A first distance is determined from a preset center point to a body edge contour point of the mobile robot. The mobile robot has at least a first body edge contour point and a second body edge contour point. The distance from the preset center point to the first body edge contour point and the distance to the second body edge contour point are different.

[0048] During the mobile robot's movement and rotation operations, a second distance from the preset center point of the mobile robot to the obstacle is determined;

[0049] Based on a first distance and a second distance, the mobile robot adjusts its movement and rotation operations to avoid collisions with the obstacle. By comparing the first and second distances, the relative positional relationship between the robot's body edge contour and the obstacle is determined, predicting whether the robot will collide with the obstacle during movement and / or rotation. This allows for timely adjustment of the robot's movement and / or rotation state to avoid the obstacle. The movement state may include, but is not limited to, the robot's direction of movement and / or distance of movement. The rotation state may include, but is not limited to, the robot's direction of rotation and / or angle of rotation, where the rotation direction can be counterclockwise or clockwise.

[0050] The mobile robot can have a regular circular body edge outline or an irregular non-circular body edge outline. The preset center point of the mobile robot can be, but is not limited to, the rotation center point, the wheel axle distance center point, or a preset fixed point. The rotation center point refers to the rotation point corresponding to the mobile robot's in-place rotation action. The preset fixed point can be any point on the plane where the mobile robot's body is located. Typically, when the mobile robot is a two-wheeled mobile robot, its rotation center point and wheel axle distance center point coincide.

[0051] When a mobile robot has a regular circular body edge outline shape, the center of the circle is simultaneously the rotation center point and the wheel axle distance center point of the mobile robot. In this case, the center of the circle is taken as the preset center point of the mobile robot, so that the first distance from the preset center point to any point on the body edge outline of the mobile robot is equal to the radius of the circle.

[0052] When the mobile robot has an irregular body edge profile that is not circular, please refer to [reference needed]. Figure 2 As shown, a first Cartesian coordinate system is constructed with the preset center point of the mobile robot as the origin, and the first distance from the preset center point of the mobile robot to any point on the edge contour of the mobile robot's body is determined in the first Cartesian coordinate system. In actual operation, a two-dimensional mechanical structure engineering drawing of the mobile robot can be obtained in advance, the preset center point can be determined on the two-dimensional mechanical structure engineering drawing, and then the first Cartesian coordinate system can be constructed with the preset center point as the origin. The two-dimensional mechanical structure engineering drawing contains the shape and size information of the edge contour of the mobile robot's body. Mapping the two-dimensional mechanical structure engineering drawing to the first Cartesian coordinate system can accurately obtain the first distance from the preset center point to any point on the edge contour of the mobile robot's body. Since the edge contour of the mobile robot's body has an irregular shape, the preset center point of the mobile robot is at different distances from the edge contour points in different directions of 360 degrees on the two-dimensional plane where the body is located.

[0053] The mobile robot may be equipped with an obstacle distance detection unit, which may be, but is not limited to, a ranging radar, a TOF sensor, a line laser ranging sensor, or an infrared ranging sensor. This obstacle distance detection unit can be installed at any location inside the mobile robot. When the mobile robot performs movement or rotation operations, the obstacle distance detection unit operates synchronously to detect the distance between the mobile robot and nearby obstacles. This distance refers to the straight-line distance between the obstacle distance detection unit and the obstacle.

[0054] The obstacle distance detection unit can be set at a preset center point of the mobile robot, or it can be set at other locations on the mobile robot.

[0055] When the obstacle distance detection unit is set at the preset center point of the mobile robot, that is, the position of the obstacle distance detection unit overlaps with the preset center point, the distance between the obstacle and the obstacle detected by the obstacle distance detection unit is directly used as the second distance from the preset center point to the obstacle.

[0056] When the obstacle distance detection unit is not set at the preset center point of the mobile robot, that is, the position of the obstacle distance detection unit does not overlap with the preset center point, the second distance from the preset center point to the obstacle is obtained based on the relative positional relationship between the position of the obstacle distance detection unit and the preset center point, and combined with the distance between the obstacle and the obstacle detected by the obstacle distance detection unit.

[0057] Furthermore, when the obstacle distance detection unit is not located at the preset center point of the mobile robot, the second distance from the preset center point to the obstacle can be calculated through coordinate system transformation. Specifically, a second Cartesian coordinate system is constructed using the location of the obstacle distance detection unit as the origin. The X and Y axes of this second Cartesian coordinate system are parallel to the X and Y axes of the first Cartesian coordinate system, respectively. Based on the coordinate system transformation relationship between the first and second Cartesian coordinate systems, the location of the obstacle distance detection unit and the preset center point can be fused. In practice, fusing the location of the obstacle distance detection unit and the preset center point means calibrating the location of the obstacle distance detection unit in the first Cartesian coordinate system, and then obtaining the coordinate system transformation relationship between the first and second Cartesian coordinate systems based on the coordinate values ​​of the obstacle distance detection unit in the first Cartesian coordinate system.

[0058] After the fusion of the location of the obstacle distance detection unit and the preset center point is completed, the first obstacle distance between the obstacle distance detection unit and the obstacle is first determined. Then, the trigonometric method is used to solve the problem by combining the coordinate system transformation relationship between the first Cartesian coordinate system and the second Cartesian coordinate system. The second distance between the preset center point and the obstacle in the first Cartesian coordinate system can be obtained.

[0059] During the movement and rotation operation of a mobile robot, in order to avoid obstacles and prevent collisions, the movement and rotation operation needs to be adjusted. Specifically, during the movement and rotation operation, the first azimuth angle of the obstacle distance detection unit relative to the obstacle is first determined, and then the second azimuth angle of the preset center point relative to the obstacle is calculated based on the first azimuth angle. For the robot's body edge contour, there is a unique body edge contour point corresponding to this second azimuth angle. At this time, the first distance from the preset center point to the body edge contour point corresponding to this second azimuth angle is determined. If the second distance from the preset center point to the obstacle gradually decreases during the movement and rotation operation, it indicates that the robot is gradually approaching the obstacle, that is, the robot's body edge contour is also gradually approaching the obstacle. At this point, the first distance is compared with the second distance. If the first distance is greater than or equal to the second distance, it indicates that the edge profile of the mobile robot corresponding to the second azimuth angle will collide or scrape against the obstacle. In this case, the mobile robot is instructed to stop moving and rotating to brake, thereby avoiding the obstacle. Alternatively, the mobile robot can be instructed to move away from the obstacle or rotate away from the second azimuth angle, thus moving its edge profile away from the obstacle. Through these methods, collisions or scrapes between the mobile robot and obstacles can be effectively avoided.

[0060] Furthermore, when the obstacle distance detection unit is positioned at the preset center point of the mobile robot, the first azimuth angle of the obstacle distance detection unit relative to the obstacle is the second azimuth angle of the preset center point relative to the obstacle; that is, the second azimuth angle equals the first azimuth angle. When the obstacle distance detection unit is not positioned at the preset center point of the mobile robot, the second azimuth angle of the preset center point relative to the obstacle can be obtained by calculating and transforming the first azimuth angle according to the coordinate transformation relationship between the first and second Cartesian coordinate systems.

[0061] Please see Figure 3As shown, the relative positional relationship between the preset center point of the mobile robot and the edge contour point of the robot body, as well as the relative positional relationship between the preset center point of the mobile robot and the obstacle, can also be determined in the polar coordinate system to adjust the movement and rotation state of the mobile robot.

[0062] Specifically, a polar coordinate system with the same origin as the first Cartesian coordinate system is first constructed. The coordinate values ​​of the robot's edge contour points farthest from the preset center point and the obstacle, which were originally in the first Cartesian coordinate system, are converted to polar coordinate values ​​in this polar coordinate system. The polar radius of the polar coordinate value of the robot's edge contour point farthest from the preset center point is compared with the polar radius of the obstacle. If the polar radius of the robot's edge contour point farthest from the preset center point is greater than or equal to the polar radius of the obstacle, it is determined that the robot will collide or scrape against the obstacle during its rotation in place. If the polar radius of the robot's edge contour point farthest from the preset center point is less than the polar radius of the obstacle, it is determined that the robot will not collide or scrape against the obstacle during its rotation in place. If the robot will collide or scrape against the obstacle during its rotation in place, the polar angle difference between the polar angle of the robot's edge contour point farthest from the preset center point and the polar angle of the obstacle is determined. Based on this polar angle difference, the rotation angle of the mobile robot during in-place rotation is controlled to not exceed this polar angle difference. This prevents the mobile robot from rotating too much in place and colliding or scraping against obstacles. Specifically... Figure 3 In the figure, (a) shows the current posture of the mobile robot, and (b) shows the posture of the mobile robot after rotating in place. As long as the rotation angle of the mobile robot in counterclockwise rotation does not exceed the polar angle difference, the collision between the mobile robot and the obstacle can be avoided.

[0063] Please see Figure 4 As shown, an embodiment of this application provides a mobile robot anti-collision device for controlling the mobile robot's movement during operation to avoid collisions with obstacles. The mobile robot anti-collision device includes:

[0064] The first distance determination module is used to determine the first distance from the preset center point of the mobile robot to the edge contour point of the robot body. The preset center point of the mobile robot has different distances from the edge contour point of the robot body in different directions.

[0065] The second distance determination module is used to determine the second distance from the preset center point of the mobile robot to the obstacle during the mobile robot's movement and rotation operation.

[0066] The movement control module is used to adjust the mobile robot's movement and rotation operations based on the first distance and the second distance to avoid collisions between the mobile robot and obstacles.

[0067] The working process of the mobile robot's anti-collision device is the same as that of the aforementioned mobile robot's movement method, and will not be repeated here.

[0068] Please see Figure 5 The diagram illustrates the motion of a mobile robot performing collision avoidance maneuvers when encountering an obstacle, according to an embodiment of this application. The mobile robot can be, but is not limited to, any mobile robot, and it has an irregular shape overall on a two-dimensional plane. For example, the front portion of the mobile robot may have a non-circular, irregular edge shape, while the rear portion may have a circular, regular edge shape. The obstacle can be, but is not limited to, a wall.

[0069] from Figure 5 As shown in (a), when the mobile robot is working, its rear part gradually approaches the wall. The mobile robot detects the presence of the wall and stops moving. At this point, its rear part meets the wall directly but does not make contact. It should be noted that... Figure 5 In the example shown, the mobile robot has a circular part and an irregular shape. For the circular part, the distance from the edge contour point of the circular body to the preset center point is... Figure 5 The distance from the center point of the robot body to the preset center point is the same for all parts. For irregularly shaped parts, the distance from the edge contour points of the body to the preset center point is different. Of course, in other examples, the preset center point of the mobile robot is at different distances from the edge contour points of the body in different directions. Furthermore, Figure 5 The circular section is the rear section, and the irregularly shaped section is the front section. The front section does not necessarily define the direction of movement of the mobile robot; it is simply the irregularly shaped section (front section). Figure 5 This is just one example.

[0070] When a mobile robot detects its rear section encountering a wall, it needs to rotate in place to avoid it. This allows the front section of the robot to turn, changing its motion and moving away from the wall to avoid collisions or scrapes. However, the front section of the robot has a non-circular, irregular edge shape, specifically two protruding edge contours. If the rotation angle is too large, these two protruding edge contours may collide or scrape against the wall. Specifically:

[0071] from Figure 5 As can be seen from (b), when the mobile robot is relative to Figure 5 (a) When rotating 90° counterclockwise in place, the mobile robot can rotate smoothly and without obstruction without colliding or scraping against the wall. If the mobile robot is instructed to stop rotating in place and translate at this time, the mobile robot can only translate along a direction parallel to the extension direction of the wall and very close to the wall, which cannot effectively prevent the mobile robot from colliding or scraping against the wall. Therefore, it is necessary to continue instructing the mobile robot to rotate in place counterclockwise.

[0072] from Figure 5 As can be seen from (c), when the mobile robot is relative to Figure 5 When (a) the robot rotates 120° counterclockwise in place, one of the protruding edge contours of the front part of the mobile robot will collide with the wall, causing damage to the mobile robot. Therefore, when controlling the mobile robot to rotate counterclockwise, it is necessary to accurately control the size of the rotation angle. If the rotation angle is too small, the mobile robot will not be able to move in a direction away from the wall; if the rotation angle is too large, the mobile robot will collide with the wall.

[0073] from Figure 5 As can be seen from (d), when the mobile robot is relative to Figure 5 When (a) the counterclockwise rotation angle is greater than 90° and less than 120°, it can ensure that the mobile robot will not collide with the wall during the rotation, and can also ensure that the mobile robot can move away from the wall after the rotation, thus improving the collision avoidance of the mobile robot.

[0074] One embodiment of this application also provides a computer-readable storage medium storing computer-readable instructions. When the computer-readable instructions are executed by a processor, the aforementioned corresponding mobile robot movement method is implemented. When the mobile robot is started, the processor inside the mobile robot executes the corresponding computer-readable instructions in the memory, thereby enabling the mobile robot to achieve collision avoidance with obstacles throughout its operation.

[0075] One embodiment of this application also provides a mobile robot, which includes a memory, a processor, and a program stored in the memory and executable on the processor. When the processor executes the program, it implements the aforementioned movement method of the mobile robot. When the mobile robot is started, the processor inside the mobile robot executes the corresponding program in the memory, thereby enabling the mobile robot to achieve collision avoidance with obstacles throughout its operation.

[0076] The above is only one specific embodiment of the present invention, and any improvements made based on the concept of the present invention shall be considered within the scope of protection of the present invention.

Claims

1. A method of travel, characterized in that, include: A first distance is determined from a preset center point to a contour point on the body of the mobile robot. The mobile robot has at least a first contour point and a second contour point on the body. The distance from the preset center point to the first contour point and the distance to the second contour point are different. During the mobile robot's movement and rotation operation, a second distance from the preset center point of the mobile robot to the obstacle is determined; Based on the first distance and the second distance, the mobile robot is adjusted to perform a movement and rotation operation to avoid collisions with the obstacle, including: During the mobile robot's movement and rotation operation, the first azimuth angle of the obstacle distance detection unit relative to the obstacle is determined; The second azimuth angle of the preset center point relative to the obstacle is calculated based on the first azimuth angle. Determine the first distance from the preset center point to the fuselage edge contour point when the preset center point is at the second azimuth angle; When the mobile robot performs a movement and rotation operation, causing the second distance to gradually decrease and the first distance to be greater than or equal to the second distance, the mobile robot is instructed to stop moving and rotating, or the mobile robot is instructed to move in a direction away from the obstacle or rotate in a direction away from the second azimuth angle, so as to avoid the mobile robot colliding with the obstacle.

2. The method according to claim 1, characterized in that, Determining the second distance from the preset center point of the mobile robot to the obstacle during the mobile robot's movement and rotation operation includes: If the location of the obstacle distance detection unit of the mobile robot overlaps with the preset center point, then the distance detected by the obstacle distance detection unit to the obstacle is determined as the second distance from the preset center point to the obstacle.

3. The method according to claim 1, characterized in that, Determining the second distance from the preset center point of the mobile robot to the obstacle during the mobile robot's movement and rotation operation includes: If the location of the obstacle distance detection unit of the mobile robot does not overlap with the preset center point, then the location of the obstacle distance detection unit and the preset center point are merged, and the distance detected by the obstacle distance detection unit to the obstacle is determined as the second distance from the preset center point to the obstacle.

4. The method according to claim 3, characterized in that, The determination of the first distance from the preset center point to the edge contour point of the mobile robot includes: The rotation center point, wheel axle distance center point, or preset fixed point of the mobile robot is used as the preset center point; A first Cartesian coordinate system is constructed using the preset center point as the origin; Determine the first distance from the preset center point of the mobile robot to any edge contour point of the robot body in the first Cartesian coordinate system.

5. The method according to claim 4, characterized in that, The fusion of the obstacle distance detection unit's location and the preset center point includes: A second Cartesian coordinate system is constructed with the location of the obstacle distance detection unit of the mobile robot as the origin; Based on the coordinate system transformation relationship between the first Cartesian coordinate system and the second Cartesian coordinate system, the location of the obstacle distance detection unit and the preset center point are fused.

6. The method according to claim 5, characterized in that, Determining the distance to the obstacle detected by the obstacle distance detection unit as the second distance from the preset center point to the obstacle includes: Determine the first obstacle distance between the obstacle distance detection unit and the obstacle; Based on the coordinate system transformation relationship between the first Cartesian coordinate system and the second Cartesian coordinate system, the second distance between the preset center point and the obstacle is determined based on the first obstacle distance.

7. A traveling collision avoidance device, characterized in that, include: The first distance determination module is used to determine the first distance from the preset center point of the mobile robot to the edge contour point of the robot body. The mobile robot has at least a first edge contour point and a second edge contour point of the robot body. The distance from the preset center point to the first edge contour point and the distance to the second edge contour point of the robot body are different. The second distance determination module is used to determine the second distance from the preset center point of the mobile robot to the obstacle during the mobile robot's movement and rotation operation. The movement control module is used to adjust the movement and rotation operations of the mobile robot based on the first distance and the second distance to avoid collisions between the mobile robot and the obstacle, including: During the mobile robot's movement and rotation operation, the first azimuth angle of the obstacle distance detection unit relative to the obstacle is determined; The second azimuth angle of the preset center point relative to the obstacle is calculated based on the first azimuth angle. Determine the first distance from the preset center point to the fuselage edge contour point when the preset center point is at the second azimuth angle; When the mobile robot performs a movement and rotation operation, causing the second distance to gradually decrease and the first distance to be greater than or equal to the second distance, the mobile robot is instructed to stop moving and rotating, or the mobile robot is instructed to move in a direction away from the obstacle or rotate in a direction away from the second azimuth angle, so as to avoid the mobile robot colliding with the obstacle.

8. A computer-readable storage medium storing computer-readable instructions, characterized in that: When the computer-readable instructions are executed by a processor, the method of moving a mobile robot as described in any one of claims 1-7 is implemented.

9. A mobile robot, characterized in that, The mobile robot includes: a memory, a processor, and a program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the method of movement of the mobile robot as described in any one of claims 1-7.

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