Autonomous obstacle avoidance walking path planning service robot

Abstract

The invention discloses an autonomous obstacle avoidance walking path planning service robot, and relates to the technical field of service robot design, the autonomous obstacle avoidance walking path planning service robot comprises a main body structure in which information processing and control equipment is stored, and a display screen used for communicating with service and operators is fixedly arranged above the main body structure; the robot has the advantages that the structural design is compact and reasonable, core equipment is stably borne through the main body structure, the sensors sense environment information, the lifting mechanism and the moving mechanism are cooperatively linked, and the robot can automatically cross obstacles and stably walk; and the anti-collision mechanism effectively buffers collision impact force, equipment safety is guaranteed, convenient man-machine interaction is achieved through the display screen, the environment adaptability, operation safety and practical reliability of the robot are integrally improved, and diversified service requirements are met.

Description

Technical Field

[0001] This invention relates to the field of service robot design technology, specifically to a service robot that autonomously avoids obstacles and plans its walking path. Background Technology

[0002] With the rapid development of service robot technology, its application in logistics distribution, venue services, home assistance and other fields is becoming increasingly widespread. The market has put forward higher requirements for the autonomous mobility, environmental adaptability and operational safety of service robots. At present, most service robot mobility systems are designed for flat ground and rely on a single mobility mechanism to achieve walking. They lack special designs to adapt to complex environments. When faced with obstacles such as ground protrusions and low steps, they often encounter problems such as being unable to cross, getting stuck or even equipment damage, which seriously affects the smooth progress of service tasks.

[0003] Meanwhile, the existing service robots have relatively simple protective structure designs and lack dedicated anti-collision mechanisms. If they accidentally collide with obstacles during autonomous walking, the impact force is directly transmitted to the main body of the robot, which can easily damage core components such as internal information processing and control equipment, reducing the robot's operational reliability and service life.

[0004] Therefore, developing a service robot with stable walking ability, effective collision protection, and autonomous obstacle avoidance and path planning adaptability to complex environments to address the shortcomings of existing equipment and meet service needs in diverse scenarios has become an urgent development direction in the field of service robots. Summary of the Invention

[0005] The purpose of this invention is to provide a service robot that autonomously avoids obstacles and plans its walking path.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an autonomous obstacle avoidance and path planning service robot, comprising a main structure internally storing information processing and control equipment, a display screen fixedly installed on the top of the main structure for communicating with service and operation personnel, sensors fixedly installed on the top and bottom of the side walls of the main structure, an anti-collision mechanism installed on the bottom periphery of the main structure, a lifting mechanism installed at the bottom of the main structure, and several moving mechanisms installed at the bottom of the lifting mechanism to avoid obstacles according to the route planned by the control system.

[0007] As a further embodiment of the present invention: the lifting mechanism includes a first lifting plate symmetrically arranged below the main structure according to the direction of movement, a plurality of first hydraulic cylinders fixedly arranged at the bottom of the main structure and symmetrically distributed, and a first hydraulic rod fixedly arranged at the output end of the first hydraulic cylinder. The bottom of the first hydraulic rod is fixedly connected to the first lifting plate. A second hydraulic cylinder is fixedly arranged at the center of the bottom of the main structure. A second hydraulic rod is fixedly arranged at the output end of the second hydraulic cylinder. A second lifting plate is fixedly arranged at the bottom of the second hydraulic rod. A moving mechanism is provided at the bottom of both the first lifting plate and the second lifting plate.

[0008] As a further aspect of the present invention: the moving mechanism includes a plurality of drive wheels rotatably disposed at the bottom of the first or second lifting plate and a track disposed around the plurality of drive wheels for meshing and transmission.

[0009] As a further aspect of the present invention: the anti-collision mechanism includes an anti-collision frame disposed around the main structure and elastic telescopic rods fixedly disposed on each side of the main structure, wherein the end of the elastic telescopic rod away from the main structure is connected to the anti-collision frame.

[0010] As a further embodiment of the present invention: a cavity is provided on the inner side of the anti-collision frame at the position of the elastic telescopic rod, and a connecting plate is fixedly provided at one end of the elastic telescopic rod in the cavity. The end of the connecting plate away from the elastic telescopic rod and its upper and lower sides abut against the inner wall of the cavity, and a plurality of elastic elements are provided on the side wall of the connecting plate.

[0011] As a further aspect of the present invention: the elastic element is a spring, and the two ends of the spring are respectively fixedly connected to the connecting plate and the inner wall of the cavity.

[0012] As a further aspect of the present invention: at least two elastic telescopic rods are provided on each side wall of the main structure and are symmetrically distributed.

[0013] As a further aspect of the present invention: the sensor is divided into a top sensor and a bottom sensor. The top sensor detects distant environmental information and transmits it to the control system for path prediction. The bottom sensor identifies nearby ground obstacles and feeds back data for obstacle crossing decisions. The environmental data collected by the sensors is transmitted in real time to the control system inside the main structure. The control system generates path planning instructions based on the data and sends them synchronously to the lifting mechanism and the moving mechanism to achieve linkage control of obstacle avoidance and movement.

[0014] As a further aspect of the present invention: the first lifting plate and the second lifting plate form a three-point support layout. When crossing an obstacle, the second hydraulic cylinder first drives the second hydraulic rod to extend, so that the moving mechanism at the bottom of the second lifting plate contacts the ground to form support; then the front first hydraulic cylinder drives the first hydraulic rod to retract, causing the front first lifting plate to move up to cross the obstacle; after the front moving mechanism is subjected to force, the second lifting plate rises and moves horizontally to support the obstacle, and finally the rear first lifting plate moves up to cross the obstacle. After the obstacle crossing is completed, each lifting plate is reset.

[0015] As a further aspect of the present invention: when the anti-collision mechanism is impacted, the anti-collision frame drives the elastic telescopic rod to contract to achieve the first layer of buffering; at the same time, the displacement of the anti-collision frame pushes the inner wall of the cavity to squeeze the connecting plate, and the elastic element on the side wall of the connecting plate contracts to achieve the second layer of buffering; the elastic telescopic rod and the elastic element absorb the impact energy from different directions, weaken the impact force transmitted to the main structure, and protect the internal equipment.

[0016] As a further aspect of the present invention: the display screen is connected to the control system inside the main structure to display the travel status, path information and obstacle detection results in real time; the operator sends manual commands through the display screen, and after the commands are transmitted to the control system, the control system adjusts the lifting amplitude of the lifting mechanism and the travel speed and direction of the moving mechanism to realize path modification or parameter adjustment, and complete human-machine interaction intervention.

[0017] Compared with the prior art, the beneficial effects of the present invention by adopting the above technical solution are as follows: 1. This invention uses a main structure to support core equipment, combined with sensors to perceive environmental information in real time. The lifting mechanism and the moving mechanism work together to achieve obstacle crossing and stable walking, while the anti-collision mechanism provides effective collision protection, significantly improving the robot's autonomous movement adaptability in complex environments and ensuring the stability and safety of the walking process.

[0018] 2. This invention utilizes the coordinated operation of sensors, lifting mechanisms, and moving mechanisms to autonomously plan paths and avoid obstacles. Combined with the protective function of anti-collision mechanisms, it reduces the risk of equipment damage during movement. At the same time, the display screen enables efficient human-machine communication, improving the practicality and operational reliability of the service robot.

[0019] Other advantages, objectives and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination or study, or may be learned from the practice of the invention. Attached Figure Description

[0020] Figure 1 This is an overall elevation view in an embodiment of the present invention; Figure 2 for Figure 1Enlarged view of point A in the middle; Figure 3 This is a bottom schematic diagram in an embodiment of the present invention; Figure 4 This is a cross-sectional schematic diagram of the anti-collision mechanism in an embodiment of the present invention; Figure 5 for Figure 4 Enlarged view of section B in the middle.

[0021] In the diagram: 1. Main structure; 2. Display screen; 3. Sensor; 4. Anti-collision mechanism; 41. Anti-collision frame; 42. Elastic telescopic rod; 43. Cavity; 44. Connecting plate; 45. Elastic element; 5. Lifting mechanism; 51. First lifting plate; 52. First hydraulic cylinder; 53. First hydraulic rod; 54. Second hydraulic cylinder; 55. Second hydraulic rod; 56. Second lifting plate; 6. Moving mechanism; 61. Drive wheel; 62. Track. Detailed Implementation

[0022] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings. It should be noted that the description of these embodiments is for the purpose of helping to understand the present invention, but does not constitute a limitation of the present invention.

[0023] Furthermore, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0024] Please see the appendix Figure 1 - Appendix Figure 5 The present invention discloses an autonomous obstacle avoidance and walking path planning service robot, comprising a main structure 1 that houses information processing and control equipment, a display screen 2 fixedly mounted on the top of the main structure 1 for communication with service and operators, sensors 3 fixedly mounted on the top and bottom of the side walls of the main structure 1, an anti-collision mechanism 4 mounted on the bottom periphery of the main structure 1, a lifting mechanism 5 mounted on the bottom of the main structure 1, and several moving mechanisms 6 mounted on the bottom of the lifting mechanism 5 to avoid obstacles according to the route planned by the control system.

[0025] Specifically, the main structure 1, as the core load-bearing component of the robot, has a dedicated installation chamber inside for fixing the information processing module and control module. The chamber is designed with heat dissipation holes and shock-absorbing pads to ensure the long-term stable operation of the internal equipment. The display screen 2 is a high-definition touch screen, which not only supports the display of text and image information, but also enables interactive functions such as path modification and parameter adjustment through touch operation. The sensor 3 uses a combination of LiDAR and visual perception. The top sensor 3 is responsible for long-distance environmental detection and path prediction, while the bottom sensor 3 focuses on the identification of ground obstacles at close range. The dual layout ensures that there are no blind spots in environmental perception. The anti-collision mechanism 4 is set around the bottom of the main structure 1, which can cover the robot's direction of travel and the sides and rear of the easily collided areas. The moving mechanism 6 is rigidly connected to the lifting mechanism 5 to ensure that the lifting action is synchronized and stable.

[0026] Furthermore, the lifting mechanism 5 includes a first lifting plate 51 symmetrically arranged below the main structure 1 according to the direction of movement, a plurality of first hydraulic cylinders 52 fixedly arranged at the bottom of the main structure 1 and symmetrically distributed, and a first hydraulic rod 53 fixedly arranged at the output end of the first hydraulic cylinder 52. The bottom of the first hydraulic rod 53 is fixedly connected to the first lifting plate 51. A second hydraulic cylinder 54 is fixedly arranged at the center of the bottom of the main structure 1. A second hydraulic rod 55 is fixedly arranged at the output end of the second hydraulic cylinder 54. A second lifting plate 56 is fixedly arranged at the bottom of the second hydraulic rod 55. A moving mechanism 6 is provided at the bottom of both the first lifting plate 51 and the second lifting plate 56.

[0027] Specifically, the first lifting plate 51 is clearly divided into two independent structures, front and rear, along the robot's movement direction. Each group of first lifting plates 51 is equipped with at least two first hydraulic cylinders 52, and all the first hydraulic cylinders 52 are symmetrically distributed. This symmetrical layout ensures that the first lifting plate 51 bears the load evenly during the lifting operation, avoiding abnormal situations such as tilting or shifting of the first lifting plate 51 due to force imbalance, and ensuring smooth lifting action. The first hydraulic cylinder 52 and the second hydraulic cylinder 54 are both small, high-pressure hydraulic cylinders. This type of hydraulic cylinder has the advantage of fast response speed and can quickly drive the hydraulic rod to complete the extension and retraction action, which can stably support the robot body and the working load. The extension and retraction stroke of the first hydraulic rod 53 and the second hydraulic rod 55 are adapted to the lifting height requirements in different working scenarios. The connection between the first hydraulic rod 53 and the first lifting plate 51 is welded. The process is reinforced by full welding or reinforced welding to improve the connection strength. The second hydraulic rod 55 and the second lifting plate 56 are detachably fixed by flanges. The flange connection not only has a high load-bearing capacity, but also enhances the impact resistance of the connection. Both connection methods can reliably withstand various impact forces generated during the robot's movement, preventing the connection from loosening. The second lifting plate 56 is fixedly installed at the bottom center of the main structure 1. Its length dimension is precisely matched with the width dimension of the main structure 1, ensuring that it can provide a stable and balanced central support force for the robot body during support operations. At the same time, it forms a three-point support structure with the two sets of first lifting plates 51. This three-point support layout can greatly improve the overall stability of the robot during obstacle crossing, effectively prevent the robot from tipping over or swaying, and ensure the safe and smooth completion of obstacle crossing actions.

[0028] Furthermore, the moving mechanism 6 includes a plurality of drive wheels 61 rotatably disposed at the bottom of the first lifting plate 51 or the second lifting plate 56, and a track 62 disposed around the plurality of drive wheels 61 and engaged in transmission.

[0029] Specifically, the drive wheel 61 adopts a gear structure with teeth on its surface that match the inner tooth grooves of the track 62, ensuring no slippage during meshing transmission; the track 62 is made of high-strength rubber with anti-slip textures on its surface, which increases friction with the ground and can adapt to complex ground environments such as sand and grass; the drive wheel 61 is driven by a motor, which is connected to the control system signal to achieve differential rotation, thereby driving the robot to turn. Combined with the flexible transmission of the track 62, the robot has flexible movement capabilities.

[0030] It should be noted that the anti-collision mechanism 4 includes an anti-collision frame 41 set on the periphery of the main structure 1 and elastic telescopic rods 42 fixedly set on each side of the main structure 1. The end of the elastic telescopic rod 42 away from the main structure 1 is connected to the anti-collision frame 41.

[0031] Specifically, the anti-collision frame 41 is made of lightweight alloy tubing and has a rectangular frame structure. Its size is slightly larger than the bottom outline of the main structure 1 to ensure that it can cover the collision-prone area. The elastic telescopic rod 42 has a built-in compression spring and its two ends are connected to the main structure 1 and the anti-collision frame 41 respectively. It can provide sufficient buffer distance during a collision to weaken the impact energy.

[0032] It is worth noting that a cavity 43 is provided on the inner side of the anti-collision frame 41 at the position of the elastic telescopic rod 42. A connecting plate 44 is fixedly installed at one end of the elastic telescopic rod 42 in the cavity 43. The end of the connecting plate 44 away from the elastic telescopic rod 42 and its upper and lower sides abut against the inner wall of the cavity 43. Several elastic elements 45 are provided on the side wall of the connecting plate 44.

[0033] Specifically, the cavity 43 is a rectangular groove opened inside the anti-collision frame 41, the size of which is adapted to the connecting plate 44 to ensure that the connecting plate 44 can slide smoothly in the cavity 43; the connecting plate 44 is made of metal sheet, and its end away from the elastic telescopic rod 42 and its upper and lower sides are attached to the inner wall of the cavity 43 to form a sliding guide structure to prevent the connecting plate 44 from shifting; the elastic elements 45 are evenly distributed on the left and right sides or front and rear sides of the connecting plate 44, forming a vertical or oblique buffer layout with the elastic telescopic rod 42, so that when the anti-collision frame 41 is impacted, it can absorb energy from multiple directions.

[0034] Furthermore, the elastic element 45 is a spring, with both ends of the spring fixedly connected to the connecting plate 44 and the inner wall of the cavity 43, respectively.

[0035] Furthermore, at least two elastic telescopic rods 42 are provided on each side wall of the main structure 1 and are symmetrically distributed.

[0036] Specifically, each side wall of the main structure 1 is provided with at least two elastic telescopic rods 42 and symmetrically distributed to ensure that the anti-collision frame 41 is subjected to uniform force and to avoid damage caused by force concentration on one side; the symmetrical layout can also make the impact force evenly transmitted to the main structure 1 through the elastic telescopic rods 42, reduce the impact of local impact force on internal equipment, and further improve the protective effect of the anti-collision mechanism 4.

[0037] In this invention, sensor 3 is divided into a top sensor and a bottom sensor. The top sensor detects distant environmental information and transmits it to the control system for path prediction. The bottom sensor identifies nearby ground obstacles and feeds back data for obstacle crossing decisions. The environmental data collected by sensor 3 is transmitted in real time to the control system inside the main structure 1. The control system generates path planning instructions based on the data and sends them synchronously to the lifting mechanism 5 and the moving mechanism 6 to achieve linkage control of obstacle avoidance and movement.

[0038] In this invention, the first lifting plate 51 and the second lifting plate 56 form a three-point support layout. When crossing an obstacle, the second hydraulic cylinder 54 first drives the second hydraulic rod 55 to extend, so that the moving mechanism 6 at the bottom of the second lifting plate 56 contacts the ground to form support. Then, the first hydraulic cylinder 52 drives the first hydraulic rod 53 to retract, which drives the first lifting plate 51 to move upward to cross the obstacle. After the moving mechanism 6 is subjected to force, the second lifting plate 56 rises and moves horizontally to support the obstacle. Finally, the first lifting plate 51 moves upward to cross the obstacle. After crossing the obstacle, all lifting plates are reset.

[0039] In this invention, when the anti-collision mechanism 4 is impacted, the anti-collision frame 41 drives the elastic telescopic rod 42 to contract to achieve the first layer of buffering; at the same time, the displacement of the anti-collision frame 41 pushes the inner wall of the cavity 43 to squeeze the connecting plate 44, and the elastic element 45 on the side wall of the connecting plate 44 contracts to achieve the second layer of buffering; the elastic telescopic rod 42 and the elastic element 45 absorb the impact energy from different directions, weaken the impact force transmitted to the main structure 1, and protect the internal equipment.

[0040] In this invention, the display screen 2 is connected to the control system inside the main structure 1 to display the travel status, path information and obstacle detection results in real time. The operator sends manual commands through the display screen 2. After the commands are transmitted to the control system, the control system adjusts the lifting range of the lifting mechanism 5 and the travel speed and direction of the moving mechanism 6 to modify the path or adjust the parameters, thus completing the human-machine interaction intervention.

[0041] Working principle: When this autonomous obstacle avoidance and path planning service robot is working, its various components work together to provide autonomous movement services in complex scenarios. After the robot starts, the main structure 1, as the core hub, immediately activates its internal information processing and control equipment. Sensors 3, fixed at the top and bottom of the side walls, collect real-time data on the surrounding environment, including obstacle positions, distances, and step heights, and transmit this data synchronously to the control system. This data provides a basis for path planning and action decisions. After the control system plans an initial walking path based on preset targets, it sends start commands to the lifting mechanism 5 and the moving mechanism 6. In normal movement, only the moving mechanism 6 at the bottom of the first lifting plate 51 works: the first hydraulic cylinder 52 at the bottom of the main structure 1 drives the first hydraulic rod 53 to maintain the appropriate height, and the drive wheel 61 below the first lifting plate 51 rotates. Through meshing with the track 62, the robot moves smoothly. The track 62 increases the ground contact area to improve the stability of passage on complex terrain and avoid slipping.

[0042] When sensor 3 detects obstacles of low height such as steps, the control system immediately adjusts its commands: First, it controls the second hydraulic cylinder 54 to drive the second hydraulic rod 55 to extend downwards, so that the moving mechanism 6 at the bottom of the second lifting plate 56 contacts the ground and forms a stable support; then, it controls the first hydraulic rod 53 corresponding to the first lifting plate 51 to retract, causing the first lifting plate 51 to move upwards and cross over the steps; after the front track 62 contacts the step surface and is under force, the second hydraulic cylinder 54 retracts, causing the second lifting plate 56 to rise, while the moving mechanism 6 drives the robot forward, so that the second lifting plate 56 moves horizontally to the top of the steps and falls down for support; finally, it controls the first hydraulic rod 53 corresponding to the first lifting plate 51 to retract, causing the first lifting plate 51 to move upwards and cross the steps. After the overall obstacle crossing is completed, the second lifting plate 56 resets and resumes normal movement mode.

[0043] During the movement, the anti-collision mechanism 4 at the bottom of the outer perimeter of the main structure 1 is always in a protective state: if the robot accidentally collides with an obstacle, the anti-collision frame 41 will be displaced, causing the connected elastic telescopic rod 42 to contract, thus achieving the first layer of buffering; at the same time, the displacement of the anti-collision frame 41 will cause the inner wall of the cavity 43 on the side other than the direct contact surface to move, causing the elastic element 45 on the side wall of the connecting plate 44 to be squeezed and contracted, absorbing the remaining impact energy through elastic deformation, thus forming the second layer of buffering. The double protection effectively weakens the impact force and avoids damage to the main structure 1 and internal equipment.

[0044] The display screen 2 on top of the main structure 1 displays the real-time travel status, path information, and obstacle conditions, facilitating observation and communication by operators. If manual intervention is required, instructions can be sent through the display screen 2 to adjust the travel parameters or path. Throughout the process, the sensor 3 continuously monitors the environment dynamically, and the control system flexibly adjusts the lifting amplitude of the lifting mechanism 5 and the travel speed and direction of the moving mechanism 6 based on real-time data. Combined with the passive protection of the anti-collision mechanism 4, this ensures that the robot can autonomously plan its path, cross and avoid obstacles in complex environments, while also ensuring safe operation and stably completing service tasks.

[0045] The terms "front," "back," "left," "right," "top," and "bottom" all refer to the figures in the accompanying drawings. Figure 1 Based on.

[0046] In the description of this invention, it should be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this invention.

[0047] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments.

[0048] For those skilled in the art, various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and these variations still fall within the protection scope of the present invention.

Claims

1. An autonomous obstacle-avoiding planning walking path service robot comprising a main body structure (1) in which an information processing and control device is stored, characterized in that: The main structure (1) is provided with a display screen (2) for communication with service and operating personnel, the top and bottom of the side wall of the main structure (1) is provided with a sensor (3), the bottom of the main structure (1) is provided with an anti-collision mechanism (4), the bottom of the main structure (1) is provided with a lifting mechanism (5), and the bottom of the lifting mechanism (5) is provided with a plurality of moving mechanisms (6) which plan a route according to a control system to avoid obstacles. 2.The autonomous obstacle avoidance path planning walking service robot according to claim 1, characterized in that: The lifting mechanism (5) comprises a first lifting plate (51) which is symmetrically arranged below the main structure (1) according to the moving direction, a plurality of first hydraulic cylinders (52) which are fixedly arranged at the bottom of the main structure (1) and are symmetrically distributed, and a first hydraulic rod (53) which is fixedly arranged at the output end of the first hydraulic cylinder (52), the bottom of the first hydraulic rod (53) is fixedly connected with the first lifting plate (51), a second hydraulic cylinder (54) is fixedly arranged at the center of the bottom of the main structure (1), a second hydraulic rod (55) is fixedly arranged at the output end of the second hydraulic cylinder (54), and a second lifting plate (56) is fixedly arranged at the bottom of the second hydraulic rod (55), and the bottom of the first lifting plate (51) and the second lifting plate (56) is provided with a moving mechanism (6). 3.The autonomous obstacle avoidance path planning walking service robot of claim 2, wherein: The moving mechanism (6) comprises a plurality of drive wheels (61) which are rotatably arranged at the bottom of the first lifting plate (51) or the second lifting plate (56), and a track (62) which is arranged outside the plurality of drive wheels (61) and is engaged in transmission. 4.The autonomous obstacle avoidance path planning walking service robot of claim 1, wherein: The anti-collision mechanism (4) comprises an anti-collision frame (41) which is arranged outside the main structure (1), and an elastic telescopic rod (42) which is fixedly arranged on each side of the main structure (1), and one end of the elastic telescopic rod (42) away from the main structure (1) is connected with the anti-collision frame (41). 5.The autonomous obstacle avoidance path planning walking service robot according to claim 4, characterized in that: A cavity (43) is formed in the position of the elastic telescopic rod (42) on the inner side of the anti-collision frame (41), a connecting plate (44) is fixedly arranged at one end of the elastic telescopic rod (42) in the cavity (43), and the one end of the connecting plate (44) away from the elastic telescopic rod (42) and the upper and lower sides are abutted with the inner wall of the cavity (43), and a plurality of elastic members (45) are arranged on the side wall of the connecting plate (44). 6.The autonomous obstacle avoidance path planning walking service robot according to claim 5, characterized in that: The elastic member (45) is a spring, and the two ends of the spring are fixedly connected with the connecting plate (44) and the inner wall of the cavity (43) respectively, and the elastic telescopic rods (42) on each side wall of the main structure (1) are provided with at least two and are symmetrically distributed. 7.The autonomous obstacle avoidance path planning walking service robot according to claim 1, wherein, The sensor (3) is divided into a top sensor and a bottom sensor, the top sensor detects long-distance environmental information and transmits it to the control system for path prediction, the bottom sensor identifies near-distance ground obstacles and feeds back data for obstacle crossing decision, and the environmental data collected by the sensor (3) is transmitted to the control system in the main structure (1) in real time, the control system generates path planning instructions according to the data and synchronously sends them to the lifting mechanism (5) and the moving mechanism (6). 8.The autonomous obstacle avoidance path planning walking service robot according to claim 2, characterized in that, The first lifting plate (51) and the second lifting plate (56) form a three-point support layout, when crossing obstacles, the second hydraulic cylinder (54) drives the second hydraulic rod (55) to extend first, so that the moving mechanism (6) at the bottom of the second lifting plate (56) contacts the ground to form support; then the first hydraulic cylinder (52) in front drives the first hydraulic rod (53) to retract, driving the first lifting plate (51) in front to move up to cross the obstacles; after the moving mechanism (6) in front is stressed, the second lifting plate (56) is lifted and translated to support above the obstacles, and finally the first lifting plate (51) in back moves up to cross. 9.The autonomous obstacle avoidance path planning walking service robot according to claim 5, wherein, When the anti-collision mechanism (4) is impacted, the anti-collision frame (41) drives the elastic telescopic rod (42) to retract to realize the first heavy buffering; at the same time, the anti-collision frame (41) is displaced to push the inner wall of the cavity (43) to extrude the connecting plate (44), and the elastic element (45) on the side wall of the connecting plate (44) retracts to realize the second heavy buffering; the elastic telescopic rod (42) and the elastic element (45) absorb the impact energy from different directions, weaken the impact force transmitted to the main body structure (1), and protect the internal equipment. 10.The autonomous obstacle avoidance path planning walking service robot according to claim 1, wherein, The display screen (2) is signal connected with the control system inside the main body structure (1), and displays the running state, path information and obstacle detection results in real time; the operator sends manual instructions through the display screen (2), the instructions are transmitted to the control system, and the control system adjusts the lifting amplitude of the lifting mechanism (5) and the running speed and direction of the moving mechanism (6).

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