Obstacle detection system for self-walking equipment and self-walking equipment

Abstract

The embodiment of the utility model provides an obstacle detection system for self-walking equipment and the self-walking equipment, the obstacle detection system is arranged on the peripheral surface of a machine main body, is configured to detect obstacles in a running path of the machine main body, and comprises at least one group of infrared geminate transistors, each infrared geminate transistor comprises an infrared light emitting tube used for emitting infrared light; the first infrared light receiving tube is used for receiving the reflected infrared light and converting the reflected infrared light into a first electric signal; and the second infrared light receiving tube is used for receiving the reflected infrared light and converting the reflected infrared light into a second electric signal. According to the obstacle detection system provided by the invention, the cost and the hardware complexity of the obstacle avoidance module of the self-walking equipment can be greatly reduced.

Description

Technical Field

[0001] The present disclosure relates to the technical field of self-propelled equipment, and in particular to an obstacle detection system for a self-propelled equipment and the self-propelled equipment. Background Art

[0002] With the development of artificial intelligence technology, various intelligent self-propelled devices have emerged in the market, such as sweeping robots, mopping robots, vacuum cleaners, lawn mowers, etc. These intelligent self-propelled devices not only liberate labor and save labor costs, but also significantly improve cleaning efficiency. Most self-propelled devices need to automatically identify surrounding obstacles during work and perform obstacle avoidance operations on obstacles. For example, self-propelled devices can detect obstacles in front, on the sides, and even below in real time by integrating obstacle avoidance sensors, so as to plan the walking path in advance and avoid unnecessary collisions. The obstacle avoidance function not only protects the furniture and the robot itself from damage, but also ensures the continuity and efficiency of the robot's walking process.

[0003] However, existing obstacle avoidance solutions are relatively complex and costly to implement. With the popularization of self-propelled equipment, especially various types of self-cleaning robots, the obstacle avoidance performance of the equipment needs to be further enhanced and the cost needs to be further reduced. Utility Model Content

[0004] Some embodiments of the present disclosure provide an obstacle detection system for a self-propelled device and a self-propelled device, which can reduce the implementation cost of obstacle detection.

[0005] An embodiment of the present disclosure provides an obstacle detection system for a self-propelled device, the self-propelled device includes a machine body, the obstacle detection system is arranged on the outer peripheral surface of the machine body, and is configured to detect obstacles in the travel path of the machine body, the obstacle detection system includes: at least one group of infrared pairs of tubes, each of the infrared pairs of tubes further includes: an infrared light emitting tube for emitting infrared light; a first infrared light receiving tube for receiving reflected infrared light and converting it into a first electrical signal; a second infrared light receiving tube for receiving reflected infrared light and converting it into a second electrical signal; the obstacle detection system is configured to calculate a voltage ratio between the first electrical signal and the second electrical signal, and the voltage ratio is used for obstacle avoidance judgment.

[0006] In some embodiments, a buffer is disposed at the front portion of the machine body, and the at least one set of infrared pair tubes is disposed on the buffer.

[0007] In some embodiments, the obstacle detection system further includes a transmissive lens disposed outside the infrared pair tube, wherein the transmissive lens allows infrared light to penetrate.

[0008] In some embodiments, the obstacle detection system further includes a Fresnel convex lens, which is arranged in front of the light path of the infrared light emitting tube.

[0009] In some embodiments, the obstacle detection system includes a plurality of groups of infrared tubes, and the plurality of groups of infrared tubes are arranged horizontally and / or vertically in the forward portion of the machine body.

[0010] In some embodiments, the number of the infrared tube pairs is 1 to 30, and the spacing between adjacent infrared tube pairs is 2 to 5 centimeters.

[0011] In some embodiments, the obstacle detection system further includes a signal processing unit configured to receive the first electrical signal and the second electrical signal, calculate a voltage ratio between the first electrical signal and the second electrical signal, and compare the calculated voltage ratio with a preset threshold value, and determine the situation of the obstacle ahead based on the comparison result.

[0012] In some embodiments, the infrared pair tubes are soldered on a flexible PCB.

[0013] In some embodiments, the obstacle detection system further includes a connector for electrically connecting to a mainboard of the self-propelled device.

[0014] In some embodiments, each of the infrared pair tubes is correspondingly welded on a flexible PCB, and the flexible PCBs are connected via an FPC flexible cable; the signal processing unit and the connector are arranged on one of the flexible PCBs.

[0015] An embodiment of the present disclosure provides a self-propelled device, including the above-mentioned obstacle detection system.

[0016] Compared with the prior art, the obstacle detection system for self-propelled equipment and the self-propelled equipment provided in the embodiments of the present disclosure utilize a special infrared tube structure and signal processing method to achieve obstacle detection and avoidance, which can significantly reduce the cost and hardware complexity of the obstacle avoidance module of the self-propelled equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present disclosure, and together with the specification, are used to explain the principles of the present disclosure. Obviously, the drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0018] Figure 1 A schematic diagram of the three-dimensional structure of a sweeping robot involved in some embodiments of the present disclosure;

[0019] Figure 2 A front view of a cleaning robot equipped with an obstacle detection system provided by some embodiments of the present disclosure;

[0020] Figure 3 for Figure 2 A schematic diagram of the position distribution setting of the mid-infrared pair tubes;

[0021] Figure 4 A flow chart of an obstacle avoidance method for an obstacle detection system for a self-propelled device provided in some embodiments of the present disclosure.

[0022] Description of reference numerals:

[0023] The sweeping robot 10 , the machine body 110 , the forward part 111 , the backward part 112 , the sensing system 120 , the buffer 122 , the infrared pair tube 210 , the first infrared light receiving tube 211 , the second infrared light receiving tube 212 , the infrared light emitting tube 213 , and the transmission lens 220 . DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the present disclosure clearer, the present disclosure will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0025] The terms used in the embodiments of the present disclosure are only for the purpose of describing specific embodiments, and are not intended to limit the present disclosure. The singular forms "a", "said" and "the" used in the embodiments of the present disclosure and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings, and "multiple" generally includes at least two.

[0026] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0027] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a product or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such product or device. In the absence of more restrictions, the elements defined by the sentence "comprises a" do not exclude the presence of other identical elements in the product or device including the elements.

[0028] In the related technologies, the obstacle avoidance schemes of self-propelled equipment are relatively complex and have high implementation costs. For example, the existing obstacle avoidance sensors based on structured light project a specific pattern of light into the environment, and determine the shape and position of the object by analyzing the reflected light pattern. The structured light technology requires complex image processing and calculation, and the implementation cost is high. For another example, the existing obstacle avoidance sensors based on TOF (Time of Flight) technology calculate the distance of the object by measuring the time required for light to be emitted and reflected back to the receiver. However, the obstacle avoidance sensors based on TOF technology require high-precision timing, and the implementation cost is also high.

[0029] To this end, an embodiment of the present disclosure provides an obstacle detection system for a self-propelled device, wherein the self-propelled device includes a machine body, and the obstacle detection system is arranged on the outer peripheral surface of the machine body and is configured to detect obstacles in the travel path of the machine body, and the obstacle detection system includes: at least one group of infrared pairs of tubes, each of the infrared pairs of tubes further including: an infrared light emitting tube for emitting infrared light; a first infrared light receiving tube for receiving reflected infrared light and converting it into a first electrical signal; a second infrared light receiving tube for receiving reflected infrared light and converting it into a second electrical signal; the obstacle detection system is configured to calculate a voltage ratio between the first electrical signal and the second electrical signal, and the voltage ratio is used for obstacle avoidance judgment.

[0030] The optional embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0031] The present disclosure provides a possible application scenario, which includes a self-propelled device, such as a sweeping robot, a mopping robot, a vacuum cleaner, a lawn mower, etc. As an example, a sweeping robot is used for illustration. Figure 1 The self-propelled device is a sweeping robot 10, which may include a machine body 110, a sensing system 120, a controller, a driving module, a cleaning system, an energy system, and a human-computer interaction module.

[0032] The machine body 110 includes a forward portion 111 and a rearward portion 112, and has an approximately circular shape (i.e., both the front and rear portions are circular). It is understood that the machine body 110 may also have other shapes. Among them, a buffer (bumper) 122 may be further provided on the forward portion 111 of the machine body 110. The buffer 122 may be made of elastic material, has good energy absorption performance, can effectively reduce the impact force when the machine collides with an obstacle, and protect equipment and furniture. The buffer 122 may also be loaded with various sensors.

[0033] The perception system 120 is used to provide the control system with various position information and motion state information of the machine. The perception system 120 may include a collision sensor, a cliff sensor, a magnetometer, an accelerometer, a gyroscope, an odometer, and other sensing devices disposed on or inside the machine body 110.

[0034] The control system is arranged on a circuit board in the machine body 110, and includes a computing processor, such as a central processing unit, an application processor, etc., which communicates with a non-temporary memory, such as a hard disk, a flash memory, or a random access memory. The control system can control the driving module to make the sweeping robot 10 respond according to the obstacle information fed back by the perception system 120.

[0035] The cleaning system may be a dry cleaning system and / or a wet cleaning system. As a dry cleaning system, the main cleaning function comes from the cleaning system composed of a roller brush, a dust box, a fan, an air outlet, and the connecting parts between the four. The roller brush, which has a certain interference with the ground, sweeps up the garbage on the ground and rolls it to the front of the suction port between the roller brush and the dust box, and then the suction gas generated by the fan and passing through the dust box is sucked into the dust box. The dry cleaning system may also include a side brush with a rotating shaft, and the rotating shaft is at a certain angle relative to the ground to move debris to the roller brush area of ​​the cleaning system.

[0036] The energy system includes rechargeable batteries, such as nickel-metal hydride batteries and lithium batteries. The rechargeable batteries can be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit, which are then connected to a single-chip microcomputer control circuit.

[0037] The human-computer interaction system includes buttons on the panel of the machine body 110, which are used by the user to select functions; it may also include a display screen and / or indicator lights and / or a speaker, which show the user the current state of the machine or function options; it may also include a mobile client program.

[0038] refer to Figure 2 and Figure 3 , Figure 2 1 is a front view of a cleaning robot 10 equipped with an obstacle detection system provided by an embodiment of the present disclosure. Figure 3 for Figure 2 A schematic diagram of the position distribution of the mid-infrared pair of tubes. The machine body 110 is further provided with an obstacle detection system. The obstacle detection system is used to detect obstacles in the driving path of the machine body.

[0039] The obstacle detection system includes at least one group of infrared tubes 210, and the infrared tubes 210 further include: a first infrared light receiving tube 211, a second infrared light receiving tube 212, and an infrared light emitting tube 213, wherein the infrared light emitting tube 213 is used to emit infrared light, the first infrared light receiving tube 211 is used to receive the reflected infrared light and convert it into a first electrical signal, and the second infrared light receiving tube 212 is used to receive the reflected infrared light and convert it into a second electrical signal.

[0040] In some embodiments, the obstacle detection system is disposed on the forward portion 111 of the machine body 110, specifically, on the buffer 122 of the forward portion 111. During the cleaning process, the driving module propels the cleaning robot 10 to move on the ground, and the buffer 122 detects obstacles in the driving path of the cleaning robot 10 via the obstacle detection system disposed thereon. The cleaning robot 10 can control the driving module to make the cleaning robot 10 respond to the event, such as decelerating, stopping, turning, etc., through the obstacle event detected by the obstacle detection system on the buffer 122.

[0041] In some embodiments, the obstacle detection system further includes a signal processing unit for receiving the first electrical signal, the second electrical signal, and calculating the voltage ratio of the first electrical signal to the second electrical signal, and the voltage ratio can be used for subsequent obstacle avoidance judgment. The signal processing unit can be a microcontroller (Micro Control Unit, MCU). The signal processing unit can calculate the ratio of the voltage value of the first electrical signal to the voltage value of the second electrical signal through a built-in ratio calculation module. Assuming that the voltage value of the first electrical signal is V1 and the voltage value of the second electrical signal is V2, the voltage ratio R is defined as: R=V2 / V1.

[0042] In some embodiments, the calculated voltage ratio R can be compared with multiple preset thresholds to determine the situation of the obstacle ahead, such as position, size, etc. For example, multiple voltage ratio thresholds T1, T2, T3, etc. can be set according to experimental data and actual use environment for different levels of obstacle avoidance judgment and obstacle avoidance operations, where obstacle avoidance operations include no obstacle avoidance, triggering deceleration operations, immediate stop or turn operations, etc. By calculating the voltage ratio output by the two infrared receiving tubes, accurate judgment and obstacle avoidance can be achieved.

[0043] In some embodiments, the obstacle detection system includes multiple groups of infrared tubes 210. The multiple groups of infrared tubes 210 are arranged in the front part 111 of the machine body 110 to ensure that obstacles in front can be effectively detected when the machine body 110 moves forward. In some embodiments, the transmitting tube and the receiving tube of each group of infrared tubes 210 are arranged on the buffer 122, specifically, on the front surface of the buffer 122, to ensure unobstructed light emission and reception.

[0044] In some embodiments, the number of the infrared tube pairs 210 groups can be 1 to 30, for example 9 to 17, and the spacing between adjacent infrared tube pairs 210 groups can be 1 to 10 cm, for example 2 to 5 cm, to ensure that there are no blind spots in detection and the interference between adjacent infrared tube pairs 210 groups is small.

[0045] In some embodiments, multiple groups of infrared tubes 210 are arranged horizontally in the forward portion 111 of the machine body 110 to form a straight line or a slightly curved array to ensure that all possible paths ahead are covered. In some embodiments, the infrared tubes 210 groups can also be arranged vertically to cover obstacles at different heights. For example, on higher equipment, the infrared tubes 210 groups can be distributed up and down to detect obstacles at different heights. Furthermore, in order to improve the detection capability in complex environments, a combined arrangement can be used to combine horizontal and vertical arrangements to form a two-dimensional detection network to enhance the obstacle avoidance effect.

[0046] In some embodiments, in a single infrared pair tube 210, the infrared light emitting tube 213 is located at the center of the pair tube, and the first infrared light receiving tube 211 and the second infrared light receiving tube 212 are respectively arranged on both sides of the infrared light emitting tube 213; in some other embodiments, the first infrared light receiving tube 211 is located at the center of the pair tube, and the infrared light emitting tube 213 and the second infrared light receiving tube 212 are respectively arranged on both sides of the first infrared light receiving tube 211; or the second infrared light receiving tube 212 is located at the center of the pair tube, and the infrared light emitting tube 213 and the first infrared light receiving tube 211 are respectively arranged on both sides of the second infrared light receiving tube 212.

[0047] In some embodiments, the buffer 122 generally has a certain curvature, the infrared pair tubes 210 are arranged close to the buffer 122 , the infrared pair tubes 210 and the buffer 122 maintain the same curvature and / or the arrangement of multiple groups of infrared pair tubes 210 maintains the same curvature as the buffer 122 .

[0048] In some embodiments, the obstacle detection system further includes a transmissive lens 220 that is hooded outside the infrared pair tube 210, and the transmissive lens 220 is made of a special infrared transmissive material to ensure that the infrared light can penetrate efficiently. In some embodiments, the transmissive lens 220 can also block visible light while ensuring that the infrared light can penetrate efficiently to reduce ambient light interference. As an example, the transmissive lens 220 is black and has high infrared transmittance and low visible light transmittance to reduce ambient light interference and optimize detection performance. In some embodiments, the transmissive lens 220 maintains the same curvature as the buffer 122.

[0049] In some embodiments, the obstacle detection system further includes a Fresnel convex lens, which is arranged in front of the optical path of the infrared light emitting tube 213. If there are multiple groups of infrared pair tubes 210, a Fresnel convex lens can be installed in front of the infrared light emitting tube 213 in each group of infrared pair tubes 210. Through the focusing and guidance of the Fresnel convex lens, the infrared light beam can be effectively focused, so that the infrared light has a strong directivity, the beam divergence is reduced, and the mutual interference between adjacent infrared light emitting tubes 213 is reduced. The Fresnel lens is smaller in size than an ordinary lens, and is particularly suitable for occasions where multiple lenses need to be set in the present disclosure.

[0050] In some embodiments, the Fresnel convex lens is designed to be convex inwardly, and the inner surface of the lens is designed to be concave, thereby ensuring the overall consistency of the optical system. In some embodiments, the Fresnel convex lens is installed in front of the infrared light emitting tube 213 and is aligned with the axis of the infrared light emitting tube 213 to ensure the best optical effect.

[0051] In some embodiments, the infrared pair tube 210 is welded on a flexible PCB (Printed Circuit Board), and the flexible PCB can be further fixed on the transmission lens 220 by means of adhesive, buckle or screw. Specifically, adhesive fixing is performed by pre-pasting adhesive, such as double-sided tape, on the back of the flexible PCB. The adhesive installation process is simple and quick. It is only necessary to attach the PCB to the inner surface of the transmission lens 220 and apply appropriate pressure to ensure that it is firmly fixed; buckle fixing can set a number of buckle slots on the inner side of the transmission lens 220, and the buckle slots match the buckle holes on the flexible PCB; screw fixing can set corresponding screw holes on the edges of the flexible PCB and the transmission lens 220, align the screw holes of the flexible PCB with the holes on the transmission lens 220, insert the screws and tighten them.

[0052] The flexible PCB is made of highly flexible material and has good bending resistance and electrical performance. In some embodiments, the thickness of the flexible PCB can be 0.1 to 0.2 mm to ensure that it can still work stably in a bent state.

[0053] In some embodiments, the obstacle detection system further includes a connector for electrically connecting to the main board of the sweeping robot. The connector allows the circuit on the PCB to exchange data and signals with the control system of the main board of the sweeping robot. For example, the obstacle detection system sends an obstacle avoidance signal to the main board of the sweeping robot through the connector, and the control system of the main board of the sweeping robot further performs corresponding operations according to the obstacle avoidance signal, such as stopping, turning, decelerating, etc.

[0054] In some embodiments, each group of infrared tubes 210 is welded on an independent small flexible PCB, and the PCBs are connected by FPC (Flexible Printed Circuit) soft cables. FPC soft cables are connecting cables made of flexible circuits, which are thin, bendable, and easy to install. The welding method of each group of infrared tubes 210 makes the infrared tubes 210 easy to install and replace. The signal processing unit can be set on one of the independent flexible PCBs, and exchange data and signals with each infrared tube 210 set on other flexible PCBs through the FPC soft cable to process the signals received by each infrared tube 210. The connector can be set on one of the independent flexible PCBs. The connector can be set on the same flexible PCB as the signal processing unit.

[0055] In other embodiments, all infrared tubes 210 are welded on a whole flexible PCB to form an integrated circuit board module, which can reduce the number of cables. The design of the flexible PCB can improve the adaptability of the infrared tubes 210 on complex curved surfaces and provide a flexible installation method. Figure 4 The present disclosure further provides an obstacle avoidance method of the obstacle detection system in the above-mentioned embodiment, and the obstacle avoidance method comprises the following steps:

[0056] S110, controlling the infrared light emitting tube to emit infrared light;

[0057] S120, controlling the first infrared light receiving tube to receive the reflected infrared light to obtain a first electrical signal, and controlling the second infrared light receiving tube to receive the reflected infrared light to obtain a second electrical signal;

[0058] S130, calculating a voltage ratio between the first electrical signal and the second electrical signal, determining a situation of an obstacle ahead according to the voltage ratio, and forming an obstacle avoidance strategy.

[0059] In some embodiments, the self-propelled device may include one or more sets of infrared tubes 210. The one or more sets of infrared tubes 210 are arranged at the front part 111 of the machine body 110 to ensure that obstacles ahead can be effectively detected when the machine body 110 moves forward.

[0060] When the self-propelled device includes multiple groups of the infrared pair tubes 210, the infrared light emitting tubes 213 of the infrared pair tubes 210 can be configured to light up asynchronously to avoid two adjacent infrared light emitting tubes 213 emitting infrared light at the same time, thereby further reducing interference.

[0061] The voltage ratio R of the first electrical signal to the second electrical signal is defined as: R=V2 / V1, V1 is the voltage value of the first electrical signal, and V2 is the voltage value of the second electrical signal. In some embodiments, the calculated voltage ratio R can be compared with multiple preset thresholds to determine the situation of the obstacle ahead, such as position, size, etc. For example, based on experimental data and actual usage environment, multiple voltage ratio thresholds T1, T2, T3, etc. can be set for different levels of obstacle avoidance judgment and obstacle avoidance strategies, such as no obstacle avoidance, triggering deceleration operation, immediate stop or turn operation, etc. This embodiment can achieve accurate judgment of obstacles by calculating the voltage ratio of the outputs of the two infrared receiving tubes, thereby forming a corresponding obstacle avoidance strategy.

[0062] Compared with the prior art, the obstacle detection system and self-propelled device provided in the embodiments of the present disclosure utilize a special infrared tube 210 structure and a signal processing method to achieve obstacle detection and avoidance, which can significantly reduce the cost and hardware complexity of the obstacle avoidance module of the self-propelled device.

[0063] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. For the system or device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0064] The above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. An obstacle detection system for a self-propelled device, the self-propelled device comprising a machine body, characterized in that: The obstacle detection system is arranged on the outer peripheral surface of the machine body and is configured to detect obstacles in the travel path of the machine body. The obstacle detection system includes: At least one set of infrared pair tubes, each of which further comprises: Infrared light emitting tube, used for emitting infrared light; A first infrared light receiving tube, used for receiving the reflected infrared light and converting it into a first electrical signal; The second infrared light receiving tube is used to receive the reflected infrared light and convert it into a second electrical signal; The obstacle detection system is configured to calculate a voltage ratio between the first electrical signal and the second electrical signal, and the voltage ratio is used for obstacle avoidance judgment.

2. The obstacle detection system according to claim 1, characterized in that: A buffer is arranged at the front part of the machine body, and the at least one group of infrared pair tubes is arranged on the buffer.

3. The obstacle detection system according to claim 1, characterized in that: The obstacle detection system further includes a transmissive lens disposed outside the infrared pair tube, wherein the transmissive lens allows infrared light to penetrate.

4. The obstacle detection system according to claim 1, characterized in that: The obstacle detection system further comprises a Fresnel convex lens, which is arranged in front of the light path of the infrared light emitting tube.

5. The obstacle detection system according to claim 1, characterized in that: The obstacle detection system includes a plurality of groups of infrared tubes, which are arranged horizontally and / or vertically in the forward part of the machine body.

6. The obstacle detection system according to claim 5, characterized in that: The number of the infrared tube pairs is 1 to 30, and the distance between adjacent infrared tube pairs is 2 to 5 centimeters.

7. The obstacle detection system according to claim 1, characterized in that: The obstacle detection system further includes a signal processing unit configured to receive the first electrical signal and the second electrical signal, calculate a voltage ratio between the first electrical signal and the second electrical signal, and compare the calculated voltage ratio with a preset threshold value, and determine the situation of the obstacle ahead based on the comparison result.

8. The obstacle detection system according to claim 1, characterized in that: The infrared pair tubes are welded on the flexible PCB.

9. The obstacle detection system according to claim 7, characterized in that: The obstacle detection system further includes a connector for electrically connecting to a main board of the self-propelled device.

10. The obstacle detection system according to claim 9, characterized in that: Each of the infrared pair tubes is correspondingly welded on a flexible PCB, and the flexible PCBs are connected via an FPC flexible cable; the signal processing unit and the connector are arranged on one of the flexible PCBs.

11. A self-propelled device, characterized in that: Comprising the obstacle detection system as claimed in any one of claims 1-10.

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