Obstacle detection system for self-propelled device, self-propelled device and obstacle avoidance method for obstacle detection system

Abstract

Provided in the embodiments of the present disclosure are an obstacle detection system for a self-propelled device, a self-propelled device and an obstacle avoidance method for the obstacle detection system. The obstacle detection system is arranged on the outer peripheral surface of a machine main body and is configured to detect an obstacle in a travel path of the machine main body. The obstacle detection system comprises at least one infrared diode pair. Each infrared diode pair comprises an infrared light emitting diode for emitting infrared light, a first infrared light receiving diode for receiving reflected infrared light and converting same into a first electric signal, and a second infrared light receiving diode for receiving the reflected infrared light and converting same into a second electric signal.

Description

Obstacle detection system for self-propelled device, self-propelled device and obstacle avoidance method of obstacle detection system

[0001] Cross Reference to Related Applications

[0002] The present disclosure is based on and claims priority to Chinese Patent Application No. 202421117840.1, filed on May 21, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present disclosure relates to the technical field of self-propelled devices, in particular to an obstacle detection system for a self-propelled device, a self-propelled device and an obstacle avoidance method of the obstacle detection system. BACKGROUND

[0004] 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, and weeding machines. 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 obstacles around them during operation and perform obstacle avoidance operations. For example, self-propelled devices can detect obstacles in front, side, and even below by integrating obstacle avoidance sensors, thereby planning a walking path in advance to avoid unnecessary collisions. The obstacle avoidance function not only protects furniture and the robot itself from damage, but also ensures the continuity and efficiency of the robot's walking process.

[0005] However, existing obstacle avoidance schemes are relatively complex and have high implementation costs. As self-propelled devices, especially various self-cleaning robots, become more popular, the obstacle avoidance performance of the devices needs to be further enhanced, and the cost needs to be further reduced. SUMMARY

[0006] Some embodiments of the present disclosure provide an obstacle detection system for a self-propelled device, a self-propelled device and an obstacle avoidance method of the obstacle detection system, which can reduce the implementation cost of obstacle detection.

[0007] The embodiment of the present disclosure provides an obstacle detection system for a self-walking device, the self-walking device comprising a machine body, the obstacle detection system being arranged on the outer circumferential surface of the machine body and configured to detect an obstacle in the running path of the machine body, the obstacle detection system comprising: at least one set of infrared pairs of tubes, each of the infrared pairs of tubes comprising: 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 electric signal; and a second infrared light receiving tube for receiving reflected infrared light and converting it into a second electric signal; the obstacle detection system being configured to calculate the voltage ratio of the first electric signal and the second electric signal, and the voltage ratio being used for obstacle avoidance judgment.

[0008] In some embodiments, the front part of the machine body is provided with a bumper, and the at least one set of infrared pairs of tubes is arranged on the bumper.

[0009] In some embodiments, the obstacle detection system further comprises a cover arranged outside the at least one set of infrared pairs of tubes, and the cover comprises a transmission lens allowing infrared light to penetrate.

[0010] In some embodiments, the obstacle detection system further comprises a Fresnel convex lens arranged in front of the light path of the infrared light emitting tube.

[0011] In some embodiments, the obstacle detection system comprises a plurality of sets of infrared pairs of tubes, and the plurality of sets of infrared pairs of tubes are arranged horizontally and / or vertically on the front part of the machine body.

[0012] In some embodiments, the number of the sets of infrared pairs of tubes is 1-30, and the distance between adjacent sets of infrared pairs of tubes is 2-5 cm.

[0013] In some embodiments, the obstacle detection system further comprises a signal processing unit configured to receive the first electric signal and the second electric signal, calculate the voltage ratio of the first electric signal and the second electric signal, and compare the calculated voltage ratio with a preset threshold value, and judge the situation of the obstacle in front according to the comparison result.

[0014] In some embodiments, the infrared pairs of tubes are welded on a flexible PCB.

[0015] In some embodiments, the obstacle detection system further comprises a connector for electrical connection with the mainboard of the self-walking device.

[0016] In some embodiments, each of the infrared pairs of tubes corresponds to a flexible PCB, and a plurality of the flexible PCBs are connected by FPC flexible flat cables; at least one of the signal processing unit and the connector is arranged on one of the plurality of flexible PCBs.

[0017] Embodiments of the present disclosure provide an obstacle detection system for a self-walking device, the self-walking device comprising a machine body, the obstacle detection system being arranged on an outer circumferential surface of the machine body and configured to detect an obstacle in a travel path of the machine body, the obstacle detection system comprising a plurality of groups of infrared pairs of tubes, the infrared pairs of tubes being arranged at a preset array interval; wherein each group of the infrared pairs of tubes comprises an infrared light emitting tube, and adjacent two groups of the infrared light emitting tubes are configured to be asynchronously lit.

[0018] Embodiments of the present disclosure provide a self-walking device comprising the above obstacle detection system.

[0019] Embodiments of the present disclosure provide an obstacle avoidance method for the above obstacle detection system, comprising:

[0020] controlling the infrared light emitting tube to emit infrared light;

[0021] controlling the first infrared light receiving tube to receive the reflected infrared light to obtain a first electric signal, and controlling the second infrared light receiving tube to receive the reflected infrared light to obtain a second electric signal;

[0022] calculating a voltage ratio of the first electric signal and the second electric signal, judging a situation of a front obstacle according to the voltage ratio, and forming an obstacle avoidance strategy.

[0023] Compared with the prior art, the obstacle detection system for a self-walking device and the self-walking device provided by the embodiments of the present disclosure utilize a special infrared pair of tube structure and a signal processing method to realize obstacle detection and avoidance, which can greatly reduce the cost and hardware complexity of the obstacle avoidance module of the self-walking device. BRIEF DESCRIPTION OF DRAWINGS

[0024] The drawings incorporated in and forming a part of the specification, illustrate preferred embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure. It is expressly understood that the drawings are only a few of the embodiments of the present disclosure, and other drawings can be obtained by those of ordinary skill in the art without creative effort based on these drawings.

[0025] FIG. 1 is a schematic diagram of a three-dimensional structure of a sweeping robot related to some embodiments of the present disclosure;

[0026] FIG. 2 is a front view of a sweeping robot configured with the obstacle detection system provided by some embodiments of the present disclosure;

[0027] Fig. 3 is a schematic position distribution setting diagram of the infrared pair tube in Fig. 2;

[0028] Fig. 4 is a flow chart of an obstacle avoidance method of an obstacle detection system for a self-walking device according to some embodiments of the present disclosure.

[0029] Legend: sweeping robot 10, machine body 110, front portion 111, rear portion 112, sensing system 120, bumper 122, infrared pair tube 210, first infrared light receiving tube 211, second infrared light receiving tube 212, infrared light emitting tube 213, transmission lens 220. DETAILED DESCRIPTION

[0030] In order to make the objectives, technical solutions and advantages of the present disclosure clearer, the following further describes the present disclosure in conjunction with the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of the present disclosure, but not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present disclosure.

[0031] The terms used in the embodiments of the present disclosure are merely for the purpose of describing particular embodiments, and are not intended to limit the present disclosure. The singular forms "a", "an" and "the" used in the embodiments of the present disclosure and the appended claims are intended to include plural forms, unless the context clearly indicates otherwise. "Plural" generally includes at least two.

[0032] It should be understood that the term "and / or" used herein is merely to describe an association relationship of associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " herein generally represents an "or" relationship between the front and rear associated objects.

[0033] It should also be noted that the terms "comprising", "including", or any other variant thereof are intended to cover non-exclusive inclusion, so that the products or devices including a series of elements not only include those elements, but also include other elements not explicitly listed, or further include elements inherent to such products or devices. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of another identical element in the product or device comprising the element.

[0034] In the related art, the obstacle avoidance schemes of self-walking devices are relatively complex and have high implementation costs. For example, the existing obstacle avoidance sensors based on structured light project light of a specific pattern into the environment, and determine the shape and position of an object by analyzing the reflected light pattern. The structured light technology requires complex image processing and calculation, and has a high implementation cost. For another example, the existing obstacle avoidance sensors based on TOF (Time of Flight) technology calculate the distance of an object by measuring the time required for light to be emitted, reflected, and returned to the receiver. However, the obstacle avoidance sensors based on the TOF technology require high-precision timing, and also have a high implementation cost.

[0035] To this end, an embodiment of the present disclosure provides an obstacle detection system for a self-walking device, the self-walking device comprising a machine body, the obstacle detection system being arranged on an outer circumferential surface of the machine body and configured to detect an obstacle in a travel path of the machine body, the obstacle detection system comprising: at least one set of infrared pairs of tubes, each infrared pair of tubes comprising: an infrared light emitting tube configured to emit infrared light; a first infrared light receiving tube configured to receive reflected infrared light and convert the reflected infrared light into a first electrical signal; and a second infrared light receiving tube configured to receive reflected infrared light and convert the reflected infrared light into a second electrical signal; the obstacle detection system being configured to calculate a voltage ratio of the first electrical signal and the second electrical signal, and the voltage ratio being used for obstacle avoidance determination.

[0036] The optional embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0037] An embodiment of the present disclosure provides a possible application scenario, which includes a self-walking device, such as a sweeping robot, a mopping robot, a vacuum cleaner, a weeding machine, and the like. As an example, a sweeping robot is taken as an example for description. Referring to FIG. 1, the self-walking device is a sweeping robot 10, which can include a machine body 110, a perception system 120, a controller, a driving module, a cleaning system, an energy system, a human-computer interaction module, and the like.

[0038] The machine body 110 includes a forward portion 111 and a rearward portion 112, and has an approximately circular shape (i.e., circular in front and circular in back). It can be understood that the machine body 110 can also have other shapes. The forward portion 111 of the machine body 110 can be further provided with a bumper 122. The bumper 122 can be made of an elastic material and has good energy absorption performance, which can effectively reduce the impact force when the machine collides with an obstacle, and protect the equipment and furniture. The bumper 122 can also be loaded with various sensors.

[0039] The perception system 120 is configured to provide various position information and motion state information of the machine to the control system. The perception system 120 can include a collision sensor, a cliff sensor, a magnetometer, an accelerometer, a gyroscope, an odometer, and other sensing devices disposed on or inside the device body 110.

[0040] The control system is disposed on a circuit board inside the device body 110 and includes a computing processor, such as a central processing unit, an application processor, and the like, in communication with a non-transitory memory, such as a hard disk, a flash memory, a random access memory, and the like. The control system can control the driving module to make responses according to the obstacle information fed back by the perception system 120.

[0041] The cleaning system can be a dry cleaning system and / or a wet cleaning system. As a dry cleaning system, the main cleaning function is derived from a cleaning system composed of a rolling brush, a dust box, a fan, an air outlet, and connecting components therebetween. The rolling brush with a certain interference with the ground sweeps the garbage on the ground and is brought to the front of the dust suction port between the rolling brush and the dust box, and then the air generated by the fan and passing through the dust box is sucked into the dust box. The dry cleaning system can also include a side brush having a rotating shaft at an angle relative to the ground for moving debris into the rolling brush area of the cleaning system.

[0042] The energy system includes a rechargeable battery, such as a nickel-hydrogen battery and a lithium battery. The rechargeable battery can be connected with a charge control circuit, a battery pack charge temperature detection circuit, and a battery undervoltage monitoring circuit, which are further connected with a single-chip microcomputer control circuit.

[0043] The human-machine interaction system includes keys on the panel of the device body 110, which are used for function selection by the user; can also include a display screen and / or an indicator light and / or a loudspeaker, which show the current state of the machine or the function selection item to the user; and can also include a mobile phone client program.

[0044] Referring to FIGS. 2 and 3, FIG. 2 is a front view of the sweeping robot 10 configured with the obstacle detection system provided by the embodiments of the present disclosure, and FIG. 3 is a schematic position distribution setting diagram of an infrared pair tube in FIG. 2. The machine body 110 is further provided with an obstacle detection system. The obstacle detection system is configured to detect obstacles in the travel path of the machine body.

[0045] The obstacle detection system comprises at least one set of infrared pairs of tubes 210, each set of infrared pairs of tubes 210 can comprise: 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.

[0046] In some embodiments, the obstacle detection system is arranged on the front portion 111 of the machine body 110, in particular, on the bumper 122 of the front portion 111. During the cleaning process, the driving module propels the robotic cleaner 10 to move on the ground, and the bumper 122 detects obstacles in the moving path of the robotic cleaner 10 via the obstacle detection system arranged thereon, and the robotic cleaner 10 can control the driving module to respond to the obstacle event detected by the obstacle detection system on the bumper 122, such as deceleration, stopping advancing, performing turning, etc.

[0047] In some embodiments, the obstacle detection system further comprises a signal processing unit (not shown) for receiving the first electrical signal and the second electrical signal, and calculating the voltage ratio of the first electrical signal and the second electrical signal, which can be used for subsequent obstacle avoidance judgment. The signal processing unit can be a micro control unit (MCU). The signal processing unit can calculate the voltage ratio of the first electrical signal and the second electrical signal through the built-in ratio calculation module. Let the voltage value of the first electrical signal be V1 and the voltage value of the second electrical signal be V2, then the voltage ratio R is defined as: R = V2 / V1.

[0048] In some embodiments, the calculated voltage ratio R can be compared with a plurality of preset threshold values to determine the situation of the front obstacle, such as position, size, etc. For example, a plurality of voltage ratio threshold values T1, T2, T3, etc. can be set according to experimental data and actual use environment, which are used for obstacle avoidance judgment and obstacle avoidance operation of different levels, wherein the obstacle avoidance operation includes no need to avoid obstacles, triggering deceleration operation, immediately performing stopping or turning operation, etc. By calculating the voltage ratio of the outputs of the two infrared receiving tubes, accurate judgment and obstacle avoidance of the obstacle can be realized.

[0049] In some embodiments, the obstacle detection system comprises a plurality of sets of infrared pairs of tubes 210. The plurality of sets of infrared pairs of tubes 210 are arranged on the front portion 111 of the machine body 110, ensuring that the front obstacles can be effectively detected when the machine body 110 advances. In some embodiments, the emitting tube and the receiving tube of each set of infrared pairs of tubes 210 are arranged on the bumper 122, in particular, on the front surface of the bumper 122, to ensure the emission and reception of unobstructed light.

[0050] In some embodiments, the number of infrared pair tubes 210 groups can be 1-30, for example 9-17, and the distance between adjacent infrared pair tubes 210 groups can be 1-10 cm, for example 2-5 cm, to ensure that there is no blind area and the interference between adjacent infrared pair tubes 210 groups is small.

[0051] In some embodiments, the multiple groups of infrared pair tubes 210 are arranged horizontally in the front portion 111 of the machine body 110 to form a straight line or slightly curved array, ensuring that all possible paths in front are covered. In some embodiments, the groups of infrared pair tubes 210 can also be arranged vertically to cover obstacles at different heights. For example, on higher equipment, the groups of infrared pair tubes 210 can be distributed vertically to detect obstacles at different heights. Further, to improve detection capability in complex environments, a combined arrangement can be used, combining horizontal and vertical arrangements to form a two-dimensional detection network, enhancing the obstacle avoidance effect.

[0052] In some embodiments, within 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 arranged on both sides of the infrared light emitting tube 213. In 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 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 arranged on both sides of the second infrared light receiving tube 212.

[0053] In some embodiments, the bumper 122 generally has a certain curvature, and the infrared pair tube 210 is arranged closely to the bumper 122, and the infrared pair tube 210 and the bumper 122 maintain the same curvature, and / or the arrangement of the multiple groups of infrared pair tubes 210 maintains the same curvature as the bumper 122.

[0054] In some embodiments, the obstacle detection system further comprises a transmission lens 220 arranged outside the infrared pair tube 210, which is made of special infrared transmission material to ensure that infrared light can efficiently penetrate. In some embodiments, the transmission lens 220 can also block visible light while ensuring that infrared light can efficiently penetrate, to reduce environmental light interference. As an example, the transmission lens 220 is black, with high infrared transmission and low visible light transmission, to reduce environmental light interference and optimize detection performance. In some embodiments, the transmission lens 220 maintains the same curvature as the bumper 122.

[0055] In some embodiments, the obstacle detection system further comprises a Fresnel convex lens (not shown) arranged in front of the light path of the infrared light emitting tube 213. If there are multiple groups of infrared pairs of tubes 210, a Fresnel convex lens can be installed in front of each infrared light emitting tube 213 in each group of infrared pairs of tubes 210. After focusing and guiding through the Fresnel convex lens, the infrared light beam can be effectively focused, making the infrared light have strong directivity, reducing beam divergence, reducing mutual interference between adjacent infrared light emitting tubes 213, and the Fresnel lens is relatively smaller in volume than ordinary lenses, especially suitable for situations where multiple lenses are required in the present disclosure.

[0056] In some embodiments, the Fresnel convex lens is designed with an inner convex, and the inner surface of the lens is designed as a concave surface, thereby ensuring the overall consistency of the optical system. In some embodiments, the Fresnel convex lens is installed directly in front of the infrared light emitting tube 213 and aligned with the axis of the infrared light emitting tube 213 to ensure the best optical effect.

[0057] In some embodiments, the infrared pairs of tubes 210 are welded on a flexible PCB (Printed Circuit Board) (not shown), which can be further fixed on the transmission lens 220 by means of back adhesive, buckle or locking screw. Specifically, the back adhesive fixing is achieved by pre-pasting a back adhesive such as double-sided tape on the back of the flexible PCB. The back adhesive installation process is simple and fast, and only needs to paste the PCB on the inner surface of the transmission lens 220 and apply appropriate pressure to ensure firm fixation. The buckle fixing can be achieved by providing a plurality of buckle slots on the inner side of the transmission lens 220, which are matched with the buckle holes on the flexible PCB. The locking screw fixing can be achieved by providing corresponding screw holes on the edges of the flexible PCB and the transmission lens 220, aligning the screw holes on the flexible PCB with the holes on the transmission lens 220, inserting the screw and tightening it.

[0058] The flexible PCB is made of high-flexibility 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 millimeters to ensure that it can still work stably in the bent state.

[0059] In some embodiments, the obstacle detection system further comprises a connector (not shown) for electrical connection with the main board of the robot. Through the connector, the circuit on the PCB can exchange data and signals with the control system of the main board of the robot. For example, the obstacle detection system sends an obstacle avoidance signal to the main board of the robot through the connector, and the control system of the main board of the robot further performs corresponding operations such as stopping, turning, slowing down, etc. according to the obstacle avoidance signal.

[0060] In some embodiments, each group of infrared pair tubes 210 is respectively welded on an independent small flexible PCB, and the PCBs are connected through FPC (Flexible Printed Circuit) flexible flat cable. The FPC flexible flat cable is a connecting line made of flexible circuit, which has the characteristics of lightness, flexibility, and easy installation. The welding of each group of infrared pair tubes 210 makes the infrared pair tubes 210 easy to install and replace. The signal processing unit can be arranged on one of the independent flexible PCBs, and data and signals are exchanged with each infrared pair tube 210 arranged on other flexible PCBs through the FPC flexible flat cable to process the signals received by each infrared pair tube 210. The connector can be arranged on one of the independent flexible PCBs. The connector can be arranged on the same flexible PCB as the signal processing unit.

[0061] In other embodiments, all infrared pair 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 pair tubes 210 on complex curved surfaces and provide flexible installation methods. Referring to FIG. 4, the disclosure further provides an obstacle avoidance method of the obstacle detection system as in the foregoing embodiments, which includes the following steps:

[0062] S110, controlling the infrared light emitting tube to emit infrared light;

[0063] S120, controlling the first infrared light receiving tube to receive the reflected infrared light to obtain a first electric signal, and controlling the second infrared light receiving tube to receive the reflected infrared light to obtain a second electric signal;

[0064] S130, calculating the voltage ratio of the first electric signal and the second electric signal, judging the situation of the front obstacle according to the voltage ratio, and forming an obstacle avoidance strategy.

[0065] In some embodiments, the self-walking device can include one or more groups of infrared pair tubes 210. The one or more groups of infrared pair tubes 210 are arranged on the front portion 111 of the machine body 110 to ensure that the obstacles in front can be effectively detected when the machine body 110 moves forward.

[0066] When the self-walking device includes multiple groups of infrared pair tubes 210, the infrared light emitting tubes 213 of the infrared pair tubes 210 can be configured to be asynchronously lit to avoid two adjacent infrared light emitting tubes 213 emitting infrared light at the same time, so as to further reduce interference.

[0067] The voltage ratio R of the first electrical signal and the second electrical signal is defined as R=V2 / V1, where 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 a plurality of preset threshold values to determine the situation of the front obstacle, such as the position, size, etc. For example, a plurality of voltage ratio threshold values T1, T2, T3, etc. can be set according to experimental data and actual use environment, which are used for different levels of obstacle avoidance judgment and obstacle avoidance strategies, such as no need to avoid obstacles, trigger deceleration operation, immediately execute stop or steering operation, etc. The embodiment can realize accurate judgment of the obstacle by calculating the voltage ratio of the outputs of the two infrared receiving tubes, so as to form the corresponding obstacle avoidance strategy.

[0068] Compared with the prior art, the obstacle detection system and the self-walking device provided by the embodiment of the present disclosure utilize the special infrared pair tube 210 structure and signal processing method to realize obstacle detection and avoidance, which can greatly reduce the cost and hardware complexity of the obstacle avoidance module of the self-walking device.

[0069] Finally, it should be noted that: the embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts of each embodiment can be referred to each other. For the system or device disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method part.

[0070] The above embodiments are only used to illustrate the technical solutions of the present disclosure, but not limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the corresponding technical solutions deviate 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, wherein, The self-walking device comprises a machine body, an obstacle detection system arranged on the outer circumferential surface of the machine body and configured to detect obstacles in the driving path of the machine body, and the obstacle detection system comprises: at least one set of infrared pairs of tubes, each of the infrared pairs of tubes comprising: 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 the voltage ratio of the first electrical signal and the second electrical signal, and the voltage ratio is used for obstacle avoidance judgment.

2. The hazard detection system of claim 1, wherein, The front part of the machine body is provided with a bumper, and the at least one set of infrared pairs of tubes is arranged on the bumper.

3. The obstacle detection system according to claim 1, further comprising a transparent lens arranged outside the at least one set of infrared pairs of tubes, the transparent lens allowing infrared light to penetrate.

4. The obstacle detection system according to claim 1, further comprising a Fresnel convex lens arranged in front of the light path of the infrared light emitting tube.

5. The obstacle detection system according to claim 1, comprising a plurality of sets of the infrared pairs of tubes, and the plurality of sets of the infrared pairs of tubes are arranged horizontally and / or vertically on the front part of the machine body.

6. The hazard detection system of claim 5, wherein, The number of the sets of the infrared pairs of tubes is 1-30, and the distance between adjacent sets of the infrared pairs of tubes is 2-5 cm.

7. The obstacle detection system according to claim 1, further comprising a signal processing unit configured to receive the first electrical signal and the second electrical signal, calculate the voltage ratio of the first electrical signal and the second electrical signal, compare the calculated voltage ratio with a preset threshold value, and judge the situation of the front obstacle according to the comparison result.

8. The hazard detection system of claim 1, wherein, The infrared pairs of tubes are welded on flexible PCBs.

9. The obstacle detection system according to claim 1, further comprising a connector for electrical connection with the mainboard of the self-walking device.

10. The hazard detection system of claim 9, wherein, Each of the infrared pairs of tubes is welded on a flexible PCB, and a plurality of the flexible PCBs are connected through FPC flexible flat cables; at least one of the signal processing unit and the connector is arranged on one of the plurality of flexible PCBs.

11. 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 circumferential surface of the machine body and configured to detect obstacles in the driving path of the machine body, and the obstacle detection system comprises a plurality of sets of infrared pairs of tubes, and the infrared pairs of tubes are arranged at a preset array interval; wherein each set of the infrared pairs of tubes comprises an infrared light emitting tube, and the infrared light emitting tubes of adjacent two sets are configured to be lit asynchronously.

12. The hazard detection system of claim 11, wherein, Each set of the infrared pairs of tubes further comprises two infrared light receiving tubes for receiving reflected infrared light and converting it into an electrical signal.

13. The hazard detection system of claim 12, wherein, The infrared light emitting tube is located at the center position of the infrared pairs of tubes, and the two infrared light receiving tubes are arranged on the two sides of the infrared light emitting tube, respectively.

14. The hazard detection system of claim 12, wherein, The two infrared light receiving tubes are arranged adjacently, and the infrared light emitting tube is arranged on one side of the infrared light receiving tubes.

15. The hazard detection system of claim 12, wherein, A plurality of the infrared pairs are arranged horizontally on the bumper of the machine body.

16. The hazard detection system of claim 15, wherein, In the horizontal direction, the arrangement of the infrared light emitting tube and the infrared light receiving tube in the two adjacent groups of the infrared pairs is different.

17. The hazard detection system of claim 12, wherein, A plurality of the infrared pairs are arranged vertically on the bumper of the machine body.

18. The hazard detection system of claim 17, wherein, In the vertical direction, the arrangement of the infrared light emitting tube and the infrared light receiving tube in the two adjacent groups of the infrared pairs is the same.

19. The hazard detection system of claim 11, wherein, The number of the infrared pairs is 1-30, and the distance between two adjacent infrared pairs is 2-5 cm.

20. A self-propelled device comprising the obstacle detection system according to any one of claims 1-10 or claims 11-19.

21. An obstacle avoidance method of the obstacle detection system according to any one of claims 1-10, comprising: controlling the infrared light emitting tube to emit infrared light; controlling the first infrared light receiving tube to receive the reflected infrared light to obtain a first electric signal, and controlling the second infrared light receiving tube to receive the reflected infrared light to obtain a second electric signal; calculating the voltage ratio of the first electric signal and the second electric signal, determining the situation of the front obstacle according to the voltage ratio, and forming an obstacle avoidance strategy.

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