The invention relates to the technical field of sensing navigation, in particular to a patrol
robot based on sensing obstacle recognition, which comprises a path dynamic priority module, a high-flow avoidance module, a bedside dynamic area module, an approaching risk monitoring module and a
path coverage state module. According to the method, node pressure distribution is adjusted and optimized through dynamic priorities, path flexibility is improved, a self-adaptive avoidance area is defined synchronously based on a
bed displacement trend and a safety redundancy range, the path congestion risk is reduced, direction deviation is controllable, detour redundancy is reduced, the dynamic avoidance area shrinks or expands along with environment changes, and space adaptability is enhanced. The approach
risk level is combined with the angle change rate and the distance decay rate to quantify the
potential risk, the coverage overlapping proportion threshold linkage turning freezing mechanism prevents path conflicts, the multi-dimensional decision basis improves the
obstacle avoidance response speed and safety, and compared with a static rule, the adaptability to ICU high-frequency environment changes is enhanced, and the method has the advantages of being simple in structure and convenient to operate. A pressure redistribution and risk grading mechanism reduces
obstacle avoidance delay.