Autonomous Mobile Device Adaptive Obstacle Avoidance
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Solution Overview
Problem
Autonomous mobile devices face inefficiencies in crowded environments due to frequent 'same stepping' occurrences, where they pause facing each other after avoiding obstacles, leading to prolonged travel times, especially when encountering obstacles with varying motor abilities.
Innovation Solution
An autonomous movement system with an avoidance pattern determining unit that assesses the motion status of obstacles and adjusts travel patterns based on their motor abilities, employing LIDAR for obstacle detection and collision margin calculation to optimize navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the autonomous mobile device performs avoidance behavior to avoid a mobile obstacle, then collision avoidance is achieved, but the device may enter a 'same stepping' state where both devices face each other again after avoidance, causing prolonged travel time
Solution Approach 1:
The patent applies dynamics by making the avoidance determination adaptive rather than static. The determining unit dynamically assesses whether avoidance is necessary based on real-time motion status of the facing object, allowing the system to adjust its behavior continuously rather than following a fixed avoidance protocol, thereby reducing same-stepping occurrences
Solution Approach 2:
The patent implements feedback by using the detection result of the facing object's motion status to inform the avoidance determination. The system continuously monitors the motion status and uses this feedback to adjust avoidance decisions, creating a closed-loop control system that prevents unnecessary avoidance maneuvers and reduces travel time delays
2Reliability
If the autonomous mobile device sets entry restricted areas broadly to account for mobile obstacle movement, then collision safety is improved, but the advancing course is closed and the device cannot move efficiently
Solution Approach 1:
The patent applies local quality by making the avoidance determination localized to specific situations rather than applying a blanket restriction. The determining unit assesses motion status locally at each decision point, allowing the device to navigate through areas that would otherwise be restricted, thereby maintaining safety while improving movement efficiency
Solution Approach 2:
The system dynamically adjusts the effective restriction area based on the motion status of facing objects. Rather than maintaining a fixed broad restriction zone, the system adapts the restriction scope in real-time, shrinking or expanding the effective avoidance zone according to whether facing objects are detected and their motion characteristics, thus balancing safety and efficiency
3Productivity
If the autonomous mobile device waits for a predetermined period until a facing object leaves, then avoidance of high motor ability obstacles is efficient, but waiting frequently occurs for low motor ability obstacles, prolonging travel time
Solution Approach 1:
The patent applies dynamics by making the waiting period adaptive rather than fixed. The determining unit dynamically adjusts the waiting duration based on the motion status of the facing object, allowing the system to wait longer for high motor ability obstacles that may move quickly and shorter or not at all for low motor ability obstacles, thereby optimizing travel time across different scenarios
Solution Approach 2:
The system changes the time parameter of the waiting period based on detected motion status characteristics. By adjusting this critical parameter dynamically, the system optimizes the balance between allowing facing objects to clear the path and maintaining overall travel efficiency, avoiding excessive waiting while ensuring safe passage
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Reduces the frequency of 'same stepping' by determining necessary avoidance maneuvers based on obstacle velocity, allowing for more efficient movement by maintaining or adjusting travel direction and velocity to avoid collisions effectively.
Implementation Method 1
employing LIDAR for obstacle detection
Data Source
AI summary
An autonomous mobile device, an autonomous movement system, and an autonomous movement method, each having an obstacle avoidance capability, are provided. The autonomous mobile device includes an avoidance pattern determination unit for determining the travel pattern of the local device according to the state of motion, relative to the autonomous movement device, of a mobile obstacle other than the autonomous movement device; and a travel controller for causing the autonomous movement device to travel according to the travel pattern determined by the avoidance pattern determination unit. One of avoidance patterns is selected in accordance with a relative velocity to a mobile obstacle.