Autonomous Travel Recovery Using Rotation and Backward Deviation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing autonomous traveling devices face challenges in promptly returning to autonomous travel after encountering obstacles, particularly when the obstacle is positioned in a way that increases the time and distance required for recovery through backward movement alone.
Innovation Solution
The autonomous traveling device employs a recognition unit to identify obstacles in both right and left regions, a direction calculation unit to determine directions along the obstacles, and a deviation control unit that combines rotational and backward movements to effectively move away from the obstacles, thereby facilitating quicker recovery and resumption of autonomous travel.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If the autonomous traveling device performs only backward movement to recover from an obstacle, then the device can move away from the obstacle, but the time and distance required for recovery increase
Solution Approach 1:
The patent transitions from one-dimensional backward movement to two-dimensional combined movement by introducing rotational movement alongside backward movement. The deviation control unit calculates both a backward movement amount and a rotational movement amount, enabling the traveling body to move diagonally away from the obstacle rather than strictly backward, thereby reducing recovery time and distance
Solution Approach 2:
The patent makes the recovery operation dynamic by adaptively adjusting both the backward movement amount and rotational movement amount based on the detected obstacle position and device orientation. The control unit dynamically calculates optimal movement parameters rather than using fixed backward movement, allowing the system to efficiently navigate different obstacle scenarios
2Reliability
If the autonomous traveling device uses only backward movement for recovery, then the operation is simple, but recovery may not be achieved or may require excessive time and distance depending on obstacle position and environment
Solution Approach 1:
The patent segments the recovery operation into two independent controllable components: backward movement and rotational movement. The deviation control unit separately calculates movement amounts for each component based on obstacle position and device orientation, then combines them for execution. This segmentation allows flexible adaptation to different obstacle scenarios while maintaining systematic control
Solution Approach 2:
The patent implements feedback control by continuously monitoring the obstacle position relative to the traveling body and adjusting the backward and rotational movement amounts accordingly. The control unit uses the detected obstacle information to dynamically determine optimal recovery movements, ensuring reliable recovery while adapting to changing environmental conditions
Data Source
AI summary
One aspect of an autonomous traveling device includes: a recognition unit that recognizes an obstacle for each of right and left regions sandwiching a body of the autonomous traveling device; a direction calculation unit that calculates a direction along the obstacle for each of the right and left regions; and a deviation control unit that causes the body to move away from the obstacle by combining a rotational movement that changes orientation of the body toward an intermediate direction of each of the directions calculated by the direction calculation unit and a backward movement that causes the body to move backward.