Control method and apparatus for preventing self-propelled device from falling
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Solution Overview
Problem
Self-propelled devices face a risk of falling when their cliff sensors fail or are shielded, leading to potential damage due to inability to detect height differences.
Innovation Solution
A method and apparatus that utilize an environmental map and historical trigger records to determine a task activity forbidden region, allowing the device to avoid such regions and reduce the risk of falling by controlling its trajectory.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If the self-propelled device is controlled to avoid unreachable regions based on environmental map, then the intelligence level of the device is improved, but the complexity of the control system increases
Solution Approach 1:
The environmental map construction module serves multiple functions: it maps the physical environment, identifies unreachable regions, and provides navigation constraints. By making this module multi-functional, the system achieves autonomous hazard avoidance without adding separate dedicated components, thereby improving automation while controlling complexity.
Solution Approach 2:
The patent merges the environmental mapping function with the navigation control function. The unreachable region information derived from environmental mapping is directly integrated into the device's movement constraints, combining what would traditionally be separate systems into a unified control approach, thus improving intelligence while minimizing complexity increase.
Data Source
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AI summary
The present application relates to the technical field of self-propelled devices, and discloses a method and apparatus for preventing a self-propelled device from falling, capable of being used for reducing the falling risk of the self-propelled device in a working process, thereby improving the intelligence level of the self-propelled device. The method comprises: determining, according to at least one task execution result of a self-propelled device in a working environment, an environmental map of a preset height plane corresponding to a space where the self-propelled device is located in the working environment, and a historical trigger record of a cliff sensor arranged on the self-propelled device in the working environment, wherein an unreachable area is marked in the environmental map: generating a task activity forbidden area of the self-propelled device according to the unreachable area and the historical trigger record: and controlling the self-propelled device to execute a preset task outside the task activity forbidden area.