Method for robot to judging whether the robot collides with virtual wall, chip and intelligent robot
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Solution Overview
Problem
Existing methods for robots to detect virtual walls are inaccurate due to traveling errors, leading to reduced effectiveness in blocking unwanted areas, and require additional hardware, increasing costs.
Innovation Solution
A method where a virtual wall is set on a robot's map, with pre-judging regions defined on either side, determining the robot's position and direction relative to the wall, and calculating linear distances to accurately assess collisions, using a control point and preset distances for precise detection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a virtual wall emitter is set to generate infrared signals for detection, then the robot can be prevented from entering restricted areas, but hardware cost increases
Solution Approach 1:
The patent uses a virtual wall representation in the map (a digital copy) instead of a physical virtual wall emitter. The virtual wall is defined by coordinate positions and blocking directions stored in the robot's map data, allowing the robot to recognize and avoid restricted areas through software-based detection rather than hardware emitters.
Solution Approach 2:
The patent replaces the mechanical/optical system of virtual wall emitters and infrared detectors with an information-processing system. The robot uses its existing sensors to build a map, then uses computational logic to detect virtual walls by comparing current position and orientation against stored map data, eliminating the need for dedicated hardware emitters.
2Device complexity
If a virtual wall is set based on map coordinate positions, then hardware cost is reduced, but the robot cannot accurately detect the virtual wall due to traveling errors
Solution Approach 1:
The patent performs preliminary actions by pre-defining not just the virtual wall position but also pre-judging regions (buffer zones) around the virtual wall in the map data. These pre-judging regions are calculated beforehand based on the virtual wall's position and blocking direction, allowing the robot to detect potential virtual wall collisions before actually reaching the precise wall location, compensating for navigation errors.
Solution Approach 2:
The patent introduces pre-judging regions as a buffer zone that compensates for traveling errors. By expanding the detection area beyond the precise virtual wall coordinates, the system creates a safety margin that ensures the robot will detect the virtual wall even when its actual position deviates from the planned trajectory due to navigation inaccuracies.
3Reliability
If the robot stops moving forwards at the virtual wall coordinate position, then the blocking effect is achieved, but the robot may miss the virtual wall due to traveling errors
Solution Approach 1:
The patent performs preliminary detection by checking whether the robot is within pre-judging regions before reaching the exact virtual wall position. The detection logic evaluates multiple conditions (robot position within pre-judging region, robot orientation facing the virtual wall, distance relationships) in advance, allowing the robot to stop before actually reaching the virtual wall coordinates, ensuring reliable blocking even with position errors.
Solution Approach 2:
The patent implements a feedback-based detection system that continuously monitors the robot's position and orientation relative to the virtual wall. The robot calculates whether it has entered pre-judging regions and whether its current state satisfies the collision conditions, providing continuous feedback to the control system to determine when to stop, rather than relying on a single position check at the virtual wall coordinates.
Data Source
AI summary
A method for a robot to judge whether the robot collides with a virtual wall, and a chip and the intelligent robot. The method comprises: providing pre-judgement regions on two sides of a virtual wall, so that when entering the pre-judgement regions, the robot can judge whether the robot collides with the virtual wall by combining a current direction of the robot as well as a relationship between a straight-line distance from the robot to a reference point and a straight-line distance from the reference point to a center point of the virtual wall.