Obstacle avoidance method and apparatus for self-walking device, and medium and electronic device
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Self-walking devices, such as cleaning robots, often get trapped by obstacles with irregular heights due to the limitations of laser distance sensors that can only detect distances at the same height, failing to effectively identify and avoid suspending obstacles.
Innovation Solution
The method involves acquiring collision signals, current feature information of surrounding obstacles, including suspension height information, and historical feature information to re-plan a travel route, using structured light assemblies and updating historical elevation maps to determine the minimum suspension height information, thereby avoiding obstacles effectively.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If laser distance sensors are used for obstacle detection, then the device can detect obstacles at the same height, but it cannot detect suspending obstacles with irregular heights
Solution Approach 1:
The patent introduces structured light assemblies that emit light in multiple directions (different dimensions) to detect obstacles at various heights. Instead of relying solely on laser distance sensors that measure distance at a single height level, the structured light system projects light patterns vertically and horizontally to capture three-dimensional obstacle information, enabling detection of suspending obstacles that protrude from the ground.
Solution Approach 2:
The patent combines multiple detection functions into a unified obstacle detection system. The structured light assemblies serve multiple purposes: detecting obstacle presence, determining obstacle height, and identifying obstacle position. This multi-functional approach allows the device to handle various obstacle types (low obstacles, suspending obstacles, irregular-shaped obstacles) with a single integrated system rather than requiring separate sensors for each obstacle type.
2Productivity
If the device follows a preset travel route, then it can maintain efficient cleaning coverage, but it gets trapped by suspending obstacles
Solution Approach 1:
The patent implements a feedback mechanism where obstacle detection information (from both laser distance sensors and structured light assemblies) is continuously fed back to the control unit. When a suspending obstacle is detected, the control unit receives real-time feedback about the obstacle's position and height, automatically adjusts the travel route to avoid the obstacle, and updates the navigation path. This closed-loop feedback system ensures the device maintains high productivity by quickly adapting to obstacles without getting trapped.
Solution Approach 2:
The patent transforms the static travel route into a dynamic, adaptive path. Instead of following a fixed preset route rigidly, the system continuously adjusts the travel path based on real-time obstacle detection. The control unit dynamically recalculates the optimal route considering obstacle positions and device orientation, allowing the device to maintain efficient cleaning coverage while reliably navigating around suspending obstacles of various heights.
3Device complexity
If only distance-based detection is used, then the system is simple, but it cannot plan routes around suspending obstacles
Solution Approach 1:
The patent segments the obstacle detection and route planning functions into distinct modules. The laser distance sensors handle basic distance measurement, while structured light assemblies specifically detect obstacle height and suspension information. The control unit processes this segmented information separately: basic navigation uses distance data, while obstacle avoidance uses height data. This segmentation allows the system to maintain relative simplicity while gaining advanced route planning capabilities for suspending obstacles.
Solution Approach 2:
The patent introduces an intermediary processing layer in the control unit that bridges simple distance detection and complex route planning. This intermediary module processes structured light data to extract obstacle height and suspension characteristics, then translates this information into route adjustment parameters. By using this intermediary processing step, the system avoids the need for entirely complex algorithms while still achieving sophisticated route planning around suspending obstacles.
Data Source
AI summary
The present disclosure provides an obstacle avoidance method and apparatus for a self-walking device, a medium, and an electronic device. In the present disclosure, current feature information and historical feature information which have spatial meanings are analyzed by using spatial information of the machine body, and a new travel route is re-planned. A travel route suitable for the self-walking device is acquired after evaluation based on the spatial information. Limitations of the travel route planning which solely depends on a distance from the obstacle detected at the same height are avoided, and the route planning effectiveness is improved.