Collided position determination method, computer-readable storage medium, and robot
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Solution Overview
Problem
Existing cleaning robots lack the ability to accurately determine the collided position due to limited collision sensors, which impedes precise navigation and collision avoidance.
Innovation Solution
A method and apparatus that utilize collision sensors to determine candidate positions based on triggered signals, adjust the robot's direction, calculate motion trajectories, and screen candidate positions using motion coverage areas to accurately mark collided positions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If collision sensors are disposed only at left, right and front parts of the robot, then the device complexity is reduced, but the measurement precision of collided position is insufficient
Solution Approach 1:
The patent transitions from direct spatial measurement to trajectory-based indirect measurement. By analyzing the robot's motion trajectory before and after collision, the system determines collision position in the trajectory dimension rather than relying solely on sensor spatial arrangement, thereby improving measurement precision without adding sensor complexity
Solution Approach 2:
The patent introduces motion trajectory as an intermediary element between the collision event and position determination. Instead of directly measuring collision position with sensors, the system uses trajectory data as a mediator to infer the collision location, resolving the contradiction between measurement precision and device complexity
2Loss of information
If the robot uses only trigger signals from collision sensors, then the device complexity is minimized, but the loss of information about precise collision location occurs
Solution Approach 1:
The patent implements feedback by continuously monitoring motion trajectory data and using it to infer collision position. The system feeds back trajectory information to the control unit, which processes this feedback to determine precise collision location, thereby reducing information loss without requiring complex additional sensors
Solution Approach 2:
The patent replaces the mechanical sensor-based detection system with a computational approach using motion trajectory analysis. Instead of relying on physical sensor arrays to detect collision position, the system substitutes mechanical detection with algorithmic processing of motion data, reducing information loss while keeping the device complexity low
Data Source
AI summary
A collided position determination method, a computer-readable storage medium, and a robot are provided. The method includes: obtaining, from a collision sensor of the robot, a triggered signal corresponding to a collision of the robot; determining at least two candidate positions of the collision based on the triggered signal corresponding to the collision; obtaining a motion trajectory of the robot after the collision; and obtaining a collided position by screening each of the candidate positions of the collision according to the motion trajectory. In this manner, when the robot collides during its movement, the collision signal generated by the collision sensor of the robot can accurately mark the collided position, thereby reducing the probability of the robot colliding again at the same position.