Robot Cruise Path Generation With Dynamic Obstacle Avoidance
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Solution Overview
Problem
Self-moving robots with coupled functional modules face challenges in navigating environments with varying heights or sizes due to height discrepancies and temporary obstacles, limiting their ability to efficiently and effectively perform tasks across different regions.
Innovation Solution
A cruise path generating method that updates planned paths through manual adjustment during obstacle avoidance, allowing the combined robot to form a final walking path by combining multiple paths, enabling effective, reliable, and convenient operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the combined robot walks according to the pre-computed optimal path, then navigation efficiency is improved, but the robot cannot pass through places with varying heights or temporary obstacles
Solution Approach 1:
The patent implements dynamic path adjustment by allowing the robot to modify its navigation path in real-time when obstacles or environmental changes are detected. The system transitions from a static pre-computed optimal path to a dynamic adaptive path that can be recalculated during navigation, enabling the robot to pass through areas with varying heights or temporary obstacles while maintaining navigation efficiency.
Solution Approach 2:
The patent employs feedback mechanisms where the robot continuously monitors its environment during navigation and uses this information to adjust its path. When obstacles or height variations are detected through sensors, the system receives feedback about the current environment and recalculates the optimal path accordingly, ensuring both efficiency and adaptability.
2Adaptability or versatility
If the robot height is increased by coupling functional modules, then functionality is improved, but the robot cannot pass through places with restricted clearance
Solution Approach 1:
The patent applies preliminary action by performing path planning before navigation and incorporating height clearance information into the path computation. The system预先 (in advance) identifies areas with restricted clearance and plans alternative paths that accommodate the increased robot height from coupled functional modules, preventing clearance issues before they occur during navigation.
Solution Approach 2:
The patent changes the parameter of path selection based on robot height. When functional modules are coupled and increase robot height, the system adjusts navigation parameters by selecting paths with sufficient clearance and avoiding areas with restricted height, thus resolving the conflict between enhanced functionality and clearance restrictions.
3Reliability
If manual path adjustment is performed during obstacle avoidance, then navigation reliability is improved, but navigation time increases
Solution Approach 1:
The patent implements skipping by pre-computing multiple alternative paths before navigation begins. When an obstacle is encountered, the system can quickly switch to a pre-planned alternative path without performing time-consuming real-time recalculation, thus maintaining navigation reliability while minimizing time loss during obstacle avoidance.
Data Source
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AI summary
The present disclosure provides a combined robot and a cruise path generating method thereof. The method includes: step 100: providing or generating a working map of a self-moving robot; step 200: marking a target point on the working map; step 300: generating a planned path according to the location of the target point in the working map; step 400: the combined robot beginning to walk according to the planned path, and determining whether an obstacle is encountered during walking or not; if so, selecting a different path adjustment mode according to a relative location when the obstacle is encountered, and updating the planned path according to a walking path to form an actual path; otherwise, directly walking to form the actual path; and step 500: saving the actual path as a cruise path of the combined robot. A final walking path for the combined robot is generated in a mode of combination of multiple paths, thereby ensuring more effective, reliable and convenient walking of the combined robot and increasing working efficiency.