Edgewise path selection method for robot obstacle crossing, chip, and robot

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Solution Overview

Problem

Conventional robot navigation systems face challenges in accurately crossing obstacles due to low map precision, leading to frequent collisions and inefficient path planning.

Innovation Solution

An edgewise path selection method for robot obstacle crossing, which involves pre-calculating navigation paths using inflection points and selecting edgewise prediction paths with minimal deviation to guide the robot around obstacles, reducing collisions and maintaining navigation efficiency.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If conventional visual navigation is used with pre-calculated paths, then the robot can follow a planned route, but the robot frequently collides with obstacles due to low map precision and inaccurate obstacle marking

Engineering Contradiction:

Improvenavigation reliabilityVSAvoidmap precision

Core Design Contradiction:

ReliabilityVSMeasurement precision

Solution Approach 1:

The patent pre-calculates multiple candidate paths (including edgewise paths) before navigation, storing them for quick selection during obstacle encounters. This preliminary preparation allows the robot to rapidly switch to alternative paths when collisions occur, improving navigation reliability without requiring real-time complex computation

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The patent dynamically selects between different path types (direct paths and edgewise paths) based on real-time obstacle detection. When the robot encounters an obstacle, it switches from following the original planned path to selecting a pre-calculated edgewise path, making the navigation system adaptive to changing conditions

Inventive Principle:

Principle #15Dynamics

2Adaptability or versatility

If the robot encounters an obstacle and needs to find a bypass direction, then the robot can continue navigation, but the path selection process is time-consuming and reduces navigation efficiency

Engineering Contradiction:

Improveobstacle bypass capabilityVSAvoidpath selection time

Core Design Contradiction:

Adaptability or versatilityVSLoss of time

Solution Approach 1:

The patent pre-calculates edgewise paths and their associated evaluation values (such as path length, deviation from target, and obstacle clearance) before navigation begins. When an obstacle is encountered, the robot can immediately select from these pre-evaluated paths without performing complex real-time calculations, significantly reducing path selection time

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The patent replaces complex real-time path planning algorithms with a simpler selection mechanism that chooses from pre-calculated paths based on evaluation values. This substitution of the path planning mechanism with a selection-based approach reduces computational burden and speeds up the obstacle bypass process

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Adaptability or versatility

If the robot deviates from the navigation path to cross obstacles, then the robot can overcome obstacles, but the robot may deviate too far from the intended path and lose navigation efficiency

Engineering Contradiction:

Improveobstacle crossing capabilityVSAvoidnavigation efficiency

Core Design Contradiction:

Adaptability or versatilityVSProductivity

Solution Approach 1:

The patent uses evaluation values (such as path length, deviation angle, and distance from target) to quantitatively assess and compare different edgewise paths. By changing the selection criterion from simple geometric deviation to a comprehensive evaluation metric, the system can select paths that minimize navigation efficiency loss while still achieving obstacle crossing

Inventive Principle:

Principle #35Parameter changes

Solution Approach 2:

The patent incorporates feedback mechanisms where the robot continuously monitors its position relative to the intended path and adjusts path selection based on this feedback. The evaluation values are updated based on current robot state and obstacle configuration, ensuring that selected edgewise paths maintain optimal navigation efficiency

Inventive Principle:

Principle #23Feedback

Data Source

PatentEP4039159B1Edgewise path selection method for robot obstacle crossing, chip, and robot

Publication Date: 2025.01.15 AMICRO SEMICONDUCTOR CO LTD

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AI summary

An edgewise path selection method for robot obstacle crossing, a chip, and a robot. The method includes: first, planning an edgewise prediction paths for the robot obstacle crossing, and selecting, on a navigation path which is preset, preset inflection points satisfying a guide condition, and the navigation path formed by connecting inflection points is preset for the robot; the inflection points are used for guiding the robot to move to a final navigation target point; then according to information of distances between all the edgewise behavior points on each of the edgewise prediction path, and the preset inflection points satisfying the guide condition on one same navigation path, selecting one edgewise prediction path having a minimum deviation degree relative to the navigation path, so that the robot walks in an edgewise direction of the edgewise prediction path which is selected after colliding with an obstacle.