Height-Based Obstacle Crossing Paths for Self-Moving Cleaning Robots

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Solution Overview

Problem

Existing self-moving robots with active obstacle crossing components face inefficiencies in cleaning frequency and increased damage due to frequent obstacle crossing, which reduces their service life and cleaning efficiency.

Innovation Solution

The robot identifies obstacles as first or second types based on height, applying different crossing frequencies and strategies to minimize active crossing, using virtual walls for path planning to avoid certain obstacles, and lifting partially to cross others, optimizing cleaning tasks.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If the active obstacle crossing component is frequently activated to cross over obstacles, then the robot's obstacle crossing ability is improved, but the service life of the robot is reduced due to increased damage

Engineering Contradiction:

Improveobstacle crossing abilityVSAvoidservice life

Core Design Contradiction:

Adaptability or versatilityVSReliability

Solution Approach 1:

The patent applies parameter changes by dynamically adjusting the activation threshold of the active obstacle crossing component based on obstacle height parameters. The system distinguishes between different obstacle types (first type with height less than first threshold, second type with height between first and second thresholds) and activates the component only for second type obstacles, optimizing the balance between crossing ability and component durability

Inventive Principle:

Principle #35Parameter changes

Solution Approach 2:

The patent segments obstacles into different types based on height parameters, creating distinct crossing strategies for each type. First type obstacles are crossed using passive methods while second type obstacles trigger active crossing, dividing the obstacle crossing function into multiple specialized sub-functions

Inventive Principle:

Principle #1Segmentation

2Productivity

If the active obstacle crossing component is activated to cross over obstacles, then the robot can clear the area behind obstacles, but the cleaning efficiency is reduced due to time consumption

Engineering Contradiction:

Improvecleaning efficiencyVSAvoidtime consumption

Core Design Contradiction:

ProductivityVSLoss of time

Solution Approach 1:

The patent applies partial action by selectively activating the active obstacle crossing component only for second type obstacles that require it, rather than activating it for all obstacles. This partial activation reduces unnecessary time consumption while still achieving the cleaning objective for areas behind significant obstacles

Inventive Principle:

Principle #16Partial or excessive action

Solution Approach 2:

The patent implements skipping by allowing the robot to bypass active crossing for first type obstacles, using faster passive crossing methods instead. This rushing through of minor obstacles reduces overall time consumption while maintaining cleaning effectiveness

Inventive Principle:

Principle #21Skipping (Rushing through)

3Productivity

If the robot frequently crosses over obstacles to clean areas behind them, then the cleaning coverage is improved, but the damage to the robot increases

Engineering Contradiction:

Improvecleaning coverageVSAvoiddamage to robot

Core Design Contradiction:

ProductivityVSObject-affected harmful factors

Solution Approach 1:

The patent changes the operational parameters of the obstacle crossing system by introducing height-based thresholds that determine crossing behavior. By monitoring obstacle height parameters and comparing them against predefined thresholds, the system optimizes the balance between cleaning coverage and mechanical damage prevention

Inventive Principle:

Principle #35Parameter changes

Solution Approach 2:

The patent applies this principle by using the more durable passive crossing method for first type obstacles, reserving the active crossing component for only those obstacles (second type) where it is truly necessary. This selective usage extends the effective service life of the active crossing mechanism

Inventive Principle:

Principle #27Cheap short-living objects (Disposable)

Data Source

PatentUS20250289132A1Self-moving robot, obstacle crossing method, obstacle crossing system and computer-readable storage medium

Publication Date: 2025.09.18 DREAM INNOVATION TECH (SUZHOU) CO LTD

AI summary

A self-moving robot includes an active obstacle crossing component, and performs a cleaning task on an area to be cleaned. A control method for a self-moving robot includes: identifying a second type of obstacle in the area to be cleaned, where a height of the second type of obstacle is greater than a first height and less than a second height; determining a length direction of the second type of obstacle; determining a cleaning path based on the area to be cleaned and the length direction; performing the cleaning task on the area to be cleaned based on the cleaning path, where an angle between a cleaning direction of the self-moving robot and the length direction is less than a preset angle.