Obstacle avoidance walking method of self-moving robot
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Solution Overview
Problem
Existing self-moving robots face inefficiencies in obstacle avoidance, leading to prolonged walking times and reduced working efficiency due to repeated path deviations around obstacles during their operation.
Innovation Solution
The method involves establishing a rectangular plane coordinate system with the self-moving robot determining obstacle points and using these points to identify turning points, allowing for one-off avoidance actions and concise walking paths by shifting along the X-axis and reversing Y-axis directions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the self-moving robot uses traditional obstacle avoidance method by bypassing obstacles and walking in reciprocating manner in vertical direction, then the robot can avoid obstacles, but the walking path is repeated many times which prolongs walking time and impairs working efficiency
Solution Approach 1:
The robot performs preliminary scanning in the horizontal direction to detect obstacles before completing the vertical reciprocating path. By detecting obstacles ahead and adjusting the walking path in advance, the robot avoids repeated traversals of the same area, thereby maintaining obstacle avoidance capability while significantly improving working efficiency
Solution Approach 2:
The walking path is made dynamic by allowing the robot to adjust its trajectory in real-time based on obstacle detection. Instead of following a fixed reciprocating pattern, the robot dynamically modifies its path by walking in the horizontal direction when obstacles are detected, optimizing the walking route adaptively to avoid repetitions and enhance productivity
2Device complexity
If the self-moving robot walks along fixed reciprocating paths, then the control logic is simple, but the walking time is prolonged due to repeated paths when obstacles are present
Solution Approach 1:
The robot performs preliminary obstacle detection in the horizontal direction before completing vertical reciprocating movements. This preliminary action enables the robot to identify obstacles early and adjust its path accordingly, reducing repeated traversals and walking time while maintaining relatively simple control logic through a straightforward detection-and-adjust mechanism
Data Source
AI summary
An obstacle avoidance walking method of a self-moving robot includes storing a coordinate of a first obstacle point and a coordinate of a second obstacle point. The coordinate of the first obstacle point and the coordinate of the second obstacle point are formed by detecting an obstacle by the self-moving robot when walking along a first direction. The method further includes performing a preset shuttle walking according to the coordinate of the first obstacle point and the coordinate of the second obstacle point. The method accurately determines obstacle position and provides a concise walking path, and greatly improves the working efficiency of the self-moving robot.