Self-moving robot, obstacle crossing method, obstacle crossing system and computer-readable storage medium
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Solution Overview
Problem
Self-moving robots with active obstacle crossing components face inefficiencies and damage due to frequent activation and obstacle collisions, reducing cleaning efficiency and service life.
Innovation Solution
Implementing an obstacle crossing method that identifies obstacles by height and adjusts crossing frequencies for different types of obstacles, reducing the need for active crossing and optimizing cleaning paths to minimize damage and prolong service life.
Engineering Contradictions & Design Principles
Engineering 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 wear and damage
Solution Approach 1:
The patent applies parameter changes by dynamically adjusting the obstacle crossing frequency based on obstacle characteristics (height, type) and cleaning task requirements. The control unit determines whether to cross obstacles by evaluating multiple parameters including obstacle height relative to robot height, current cleaning progress, and preset frequency thresholds, thereby optimizing the balance between obstacle crossing ability and component durability
Solution Approach 2:
The patent implements dynamics by making the obstacle crossing behavior adaptive rather than fixed. The robot dynamically decides whether to cross obstacles based on real-time conditions and accumulated cleaning frequencies, allowing the system to flexibly adjust its behavior to preserve components while maintaining cleaning effectiveness
2Area of stationary object
If the robot frequently crosses over obstacles to complete cleaning tasks, then the cleaning coverage is improved, but the cleaning efficiency is reduced due to time consumption
Solution Approach 1:
The patent applies periodic action by implementing a frequency-based decision mechanism where the robot crosses obstacles only when a preset frequency threshold is reached. This periodic crossing strategy, combined with path planning that avoids unnecessary obstacle crossings, optimizes the balance between cleaning coverage and time consumption
Solution Approach 2:
The patent uses preliminary action by pre-calculating optimal paths and setting frequency thresholds before cleaning operations. The control unit plans the cleaning path in advance, identifying which obstacles should be crossed based on their characteristics and the overall cleaning strategy, thereby avoiding spontaneous and time-consuming obstacle crossings during execution
3Reliability
If the robot crosses over all obstacles to clean behind them, then the cleaning thoroughness is improved, but the number of obstacle crossings increases causing more damage
Solution Approach 1:
The patent applies local quality by differentiating obstacle crossing strategies based on specific obstacle characteristics and locations. The control unit evaluates each obstacle individually considering its height, type, and position relative to cleaning zones, applying crossing actions only where necessary to maintain cleaning thoroughness while minimizing overall damage
Solution Approach 2:
The patent implements segmentation by dividing the cleaning area into zones behind obstacles and evaluating each zone's cleaning necessity separately. The system segments the decision-making process into: identifying obstacles, assessing behind-obstacle areas, determining crossing frequency thresholds, and executing selective crossings, thereby optimizing the balance between thoroughness and damage reduction
Data Source
AI summary
A self-moving robot includes an active obstacle crossing component, and performs a cleaning task based on a preset cleaning frequency. An obstacle crossing method includes: identifying a type of an obstacle, and determining whether the obstacle is a first type of obstacle or a second type of obstacle according to a height rule, acquiring a first obstacle crossing frequency corresponding to the first type of obstacle, crossing over or not crossing over the first type of obstacle based on the first obstacle crossing frequency, where the first obstacle crossing frequency is less than or equal to the preset cleaning frequency; and acquiring a second obstacle crossing frequency corresponding to the second type of obstacle, crossing over or not crossing over the second type of obstacle based on the second obstacle crossing frequency, where the second obstacle crossing frequency is less than the preset cleaning frequency.