Autonomous Robot Obstacle Avoidance Using Height-Based Sensor Fusion
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Self-mobile robots face inefficiencies and high energy consumption due to unreasonable obstacle avoidance routes, particularly when encountering irregularly shaped obstacles that are not perpendicular to the ground, leading to increased movement distance and missed cleaning areas.
Innovation Solution
Employ a combination of a wall-following sensor and a non-wall-following sensor, such as a camera or laser ranging sensor, to detect and navigate obstacles with different height ranges, using three-dimensional point cloud data to determine a perpendicular projection contour line for an intelligent obstacle avoidance route.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a laser sensor is used to scan irregular-shaped obstacles with standard obstacle avoidance actions, then the robot can detect obstacles, but the robot generates unreasonable obstacle avoidance routes with increased movement distance and energy consumption
Solution Approach 1:
The patent applies local quality by differentiating obstacle detection and avoidance strategies based on obstacle characteristics. Different sensor types (wall-following sensor vs. laser sensor) and different avoidance actions (wall-following mode vs. obstacle avoidance mode) are selectively applied to different obstacle types (perpendicular walls vs. irregular obstacles), optimizing energy consumption for each specific situation rather than using a uniform approach
Solution Approach 2:
The patent implements dynamics by enabling the robot to dynamically switch between different operational modes (wall-following mode and obstacle avoidance mode) based on real-time obstacle detection results. The control unit determines the appropriate mode according to obstacle characteristics, allowing the system to adapt its behavior dynamically to minimize energy consumption while maintaining reliable obstacle detection
2Reliability
If the robot repeatedly triggers obstacle avoidance actions for irregular obstacles, then the robot can avoid obstacles, but the obstacle avoidance route becomes unreasonable with missed cleaning areas
Solution Approach 1:
The patent applies preliminary action by performing comprehensive obstacle scanning and route planning before executing cleaning tasks. The robot scans obstacles in advance, builds a environment map, and plans optimal cleaning routes that account for obstacle locations and characteristics, preventing missed cleaning areas rather than reacting to them during execution
Solution Approach 2:
The patent implements feedback through continuous monitoring of obstacle positions and cleaning progress. The control unit uses real-time sensor data to adjust the cleaning route dynamically, ensuring that all areas are covered efficiently. The system feedback loop compares actual cleaning coverage with planned coverage and makes corrections to eliminate missed areas
3Device complexity
If the robot uses a single sensor type for obstacle detection, then the device complexity is low, but the robot cannot effectively handle diverse obstacle types with different height ranges
Solution Approach 1:
The patent applies universality by designing a multi-functional sensor system where different sensor types (wall-following sensor and laser sensor) are integrated to handle diverse obstacle types. The system can detect both perpendicular walls and irregular obstacles with varying heights using the appropriate sensor, making the robot universally adaptable to different environmental conditions without requiring complex specialized equipment for each obstacle type
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Improves obstacle avoidance intelligence, reduces energy consumption, and maximizes movable range by allowing the robot to travel smoothly along the outer edge of obstacles, minimizing missed areas and enhancing cleaning efficiency.
Implementation Method 1
performing, by the first sensor, a first information acquisition on a first obstacle with at least a first height range on an outermost surface
Implementation Method 2
a laser sensor to scan an irregular-shaped obstacle
Implementation Method 3
acquiring, by the second sensor, three-dimensional point cloud data for a second obstacle with at least a second height range on an outermost surface
Data Source
Figure 1~2
Figure 3~4
Figure 5~6
AI summary
An obstacle avoidance method and apparatus for an autonomous mobile robot (500, 602). The autonomous mobile robot (500, 602) comprises a first sensor and a second sensor. The obstacle avoidance method comprises: by means of the first sensor, carrying out first information acquisition on a first obstacle of which an outermost surface has a first height range, and then configuring the autonomous mobile robot (500, 602) to travel along the outermost surface of the first height range of the first obstacle; and by means of the second sensor, carrying out second information acquisition on a second obstacle of which an outermost surface has a second height range, and then configuring the autonomous mobile robot (500, 602) to carry out an obstacle avoidance traveling action along an outer surface of the second obstacle within a part of the height range (202).