Local obstacle avoidance walking method of self-moving robot

Solution Overview

Problem

Existing self-moving robots using random walking methods for obstacle avoidance result in inefficient paths, wasting time and power, and leave behind significant unclean areas due to complex and ineffective navigation around obstacles.

Innovation Solution

A local obstacle avoidance method where the robot walks in a first direction, translates perpendicular to it when an obstacle is detected, and determines whether to continue or change direction based on sensors like suction cups, follower wheels, or side-looking sensors to minimize path length and avoid missed regions.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If the robot uses random walking method to avoid obstacles, then the robot can navigate around obstacles, but the walking path becomes complex and long, wasting time and power

Engineering Contradiction:

Improveobstacle avoidance capabilityVSAvoidwalking time

Core Design Contradiction:

ReliabilityVSLoss of time

Solution Approach 1:

The robot performs preliminary detection of the environment before encountering obstacles, and pre-plans avoidance paths. The controller predicts potential obstacle locations and prepares avoidance maneuvers in advance, rather than reacting randomly after collision. This reduces the actual avoidance time and path length.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The robot uses sensors to continuously detect obstacles and feeds this information back to the controller, which dynamically adjusts the walking path. The feedback mechanism enables the robot to optimize its avoidance path in real-time, avoiding random wandering and reducing time loss.

Inventive Principle:

Principle #23Feedback

2Reliability

If the robot uses random walking method to avoid obstacles, then the robot can navigate around obstacles, but the walking path becomes complex and long, consuming excessive power

Engineering Contradiction:

Improveobstacle avoidance capabilityVSAvoidpower consumption

Core Design Contradiction:

ReliabilityVSUse of energy by moving object

Solution Approach 1:

The robot performs preliminary detection of the environment before encountering obstacles, and pre-plans avoidance paths. The controller predicts potential obstacle locations and prepares avoidance maneuvers in advance, rather than reacting randomly after collision. This reduces the actual avoidance time and path length.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The robot uses sensors to continuously detect obstacles and feeds this information back to the controller, which dynamically adjusts the walking path. The feedback mechanism enables the robot to optimize its avoidance path in real-time, avoiding random wandering and reducing time loss.

Inventive Principle:

Principle #23Feedback

3Reliability

If the robot uses random walking method to avoid obstacles, then the robot can navigate around obstacles, but missing regions are left behind, reducing cleaning effect

Engineering Contradiction:

Improveobstacle avoidance capabilityVSAvoidcleaning efficiency

Core Design Contradiction:

ReliabilityVSProductivity

Solution Approach 1:

The robot uses sensors to continuously detect obstacles and feeds this information back to the controller, which dynamically adjusts the walking path. The feedback mechanism enables the robot to optimize its avoidance path in real-time, avoiding random wandering and reducing time loss.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The robot dynamically changes its walking parameters (direction, speed, path) based on obstacle detection. When an obstacle is detected, the controller calculates optimal avoidance parameters that ensure complete coverage of the cleaning area, preventing missing regions and maintaining high productivity.

Inventive Principle:

Principle #35Parameter changes

Data Source

PatentUS10423160B2Local obstacle avoidance walking method of self-moving robot

Publication Date: 2019.09.24 ECOVACS ROBOTICS CO LTD

AI summary

A local obstacle avoidance walking method of a self-moving robot, comprising: step 100: the self-moving robot walks in a first direction, and when an obstacle is detected, the self-moving robot translates for a displacement M1 in a second direction perpendicular to the first direction, and step 200: determining whether the self-moving robot is able to continue to walk in the first direction after the translation, if a result of the determination is positive, the self-moving robot continues to walk in the first direction, and if the result of the determination is negative, the self-moving robot acts according to a preset instruction. The method enables the robot to accurately avoid a local obstacle, provides a concise walking route, shortens the determination time, and improves the working efficiency of the self-moving robot.