Obstacle-avoidance moving method of self-moving robot
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Solution Overview
Problem
Existing self-moving robots face inefficiencies in obstacle avoidance, leading to prolonged operation times and reduced working efficiency due to repeated path changes around obstacles.
Innovation Solution
The method involves establishing a rectangular plane coordinate system with the self-moving robot, where obstacle points are recorded and classified, allowing the robot to determine turning points and adjust its path to bypass obstacles efficiently, thereby reducing redundant movements and optimizing the moving path.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the self-moving robot uses traditional obstacle avoidance method moving in reciprocating manner in vertical direction, then the robot can avoid obstacles, but the moving time is greatly prolonged and working efficiency is seriously impaired
Solution Approach 1:
The robot performs preliminary scanning of the moving area to detect obstacles before executing the main cleaning task. Obstacle points are detected and recorded in advance, allowing the robot to plan an optimized moving path that avoids obstacles without repeated reciprocating movements, thus improving working efficiency while maintaining obstacle avoidance capability
Solution Approach 2:
The robot dynamically adjusts its moving path based on detected obstacle positions. Instead of following fixed reciprocating paths, the robot modifies its trajectory in real-time by identifying turning points and calculating optimized paths that bypass obstacles efficiently, transforming the static obstacle avoidance approach into a dynamic adaptive system
2Reliability
If the self-moving robot repeatedly moves around obstacles in vertical direction, then the robot ensures complete cleaning, but the moving path becomes complex and operation time increases
Solution Approach 1:
The robot transitions from one-dimensional vertical reciprocating movement to two-dimensional path planning by utilizing both horizontal and vertical movements. By detecting obstacle coordinates and calculating turning points, the robot creates optimized paths that combine horizontal bypass movements with vertical cleaning movements, reducing the need for repeated vertical reciprocating actions while ensuring complete cleaning coverage
3Device complexity
If the self-moving robot uses simple reciprocating path without obstacle detection, then the moving control is simple, but the robot cannot effectively avoid obstacles and working efficiency is reduced
Solution Approach 1:
The robot incorporates obstacle detection and path optimization feedback mechanisms. The detection unit continuously monitors the moving area for obstacles, and the control unit processes this feedback information to dynamically adjust the moving path. This feedback system enables the robot to maintain relatively simple control logic while achieving efficient obstacle avoidance and path optimization, improving working efficiency without significantly increasing control complexity
Data Source
AI summary
An obstacle avoidance moving 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 moving along a first direction. The method further includes performing a serpentine pattern moving 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 moving path, and greatly improves the working efficiency of the self-moving robot.