Autonomous Robot Path Planning for Slope Coverage Overlap Control
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Solution Overview
Problem
Autonomous robots using the ox-turning method for path planning often miss working areas in uneven or sloped terrains, leading to reduced work coverage ratios in full-coverage mode.
Innovation Solution
A walking path planning method and apparatus that obtain terrain distribution information to determine slope areas and adjust the width between adjacent path segments, ensuring a work overlap ratio within a specified range to maintain effective coverage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If a fixed work overlap ratio is used in flat terrain path planning, then implementation is simple, but work coverage is lost in sloped terrain
Solution Approach 1:
The patent applies dynamics by transitioning from a fixed work overlap ratio to a dynamic adjustment mechanism. The controller automatically modifies the work overlap ratio based on real-time slope detection from the tilt sensor, enabling the path planning system to adapt to varying terrain conditions while maintaining complete work coverage in sloped areas.
Solution Approach 2:
The patent implements parameter changes by adjusting the work overlap ratio parameter according to terrain slope. When the tilt sensor detects a slope exceeding a threshold, the controller increases the work overlap ratio to compensate for the reduced effective working width on inclined surfaces, ensuring complete coverage despite the challenging terrain.
2Reliability
If the work overlap ratio is increased to ensure coverage in sloped areas, then work coverage is improved, but path planning complexity increases
Solution Approach 1:
The patent applies self-service by implementing an automatic feedback control system. The tilt sensor continuously monitors slope conditions and feeds this information to the controller, which automatically adjusts the work overlap ratio without requiring manual intervention or complex external control systems, thereby maintaining reliability while limiting complexity growth.
Solution Approach 2:
The patent implements feedback through the tilt sensor that continuously provides slope information to the controller. This feedback loop enables the system to detect terrain changes and automatically adjust the work overlap ratio in real-time, ensuring complete work coverage while using a relatively simple control architecture.
3Manufacturing precision
If terrain information is collected and processed, then path planning accuracy in sloped areas is improved, but system complexity and computational load increase
Solution Approach 1:
The patent applies taking out by extracting only the essential terrain information needed for path planning adjustment. Rather than processing complete 3D terrain models or extensive environmental data, the system uses a tilt sensor to extract only the slope angle information necessary for adjusting the work overlap ratio, thereby improving accuracy while minimizing complexity.
Solution Approach 2:
The patent implements this principle by using a simple, low-cost tilt sensor instead of complex terrain mapping systems. The sensor provides sufficient information for path planning adjustments without requiring expensive hardware or computationally intensive processing, achieving improved accuracy with minimal added complexity.
Data Source
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AI summary
Embodiments of this specification provide an autonomous robot, a moving path planning method and apparatus therefor, and a storage medium. The method includes: obtaining terrain distribution information of a target working area; determining, according to the terrain distribution information, whether a slope area exists in the target working area; and determining, if a slope area exists in the target working area, a width value between adjacent path segments according to the terrain distribution information during planning of a moving path in the slope area, to keep a work overlap value between the adjacent path segments within a specified range. According to the embodiments of this specification, a work coverage ratio of the autonomous robot in a full-coverage mode can be increased.