Obstacle avoidance method for self-propelled device, medium, and self-propelled device
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Solution Overview
Problem
Sweeping robots often get stuck under suspending obstacles due to their inability to detect and navigate around obstacles with varying heights, as conventional laser distance sensors can only measure distances at the same height and fail to avoid such obstacles effectively.
Innovation Solution
The method employs a structured light assembly, including a line structured light sensor and camera, to acquire the suspension height of obstacles, determine if it falls within a preset limited height range, and adjust the travel route based on current traveling state information to avoid obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional laser distance sensors are used to detect obstacles, then the device can detect obstacles at the same height, but it cannot detect or avoid suspending obstacles with varying heights
Solution Approach 1:
The patent transitions from two-dimensional obstacle detection (horizontal distance only) to three-dimensional detection by introducing vertical height measurement. The structured light assembly projects light patterns and captures their deformation to calculate obstacle suspension height, enabling the device to detect and navigate around suspending obstacles that were previously undetectable.
Solution Approach 2:
The patent introduces a structured light assembly as an intermediary detection system. This assembly includes a light source that projects structured light patterns and a camera that captures the deformed patterns. The deformation information serves as an intermediary measurement that allows calculation of obstacle height without direct contact or complex sensors.
2Productivity
If the robot continues along the original travel route, then it maintains its current path, but it gets stuck under suspending obstacles
Solution Approach 1:
The system performs preliminary detection of obstacle suspension height before the device reaches the obstacle location. By calculating the height in advance and comparing it with the device's passing capability, the system can proactively adjust the travel route to avoid obstacles that would cause getting stuck, ensuring continuous productive operation.
Solution Approach 2:
The system continuously monitors obstacle detection results and travel state information, then adjusts the travel route based on this feedback. When a suspending obstacle is detected within the limited height range, the system modifies the route planning to bypass the obstacle, creating a closed-loop control system that improves both productivity and reliability.
3Reliability
If the robot adjusts its travel route to avoid obstacles, then it can prevent getting stuck, but it increases route planning complexity
Solution Approach 1:
The system applies different route adjustment strategies based on the specific characteristics of detected obstacles. For suspending obstacles within the limited height range, it triggers route adjustment, while ignoring obstacles that are either too high or too low. This localized application of complexity only where necessary reduces overall system complexity while maintaining effective obstacle avoidance.
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
Enables sweeping robots to effectively navigate around suspending obstacles by adjusting travel routes, improving route planning efficiency and preventing getting stuck.
Implementation Method 1
emitting, by a line structured light sensor of the structured light assembly, at least one beam of line structured light to the current travel route
Implementation Method 2
acquiring, by a camera of the structured light assembly, an image including the at least one beam of line structured light
Data Source
AI summary
Provided are an obstacle avoidance method for a self-propelled device, a medium, and a self-propelled device. The method includes acquiring a suspension height of an obstacle on a current travel route during traveling; determining whether the suspension height of the obstacle is within a preset limited height range, wherein the preset limited height range enables a part of the self-propelled device to pass the suspension height and an other part of the self-propelled device is limited by the suspension height; and acquiring, in response to determining that the suspension height of the obstacle is within the preset limited height range, current traveling state information of the self-propelled device, and determining whether to adjust the current travel route based on the current traveling state information to avoid the obstacle.