Robot Traversal Path Rules for Narrow Passages and Obstacles
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Solution Overview
Problem
Mobile robots, such as robot mowers, face challenges in traversing lawns with obstacles and narrow passages, resulting in high repetition rates and low mowing efficiency, leading to missed areas that require manual assistance.
Innovation Solution
A traversal method where the robot adjusts its path by rotating according to predetermined angles after encountering turn signs, alternating between large and small angles, and cyclically calling rules to ensure thorough coverage without affecting working efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If the robot mower uses random traversal mode, then the robot can cover large areas, but the traversal ability in narrow passages and areas near obstacles is poor, resulting in low coverage rate
Solution Approach 1:
The patent implements dynamic traversal mode switching between random mode and rule-based mode. The robot dynamically adjusts its behavior based on environmental conditions, switching to rule-based mode when encountering narrow passages or obstacles, and returning to random mode for open areas. This dynamic adaptation resolves the contradiction by allowing the robot to maintain high coverage in open areas while ensuring reliable traversal in constrained spaces.
Solution Approach 2:
The patent changes the traversal parameters by introducing specific rotation angles (first angle and second angle) and travel distances (first distance and second distance) for rule-based mode. These parameter changes enable the robot to navigate narrow passages and areas near obstacles effectively, improving traversal reliability without sacrificing overall coverage capability.
2Reliability
If the robot mower increases random travel repetition, then the traversal coverage improves, but the mowing efficiency decreases due to repeated travel on the same paths
Solution Approach 1:
The patent implements periodic action through cyclic calling of the first rule and second rule. When the robot encounters obstacles or narrow passages, it periodically applies rule-based traversal patterns (rotating by first angle, traveling first distance, rotating by second angle, traveling second distance) to ensure thorough coverage of difficult areas. This periodic intervention ensures reliable coverage of problem areas without requiring continuous repeated random travel, thereby maintaining mowing efficiency.
3Reliability
If the robot mower travels along electronic boundary for different distances, then the traversal coverage improves, but empty travel increases causing lawn damage
Solution Approach 1:
The patent applies local quality by implementing rule-based traversal only in specific local areas where obstacles or narrow passages are detected, rather than applying it universally along the entire electronic boundary. The robot uses sensors to identify problematic areas and applies the structured rotation and travel pattern (first angle, first distance, second angle, second distance) only in those locations. This localized application ensures improved coverage of difficult areas while avoiding unnecessary repeated travel on healthy lawn areas, thus preventing lawn damage.
Data Source
AI summary
The present disclosure provides a traversal method and system, a robot and a readable storage medium. The method comprises: driving a robot to travel in a working region according to a predetermined mode and work synchronously; and adjusting the robot to continue working according to a predetermined first rule every time a turn sign is encountered, and adjusting the robot to return to the predetermined mode after the first rule is completed; wherein the first rule is: starting from the position where the turn sign is encountered, rotating clockwise or counterclockwise; after first rotation is carried out according to a first angle, continuing running for a first time according to the predetermined mode; and then, after second rotation is carried out according to a second angle in the same rotation direction as the previous rotation, continuing running for a second time according to the predetermined mode, the first angle being different from the second angle. The present disclosure is beneficial to improving the traversal ability and traversal efficiency of the robot.