Robot Traversal Control for Narrow Passages and Obstacles
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Solution Overview
Problem
Existing traversal methods for mobile robots, such as robot mowers, suffer from poor traversal ability and efficiency, especially in lawns with narrow passages or obstacles, leading to missed mowing areas and lawn damage from repeated travel.
Innovation Solution
A traversal method and system that adjusts the robot's behavior by implementing a predetermined rule set when encountering turn signs, involving rotations by randomly selected angles and time durations, to improve the robot's ability to enter and traverse special regions without compromising efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If the robot mower uses random traversal mode, then the traversal coverage is improved, but the traversal repetition rate increases and mowing efficiency decreases
Solution Approach 1:
The patent applies dynamics by making the robot's traversal mode adjustable and adaptable. The control unit dynamically switches between random traversal mode and parallel scan mode based on detected environmental features (narrow passages, obstacles). This dynamic adaptation allows the robot to optimize traversal coverage in complex areas while maintaining efficiency in open areas, resolving the contradiction between coverage and efficiency.
Solution Approach 2:
The patent changes the traversal parameters (mode, speed, direction) based on detected conditions. When narrow passages or obstacles are detected, the robot switches from random traversal to parallel scan mode with specific angular deviations (15-45 degrees). This parameter adjustment enables the robot to achieve better coverage in problematic areas without sacrificing overall mowing efficiency.
2Productivity
If the robot mower avoids narrow passages and obstacle areas, then the mowing efficiency is improved, but the traversal ability in special regions deteriorates
Solution Approach 1:
The patent implements feedback through sensors that continuously detect environmental features such as narrow passages and obstacles. When the sensor detects these special regions, the control unit receives feedback and automatically adjusts the traversal mode to parallel scan with specific angular deviations. This feedback mechanism ensures the robot can adapt to and effectively traverse special regions while maintaining overall mowing efficiency.
3Area of stationary object
If the robot travels along the electronic boundary for different distances, then the traversal coverage is improved, but empty travel increases and lawn damage occurs
Solution Approach 1:
The patent applies preliminary action by using sensors to detect and identify narrow passages and obstacle areas before the robot enters them. The control unit processes this advance information and pre-adjusts the traversal mode to parallel scan with optimized angular deviations. This preliminary detection and adjustment prevents the robot from taking unnecessary long paths along boundaries, reducing empty travel and preventing lawn damage from repeated travel on the same paths.
Data Source
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AI summary
The present invention 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 invention is beneficial to improving the traversal ability and traversal efficiency of the robot.