Robot Virtual Wall Collision Detection Using Pre-Judging Regions
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Solution Overview
Problem
Existing methods for preventing robots from colliding with virtual walls are inaccurate due to travel errors, leading to increased hardware costs and reduced effectiveness.
Innovation Solution
A method for a robot to judge collision with a virtual wall by setting pre-judging regions on either side of the virtual wall, determining the robot's position and direction relative to a control point, and using a chip to accurately assess collision without external environment interference.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a virtual wall emitter is used to prevent robot from entering restricted areas, then the blocking effect is achieved, but hardware cost increases
Solution Approach 1:
The patent uses a virtual wall representation in the cleaning map as a copy or abstraction of the physical barrier concept. Instead of requiring a physical virtual wall emitter, the system creates a digital representation of the wall in the map data structure, which the robot then recognizes and avoids during navigation. This digital copy achieves the blocking function without the hardware overhead of physical emitters.
Solution Approach 2:
The patent replaces the mechanical/optical system of virtual wall emitters with an information-processing system. The robot uses its existing sensors and map-building capabilities to create and recognize virtual walls as data structures in the cleaning map, substituting physical emission and detection mechanisms with computational representation and processing.
2Device complexity
If virtual line is drawn in map to represent virtual wall, then hardware cost is reduced, but robot cannot accurately detect virtual wall due to traveling errors
Solution Approach 1:
The patent performs preliminary actions by establishing pre-judging regions around the virtual wall in the cleaning map before the robot reaches the actual virtual wall position. These regions are created in advance during map construction, allowing the robot to prepare for potential virtual wall encounters and make accurate judgments even when traveling errors occur, as the detection framework is already in place.
Solution Approach 2:
The patent adds spatial dimensions around the virtual wall by creating pre-judging regions that extend beyond the exact virtual wall line. This dimensional expansion creates a buffer zone that accounts for traveling errors, allowing the robot to detect and respond to virtual walls more accurately by considering positions in the expanded spatial region rather than relying solely on precise line detection.
3Ease of operation
If robot uses existing virtual wall judgment method, then processing is simple, but misjudgment occurs due to travel errors
Solution Approach 1:
The patent performs preliminary judgment by checking whether the robot is within pre-judging regions before making the final collision determination. This two-stage approach maintains processing simplicity by using a quick first check, then only performs the more detailed collision judgment when necessary, while significantly improving accuracy by accounting for traveling errors through the pre-judging region buffer zone.
Data Source
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AI summary
A method for a robot (10) to judge whether the robot collides with a virtual wall (20), and a chip and the intelligent robot (10). The method comprises: providing pre-judgement regions (ABCD) on two sides of a virtual wall (20), so that when entering the pre-judgement regions (ABCD), the robot (10) can accurately judge whether the robot (10) collides with the virtual wall (20) by combining a current direction of the robot (10) as well as a relationship between a straight-line distance (PR) from the robot (10) to a reference point (P) and a straight-line distance (PO) from the reference point (P) to a center point (O) of the virtual wall (20). The robot is not easily disturbed by the external environment, and no mis-judgment occurs, such that the accuracy is high.