Self-Moving Device Escape Preprocessing for Autonomous Sill Crossing
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Solution Overview
Problem
Self-moving devices, such as cleaning robots, often require manual assistance to cross obstacles like door sills or protruding objects, as they lack effective methods to navigate over these barriers independently, leading to poor user experience.
Innovation Solution
A moving method for self-moving devices that involves determining if they can continue to move in a given direction and performing escape preprocessing operations, such as changing direction by a preset angle, increasing rotation speed, and recording positions to bypass obstacles, allowing the device to cross over or around the obstruction without manual intervention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the self-moving device retreats directly when contacting an obstacle, then the device avoids damage, but the device cannot cross the obstacle and requires manual assistance
Solution Approach 1:
The device performs preliminary actions before encountering the obstacle by detecting the obstacle in advance and planning an escape path. The controller pre-calculates the optimal direction and speed adjustments needed to cross the obstacle successfully, rather than reacting after contact occurs.
Solution Approach 2:
The device dynamically adjusts its motion parameters including speed, direction, and motor power during the obstacle crossing process. The controller continuously modifies the driving commands based on real-time feedback from sensors, enabling the device to adapt its movement strategy to successfully navigate over the obstacle.
2Speed
If the self-moving device increases speed to cross the obstacle, then the device can overcome the obstacle, but the device may lose control or damage itself
Solution Approach 1:
The device uses periodic action by first accelerating to gain momentum, then maintaining that momentum through the obstacle, and finally decelerating after crossing. This rhythmic pattern of acceleration-maintenance-deceleration allows the device to cross the obstacle effectively while maintaining control throughout the process.
Solution Approach 2:
The controller changes multiple parameters simultaneously including motor speed, driving direction, and power output to optimize the crossing process. By coordinating these parameter changes, the device achieves both the speed needed to overcome the obstacle and the control stability needed to prevent damage.
3Ease of operation
If the self-moving device changes direction to bypass the obstacle, then the device can avoid the obstacle, but the device cannot enter the target area separated by the obstacle
Solution Approach 1:
The device performs self-service by autonomously detecting obstacles, planning escape paths, and executing crossing maneuvers without external assistance. The integrated sensor system and controller work together to enable the device to independently navigate over obstacles and continue its cleaning or working tasks in previously inaccessible areas.
Data Source
AI summary
A moving method for a self-moving device, and a self-moving device are provided. The method includes: driving the self-moving device to move in a first advancing direction; determining whether the self-moving device can continue to move in the first advancing direction; and controlling the self-moving device to perform a first escape preprocessing operation, if the self-moving device cannot continue to move in the first advancing direction. When the self-moving device is encountered with a raised sill on the ground, the solution provided in the present disclosure enables the self-moving device to effectively cross the raised sill.