Obstacle avoidance walking method of self-moving robot
AssigneeEcovacs Robotics Co., Ltd.
InventorJinju Tang
Life of this patent
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Abstract
An obstacle avoidance walking method of a self-moving robot includes storing a coordinate of a first obstacle point and a coordinate of a second obstacle point. The coordinate of the first obstacle point and the coordinate of the second obstacle point are formed by detecting an obstacle by the self-moving robot when walking along a first direction. The method further includes performing a preset shuttle walking according to the coordinate of the first obstacle point and the coordinate of the second obstacle point. The method accurately determines obstacle position and provides a concise walking path, and greatly improves the working efficiency of the self-moving robot.
Claims13
An obstacle avoidance moving method of a self-moving robot, comprising:
- obtaining a coordinate of a first obstacle point and a coordinate of a second obstacle point;
- wherein the first obstacle point and the second obstacle point are obstacle points detected by the self-moving robot when performing a serpentine pattern movement to a moving area, and wherein the serpentine pattern movement is reciprocated along a first direction;
- storing the coordinate of the first obstacle point and the coordinate of the second obstacle point;
- and
- performing the serpentine pattern movement according to the coordinate of the first obstacle point and the coordinate of the second obstacle point;
- wherein the first obstacle point is determined when a current walking distance is less than a walking distance previous to the current walking distance, and the second obstacle point is determined when a current walking distance is larger than a walking distance previous to the current walking distance;
- and wherein the walking distance is a distance along the first direction when reaching an obstacle.
An obstacle avoidance moving method of a self-moving robot, comprising:
- obtaining a coordinate of a first obstacle point and a coordinate of a second obstacle point;
- wherein the first obstacle point and the second obstacle point are obstacle points detected by the self-moving robot when performing a serpentine pattern movement to a moving area, and wherein the serpentine pattern movement is reciprocated along a first direction;
- storing the coordinate of the first obstacle point and the coordinate of the second obstacle point;
- and
- performing the serpentine pattern movement to a missing area determined by the coordinate of the first obstacle point and the coordinate of the first obstacle point, wherein the missing area is an area blocked by an obstacle when performing the serpentine pattern movement to the moving area determined by the first obstacle point and the coordinate of the second obstacle point;
- wherein the first obstacle point is determined when a current walking distance is less than a walking distance previous to the current walking distance, and the second obstacle point is determined when a current walking distance is larger than a walking distance previous to the current walking distance;
- and wherein the walking distance is a distance along the first direction when reaching an obstacle.
Dependencies are inferred from the claim text.