# US 11,112,800 B2 · Obstacle avoidance walking method of self-moving robot > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,112,800 B2 - Document ID: US11112800B2 - Status: Granted - Kind: B2 - Application number: 16/275,216 - Filed: 2019-02-13 - Published: 2019-06-13 - Granted: 2021-09-07 - Earliest claimed: 2014-04-14 - Assignees: Ecovacs Robotics Co., Ltd. - Applicants: Ecovacs Robotics Co., Ltd. - Inventors: Jinju Tang - Web page: https://patentgrep.com/patent/US11112800B2 ## CPC - G05D 1/622: Obstacle avoidance (predicting or avoiding probable or impending collision of road vehicles B60W30/08) - A47L 11/24: Floor-sweeping machines, motor-driven - A47L 11/4011: {Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor} - A47L 11/4061: {Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated} - G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00) - G05D 1/02: Control of position or course in two dimensions - G05D 1/0219: {ensuring the processing of the whole working surface} - A47L 2201/04: Automatic control of the travelling movement; Automatic obstacle detection - Y10S 901/01: Mobile robot - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - A47L: DOMESTIC WASHING OR CLEANING (brushes A46B; cleaning quantities of bottles or of other hollow articles of one kind B08B9/00; laundry D06F); SUCTION CLEANERS IN GENERAL (cleaning in general B08) - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS ## 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. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The obstacle avoidance moving method of the self-moving robot of claim 1, further comprising: determining a missing area according to the coordinate of the first obstacle point and the coordinate of the second 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. ### Claim 3 (depends on 2) The obstacle avoidance moving method of the self-moving robot of claim 2, the performing the serpentine pattern according to the coordinate of the first obstacle point and the coordinate of the second obstacle point, comprising: after moving through the moving area except the missing area by the serpentine pattern, performing the serpentine pattern movement to the missing area. ### Claim 4 (depends on 3) The obstacle avoidance moving method of the self-moving robot of claim 3, the after moving through the moving area except the missing area by the serpentine pattern movement, performing the serpentine pattern movement to the missing area, comprising: performing the serpentine pattern movement to the missing area starting from the coordinate of the second obstacle point. ### Claim 5 (depends on 3) The obstacle avoidance moving method of the self-moving robot of claim 3, the after moving through the moving area except the missing area by the serpentine pattern movement, performing the serpentine pattern movement to the missing area, comprising: determining a coordinate of a third obstacle point according to the coordinate of the first obstacle point and the coordinate of the second obstacle point; and performing the serpentine pattern movement to the missing area starting from the coordinate of the third obstacle point. ### Claim 6 (depends on 2) The obstacle avoidance moving method of the self-moving robot of claim 2, the performing the serpentine pattern movement according to the coordinate of the first obstacle point and the coordinate of the second obstacle point, comprising: after the coordinate of the second obstacle point is reached, performing the serpentine pattern movement to the missing area. ### Claim 7 (depends on 6) The obstacle avoidance moving method of the self-moving robot of claim 6, the after the coordinate of the second obstacle point is reached, performing the serpentine pattern movement to the missing area, comprising: performing the serpentine pattern movement to the missing area starting from the coordinate of the second obstacle point. ### Claim 8 (depends on 6) The obstacle avoidance moving method of the self-moving robot of claim 6, the after the coordinate of the second obstacle point is reached, performing the serpentine pattern movement to the missing area, specifically comprising: determining a coordinate of a third obstacle point according to the coordinate of the first obstacle point and the coordinate of the second obstacle point; and performing the serpentine pattern movement to the missing area starting from the coordinate of the third obstacle point. ### Claim 9 (depends on 2) The obstacle avoidance moving method of the self-moving robot of claim 2, the performing the serpentine pattern according to the coordinate of the first obstacle point and the coordinate of the second obstacle point, comprising: determining a coordinate of a third obstacle point according to the coordinate of the first obstacle point and the coordinate of the second obstacle point; and performing the serpentine pattern movement to the missing area starting from the coordinate of the third obstacle point. ### Claim 10 (depends on 1) The obstacle avoidance moving method of the self-moving robot of claim 1, the performing the serpentine pattern according to the coordinate of the first obstacle point and the coordinate of the second obstacle point, comprising: determining a missing area according to the coordinate of the first obstacle point and the coordinate of the second 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; and performing the serpentine pattern movement to the missing area. ### Claim 11 (depends on 1) The obstacle avoidance moving method of the self-moving robot of claim 1, wherein, the serpentine pattern movement comprises: when an obstacle is detected along the first direction, rotating a first degree and walking a preset distance; and when the preset distance is walked, rotating the first degree and walking along the first direction. ### Claim 12 (depends on 11) The obstacle avoidance moving method of the self-moving robot of claim 11, wherein, the first degree comprises one of: 90 degree and −90 degree. ### Claim 13 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.