Obstacle-avoidance moving method of self-moving robot
AssigneeEcovacs Robotics Co., Ltd.
InventorJinju Tang
Life of this patent
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Abstract
An obstacle avoidance moving 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 moving along a first direction. The method further includes performing a serpentine pattern moving 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 moving path, and greatly improves the working efficiency of the self-moving robot.
Claims9
An obstacle avoidance moving method of a self-moving robot, comprising:
- obtaining a coordinate of a first obstacle point, wherein, the first obstacle point is a point where the self-moving robot firstly reaches an obstacle during the self-moving robot preforming a serpentine pattern moving in a moving area reciprocated along a first direction;
- performing the serpentine pattern moving from the coordinate of the first obstacle point reciprocated along the first direction;
- obtaining a coordinate of a second obstacle point, wherein the second obstacle point is a point where the self-moving robot leaves the obstacle;
- obtaining a coordinate of a first edge point and a coordinate of a second edge point, wherein the second edge point is a point where the self-moving robot firstly reaches one edge of the moving area after leaving the coordinate of the second obstacle point, the first edge point is a point located at the same edge as the second edge point, and the first edge point has a same abscissa or ordinate with the coordinate of the first obstacle point;
- moving directly from the coordinate of the second edge point to the coordinate of the first edge point along a second direction after the coordinate of the second edge point is reached, wherein the second direction is parallel to the first direction and in an opposite direction with regard to the first direction;
- and
- performing the serpentine pattern moving from the coordinate of the first edge point reciprocated along the first direction.
An obstacle avoidance moving method of a self-moving robot, comprising:
- obtaining a coordinate of a first edge point and a coordinate of a second edge point, wherein the first edge point and the second edge point are points located at one edge of a moving area, and the first edge point and the second edge point correspond respectively to two opposite edges of an obstacle detected by the self-moving robot when performing a serpentine pattern moving to the moving area, and wherein the serpentine pattern moving is reciprocated along a first direction;
- moving directly from the coordinate of the second edge point to the coordinate of the first edge point along a second direction, wherein the second direction is parallel to the first direction and in an opposite direction with regard to the first direction;
- and
- performing the serpentine pattern moving from the coordinate of the first edge point.
Dependencies are inferred from the claim text.