Ecovacs Robotics has been granted a patent for an obstacle avoidance moving method for self-moving robots. The method involves detecting and storing the coordinates of obstacle points, and then performing a serpentine pattern moving to navigate around the obstacles. This method improves the accuracy of obstacle detection and provides a concise moving path, enhancing the efficiency of the self-moving robot. GlobalData’s report on Ecovacs Robotics gives a 360-degree view of the company including its patenting strategy. Buy the report here.
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According to GlobalData’s company profile on Ecovacs Robotics, Cleaning robots was a key innovation area identified from patents. Ecovacs Robotics's grant share as of September 2023 was 44%. Grant share is based on the ratio of number of grants to total number of patents.
Obstacle avoidance method for self-moving robot with serpentine pattern
A recently granted patent (Publication Number: US11768496B2) describes an obstacle avoidance moving method for a self-moving robot. The method involves several steps to navigate around obstacles in a moving area.
The first claim outlines the method, which includes obtaining the coordinates of the first obstacle point, where the robot encounters an obstacle, and the second obstacle point, where the robot leaves the obstacle. The robot then moves in a serpentine pattern along the first direction from the first obstacle point to the second obstacle point. After reaching the second obstacle point, the robot moves directly from there to the first edge point along a second direction parallel to the first direction but in the opposite direction. Finally, the robot performs the serpentine pattern moving from the first edge point reciprocated along the first direction.
The second claim provides additional details about determining the first and second obstacle points based on the current moving distance. If the current moving distance is less than the previous moving distance, it is considered the first obstacle point, and if it is larger, it is considered the second obstacle point. The moving distance is measured along a third direction perpendicular to the first direction.
The third claim describes the serpentine pattern moving, which involves rotating a certain degree and moving a preset distance when an obstacle is detected. Once the preset distance is covered, the robot rotates the same degree and moves along the first direction.
The subsequent claims specify that the degree of rotation can be either 90 degrees or -90 degrees.
The fifth claim presents an alternative obstacle avoidance moving method. It involves obtaining the coordinates of the first and second edge points, which correspond to two opposite edges of an obstacle detected by the robot during the serpentine pattern moving. The robot then moves directly from the second edge point to the first edge point along a second direction parallel to the first direction but in the opposite direction. Finally, the robot performs the serpentine pattern moving from the first edge point.
The remaining claims provide additional details about the coordinates of the edge points, specifying that they can have the same horizontal or vertical coordinates as the corresponding edges of the obstacle. The serpentine pattern moving is the same as described in the third claim.
Overall, this patent describes a method for a self-moving robot to navigate around obstacles using a serpentine pattern and specific coordinates of obstacle and edge points.
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