Patent ID: 11947358
Assignee: ZHEJIANG YAT ELECTRICAL APPLIANCE CO., LTD
Field: Control (Instruments)
Classification: CPC G | IPC A  G

Claim 4:
5. The self-learning method for a new obstacle according to claim 3, wherein step 3-4 comprises the following steps:
step 3-4-1, checking, by taking the grid where the movement unit is located as a center, marks of an upper grid, a lower grid, a left grid, and a right grid of the grid where the movement unit is located, and proceeding to step 3-4-2 for each grid of the upper grid, the lower grid, the left grid, and the right grid that is marked as being traversed;
step 3-4-2, in a case that the grid that is checked in step 3-4-1 corresponds to the top of the stack, determining the obstacle-free path from the grid where the movement unit is located to the grid corresponding to the top of the stack, and proceeding to step 3-4-3, and in a case that the grid that is checked in step 3-4-1 does not corresponds to the top of the stack, checking, by taking the grid that is checked in step 3-4-1 as a center, marks of an upper grid, a lower grid, a left grid, and a right grid of the grid that is checked in step 3-4-1, and proceeding to step 3-4-2 for each grid of the upper grid, the lower grid, the left grid, and the right grid that is marked as being traversed; and
step 3-4-3, controlling the movement unit to move to the grid corresponding to the top of the stack along the obstacle-free path, and returning to perform step 3-1.