Autonomous Mobile Boundary Maneuvering for Safe Edge Coverage

Solution Overview

Problem

Existing autonomous mobile devices, such as mowing robots, struggle to work in fully close proximity to the boundary of their work region without colliding, limiting their work coverage and safety.

Innovation Solution

A method for controlling autonomous mobile devices involves determining candidate positions based on a first coordinate set, ensuring the device turns perpendicular and parallel to the boundary, with the tail closer to the boundary than the head, and adjusting positions to enhance safety and coverage.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Productivity

If the autonomous mobile device works in close proximity to the boundary of the work region, then the work coverage is improved, but the safety risk of collision increases

Engineering Contradiction:

Improvework coverageVSAvoidsafety

Core Design Contradiction:

ProductivityVSReliability

Solution Approach 1:

The system performs preliminary safety checks by determining candidate positions and verifying rotation safety before the device actually moves to work near the boundary. The controller checks whether the device can safely rotate at a candidate position before commanding movement, preventing collision risks before they occur.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system uses feedback from boundary information and device position data to dynamically adjust the working path. The controller continuously monitors the device's position relative to the boundary and adjusts the path planning to maintain safe distances while maximizing work coverage.

Inventive Principle:

Principle #23Feedback

2Productivity

If the autonomous mobile device rotates at a position close to the boundary, then the work coverage is improved, but the rotation safety is compromised

Engineering Contradiction:

Improvework coverageVSAvoidcollision risk

Core Design Contradiction:

ProductivityVSObject-affected harmful factors

Solution Approach 1:

The system performs preliminary safety checks by determining candidate positions and verifying rotation safety before the device actually moves to work near the boundary. The controller checks whether the device can safely rotate at a candidate position before commanding movement, preventing collision risks before they occur.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system uses feedback from boundary information and device position data to dynamically adjust the working path. The controller continuously monitors the device's position relative to the boundary and adjusts the path planning to maintain safe distances while maximizing work coverage.

Inventive Principle:

Principle #23Feedback

3Device complexity

If the autonomous mobile device follows a simple boundary-following path, then the control complexity is reduced, but the work coverage near the boundary is insufficient

Engineering Contradiction:

Improvecontrol complexityVSAvoidwork coverage

Core Design Contradiction:

Device complexityVSProductivity

Solution Approach 1:

The working path is segmented into multiple candidate positions along the boundary. Instead of following a simple continuous boundary path, the system divides the boundary into discrete segments and evaluates each segment as a potential working position, allowing more comprehensive coverage while maintaining manageable control complexity.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The system dynamically adjusts the working path by selecting optimal candidate positions based on real-time conditions. The controller can adaptively choose which boundary segments to work on and in what sequence, optimizing work coverage while maintaining reasonable control complexity through structured decision-making.

Inventive Principle:

Principle #15Dynamics

Data Source

PatentUS12481283B2Method for controlling autonomous mobile device, autonomous mobile device, and computer storage medium

Publication Date: 2025.11.25 WILLAND (BEIJING) TECH CO LTD

AI summary

A method for controlling an autonomous mobile device, an autonomous mobile device, and a computer storage medium are provided. The method includes: determining a plurality of candidate positions based on a first coordinate set; determining one of the candidate positions satisfying a safety condition for rotating the autonomous device as a first position; controlling the autonomous mobile device to turn at the first position so that the autonomous mobile device is perpendicular to a first boundary corresponding to the first coordinate set, and a tail of the autonomous mobile device is closer to the first boundary than a head of the autonomous mobile device; controlling the autonomous mobile device to move backward to a second position; and controlling the autonomous mobile device to turn at the second position so that the autonomous mobile device is parallel to the first boundary.