Boundary Edge Teaching for Green Area Robots Using Coordinate Transformation
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Solution Overview
Problem
Existing green space processing systems face challenges in teaching and operating boundary edges of areas, particularly due to limitations in position determination technologies and the need for compatibility between teaching and robot position coordinates.
Innovation Solution
A method and system that allow for the automatic transformation of teaching position coordinates into robot position coordinates using different position determination technologies, enabling more freedom in teaching and operation by separating the position determination technologies for teaching and robot positioning, and utilizing various position determination methods such as satellite, local, inertial, and ultrasonic positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the same position determination technology is used for both teaching and robot positioning, then compatibility is ensured, but flexibility and ease of operation are reduced
Solution Approach 1:
The patent segments the position determination system into two independent parts: a teaching position determination system for defining boundary coordinates and a robot position determination system for guiding the robot. This segmentation allows each system to use the most suitable positioning technology for its specific function, improving both ease of teaching and system flexibility.
Solution Approach 2:
The patent introduces a coordinate transformation module as an intermediary that converts teaching position coordinates from the teaching coordinate system into robot position coordinates in the robot coordinate system. This intermediary enables communication between the two different positioning systems, allowing them to work together despite using different technologies.
2Adaptability or versatility
If multiple position determination technologies are integrated, then versatility is improved, but device complexity increases
Solution Approach 1:
The system divides position determination functions into separate modules: satellite positioning module, local positioning module, inertial positioning module, and ultrasonic positioning module. Each module independently handles a specific positioning technology, making the complex system manageable and allowing selective activation based on operational needs.
Solution Approach 2:
The robot is equipped with multiple positioning technologies that can serve different functions: satellite positioning for outdoor areas, local positioning for indoor or GPS-denied environments, inertial positioning for continuous navigation, and ultrasonic positioning for precision work. This multi-functionality allows the single robot system to handle diverse positioning requirements without requiring separate systems.
3Measurement precision
If teaching position coordinates are manually defined, then precision can be achieved, but time consumption increases
Solution Approach 1:
The teaching position determination system automatically captures position coordinates using integrated sensors and positioning technologies, eliminating the need for manual coordinate entry. The system self-services by autonomously recording boundary point coordinates during the teaching process, significantly reducing teaching time while maintaining precision through the use of accurate positioning technologies.
Solution Approach 2:
The system performs preliminary positioning and coordinate capture during the teaching phase by automatically recording position data at boundary points. This preliminary action of automated coordinate acquisition prepares the teaching data in advance, avoiding time-consuming manual measurements and calculations while ensuring accurate position data is captured.
Data Source
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AI summary
The invention relates to a method for teaching at least one section (102) of a boundary edge (101) of an area (100) to a green space maintenance system (50), wherein the green space maintenance system (1) comprises: - an autonomous mobile green space maintenance robot (60), and - a robot positioning system (70), wherein the robot positioning system (70) is configured to acquire robot position coordinates (x1, y1) of the green space maintenance robot (60), wherein the robot position coordinates (x1, y1) are based on a first positioning technology (PBT1), wherein the method comprises the steps: a) defining a sequence of teaching position coordinates (x2, y2) of the section (102), wherein the teaching position coordinates (x2, y2) are based on a second positioning technology (PBT1) that is different from the first positioning technology (PBT1). Positioning Technology (PBT2) is based,and b) transforming the defined sequence of teach-in position coordinates (x2, y2) into a sequence of transformation robot position coordinates (x3, y3), wherein the transformation robot position coordinates (x3, y3) are based on the first position determination technology (PBT1).