Autonomous Boundary-Following Control for Safe Corner Coverage
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Solution Overview
Problem
Autonomous working machines face challenges in ensuring safe operation and maintaining effective working coverage when navigating corners within a working area, particularly due to limited space and potential collisions.
Innovation Solution
A control method for autonomous working machines that adjusts its pose by increasing the distance from a boundary when approaching a corner, using sensors to determine the distance and angle, and then maneuvers along the adjacent boundary to ensure safe turning and improved coverage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the autonomous working machine moves along the boundary to maintain working coverage, then the working coverage is improved, but the risk of collision at corners increases
Solution Approach 1:
The control method performs preliminary detection of corner positions using distance sensors before the machine reaches them. When a corner is detected within a preset distance range, the system proactively generates a corner passing maneuver in advance, allowing the machine to safely navigate corners while maintaining working coverage along boundaries.
Solution Approach 2:
The system continuously monitors distance to boundaries using sensors and provides feedback to the control unit. This real-time feedback enables dynamic adjustment of the machine's path and speed, allowing it to maintain optimal working coverage while automatically correcting its trajectory to avoid collisions at detected corners.
2Device complexity
If the autonomous working machine maintains a fixed distance from the boundary, then the control simplicity is improved, but the ability to effectively work near corners deteriorates
Solution Approach 1:
The control method dynamically adjusts the machine's distance from the boundary based on real-time corner detection. Instead of maintaining a fixed distance, the system modulates the boundary-following distance dynamically - staying close for coverage efficiency but automatically increasing distance when corners are detected, enabling effective corner area coverage while keeping control logic relatively simple.
3Speed
If the autonomous working machine turns sharply at corners, then the response speed is improved, but the risk of collision and damage increases
Solution Approach 1:
The control method replaces sharp angular turns with curved arc-shaped paths when navigating corners. The machine follows a smooth curved trajectory around the corner rather than making abrupt 90-degree turns, which maintains faster response speed while significantly reducing collision risk and mechanical stress on the machine.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enhances operational safety by preventing collisions and improves working coverage by allowing the machine to effectively cut or maintain areas near corners.
Implementation Method 1
acquiring a first image of the working area captured by a camera of the autonomous working machine
Implementation Method 2
acquiring a satellite positioning signal based on a satellite positioning module of the autonomous working machine
Implementation Method 3
acquiring a non-contact obstacle detection signal based on a non-contact obstacle detection module of the autonomous working machine
Data Source
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AI summary
The present application relates to a control method for an autonomous working machine, a storage medium, and an autonomous working machine. The control method for the autonomous working machine comprises: in response to an operating mode of the autonomous working machine being a boundary-following working mode and the autonomous working machine detecting a first boundary and a second boundary of a working area, controlling the autonomous working machine to move based on a first direction to move along the first boundary, wherein the first boundary and the second boundary are connected and form an included angle; determining a first distance between the second boundary and the autonomous working machine; in a case that the first distance is less than a first threshold, adjusting a pose of the autonomous working machine to increase a second distance, wherein the second distance is a distance between a rear portion of the autonomous working machine and the first boundary; controlling the autonomous working machine to move along the second boundary. The present application can ensure improved working coverage while avoiding damage to the autonomous working machine.