Boundary Wire Position Judgment for Autonomous Mowers
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Solution Overview
Problem
Automatic mower systems face challenges in accurately judging their position relative to a boundary wire due to interference signals, which can lead to misjudgments and instability in operation.
Innovation Solution
An autonomous moving device equipped with boundary sensors and a control module that estimates the consistency of boundary signal outputs over a predetermined period, distinguishing between stable and unstable signals to accurately determine the position relative to the boundary wire, thereby filtering out interference.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the boundary sensor continuously detects boundary signal output, then the position judgment responsiveness is improved, but the misjudgment caused by interference signals increases
Solution Approach 1:
The control module performs preliminary judgment on the boundary signal output before making position determination. It estimates whether the boundary sensor is in the working region based on the boundary signal output, and only when the estimated position remains unchanged for a predetermined time does it confirm the position judgment. This preliminary filtering action prevents interference signals from causing immediate misjudgments while maintaining responsive position tracking.
2Speed
If the controller immediately responds to boundary signal output changes, then the position judgment speed is improved, but the stability of operation deteriorates
Solution Approach 1:
The control module employs periodic verification by checking whether the estimated position remains unchanged for a predetermined time period before confirming the position judgment. This periodic action filters out transient interference signals while maintaining responsive position tracking, achieving both speed and stability in operation.
3Measurement precision
If the boundary sensor detects boundary signal output, then the position detection capability is improved, but the interference signal influence increases
Solution Approach 1:
The control module uses feedback by continuously monitoring the boundary signal output and comparing consecutive estimates of the boundary sensor position. When the estimated position remains unchanged for a predetermined time, the system confirms the position judgment. This feedback mechanism filters out interference signals while maintaining accurate position detection capability.
Data Source
AI summary
A autonomous moving device, moving and working in a working region limited by a boundary wire, and including at least one boundary sensor, detecting boundary signal and outputting boundary signal output; a control module, electrically connected to the boundary sensor, and judging type of the boundary signal output, wherein the control module comprises an estimation unit, estimating whether the type of the boundary signal output in a predetermined estimation period is consistent or not, and if consistent, the control module judges that the boundary signal output is stable; the control module judges position relation of the boundary sensor relative to the boundary wire based on the type of the stable boundary signal output.