Autonomous Field Robot Routing to Avoid Tire Mark Overlap
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Solution Overview
Problem
Conventional robotic working systems face issues with field damage due to overlapping tire marks and inefficient battery charging when moving between multiple working areas, as they do not effectively manage traveling routes.
Innovation Solution
The robotic working apparatus sets distinct routes from a work end point to a base and from the base to a work start point in different areas, minimizing route overlap and ensuring efficient battery charging by allowing the robot to return to the base for recharging.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the working robot uses the same route to return to base and depart to next area, then the route planning is simple, but the field suffers from overlapping tire marks causing damage
Solution Approach 1:
The patent divides the route planning into two separate segments: the return route from work end point to base, and the departure route from base to work start point. By segmenting the journey and allowing each segment to use different paths, the system eliminates overlapping tire marks while maintaining manageable route planning complexity through modular route construction.
Solution Approach 2:
The patent introduces a new dimension to route planning by considering not just the work areas but also the base as a central hub. Routes are planned in two dimensions: from work end point to base, and from base to work start point. This dimensional expansion allows routes to diverge and converge without overlapping, reducing field damage.
2Loss of time
If the working robot travels directly between work areas, then the travel time is reduced, but the battery may deplete before reaching the next work area
Solution Approach 1:
The patent implements preliminary action by requiring the robot to return to the base for recharging before departing to the next work area. This ensures the battery is sufficiently charged in advance, guaranteeing reliable operation throughout the journey to the next area without risk of depletion, while the base serves as a strategic charging checkpoint.
Solution Approach 2:
The base acts as an intermediary between work areas, serving as a mandatory stopping point for recharging. This intermediary structure breaks the direct travel path into two phases: travel to base for charging, then travel from base to next area. This ensures battery reliability while managing travel time through structured stops at the intermediary base location.
3Reliability
If the working robot returns to base for recharging, then battery reliability is ensured, but the overall work cycle time increases
Solution Approach 1:
The patent implements dynamics by making the return-to-base route and departure route distinct and optimized for their specific purposes. The return route is dynamically planned to efficiently reach the base, while the departure route is dynamically planned to efficiently reach the next work area. This dynamic, purpose-specific routing minimizes unnecessary travel time while ensuring reliable recharging occurs at the base.
Data Source
AI summary
A robotic working apparatus includes: a working tool configured to perform work on a field; a working robot configured to perform the work while autonomously traveling on the field; and a processor configured to set a traveling route for the working robot and control motion of the working robot In a case where a first area and a second area are set on the field as working areas of the working robot, when the working robot moves from a work end point in the first area to a work start point in the second area, the processor sets a route from the work end point to a base, and a route from the base to the work start point, which are different at least in part from one another.