Lawn Mower Anchor Placement for Signal Shadow Mapping
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Solution Overview
Problem
Existing lawn mower robots face signal disconnection issues due to obstacles between anchors and the robot, making it difficult to accurately identify signal shadow areas and determine optimal anchor installation positions, leading to inefficient lawn mowing.
Innovation Solution
A control method for a system comprising an anchor, a lawn mower robot, and a simulator that generates a shadow map by combining boundary driving maps, identifies obstacle locations, and recommends optimal anchor installations to minimize shadow areas.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If anchors are installed on the boundary of the task target area, then the robot can perform boundary setting driving to map the area, but obstacles between anchors and the robot cause signal disconnection creating shadow areas that reduce positioning reliability
Solution Approach 1:
The system performs preliminary boundary setting driving to identify shadow areas before finalizing anchor installation positions. The robot first drives along the boundary to detect signal shadow areas, then uses this information to recommend optimal anchor positions that avoid creating excessive shadow areas, thus ensuring reliable positioning while maintaining installation simplicity
Solution Approach 2:
The system uses feedback from signal strength detection during boundary driving to evaluate anchor installation effectiveness. By measuring signal shadows created by each anchor configuration and feeding this information back to the user through the terminal device, the system enables iterative optimization of anchor positions to achieve reliable coverage
2Measurement precision
If the robot performs boundary setting driving to identify shadow areas, then optimal anchor positions can be determined, but this requires additional driving operations increasing time consumption
Solution Approach 1:
The system performs boundary setting driving only partially - sufficient to identify major shadow areas and determine optimal anchor positions, but not completing a full exhaustive mapping of the entire task target area. This partial action achieves the necessary measurement precision for anchor placement while minimizing time loss
3Area of stationary object
If multiple anchors are installed to cover the task target area, then positioning coverage is improved, but improper anchor positions create large shadow areas reducing effective coverage
Solution Approach 1:
The system optimizes each anchor's local position based on its specific impact on shadow area creation. By evaluating the shadow areas generated by individual anchors during boundary driving and selecting positions that minimize local shadow effects, the system achieves optimal overall coverage and positioning accuracy
Data Source
AI summary
A method comprises: a lawn mower robot driving to set a boundary of a target work area in which at least three anchors are installed on the boundary; the lawn mower robot receiving a signal from the anchors and setting, as a shadow area, an area where the signal cuts off; the lawn mower robot returning to an initial position and storing driving information received from the anchors transmitting, to a simulator, the driving information and information on the shadow area and the target work area; generating, by the simulator, an obstacle map based on the shadow area of each anchor; the simulator overlapping an externally provided map and the obstacle map, and outputting the same on a screen; and recommending, to a user, positions at which the size of the shadow areas identified within the target work area can be minimized.