Robotic Lawnmower Boundary Mapping With RTK Position Correction
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Solution Overview
Problem
Existing robotic lawnmower systems face precision issues in defining work area boundaries due to drifting positions sensed by mobile devices, leading to incomplete cutting or unnecessary processing of areas.
Innovation Solution
A method that enhances positioning accuracy by combining satellite data with correction data from a reference station, typically located within 100 meters, using radio channels or cellular networks, to improve the precision of boundary definition in robotic lawnmower systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If mobile device positioning relies on GPS, accelerometers and visual odometry, then the positioning system is simple and inexpensive, but the position drifts increasingly in relation to the global coordinate system
Solution Approach 1:
The patent introduces a reference station as an intermediary element that provides correction data to the mobile device. This reference station acts as a mediator between the satellite positioning system and the mobile device, transmitting correction information that compensates for positioning drift without requiring fundamental changes to the mobile device's positioning hardware
Solution Approach 2:
The system implements feedback by continuously receiving correction data from the reference station based on the mobile device's position. This feedback loop allows the system to detect positioning drift and apply real-time corrections to maintain accurate positioning relative to the global coordinate system
2Ease of operation
If virtual markers are placed based on drifted positions, then the boundary definition process is simple, but the actual cutting precision deteriorates
Solution Approach 1:
The system uses feedback from the reference station to continuously correct the mobile device's position data. This feedback mechanism ensures that virtual markers are placed at accurate global coordinate positions, maintaining cutting precision while keeping the boundary definition process simple for the user
3Measurement precision
If correction positioning data is received from a reference station, then positioning precision is improved, but the system complexity and communication requirements increase
Solution Approach 1:
The reference station serves as an intermediary that provides correction data through existing communication infrastructure (radio channels or cellular networks). This intermediary approach improves positioning precision without requiring complex integrated systems, as the correction mechanism can be implemented as a separate, modular component
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
Improves the precision of work area boundary definition, ensuring accurate navigation and operation of robotic lawnmowers by aligning the mobile device's and robotic lawnmower's positions with high accuracy.
Implementation Method 1
The separate, mobile device receives satellite positioning data from a plurality of satellites
Implementation Method 2
correction positioning data from at least one reference station
Implementation Method 3
The correction data may be sent over a radio channel, such as an UHF channel, or over a cellular mobile network
Data Source
AI summary
The present disclosure relates to a method for defining a boundary of a work area (30) in a robotic lawnmower system, the system comprising a robotic lawnmower (1), configured to process the work area (30) and to determine its position (xr, yr, zr) in the work area, and a separate, mobile device (11) configured to determine its position (xm, ym, zm) in the work area (30) and having a camera (13) configured to capture images of the work area (30) and a display (15) which provides a user interface, enabling a user to define boundary segments (33, 37) of the work area boundary (31, 39) therein as a set of positions which are transferred to the robotic lawnmower (1). The separate, mobile device (11) receives satellite positioning data from a plurality of satellites and correction positioning data from a reference station (31), thereby increasing the precision of its position detection.