Robotic Lawnmower Boundary Mapping With RTK-Corrected Positioning
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Solution Overview
Problem
Existing robotic lawnmower systems face precision issues in defining work area boundaries due to positional drift of mobile devices, leading to incomplete cutting or unintended cutting of grass areas.
Innovation Solution
A method involving a mobile device that receives satellite positioning data and correction data from a reference station, such as through RTK or PPP, to enhance positioning accuracy, allowing precise definition of work area boundaries using augmented reality and transmitting these to a robotic lawnmower.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If mobile device positioning relies on GPS, accelerometers and visual odometry, then the system can operate without boundary cables, but positioning precision deteriorates due to drift in between known positions
Solution Approach 1:
The patent introduces a reference station as an intermediary element that provides known precise positions and correction data. The reference station acts as a mediator between the satellite positioning system and the mobile device, enabling the system to achieve high positioning precision without requiring boundary cables. The reference station's known coordinates serve as a stable reference point that corrects drift accumulation.
Solution Approach 2:
The patent implements feedback through correction data transmission from the reference station to the mobile device. The mobile device receives correction data that compensates for positioning drift, creating a closed-loop feedback system. This feedback mechanism continuously corrects the accumulated errors in GPS, accelerometer, and visual odometry measurements, maintaining high positioning precision throughout operation.
2Adaptability or versatility
If virtual markers are placed based on drifted position data, then the system allows flexible work area definition, but boundary definition precision deteriorates causing incomplete or unintended cutting
Solution Approach 1:
The correction data feedback from the reference station continuously corrects the mobile device's position estimates, ensuring that virtual markers are placed at their intended locations. This feedback loop maintains boundary definition precision while preserving the flexibility of visual marker placement, as users can still interactively define work areas through the mobile device interface.
Solution Approach 2:
The patent changes the positioning parameter accuracy by incorporating correction data from the reference station. This transforms the positioning system from one with drifting, low-precision measurements to one with corrected, high-precision measurements, enabling both flexible and precise boundary definition simultaneously.
3Measurement precision
If correction positioning data is received from a reference station, then positioning precision is improved, but device complexity increases due to additional hardware and communication requirements
Solution Approach 1:
The reference station provides self-service by automatically generating and transmitting correction data to mobile devices in its coverage area. Users do not need to manually configure or maintain the correction system; the reference station autonomously performs positioning enhancement, reducing the operational complexity despite the additional hardware 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 cutting by the robotic lawnmower within the intended boundaries.
Implementation Method 1
The separate, mobile device determines its position by receiving satellite positioning data from a plurality of satellites
Implementation Method 2
correction positioning data from a reference station... correction positioning data for enhancing said satellite positioning data
Data Source
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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.