Robotic Lawnmower Docking via Guide-Cable Field Learning
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Solution Overview
Problem
Traditional robotic lawnmower docking systems face challenges due to variability in magnetic fields caused by guide cable length, shape, and placement, leading to interference and restricted user placement options, making high-precision docking difficult and costly to implement.
Innovation Solution
A robotic lawnmower system that learns the magnetic field landscape near its charging station using a navigation signal cable, allowing it to determine its docking position and navigate accurately without the need for both N- and F-fields, mechanical guide walls, or restrictive cable placements, by recording and comparing magnetic field values to control its propulsion system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional magnetic field docking systems are used with guide cables and loop cables, then docking precision can be achieved, but system cost and complexity increase
Solution Approach 1:
The patent extracts and removes the N-field loop cable component from the traditional docking system. The robotic lawnmower uses only the F-field guide cable for navigation and docking, eliminating the need for the separate N-field loop cable that was traditionally required for precise positioning relative to the base plate.
Solution Approach 2:
The guide cable is given multiple functions: it serves both as the F-field source for long-range attraction and as the reference for docking positioning. The robotic lawnmower uses the same guide cable for both finding the charging station from a distance and for precise docking alignment, eliminating the need for separate N and F field systems.
2Reliability
If guide cables are used for navigation, then docking can be achieved, but magnetic field variability due to cable length and shape causes interference
Solution Approach 1:
The patent implements dynamic adaptation where the robotic lawnmower learns and stores the specific magnetic field characteristics of the guide cable during an initial teaching phase. The system adapts to the actual cable configuration (length, shape, placement) by storing reference field values, then uses these stored values for reliable docking despite variations in the magnetic field landscape.
Solution Approach 2:
The system changes its operational parameters by storing reference magnetic field values during a teaching phase and using these stored parameters for navigation and docking. This allows the system to compensate for variations in guide cable configuration and magnetic field strength by comparing current field readings against the stored reference values.
3Measurement precision
If mechanical guide walls and restrictive cable placement are used, then docking precision is improved, but user flexibility and ease of installation decrease
Solution Approach 1:
The patent replaces mechanical guide walls with a magnetic field-based navigation system. Instead of using physical structures to guide the lawnmower to the charging station, the system uses magnetic fields from the guide cable that the lawnmower detects and follows, eliminating the need for mechanical guidance structures.
Solution Approach 2:
The system performs a preliminary teaching phase where the robotic lawnmower explores the area around the charging station and stores the magnetic field characteristics in its memory. This preliminary action allows the system to later navigate and dock accurately without requiring pre-configured mechanical guides or restrictive cable placements, giving users flexibility in installation.
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
This approach enhances user flexibility in placing the charging station, reduces system costs, and improves docking precision by allowing the robotic lawnmower to adapt to varying magnetic field conditions, ensuring reliable and efficient navigation to the charging station.
Implementation Method 1
a sensor configured to sense field values of magnetic fields generated by the signal in the navigation signal cable
Implementation Method 2
the charging station comprising a signal generator to which a navigation signal cable is to be connected, the signal generator being configured to transmit a signal through the navigation signal cable
Data Source
Figure 1A~2
Figure 3~5
Figure 6A~6B
AI summary
A robotic lawnmower system comprising a charging station (210) and a robotic lawnmower(100), the charging station comprising a signal generator (240) to which a navigation signal cable (260; 250) is to be connected, the signal generator (240) being configured to transmit a signal (265; 245) through the navigation signal cable (260; 250), and the robotic lawnmower(100) comprising: a propulsion system (130, 50); a sensor (170) configured to sense field values of magnetic fields generated by the signal (265; 245) in the navigation signal cable (260; 250);and a controller (110) configured to determine that the robotic lawnmower(100) is in a docking position; record the field value(s) of the sensed signal; control the propulsion system (130, 150) to reverse out of said docking position; and to control the propulsion system (130,150) to enter into said docking position by sensing a current field value; comparing the current field value to the stored field value(s); and determining how to navigate the robotic lawnmower(100) based on the comparison and navigating accordingly.