Lawnmower Charging Station Orientation Calibration Using RTK Line Fitting
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Solution Overview
Problem
Existing methods for determining the orientation of a lawnmower charging station in a local Cartesian coordinate system are prone to inaccuracies due to magnetic field interference and high costs associated with dual RTK antennas, making calibration challenging and costly.
Innovation Solution
A method involving the collection of position data during the lawnmower's movement relative to the charging station, followed by straight line fitting to determine the orientation based on the slope of the fitted line, using a single RTK antenna, an inertial measurement unit, and an encoder to ensure accuracy and reduce costs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If geomagnetic sensor is used to measure magnetic field direction, then orientation information can be obtained, but measurement accuracy deteriorates due to magnetic field interference and calculation complexity increases
Solution Approach 1:
The patent extracts the lawnmower from the magnetic field environment during calibration by using RTK satellite positioning instead of geomagnetic sensors. This removes the harmful magnetic field interference from the measurement process, achieving high-precision orientation measurement without complex magnetic declination calculations
Solution Approach 2:
The patent replaces the geomagnetic sensing system with a satellite-based RTK positioning system. This substitution eliminates dependence on magnetic field measurements and eliminates the need for complex magnetic declination calculations, directly providing accurate position and orientation data
2Measurement precision
If dual RTK antennas are installed for orientation determination, then measurement accuracy improves, but device cost increases and installation difficulty increases
Solution Approach 1:
The patent extracts only the necessary positioning function from the dual-antenna RTK system by using a single antenna combined with inertial measurement unit (IMU). This extraction maintains orientation determination accuracy while eliminating the need for complex dual-antenna installation and reducing system cost
Solution Approach 2:
The patent merges the positioning function of RTK single antenna with the orientation sensing function of IMU. This combination achieves the same effect as dual-antenna RTK systems for orientation determination, but with simpler installation and lower cost
3Measurement precision
If dual RTK antennas are used for calibration, then orientation can be determined, but ease of operation deteriorates due to high installation accuracy requirements
Solution Approach 1:
The patent segments the calibration process into automatic steps executed by the control unit. The system automatically collects position data during lawnmower movement, performs linear fitting calculations, and determines orientation without requiring manual antenna installation adjustments, greatly improving ease of operation
4Measurement precision
If traditional calibration methods are used, then charging station orientation can be determined, but cost increases and measurement accuracy deteriorates
Solution Approach 1:
The patent uses a single RTK antenna combined with IMU instead of expensive dual-antenna RTK systems or geomagnetic sensor systems. This cost-effective configuration achieves high-precision orientation determination through automatic calibration, reducing both hardware costs and operational costs
Data Source
AI summary
A method for calibrating a lawnmower, a lawnmower, an electronic device and computer readable storage medium are provided. The method includes: controlling the lawnmower to withdraw from a charging station with which the lawnmower is initially docked, collecting a preset number of position data of the lawnmower moving relative to a charging station; performing straight line fitting using the preset number of position data; and determining, when the preset number of position data fits a straight line, an orientation of the charging station based on a slope of the fitted straight line.