Robotic Mower Boundary Identification for Island Line Avoidance
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Solution Overview
Problem
Intelligent mowing robots face challenges in distinguishing between the boundary line defining the working region and the island line, leading to potential collisions with obstacles and inefficient navigation, as they cannot accurately identify the first boundary line from the second boundary line using their signal sensors.
Innovation Solution
The system includes a control module that uses regional data acquisition and processing to determine whether the mowing device is on the first or second boundary line, employing methods such as data threshold comparison, boundary line identification, and topological map analysis to guide the device along the correct boundary, ensuring it stays within the working region and avoids circling around obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the mowing device uses boundary signal sensors to identify boundary lines, then it can detect the boundary of the working region, but it cannot distinguish between the first boundary line and the second boundary line (island line)
Solution Approach 1:
The patent transitions from one-dimensional boundary line detection (only detecting presence/absence of boundary lines) to two-dimensional spatial reasoning by analyzing the topological relationship between the mowing device's current position, the detected boundary lines, and the working region map. This allows the device to distinguish between the first boundary line (outer boundary) and second boundary line (island boundary) by understanding their relative positions and connectivity in the spatial map, rather than relying solely on sensor signals.
2Ease of operation
If the mowing device walks along any detected boundary line, then it can navigate using available boundary information, but it may incorrectly follow the second boundary line (island line) instead of the first boundary line
Solution Approach 1:
The system continuously compares the detected boundary line position with the pre-stored working region map information. When the mowing device detects a boundary line, it checks whether this boundary line corresponds to the first boundary line or second boundary line in the map data. This feedback mechanism allows the device to correct its navigation path by identifying when it has mistakenly followed the wrong boundary line and redirecting it to the correct first boundary line for proper working region navigation.
3Duration of action of moving object
If the mowing device follows the second boundary line (island line) thinking it is the first boundary line, then it can maintain continuous boundary-following motion, but it will circle around the obstacle indefinitely without completing the working region mowing
Solution Approach 1:
The patent pre-stores the complete topological structure of the working region map, including the positions and relationships of both the first boundary line and second boundary line, before the mowing operation begins. This preliminary preparation allows the mowing device to proactively identify and avoid the trap of circling the island line, as it can predict the topological consequences of following each boundary line based on the pre-analyzed map data, thereby preventing infinite circulation and ensuring productive mowing completion.
Data Source
AI summary
An intelligent mowing system includes a working region defined by a first boundary line, a non-working region defined by a second boundary line, and an intelligent mowing device. The system further includes: a control module configured to control the intelligent mowing device; a positioning module configured to position position information of the intelligent mowing device; and a data acquisition module configured to acquire regional data about a preset range from a current position of the intelligent mowing device. The control module is configured to: acquire the regional data of the intelligent mowing device when the intelligent mowing device works in a boundary walk mode in which a walk along the first boundary line or the second boundary line is performed; and control, according to the relationship between the regional data and a data threshold, the intelligent mowing device to walk along the first boundary line.