Lawn Mower Mapping Correction Using Target Return Points
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Solution Overview
Problem
Existing lawn mowing robots face inefficiencies in mapping due to errors requiring complete restarts, which can be unsafe and time-consuming, especially when human-traced boundaries deviate from intended paths.
Innovation Solution
A method and apparatus for lawn mowing robots to correct mapping errors by determining a target correction point on the correct trajectory, allowing the robot to return and continue mapping without restarting from the beginning, thus avoiding unsafe paths and improving efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the robot restarts mapping from the start point when an error occurs, then mapping accuracy is ensured, but mapping efficiency and time consumption deteriorate
Solution Approach 1:
The patent divides the mapping trajectory into multiple segments with designated check points. When an error is detected at a check point, only the current segment needs to be corrected by returning to the previous check point, rather than restarting the entire mapping process. This segmentation allows localized error correction while preserving the accuracy of already-mapped segments.
Solution Approach 2:
The patent pre-establishes multiple check points along the mapping trajectory before errors occur. These check points serve as predetermined safe locations where the robot can reliably return for correction. By having these recovery points prepared in advance, the system enables quick error recovery without needing to restart from the beginning, thus maintaining both accuracy and efficiency.
2Measurement precision
If the robot returns to the start point for correction, then mapping accuracy is ensured, but time consumption and efficiency worsen
Solution Approach 1:
The mapping process is divided into segments with check points distributed throughout. When an error occurs, the robot only needs to return to the nearest previous check point rather than the start point, significantly reducing the distance and time required for correction while maintaining mapping accuracy.
Solution Approach 2:
Check points serve as intermediary locations between the start point and the current error location. These intermediaries provide convenient recovery points that reduce the time penalty for error correction compared to returning all the way to the start point, while still ensuring accurate remapping of the affected segment.
3Area of stationary object
If the robot traces the work map boundary manually, then mapping coverage is achieved, but error occurrence and need for re-tracing worsen
Solution Approach 1:
The patent implements check points along the mapping trajectory that serve as feedback mechanisms. At each check point, the system verifies whether the mapping is proceeding correctly. When deviations or errors are detected, the feedback triggers a correction protocol where the robot returns to the previous check point and re-traces only the affected segment, rather than requiring complete re-tracing of the entire boundary.
Solution Approach 2:
Check points are pre-established along the expected mapping path to anticipate potential errors. By having these verification points in place before errors occur, the system can quickly detect and correct deviations, preventing them from propagating and reducing the overall error rate in the final mapping.
Data Source
AI summary
Disclosed in the embodiments of the present application are a mapping correction method and a related apparatus, which are applied to a mower. The method comprises: receiving, in response to an error occurring in a mapping trajectory of the lawn mowing robot, a correction instruction; determining a target correction point in the mapping trajectory while the lawn mowing robot is moving, the target correction point being located at a distance greater than a predetermined distance from a start point of the mapping trajectory; and returning to the target correction point, and continuing a mapping operation based on a correct mapping trajectory and the target correction point, the correct mapping trajectory being a portion of the mapping trajectory between the start point and the target correction point.