Robotic Mower Navigation Margin for Boundary-Safe Dead Reckoning
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Solution Overview
Problem
Existing robotic mower navigation systems face challenges in accurately determining the position of the mower and reducing the maximum dead reckoning distance when position determination is uncertain, leading to potential safety issues.
Innovation Solution
A method for navigating a robotic mower within a work area that involves repeatedly determining the mower's position using a positioning unit and a dead reckoning sensor, calculating a position uncertainty distance, determining a navigation margin, and executing a safety operation if the navigation margin meets a predetermined value.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the maximum dead reckoning navigating distance is increased to allow longer navigation without reliable position determination, then the productivity of the robotic mower is improved, but the reliability of keeping the mower within the work area deteriorates
Solution Approach 1:
The system dynamically changes the navigation margin parameter based on position uncertainty distance. When positioning accuracy degrades, the navigation margin is reduced, which automatically limits the dead reckoning distance. This parameter adaptation allows the system to maintain safety while optimizing productivity under different positioning conditions.
Solution Approach 2:
The navigation margin is not fixed but dynamically adjusted based on real-time position uncertainty measurements. The system continuously monitors positioning quality and adapts the navigation parameters accordingly, enabling flexible operation that balances productivity and safety requirements.
2Reliability
If the position uncertainty distance is reduced to improve navigation accuracy, then the reliability of boundary adherence is improved, but the maximum dead reckoning navigating distance that can be covered deteriorates
Solution Approach 1:
The system changes the navigation margin parameter based on measured position uncertainty. When positioning is reliable, a larger navigation margin is permitted, enabling longer dead reckoning navigation. When positioning uncertainty increases, the navigation margin is reduced to maintain accuracy, thus dynamically balancing reliability and navigating distance.
3Reliability
If the navigation margin is increased to allow greater distance from boundary, then the reliability of preventing mower from leaving work area is improved, but the productivity due to restricted movement deteriorates
Solution Approach 1:
The navigation margin is dynamically adjusted based on real-time position uncertainty. When positioning accuracy is high, the system permits larger navigation margins that allow the mower to operate closer to boundaries, maximizing productivity. When positioning uncertainty increases, the navigation margin is reduced to maintain safety, thus dynamically optimizing the balance between reliability and productivity.
Solution Approach 2:
The system adapts the navigation margin parameter based on measured positioning quality. This parameter change enables the mower to expand its effective working area when positioning is reliable, improving productivity, while maintaining conservative navigation margins when positioning uncertainty is high, ensuring safety.
Data Source
AI summary
A method for navigating a robotic mower (2) limited by a boundary (6), and a robotic mower (2) configured to perform the method. The robotic mower (2) repeatedly determines (S100) its position by means of a positioning unit (8), navigates (S102) based on the determined position, determines (S104) that a new position of the robotic mower (2) cannot be accurately obtained, determines (S106) a position uncertainty distance (R) based on the positions obtained by the positioning unit (8) and a dead reckoning sensor (10) provided in the robotic mower (2), calculates (S108) a distance (D) to the closest boundary, determines (S110) a navigation margin as the difference between the distance (D) to the closest boundary (6) and the position uncertainty distance (R), and executes (S112) a safety operation if the navigation margin equals a predetermined value.