Robotic Mower Slope Turning Control
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Solution Overview
Problem
Robotic lawn mowers experience wheel slip and potential stalling when turning on slopes due to uneven ground conditions, leading to inefficiency and possible manual intervention.
Innovation Solution
The robotic work tool employs a slope detector, such as an inclinometer, to determine inclination and an accelerometer to assess wheel slip risk, adjusting the rotational speed of driving wheels to prevent slip by reducing the speed of the wheel with the least grip and potentially reversing its direction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robotic mower turns by rotating drive wheels in opposite directions, then the turn is effective on even ground, but wheel slip occurs on slopes causing wear and possible stalling
Solution Approach 1:
The robotic mower performs a preliminary action by backing away from the boundary wire before executing the turn. This creates additional distance between the mower and the boundary, providing more space for the turning maneuver and reducing the risk of wheel slip during the turn on sloped terrain
Solution Approach 2:
The system dynamically adjusts the turning strategy based on real-time conditions. The controller monitors wheel slip detection signals and slope detector signals, and dynamically modifies the turning parameters (such as wheel speed differential and turn radius) to adapt to varying slope conditions, thereby preventing wheel slip while maintaining effective turning
2Productivity
If the robotic mower operates on slopes without speed adjustment, then continuous operation is maintained, but wheel slip and lawn wear increase
Solution Approach 1:
The system implements a feedback mechanism where wheel slip detection sensors and slope detectors continuously monitor operating conditions. When wheel slip is detected or slope exceeds thresholds, the controller receives feedback signals and automatically adjusts drive wheel speeds to prevent further slip, thereby maintaining continuous operation while reducing lawn wear caused by slipping wheels
Solution Approach 2:
The controller changes operational parameters (drive wheel rotational speed) based on detected slope conditions and wheel slip signals. By dynamically adjusting speed parameters rather than maintaining constant operation, the system prevents wheel slip that causes lawn wear while ensuring continuous mowing productivity
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 solution effectively mitigates wheel slip during turns on slopes, ensuring continuous operation and reducing wear on the lawn, thereby enhancing the robotic mower's reliability and efficiency.
Implementation Method 1
determining that the robotic work tool is in a slope by using data from said slope detector, being at least one inclinometer
Implementation Method 2
determining a wheel slip or risk of wheel slip by using data from said slope detector, being at least one accelerometer
Implementation Method 3
The electric current fed through the wire will create a magnetic field. The sensors of the robotic lawn mower will notify a controller of the robotic law mower when the robotic lawn mower approaches a boundary wire
Data Source
Figure 1~2
Figure 3A~6
Figure 4~5
AI summary
Robotic work tool (100) configured for improved turning in a slope (S), said robotic work tool comprising a slope detector (190), at least one magnetic field sensor (170), a controller (110), and at least two driving wheels (130"), the robotic work tool (100) being configured to detect a boundary wire (250) and in response thereto determine if the robotic work tool (100) is in a slope (S), and if so, perform a turn by rotating each wheel (130") at a different speed thereby reducing a risk of the robotic work tool (100) getting stuck.