Autonomous Mower Transfer Paths That Avoid Repetitive Lawn Marks
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Solution Overview
Problem
The existing method for generating transfer paths for autonomous mobile mowing apparatuses frequently results in obvious marks on lawns due to repetitive paths, affecting aesthetics.
Innovation Solution
A method that determines a traveling start and end point, identifies traversed regions, performs shortest path searches within these regions, and generates random transfer paths by adding randomly determined points outside the initial paths to create stochastic routes, preventing repetitive path usage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If path search based on the shortest path planning method is used to generate transfer paths, then the traveling efficiency is improved, but the same transfer path is generated each time causing obvious marks on the lawn
Solution Approach 1:
The patent applies dynamics by making the transfer path variable rather than fixed. It introduces randomness into the path selection process, allowing the mowing apparatus to dynamically choose different transfer paths each time it travels between two points, thereby avoiding repetitive marks on the lawn while maintaining efficient travel
Solution Approach 2:
The patent changes the parameter of path selection from deterministic (shortest path only) to stochastic (random selection among multiple paths). By modifying the path planning parameter to include random factors, the system generates varied transfer paths that prevent lawn degradation while preserving travel efficiency
2Loss of time
If the autonomous mobile mowing apparatus frequently runs on the same transfer path, then the traveling time is reduced, but obvious marks are left on the lawn affecting aesthetics
Solution Approach 1:
The patent implements periodic variation in path selection. Instead of using the same path continuously, the system periodically changes the transfer path by introducing random selection among multiple available paths, ensuring that no single path is overused and lawn aesthetics are maintained while keeping average travel time low
Data Source
AI summary
A method for generating a transfer path includes: determining at least one to-be-traversed region through which an autonomous mobile mowing apparatus passes when moving from a start point to an end point; performing, for each of the to-be-traversed region, path search targeted for the shortest traveling path in the to-be-traversed region when the mowing apparatus moves from the start point to the end point, to determine a first intra-regional path corresponding to the to-be-traversed region; acquiring a second intra-regional path corresponding to at least one of the first intra-regional path, where the second intra-regional path is obtained by adding at least one to-be-traversed point to the corresponding first intra-regional path, the to-be-traversed point is randomly determined in the to-be-traversed region corresponding to the first intra-regional path, and the to-be-traversed point is located outside the first intra-regional path; and generating a random transfer path including each of the second intra-regional path.