Mowing Robot Route Resumption Around Unknown Obstacles
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Solution Overview
Problem
Mowing robots face inefficiencies when their work is suspended due to obstacles, requiring them to restart mowing operations from the beginning, leading to increased working time and reduced efficiency.
Innovation Solution
The mowing robot interrupts the task upon detecting an unknown obstacle, generates a surrounding trajectory, determines a task breakpoint, and continues the operation from this point using a generated operation route based on the breakpoint and preset direction, avoiding redundant mowing in completed regions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the mowing robot restarts from the start point after work suspension, then the mowing operation can be completed, but the working time increases significantly
Solution Approach 1:
The system performs preliminary actions by recording the task breakpoint (position and completed region information) before work suspension occurs. When resuming, the robot uses this pre-recorded information to continue from the breakpoint rather than restarting, thereby reducing working time while ensuring complete mowing coverage
Solution Approach 2:
The system implements feedback by continuously monitoring the mowing robot's position and comparing it with the planned route to identify the task breakpoint. The completed region information is fed back to the route generation module, which adjusts the resumption route to avoid already-mowed areas, thus optimizing the path and reducing working time
2Reliability
If the mowing robot returns to start point after interruption, then the mowing task can be resumed, but redundant mowing in completed regions occurs
Solution Approach 1:
The mowing area is segmented into completed regions and remaining regions based on the task breakpoint. The system separates the mowing task into already-executed portions and pending portions, generating a resumption route that only covers the remaining region, thereby eliminating redundant mowing operations and energy waste
Solution Approach 2:
The system extracts the completed region information from the overall mowing task and uses it to exclude already-mowed areas from the resumption route. By taking out the completed portion, the system generates an optimized route that focuses only on remaining work, preventing redundant operations
Data Source
AI summary
Embodiments of the present disclosure disclose a mowing method, including: when an unknown obstacle is detected during a mowing operation of a mowing robot, interrupting a mowing task, and performing a movement around the unknown obstacle to generate a surrounding trajectory; obtaining an task breakpoint on an initial operation route at which the mowing task of the mowing robot is interrupted; determining a remaining operation region in a preset mowing region based on the task breakpoint and the surrounding trajectory; generating an operation route corresponding to the remaining operation region based on the task breakpoint and a preset mowing direction; and controlling the mowing robot to return to the task breakpoint from a current position and continue to perform the mowing operation based on the operation route.