Mowing Robot Route Planning for Slope Slip Reduction
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Solution Overview
Problem
Existing mowing robots face significant slippage issues on slopes, particularly in non-forward uphill scenarios, leading to reduced mowing efficiency.
Innovation Solution
A route planning method that involves obtaining gradient and height data to generate a contour map, dividing the mowing area into flat and sloped regions, and generating tailored mowing routes for each, with real-time adjustments to minimize slippage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If existing mowing path planning schemes are used without considering uphill or downhill scenarios, then the route planning is simple, but the mowing robot slips on slopes during mowing
Solution Approach 1:
The mowing area is segmented into flat areas and sloped areas based on gradient data. Different mowing routes are generated for flat areas and sloped areas respectively, allowing the system to apply appropriate strategies for each terrain type and prevent slippage on slopes while maintaining simple planning on flat ground.
Solution Approach 2:
The system obtains gradient data and height data to determine slope characteristics, then adjusts the mowing route parameters accordingly. For sloped areas, the route planning considers slope direction and gradient magnitude to generate paths that minimize slippage, transforming the planning from a simple geometric problem to a terrain-aware optimization problem.
2Reliability
If the mowing robot operates on non-forward uphill slopes without route optimization, then the route planning is straightforward, but slippage becomes severe
Solution Approach 1:
The system performs preliminary analysis of the terrain by obtaining gradient data and height data before generating the mowing route. It identifies sloped areas and calculates optimal paths in advance, ensuring that the robot follows routes that minimize slippage risk before entering challenging terrain, thereby maintaining both stability and efficiency.
Solution Approach 2:
The system uses real-time position information and gradient data to adjust the mowing route dynamically. By monitoring the robot's position on sloped areas and comparing it with the planned route, the system can make adjustments to maintain optimal mowing paths that prevent severe slippage while preserving productivity.
3Reliability
If contour map-based route planning is implemented considering gradient and height data, then slippage on slopes is reduced, but the processing complexity increases
Solution Approach 1:
The contour map processing is segmented into distinct steps: obtaining gradient data, obtaining height data, determining sloped areas, and generating routes. This segmentation allows the system to process only relevant data for each terrain type, reducing overall processing complexity while maintaining reliability on slopes.
Data Source
AI summary
A route planning method, route planning device and mowing robot are provided to address the issue of mowing robots slipping on slopes, improve mowing performance on slopes, and enhances the mowing efficiency in such terrains. In the method, gradient data and height data corresponding to a mowing area are obtained. A contour map is drawn based on the gradient data and the height data. A mowing trigger request is received, and in response, a mowing route corresponding to the mowing robot is generated based on the contour map and position information of the mowing robot. The mowing robot is then controlled to perform mowing operations based on the mowing route.