Domestic Robot Boundary Coverage Using Reference Trail Navigation
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Solution Overview
Problem
Navigation of domestic robots within working areas remains imperfect due to issues with efficient coverage, ease of setup, and safety, despite advancements in control systems and sensors.
Innovation Solution
A domestic robotic system equipped with local environment sensors and data storage to store boundary information, operating in reference trail recording and navigation modes, allowing it to navigate by comparing current sensor information with stored reference trail data to determine its position and maintain accurate area coverage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the robot uses boundary distance sensors to detect the boundary and perform gradual turns, then the robot can maintain a predetermined closest distance from the boundary, but the navigation complexity and computation increase
Solution Approach 1:
The system performs preliminary actions by pre-recording reference trail information along the boundary during a setup phase. This pre-recorded data is stored for later use during actual operation, eliminating the need for real-time complex boundary detection and navigation calculations.
Solution Approach 2:
The system creates a copy of the boundary path in the form of reference trail information. Instead of continuously detecting and calculating boundary positions during operation, the robot uses stored reference trail data that replicates the boundary geometry, simplifying real-time navigation.
2Manufacturing precision
If the robot performs multiple circuits with increasing spacing from the boundary to ensure full coverage, then area coverage is improved, but the time and number of operations increase
Solution Approach 1:
The system replaces complex mechanical navigation strategies (multiple circuits with varying spacing) with a simplified approach using pre-recorded reference trail data. The robot follows the reference trail at a consistent distance, eliminating the need for dynamic spacing calculations and multiple circuits.
Solution Approach 2:
The system changes the navigation parameter from dynamic spacing (multiple circuits with increasing distance) to a fixed parameter approach (consistent distance from reference trail). This single-parameter solution achieves complete coverage more efficiently.
3Extent of automation
If the robot operates autonomously with sophisticated control systems, then labor-saving is improved, but the ease of setup and user instruction decreases
Solution Approach 1:
The system performs self-service by automatically recording the reference trail during a brief setup phase and storing it for future use. This eliminates the need for users to manually program complex navigation paths, maintaining high automation while simplifying setup.
Solution Approach 2:
The system performs the complex task of boundary mapping as a preliminary action during setup. Once this one-time recording is complete, the robot can operate autonomously using the stored reference trail, making subsequent operations simple for the user.
4Manufacturing precision
If the robot moves close to the boundary for complete coverage, then area coverage is improved, but the risk of going beyond the boundary increases
Solution Approach 1:
The reference trail acts as an intermediary between the boundary and the robot. Instead of the robot directly tracking the boundary, it follows the reference trail at a consistent offset distance. This intermediary layer ensures complete coverage while maintaining a safety margin from the actual boundary.
Data Source
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AI summary
A garden-based robotic system includes a robot and data storage operable to store data defining the boundary of a working area within the garden. The robot comprises a payload actuable to perform work on a portion of the garden adjacent the robot, one or more positioning systems and is programmed to operate in at least the following two modes: (i) a perimeter coverage mode, wherein the robot, using said one or more positioning systems, moves within a perimeter area with said payload active, said perimeter area being defined within the robot's programming such that it is adjacent to and generally follows the path of said boundary, and (ii) an internal area coverage mode, wherein the robot, using said one or more positioning systems and said data defining the boundary of the working area, moves within an interior area with said payload active, said interior area being defined within the robot's programming such that it is generally located within said perimeter area. The accuracy of said one or more positioning systems is greater during said perimeter coverage mode than during said internal area coverage mode. The interior area and said perimeter area are further defined such that the interior area approaches to or overlaps with said perimeter area sufficiently to substantially avoid gaps between the area that is in practice covered by said payload during said internal area coverage mode, taking into account the accuracy of said one or more positioning systems during said internal area coverage mode, and the area that is in practice covered by said payload during said perimeter coverage mode, taking into account the accuracy of said one or more positioning systems during said perimeter coverage mode. The interior area is further defined to be sufficiently distant from the boundary of the working area to substantially avoid the robot in practice moving beyond the boundary during said internal area coverage mode, taking into account the accuracy of said one or more positioning systems during said internal area coverage mode.