Robot Lawnmower Contour Mapping via Optical Marker Tracking

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Solution Overview

Problem

Existing methods for installing autonomous mobile devices, such as robot lawnmowers, in working areas like gardens and lawns are cumbersome and unreliable, particularly due to the need for perimeter wire installation and the inability to accurately define contours without significant deviations, posing safety risks and requiring frequent maintenance.

Innovation Solution

An installation method that uses a mobile device to map and define working areas by following an operator, recording their path, and associating information with stretches of the contour, utilizing GPS, UWB, or Bluetooth for coordinate determination, and optical or time-of-flight detection systems to monitor distance and orientation, allowing for precise contour definition and validation.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If perimeter wire is laid to physically define the contour of the working area, then the mobile device can remain within the working area boundaries, but the installation operation becomes complex, long, and tiring

Engineering Contradiction:

Improveboundary definition reliabilityVSAvoidinstallation time

Core Design Contradiction:

ReliabilityVSLoss of time

Solution Approach 1:

The patent replaces the mechanical perimeter wire system with an optical tracking system. The mobile device uses an optical detection system (camera) to track a marker carried by the operator, eliminating the need for physical wire installation. This substitution maintains boundary definition reliability while dramatically reducing installation time and complexity.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The patent creates a virtual copy of the working area boundary by tracking the operator's path through space using optical detection. Instead of physically marking the boundary with wire, the system records the operator's trajectory and uses this path information to define the contour, achieving boundary definition without physical installation.

Inventive Principle:

Principle #26Copying

2Reliability

If perimeter wire is used to define the working area contour, then safety boundaries are established, but the operation requires frequent maintenance due to wire wearing out or damaging

Engineering Contradiction:

Improvesafety boundary maintenanceVSAvoidmaintenance effort

Core Design Contradiction:

ReliabilityVSEase of manufacture

Solution Approach 1:

The patent replaces the mechanical perimeter wire that is subject to wear and damage with an optical marker system. The marker is lightweight, non-contact, and can be easily replaced or repositioned without the maintenance issues associated with buried or fixed wire systems.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Ease of operation

If signal tracking is used to define the contour during installation, then perimeter wire installation is avoided, but the orientation detection is insufficient and the contour cannot be accurately reproduced

Engineering Contradiction:

Improveinstallation simplicityVSAvoidcontour definition precision

Core Design Contradiction:

Ease of operationVSMeasurement precision

Solution Approach 1:

The patent introduces a marker as an intermediary object that carries both position and orientation information. The marker, when carried by the operator, provides visual reference for the optical detection system to accurately track not only the operator's position but also their orientation and changes in direction, enabling precise contour reproduction.

Inventive Principle:

Principle #24Intermediary (Mediator)

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 method enables safe, efficient, and intuitive installation of autonomous mobile devices without perimeter wires, ensuring compliance with safety regulations and reducing maintenance needs by providing a precise and flexible way to define working areas and reference paths.

Implementation Method 1

the mobile device finds considerable difficulty in detecting with sufficient precision the position of the marker and therefore the position of the terminal

Methodology Applied

Scientific EffectOptical detection:

Implementation Method 2

utilizing GPS, UWB, or Bluetooth for coordinate determination, and optical or time-of-flight detection systems to monitor distance and orientation

Methodology Applied

Scientific EffectTime of flight: Time of Flight

Data Source

PatentEP4159021A1Installation method of a mobile device for land maintenance contemplating an association of a piece of information to a stretch of a contour

Publication Date: 2023.04.05 STIGA S P A IN BREVE ANCHE ST SPA

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AI summary

The invention relates to an installation method of a mobile device (2) which, in a preferred embodiment, is a mobile device (2) for mowing, such as a robot lawnmower. The installation method includes a mapping step of a working area (1) for the mobile device (2), wherein at least one contour (10) delimiting at least partially the working area (1) is defined. According to the invention, the installation method further comprises a step of association of at least one piece of information to at least one stretch (10a, 10b) of the contour (10). The invention reaches the technical advantage of providing an installation method of a mobile device (2) which suitably takes into account the peculiarities of the contour (10) of the working area (1).