Robot Mower Boundary Mapping by Human-Figure Following

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Solution Overview

Problem

Existing methods for installing autonomous mobile devices, such as robot lawnmowers, in working areas face challenges including the need for perimeter wire installation, which is complex and requires frequent maintenance, and previous signal tracking methods lack accuracy in orientation detection, leading to unreliable and inflexible operation.

Innovation Solution

An installation method that uses a mobile device to follow an operator's trajectory, employing a combination of optical and time-of-flight detection systems to maintain a predetermined distance and recognize the operator's shape for precise contour definition without the need for perimeter wires, allowing for flexible and reliable operation.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If perimeter wire is laid to define working area contour, then safety is improved, but installation complexity and maintenance burden increase

Engineering Contradiction:

ImprovesafetyVSAvoidinstallation complexity

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The patent extracts the working area definition function from the physical perimeter wire and transfers it to the mobile device's navigation system. The mobile device autonomously defines and respects working area boundaries through software-based geofencing and path planning, eliminating the need for physical wire installation while maintaining safety constraints.

Inventive Principle:

Principle #2Taking out (Extraction)

Solution Approach 2:

The patent replaces the mechanical perimeter wire system with an optical and computational system. The mobile device uses cameras, LIDAR, or other sensing systems to detect and map the working area boundaries, then uses algorithmic path planning to stay within boundaries, substituting mechanical constraints with intelligent software-based constraints.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Device complexity

If signal tracking is used to define working area, then perimeter wire installation is eliminated, but orientation detection accuracy deteriorates

Engineering Contradiction:

Improveinstallation simplicityVSAvoidorientation detection accuracy

Core Design Contradiction:

Device complexityVSMeasurement precision

Solution Approach 1:

The patent merges multiple detection systems (optical cameras, LIDAR, inertial measurement units, and signal tracking) into an integrated navigation system. This fusion of sensors compensates for the weaknesses of individual systems, providing both installation simplicity and high orientation detection accuracy through sensor fusion algorithms.

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The patent introduces visual markers or reflective elements as intermediaries between the mobile device and the working area boundaries. These markers enhance the optical detection system's ability to accurately detect orientation and position without requiring physical perimeter wire, bridging the gap between simplicity and precision.

Inventive Principle:

Principle #24Intermediary (Mediator)

3Measurement precision

If marker and terminal are used for installation, then detection capability is improved, but operational flexibility and reliability deteriorate

Engineering Contradiction:

Improvedetection capabilityVSAvoidoperational flexibility

Core Design Contradiction:

Measurement precisionVSAdaptability or versatility

Solution Approach 1:

The patent enables the mobile device to autonomously detect and map working area boundaries using its own onboard sensors and processing capabilities. The device performs self-calibration and self-definition of working parameters, eliminating the need for external markers and terminals, thereby maintaining detection precision while restoring operational flexibility and reliability.

Inventive Principle:

Principle #25Self-service

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 accurate and intuitive definition of working area contours, ensuring safety and eliminating the need for perimeter wire installation, while allowing for easy programming and monitoring of the mobile device's operations.

Implementation Method 1

employing a combination of optical and time-of-flight detection systems

Methodology Applied

Scientific EffectOptical detection: Light

Implementation Method 2

employing a combination of optical and time-of-flight detection systems to maintain a predetermined distance

Methodology Applied

Scientific EffectTime of flight: Time of Flight

Data Source

PatentEP3760022B1Installation method of a mobile device for land maintenance based on the recognition of the human figure

Publication Date: 2021.11.03 STIGA S P A IN BREVE ANCHE ST SPA

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AI summary

The present invention relates to an installation method of a mobile device (2) for land maintenance. The installation method includes a mapping step of a working area (1) for the mobile device (2), which also includes a definition step of at least one contour (10) for delimiting at least partially the working area (1) or a definition step of at least one reference path within the working area (1). According to a preferred embodiment of the invention, the definition step of at least one contour (10) comprises the following step of an operator (50) by the mobile device (2) while the operator (50) travels a predetermined trajectory and the recording step of the path followed by the mobile device (2) during the following step to determine the contour (10). Advantageously, the following step is performed by means of an optical detection system (3) and the installation method is based on the recognition of the operator's shape and/or physiognomy (50).