Robot Mower Boundary Steering for Narrow-Area Escape
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Solution Overview
Problem
Autonomous working systems, such as robot mowers, face inefficiencies in path planning, particularly in navigating narrow areas and dead corners, leading to reduced coverage scope, increased time to complete tasks, and mechanical wear due to frequent stopping and starting.
Innovation Solution
A robot mower with a limit detecting module using border sensing elements and a control module that controls turning operations based on the relative position to the limit, allowing for efficient turns by rotating wheels at different speeds or directions to maintain an acute or right angle with the limit, ensuring continuous movement and improved coverage efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If random path planning is used with frequent stopping and turning, then the autonomous vehicle can navigate obstacles, but the working efficiency is reduced and mechanical wear increases
Solution Approach 1:
The system performs preliminary actions by predicting future positions and pre-calculating turning points before the vehicle reaches them. The path planning algorithm anticipates upcoming obstacles and prepares optimal turning sequences in advance, allowing the vehicle to maintain continuous motion while still navigating obstacles effectively.
Solution Approach 2:
The path planning system dynamically adjusts the vehicle's trajectory in real-time based on detected obstacles and boundary conditions. Instead of following fixed predetermined paths, the system continuously optimizes the route by calculating new turning points and angles, enabling adaptive navigation that maintains efficiency while handling unexpected obstacles.
2Adaptability or versatility
If random turning is performed in narrow areas, then the vehicle can attempt to leave the area, but it takes a long time and may fail to leave
Solution Approach 1:
The system uses feedback from boundary sensors and position tracking to continuously monitor the vehicle's state within narrow areas. Based on this feedback, the path planning algorithm adjusts turning sequences and angles dynamically, learning from previous attempts and optimizing the escape route. The system evaluates whether the vehicle is making progress toward exiting the narrow area and modifies the path accordingly.
Solution Approach 2:
When entering a narrow area, the system performs preliminary analysis of the boundary geometry and pre-calculates the optimal turning sequence required to exit. Instead of random turning, the algorithm determines the precise series of turns needed to navigate the constrained space and emerge, significantly reducing the time required to leave narrow areas.
3Manufacturing precision
If the vehicle stops to make turns instead of turning directly, then the turning accuracy is improved, but the overall moving speed decreases
Solution Approach 1:
The system performs preliminary calculations of turning parameters (angle, duration, velocity adjustment) before executing turns. By pre-computing the exact turning sequence and velocity profile, the vehicle can execute smooth, accurate turns while maintaining continuous motion, eliminating the need to come to a complete stop before turning.
Solution Approach 2:
The path planning system dynamically adjusts velocity and turning parameters in real-time during the turning maneuver. Instead of static stop-and-turn sequences, the system modulates wheel speeds and steering angles continuously, enabling the vehicle to turn accurately while maintaining forward momentum and overall speed.
4Area of stationary object
If frequent starting and stopping is required in small working areas, then the vehicle can cover the area thoroughly, but the mechanical wear increases and service life decreases
Solution Approach 1:
The path planning algorithm generates continuous paths that minimize stopping and starting by optimizing turn locations and sequences. The system calculates trajectories that allow the vehicle to maintain motion throughout the working area, reducing the frequency of complete stops. This continuous operation reduces mechanical stress on motors, brakes, and transmission components, thereby extending service life while maintaining thorough coverage.
Data Source
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AI summary
Disclosed in the present invention is an autonomous vehicle (1), which comprises an housing (21), an driving module mounted on the housing (21), an borderline detecting module mounted on the housing for detecting the distance between the autonomous vehicle (1) and the borderline (3), an energy module mounted on the housing for providing energy for the autonomous vehicle, and an control module electrically connected with the driving module and the borderline detecting module. The control module controls the driving module to perform steering based on the signal representing the angle relationship between the autonomous vehicle (1) and the borderline (3) transmitted from the borderline detecting module, so that the axis (33) of the autonomous vehicle (1) always forms an acute angle or an right angle with one side of the borderline (3) while steering is completed, but another side of the borderline (3) forms an acute angle or an right angle with the core axis (33) of the autonomous vehicle (1) when the turning begins. The turning has directivity, so that the autonomous vehicle more easily goes out from the narrow area and the efficiency of area covering is higher; moving is kept during the turning, so that the energy is saved, and the working efficiency is improved.