Robot Lawn Mower Position Correction Using High-Accuracy Zones
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Solution Overview
Problem
Autonomous traveling work machines face challenges in maintaining accurate position detection due to increased positional deviation caused by wheel spinning and interference from surrounding objects and noise, making it difficult to return to a station and correct odometry errors.
Innovation Solution
The implementation of a dual-position detection system using a first detecting method (odometry) and a second detecting method (image capturing or GPS) allows the machine to identify zones with high position detection accuracy, travel to these zones, and correct its position when both detection methods' accuracy falls below a predetermined value.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If odometry is used for position detection, then the machine can autonomously travel based on relative position, but position detection accuracy decreases with longer movement distance
Solution Approach 1:
The patent divides the working area into multiple zones with different position detection accuracy characteristics. The system segments the navigation problem into local zone-based detection (using second detecting means in high-accuracy zones) and global odometry-based detection, allowing the machine to switch between detection methods based on current zone to maintain overall position accuracy.
Solution Approach 2:
The patent introduces a zone identifying unit as an intermediary that determines which detection method to use based on current position. This intermediary layer coordinates between odometry (first detecting means) and alternative detection methods (second detecting means), selecting the appropriate method based on zone-specific accuracy characteristics to resolve the contradiction between continuous autonomous travel and position accuracy.
2Measurement precision
If wire tracking is used to ensure return to station, then position accuracy is maintained, but the system becomes complex and requires buried wires
Solution Approach 1:
The patent extracts the position correction function from complex physical infrastructure (buried wires) and implements it through software-based zone identification and detection method selection. By taking out the essential function of position accuracy maintenance and implementing it through intelligent algorithms rather than physical wire tracking, the system achieves high position accuracy without the complexity of buried wire systems.
Solution Approach 2:
The patent replaces the mechanical wire-tracking system with an intelligent software-based system that uses zone identifying units and detection method selection. This substitution eliminates the need for physical wire infrastructure while maintaining position accuracy through computational methods, thereby reducing device complexity while preserving measurement precision.
3Measurement precision
If ID tag detection is used for position correction, then position accuracy can be restored, but surrounding objects and noise may block communication
Solution Approach 1:
The patent implements a universal zone-based detection system that can accommodate multiple types of second detecting means (including but not limited to ID tag detectors). The zone identifying unit and travel controlling unit work with any detection method that can identify high-accuracy zones, making the system versatile and adaptable to different environmental conditions and object types, thereby improving reliability through multi-functionality.
Solution Approach 2:
The patent creates a dynamic detection system that adapts to changing environmental conditions by switching between first and second detecting means based on zone identification. When the machine enters a zone where the second detecting means provides high accuracy, the system dynamically switches to that method; otherwise, it relies on odometry. This dynamic adaptation ensures reliable position detection regardless of surrounding objects or noise interference.
4Measurement precision
If the machine travels to zones with high position detection accuracy, then current position can be corrected, but travel time increases
Solution Approach 1:
The patent applies partial action by correcting position only when necessary (when both detection methods show accuracy below predetermined values) and only in zones where the second detecting means provides sufficient accuracy. The system does not continuously travel to correction zones but rather performs targeted position corrections at strategic points, minimizing unnecessary travel time while maintaining adequate position accuracy for autonomous operation.
Data Source
AI summary
To make it possible to correct a current position detected by an autonomous traveling work machine to the correct position with a simple configuration. A robot lawn mower includes a first position detecting unit for detecting a current position by using odometry and a second position detecting unit for detecting a current position by using an image capture. When position detection accuracy of both of the first and second position detecting units decreases to less than or equal to a predetermined value, the robot lawn mower is controlled to travel to either of zones Z1 and Z2 in which the position detection accuracy of the second position detecting unit is relatively high, and when the robot lawn mower moves to either of the zones Z1 and Z2, a current position used for autonomous traveling is corrected to the current position detected by the second position detecting unit.