Robotic Work Area Boundary Mapping for Accurate Corner Geometry
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Solution Overview
Problem
Existing non-physical boundary systems for robotic work tools, such as satellite navigation and deduced reckoning, struggle to accurately define working area perimeters in tight corners or restricted areas, leading to rough and time-consuming installations.
Innovation Solution
A robotic work tool system with a boundary definition unit that uses position data to identify and adjust the geometry of a preliminary working area perimeter to match predefined geometries, such as right-angled corners or curves, ensuring accurate and flexible boundary definition.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If non-physical boundary systems (satellite navigation, deduced reckoning) are used to define working area perimeters, then installation time is reduced and flexibility is improved, but accuracy in tight corners and restricted areas deteriorates
Solution Approach 1:
The boundary definition process is segmented into two distinct phases: a preliminary phase using non-physical boundary systems (satellite navigation, deduced reckoning) for rapid initial perimeter establishment, and a refinement phase using physical boundary wires for precise geometry definition in restricted areas. This segmentation allows each method to be applied where it is most effective.
Solution Approach 2:
Different boundary definition methods are applied to different locations based on their specific requirements. Non-physical systems are used for open areas where they provide sufficient accuracy and rapid installation, while physical boundary wires are deployed in tight corners and restricted areas where high precision is critical. The system adapts the boundary definition approach to local geometric conditions.
2Measurement precision
If physical boundary wires are used to define working area perimeters, then accuracy is improved, but installation time and complexity increase
Solution Approach 1:
The non-physical boundary system is used to perform preliminary action by establishing an initial perimeter definition that covers the majority of the working area. This preliminary perimeter reduces the scope of areas requiring subsequent physical boundary wire installation, thereby reducing overall installation time while maintaining accuracy where it matters most.
Solution Approach 2:
Physical boundary wires are deployed partially, only in the specific segments where geometry refinement is necessary (tight corners, restricted areas), rather than throughout the entire perimeter. This partial application of physical boundaries minimizes installation effort while achieving the required precision.
3Manufacturing precision
If physical boundary wires are used, then perimeter accuracy is improved, but the system becomes more complex and vulnerable to damage
Solution Approach 1:
The physical boundary wire layout is designed to follow and refine the preliminary perimeter defined by the non-physical boundary system. The physical wires serve as a detailed copy or enhancement of the virtual boundary, adding precision only where geometric fidelity is critical rather than replicating the entire boundary.
Solution Approach 2:
The hybrid boundary system serves multiple functions: the non-physical boundary system provides rapid deployment and covers open areas, while physical boundary wires provide precision refinement in restricted areas. The combination creates a multi-functional boundary definition system that leverages the strengths of both approaches.
4Ease of operation
If non-physical boundary systems are used, then ease of operation is improved, but reliability in restricted areas deteriorates
Solution Approach 1:
The system prepares for potential accuracy deficiencies of non-physical boundary systems in restricted areas by having physical boundary wires ready for deployment in those specific locations. This beforehand cushioning ensures that even if the non-physical system fails to provide adequate accuracy in tight corners, the physical boundaries provide a reliable backup.
Solution Approach 2:
The system uses feedback from the preliminary boundary definition to identify areas where geometry refinement is needed. The controller analyzes the preliminary perimeter data and determines which segments require physical boundary wire installation to achieve the required geometric fidelity, enabling targeted deployment in restricted areas.
Data Source
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AI summary
A robotic work tool system (200) for defining a working area perimeter (105) surrounding a working area (150) in which a robotic work tool (100) is intended to operate. The robotic work tool system (200) comprises a boundary definition unit (300) comprising at least one position unit (175) for receiving position data; and at least one controller (210) for controlling operation of the boundary definition unit (300). The controller (210) being configured to receive, from the position unit (175), position data while the boundary definition unit (300) is moved around the working area (150) to define a preliminary working area perimeter (110). The controller (210) is further configured to identify, based on the received position data, a geometry of the preliminary working area perimeter (110) approximately corresponding to a predefined geometry; and to adjust the identified geometry to define an adjusted working area perimeter (105), wherein the identified geometry is adjusted to correspond to the predefined geometry.