Robotic Work Tool Boundary Mapping Under Poor Signal Reception
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Solution Overview
Problem
Robotic work tools, such as lawnmowers, face challenges in maintaining high accuracy and operation in areas with insufficient signal reception, leading to errors in boundary definition and navigation, especially when using satellite or beacon navigation systems.
Innovation Solution
The system employs a controller configured to determine boundary points and their variance, creating an inner envelope using intersections of tangents for variance circles, and utilizes optical navigation sensors with SLAM to record features and correct boundary inaccuracies, allowing the robotic work tool to operate accurately even in areas with poor signal reception.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If satellite or beacon navigation systems are used to define boundaries, then the robotic work tool can operate autonomously in the work area, but navigation accuracy deteriorates in areas with insufficient signal reception
Solution Approach 1:
The patent introduces physical markers (intermediaries) placed at boundary locations to mediate between the satellite/beacon navigation system and the robotic work tool. These markers provide reference points that can be visually detected by the robotic tool, supplementing the signal-based navigation system and improving positioning accuracy in areas where satellite or beacon signals are insufficient.
Solution Approach 2:
The patent combines multiple navigation approaches: satellite navigation, beacon navigation, and visual marker recognition. By merging these different navigation methods, the system maintains autonomous operation while improving navigation accuracy across the entire work area, including areas with poor signal reception.
2Measurement precision
If physical markers are placed along the boundary to define the work area, then navigation accuracy improves, but installation complexity and time increase
Solution Approach 1:
The patent uses simple, inexpensive physical markers that can be easily placed and removed. These markers don't need to be permanent installations but serve as temporary reference points during boundary definition, reducing both cost and installation complexity while maintaining accuracy.
Solution Approach 2:
The system creates a digital copy or map of the physical boundary markers and work area. This digital representation allows the robotic tool to navigate using the captured boundary information without requiring continuous physical marker presence, simplifying installation while maintaining navigation accuracy.
3Device complexity
If the robotic work tool traverses the boundary to record positions, then the boundary can be defined virtually, but time consumption increases
Solution Approach 1:
The patent performs preliminary traversal and boundary recording during an initial setup phase. By completing the boundary definition work beforehand, the system establishes a virtual boundary map that enables rapid autonomous operation without repeated boundary traversal, reducing time consumption during actual work operations.
Solution Approach 2:
The system continuously refines and updates the boundary information during initial traversal, capturing position data at multiple points along the boundary. This continuous data collection creates a more accurate virtual boundary representation, reducing the need for re-traversal and improving overall efficiency.
Data Source
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Figure 2A~2C
AI summary
A method for use in a robotic work tool system (300) comprising a robotic working tool (200), the robotic working tool (200) comprising a signal navigation device (290), wherein the method comprises: determining (515) a location of at least one boundary point (BP); determining (525) a variance of the location(s); and to determining the boundary (320) based on the variance of the location(s) utilizing the innermost of the variance(s).