Robotic Work Tool Exit Path Planning for Limited Movement
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Solution Overview
Problem
Robotic work tools, such as lawnmowers, often become trapped in confined areas or unable to navigate through obstacles, leading to inadequate or uneven servicing of work areas due to difficulties in escaping situations where they are physically restricted or stuck.
Innovation Solution
A robotic work tool system that determines when it has entered a state of limited movement by analyzing various parameters like event frequency, distance traveled, and collision detection, and then navigates an exit path using boundary wires, path reversal, or random movements to escape such situations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If the robotic work tool operates autonomously in complex outdoor environments with obstacles and boundary wires, then automation level increases, but the tool becomes trapped behind obstacles or boundary wires
Solution Approach 1:
The system performs preliminary detection of trapped states by monitoring movement patterns, collision frequency, and area coverage metrics before the robot becomes completely stuck. This early detection enables proactive exit path planning rather than reactive recovery, resolving the contradiction by maintaining autonomous operation while preventing trapped states through advance intervention
2Measurement precision
If the robotic work tool follows boundary wires to define work areas, then work area delimitation improves, but the boundary wire becomes an obstacle that traps the robot
Solution Approach 1:
The system dynamically adjusts its interaction with boundary wires by detecting when following the wire would lead to a trapped state. Upon detection, the robot transitions from wire-following mode to exit path navigation mode, allowing it to temporarily bypass the boundary wire obstacle while maintaining accurate work area delimitation through coordinated navigation
3Area of stationary object
If the robotic work tool navigates through narrow corridors to access different parts of the work area, then area coverage improves, but the tool becomes trapped in confined spaces
Solution Approach 1:
The system performs preliminary analysis of navigation paths to identify confined spaces where trapped states are likely. By monitoring corridor dimensions, turn frequency, and movement patterns before entering narrow passages, the robot can pre-plan exit strategies or alternative routes, ensuring comprehensive area coverage while preventing entrapment in confined spaces
4Adaptability or versatility
If the robotic work tool executes frequent forced turns to navigate around obstacles, then obstacle avoidance improves, but the tool enters a trapped state with limited movement
Solution Approach 1:
The system implements continuous feedback monitoring of turn frequency, collision count, and movement patterns to detect when frequent forced turns indicate a trapped state. This feedback loop enables the robot to distinguish between productive obstacle avoidance and unproductive circling, switching from adaptive navigation to exit path execution when trapped conditions are detected
Data Source
AI summary
A robotic work tool system (200) comprising a robotic work tool (100), the robotic work tool (100) being configured to determine (410) that the robotic work tool (100) has entered a state of limited movement; determine (420) an exit path; and exit (430) the state of limited movement by navigating the exit path.