Robotic Lawnmower Docking via Learned Magnetic Field Mapping
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Solution Overview
Problem
Traditional robotic lawnmower docking systems with magnetic fields are expensive, complex, and restrictive in placement, causing interference and limiting user flexibility in installing the charging station, especially in small or complicated gardens.
Innovation Solution
A robotic lawnmower system that learns the magnetic field landscape near its charging station using a navigation signal cable, allowing it to determine its docking position and navigate accurately without the need for both near and far fields, mechanical guide walls, or specific cable placements, by recording and comparing field values to control its propulsion system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional magnetic field docking systems with both N-field and F-field loop cables are used, then docking precision is improved, but system cost and device complexity increase
Solution Approach 1:
The patent extracts and removes the N-field loop cable from the traditional two-cable system, retaining only the F-field loop cable. This simplification maintains docking precision through the remaining F-field while eliminating the complexity and cost associated with implementing and maintaining both N-field and F-field systems simultaneously.
Solution Approach 2:
The F-field loop cable is designed to perform multiple functions: it generates the magnetic field for distant detection and guidance, and through the robot's field sensing and comparison algorithm, it also enables precise docking positioning. This multi-functionality replaces the need for separate N-field and F-field systems.
2Measurement precision
If traditional magnetic field docking systems with specific loop cable placements are used, then docking precision is improved, but ease of operation deteriorates due to placement restrictions
Solution Approach 1:
The patent changes the operational parameters of the magnetic field system by using the F-field loop cable with enhanced signal processing and field value comparison algorithms. This allows the system to maintain precision while accommodating varied cable placements and garden configurations, as the robot can adapt to different magnetic field landscapes through its learning and comparison capabilities.
Solution Approach 2:
The robotic lawnmower performs self-positioning and self-docking by autonomously sensing magnetic field values, comparing them against stored reference values, and navigating to the optimal docking position without requiring precise manual cable placement. The system adapts to the actual installation configuration rather than requiring the installation to match ideal theoretical parameters.
3Device complexity
If guide cables are used to generate magnetic fields for navigation, then the need for N-field loop cables is removed, but the magnetic field landscape becomes highly dependent on installation variations
Solution Approach 1:
The patent implements a feedback mechanism where the robotic lawnmower continuously senses the magnetic field landscape, compares the sensed field values against stored reference values from a previous visit, and adjusts its navigation accordingly. This feedback loop compensates for installation variations and ensures reliable docking despite differences in guide cable placement or configuration.
Solution Approach 2:
The system performs preliminary action by storing reference magnetic field values during an initial operation or setup phase. These stored values serve as a reference map that the robot uses during subsequent docking operations to navigate to the correct position, enabling the system to adapt to the specific installation configuration without requiring perfect field consistency.
4Measurement precision
If mechanical guide walls are used on the charging station base plate, then docking guidance is improved, but ease of manufacture and installation deteriorates
Solution Approach 1:
The patent replaces mechanical guide walls with a magnetic field-based guidance system. The F-field loop cable generates magnetic fields that the robotic lawnmower's sensors detect, providing docking guidance without requiring any mechanical structures on the base plate. This substitution eliminates manufacturing and installation complexity associated with precision mechanical guides while maintaining or improving docking accuracy through magnetic field sensing and algorithmic navigation.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution enhances user flexibility in charging station placement, reduces system costs, and improves docking precision by allowing the robotic lawnmower to adapt to varying magnetic field configurations, making the system easier to produce and use.
Implementation Method 1
a sensor configured to sense field values of magnetic fields generated by the signal in the navigation signal cable
Implementation Method 2
the charging station comprising a signal generator to which a navigation signal cable is to be connected, the signal generator being configured to transmit a signal through the navigation signal cable
Data Source
AI summary
A robotic lawnmower system comprising a charging station (210) and a robotic lawnmower (100), the charging station comprising a signal generator (240) to which a navigation signal cable (260; 250) is to be connected, the signal generator (240) being configured to transmit a signal (265; 245) through the navigation signal cable (260; 250), and the robotic lawnmower (100) comprising: a propulsion system (130, 50); a sensor (170) configured to sense field values of magnetic fields generated by the signal (265; 245) in the navigation signal cable (260; 250); and a controller (110) configured to determine that the robotic lawnmower (100) is in a docking position; record the field value(s) of the sensed signal; control the propulsion system (130, 150) to reverse out of said docking position; and to control the propulsion system (130,150) to enter into said docking position by sensing a current field value; comparing the current field value to the stored field value(s); and determining how to navigate the robotic lawnmower (100) based on the comparison and navigating accordingly.