Robotic Mower Docking via Boundary Wire and Charging Loop
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Solution Overview
Problem
Existing robotic mower docking systems face challenges in achieving an accurate and reliable alignment with charging contacts, leading to potential inefficiencies and increased complexity in the docking process.
Innovation Solution
A method and system that utilize a robotic mower with a control unit and sensors to follow a boundary wire and charging station loop, allowing for precise navigation and alignment by detecting crossings and predetermined distances, enabling safe and reliable docking with the charging station.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robotic mower uses a docking process to align with charging contacts, then secure attachment is achieved, but the docking process becomes complex and time-consuming
Solution Approach 1:
The docking process is segmented into distinct phases: approach phase (following boundary wire), alignment phase (detecting charging station loop), and docking phase (making contact). This segmentation allows each phase to be optimized independently, reducing overall complexity while maintaining reliability.
Solution Approach 2:
The robotic mower performs preliminary actions by following the boundary wire to approach the charging station area before attempting to dock. This preliminary positioning reduces the search space and complexity of the final docking maneuver, while ensuring the mower is in the correct vicinity for reliable attachment.
2Ease of operation
If the robotic mower follows the boundary wire to the charging station, then navigation is simple, but the path is longer and less efficient
Solution Approach 1:
The system introduces a second reference dimension by adding the charging station loop wire, which provides direct alignment information. This allows the mower to transition from following only the boundary wire (one dimension) to using both boundary wire and charging station loop for combined navigation and alignment (two dimensions), reducing travel time while maintaining operational simplicity.
Solution Approach 2:
The charging station loop wire acts as an intermediary element that facilitates faster return by providing a direct reference to the charging station location. Instead of following the boundary wire all the way around, the mower uses the loop wire as a mediator to quickly locate and align with the charging station, reducing return time while keeping the navigation system simple.
3Manufacturing precision
If multiple loop wires are used for precise alignment, then docking accuracy is improved, but component costs and system complexity increase
Solution Approach 1:
The charging station loop wire serves multiple functions: it acts as a navigation reference for approach, provides alignment information for docking, and enables detection of the charging station location. This multi-functionality allows the system to achieve precise docking accuracy using a single loop wire instead of multiple separate wires, reducing component count and complexity.
Solution Approach 2:
The system changes the functional parameters of the boundary wire and charging station loop wire, transforming them from simple guides into multi-functional reference systems. By encoding directional and positional information in the wire configurations, the system achieves precise alignment without needing additional wires, maintaining docking accuracy while reducing complexity.
Data Source
AI summary
A system including a boundary wire and a charging station loop. The boundary wire makes a loop in the charging station that is narrower than and crosses the charging station loop. A return signal is received from a control unit commanding a robotic mower to return to the charging station. The robotic mower is controlled to follow the boundary wire until the charging station loop is detected. The robotic mower then follows the charging station loop until detection of a crossing between the charging station loop and the boundary wire loop. The robotic mower follows the charging station loop a first distance, and then moves in a direction straight forward for a second distance. When the robotic mower has moved the second distance it is turned a predefined angle towards the charging station and follows the boundary wire loop until reaching a charging position.