Robotic Mower Docking via Loop Crossing for Precise Charging Alignment
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Solution Overview
Problem
Existing robotic mower docking systems face challenges in accurately aligning the charging contacts with the charging station, leading to unreliable and complex docking processes.
Innovation Solution
A method and system that utilize a robotic mower with a control unit and sensors to follow a boundary wire, then a charging station loop, and adjust angles and distances to align with the charging station, potentially using guide wires for efficient navigation, ensuring precise alignment with the charging contacts.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the robotic mower uses a complex docking process with multiple wires and sensors to achieve accurate alignment, then the alignment precision improves, but the device complexity increases
Solution Approach 1:
The patent extracts and eliminates the boundary wire from the docking system, using only the charging station loop wire for guidance. This simplification removes the complexity of managing multiple wires while maintaining docking precision through the remaining loop wire and sensor system.
Solution Approach 2:
The charging station loop wire serves multiple functions: it guides the robotic mower to the charging station, provides alignment reference, and enables docking without requiring separate boundary wires. This multi-functionality reduces overall system complexity while maintaining precision.
2Reliability
If the robotic mower follows the boundary wire to the charging station, then the navigation reliability improves, but the loss of time increases due to the longer path
Solution Approach 1:
The patent removes the boundary wire that caused the mower to follow a long perimeter path. Instead, the mower uses the charging station loop wire to guide directly to the charging station, significantly reducing travel time while maintaining navigation reliability through the remaining wire guidance system.
3Ease of operation
If the robotic mower follows the boundary wire at a fixed distance, then the ease of operation improves, but the object-affected harmful factors increase due to turf damage along the boundary wire
Solution Approach 1:
The patent eliminates the boundary wire that caused turf damage along the perimeter. The robotic mower now uses only the charging station loop wire for guidance, which is positioned at the charging station rather than along the entire boundary, thereby preventing continuous turf damage while maintaining ease of operation through wire-following capability.
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
The solution provides a reliable and simple docking process, reducing component costs and complexity by minimizing the number of loop wires needed, and ensuring safe and precise contact with the charging contacts.
Implementation Method 1
When a sensor on the robotic mower detects the charging station loop wire
Data Source
AI summary
A method and a system for docking a robotic mower with a charging station, the system including a boundary wire and a charging station loop wherein 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 the robotic mower to return to the charging station. In response thereto, 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 a crossing between the charging station loop and the boundary wire loop is detected. Thereafter, the robotic mower is controlled to follow the charging station loop a first distance, and then continuing to drive the robotic mower 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 controlled to follow the boundary wire loop until a charging position is reached.