Robotic Lawn Mower Path Planning for Spiral-Square Coverage
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Solution Overview
Problem
Current robotic lawn mowers employ random path planning, leading to low working area coverage and mowing efficiency due to missed spots and repeated mowing of the same areas.
Innovation Solution
The proposed solution involves a mowing method and apparatus that utilize a combination of spiral and square wave-shaped mowing routes. The method includes identifying a spiral mowing region and a square wave-shaped mowing region within a preset mowing area, generating corresponding mowing routes, and performing a mowing operation in response to a mowing trigger request.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If random path planning is employed for mowing, then the robotic lawn mower can navigate autonomously, but the working area coverage is low and mowing efficiency deteriorates due to missed spots and repeated mowing
Solution Approach 1:
The patent divides the mowing area into multiple sub-regions and segments the mowing path into structured sections (spiral paths for outer regions, square wave paths for inner regions). This segmentation ensures systematic coverage of each segment without overlap or omission, directly resolving the coverage and efficiency contradiction by replacing random navigation with organized regional division.
Solution Approach 2:
The patent performs preliminary path planning by pre-defining spiral and square wave mowing patterns before the actual mowing operation. The robotic lawn mower calculates and stores the optimized path in advance, allowing it to execute predetermined efficient routes rather than making random decisions during operation, thereby improving both coverage completeness and mowing efficiency.
2Reliability
If spiral mowing mode is used for the entire region, then the robotic lawn mower can cover the area systematically, but turning in central regions becomes difficult and mowing efficiency deteriorates
Solution Approach 1:
The patent applies different mowing path strategies to different spatial regions: spiral paths are used for outer regions where turning is feasible, while square wave paths are used for inner regions where turning is difficult. This local differentiation optimizes the path configuration according to the specific characteristics of each region, maintaining systematic coverage while improving efficiency in problem areas.
Solution Approach 2:
Instead of applying a uniform spiral path throughout the entire mowing area, the patent inverts the approach by using square wave paths for the inner region where spiral turning is problematic. This inversion of the conventional single-pattern approach resolves the turning difficulty in central regions while maintaining comprehensive coverage through the combination of multiple path types.
Data Source
AI summary
The present disclosure discloses a mowing method that includes: obtaining a preset mowing region; identifying a first region and a second region in the mowing region according to a preset spiral mowing mode, where the first region is a spiral mowing region; generating a spiral mowing route corresponding to the first region, and generating a square wave-shaped mowing route corresponding to the second region based on a mowing trend corresponding to the spiral mowing route; and in response to a mowing trigger request for a robotic lawn mower, performing a mowing operation in the mowing region according to the spiral mowing route and the square wave-shaped mowing route.