Robotic Lawn Mower Lane Changes on Slopes Without Slipping
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Solution Overview
Problem
Robotic lawn mowers experience slipping and grass wear when turning during systematic cutting in slopes, leading to inefficient operation.
Innovation Solution
A robotic lawn mower equipped with a control unit that manages lane changes by controlling the orientation of rotatable grass cutting discs and wheel movements to navigate slopes efficiently, using navigation sensors and environment detection devices for precise positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robotic lawn mower turns during lane changes in slopes, then it can change cutting lanes, but it experiences slipping and grass wear
Solution Approach 1:
The robotic lawn mower inverts the conventional turning approach by lifting the cutting disc and using the rear wheels to pivot the body. Instead of turning with the cutting disc engaged (which causes grass wear and slipping), the mower turns in reverse sequence: lift disc, pivot body using wheel traction, then re-engage disc for cutting. This inversion eliminates harmful effects while maintaining lane changing capability.
2Productivity
If the robotic lawn mower maintains cutting disc contact during turns, then cutting efficiency is maintained, but slipping and grass wear occur
Solution Approach 1:
The robotic lawn mower performs preliminary action by lifting the cutting disc before initiating the turn. This preliminary lifting action prevents the cutting disc from contacting and wearing the grass during the turning maneuver. After the turn is complete and the mower is properly positioned in the new lane, the cutting disc is re-engaged to resume efficient cutting.
3Adaptability or versatility
If the robotic lawn mower uses conventional turning method, then lane changes are achieved, but significant slipping occurs leading to stop
Solution Approach 1:
The robotic lawn mower inverts the conventional turning sequence by performing the turn with the cutting disc lifted and using the rear wheels as the primary turning mechanism. This inverted approach prevents slipping that would otherwise cause operational stops. The turn is completed smoothly without loss of traction, and the mower can immediately resume cutting without stopping.
Data Source
Figure 1
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AI summary
The present disclosure relates to a robotic lawn mower (100) comprising a control unit (110) adapted to control the operation of the robotic lawn mower (100), where a first end portion (101) is facing a forward travelling direction (F) and a second end portion (102) is facing a rearward travelling direction (R). When the robotic lawn mower (100) shall change cutting lanes form a first cutting lane (208A) to an adjacent second cutting lane (208B), the robotic lawn mower (100) is controlled to turn such that the second end portion (102) faces the second cutting lane (208B) to a larger extent than the first end portion (101), and to move in the rearward travelling direction (R), towards the second cutting lane (208B). The robotic lawn mower (100) is further controlled to be positioned to perform grass cutting in the forward travelling direction (F) in the second cutting lane (208B), and to perform grass cutting in the forward travelling direction (F) in the second cutting lane (208B). The cutting lanes (208A, 208B) have a first inclination (α) in a direction perpendicular to main lane extensions (LA, LB) and a second inclination (β) along the main lane extensions (LA, LB), which second inclination (β) falls below the first inclination (α), and where the second cutting lane (208B) runs below the first cutting lane (208A).