Robotic Mower Path Planning to Prevent Lawn Track Formation
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Solution Overview
Problem
Robotic mowers face issues with track formation and reduced efficiency due to fixed paths, causing lawn damage and increased battery consumption, especially in large areas with obstacles.
Innovation Solution
A path planning method for robotic mowers that involves laying guide wires and using sensors to navigate along these wires, allowing the mower to exit the charger station randomly and follow the wires until a predetermined target distance is traveled, thereby avoiding fixed paths and optimizing route efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robotic mower exits the charger station along a fixed path, then the navigation is simple and reliable, but track formation occurs causing lawn damage and reduced aesthetics
Solution Approach 1:
The patent applies dynamics by making the exit path variable rather than fixed. The robotic mower randomly selects an exit direction (left or right side of the charger station) each time it returns to charge, and the specific path taken varies based on real-time sensor detection of boundary wires and obstacles. This dynamic path selection prevents repeated rolling on the same track while maintaining reliable navigation through the boundary wire guidance system.
2Device complexity
If the robotic mower follows a fixed path repeatedly, then the navigation control is simple, but over-mowing occurs in the same path reducing efficiency and lawn beauty
Solution Approach 1:
The system uses dynamic path planning where the robotic mower's exit path varies each charging cycle. By randomly selecting to exit from the left or right side and using sensor-based navigation to detect boundary wires, the mower creates variable mowing patterns that prevent over-mowing of specific areas while maintaining manageable navigation control through wireless guidance.
3Area of stationary object
If the robotic mower back and forth many times between charger station and working area, then the battery capacity constraint is addressed, but the service lifetime of battery cell is reduced
Solution Approach 1:
The patent implements preliminary action by planning and optimizing the return path before the robotic mower actually travels back to the charger station. The system detects boundary wires and calculates an optimal path that minimizes travel distance and energy consumption. This preliminary path optimization reduces the frequency of charging cycles needed to cover the working area, thereby extending battery cell service lifetime.
4Reliability
If the robotic mower takes a longer path to bypass obstacles, then the obstacle avoidance is achieved, but more electricity is consumed preventing normal return to charger station
Solution Approach 1:
The system uses feedback mechanisms where sensors continuously detect obstacles and boundary wires during the robotic mower's movement. Based on this real-time feedback, the navigation system dynamically adjusts the path to bypass obstacles while minimizing additional distance traveled. The mower receives feedback from boundary wire signals and obstacle sensors, then modifies its trajectory accordingly to achieve obstacle avoidance with minimal energy penalty.
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 prevents track formation, enhances lawn aesthetics, improves mowing efficiency, and reduces battery exhaustion by planning shorter return paths, thus extending the robotic mower's operational time.
Implementation Method 1
controlling the robotic mower to search a boundary wire or a guide wire, wherein the boundary wire is laid in advance at an edge of a working area of the robotic mower, the guide wire is laid in advance in the working area of the robotic mower
Data Source
AI summary
The disclosure provides a robotic mower and its path planning method, system and device. The method includes controlling the robotic mower to exit the charger station until it is outside the loop of the charger station and continue to move for a random distance; and controlling the robotic mower to search the boundary wire or guide wire, wherein the boundary wire is pre-laid at the edge of the working area of the robotic mower, the guide wire is pre-laid in the working area of the robotic mower; the robotic mower is controlled to move by following the boundary wire or guide wire until a predetermined target distance is traveled. With the disclosure, tracks generated when the robotic mower exit the charger station along a fixed path can be avoided, and the damage to the lawn or vegetation can be reduced.