Robotic Mower Boundary Detection Using Virtual Image Markers
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Solution Overview
Problem
Existing boundary sensing systems for autonomous robots, such as robotic mowers, rely on physical boundary wires that are burdensome to install and maintain, and are resistant to changes in the worksite layout, requiring physical excavation and reburial for modifications.
Innovation Solution
A computer-implemented method using image data from a mobile device to identify virtual markers and generate boundary data, which is communicated to a robotic mower to define its operating area, eliminating the need for physical boundary wires and allowing for easy modification of boundaries through virtual markers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If physical boundary wires are used for boundary detection, then the robotic mower can detect and follow boundaries, but the installation and maintenance become burdensome and require physical excavation for modifications
Solution Approach 1:
The patent replaces the mechanical boundary wire system with an image-based detection system. Instead of using physical wires that require excavation and mechanical installation, the system uses images captured by a mobile device to detect and define boundaries. This substitution eliminates the need for physical boundary infrastructure while maintaining reliable boundary detection through image processing and coordinate system transformations.
2Reliability
If physical boundary wires are used, then boundaries can be defined, but modifications to worksite layout require physical excavation and reburial
Solution Approach 1:
The patent implements a dynamic boundary definition system where boundaries are not fixed physically but are defined through image data and coordinate transformations. This allows boundaries to be easily modified by simply capturing new images and recalculating coordinates, making the system adaptable to changing worksite layouts without physical alterations. The boundary definition becomes a software-based, flexible parameter rather than a rigid physical constraint.
3Reliability
If boundary wires are installed, then the robotic mower can operate within defined areas, but installation and maintenance costs increase
Solution Approach 1:
The patent extracts and removes the physical boundary wire component from the boundary detection system. By taking out the need for physical wires, the system eliminates associated installation materials, maintenance requirements, and costs. The boundary control function is achieved through image processing and computational methods alone, reducing the quantity of physical substances required while maintaining operating area control reliability.
Data Source
AI summary
A computer-implemented method includes obtaining image data representing a set of images of a worksite captured by an image capture component of a mobile computing device, identifying a set of virtual markers associated with the set of images, each virtual marker having a corresponding position in one of the images, and determining, for each virtual marker, a set of coordinates in a coordinate system based on the corresponding position of the virtual marker. Based on the set of coordinates, boundary data is generated that represents a boundary on the worksite. The boundary data is communicated to a robotic mower for control of the robotic mower within an operating area defined based on the boundary.