Robotic Work Tool Perimeter Mapping With Terrain-Based Boundary Refinement
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Solution Overview
Problem
Existing robotic work tool systems using non-physical boundaries for defining working areas lack accuracy and precision, leading to rough and uncontrolled perimeter definitions, which can result in incomplete or improperly defined operational areas.
Innovation Solution
A robotic work tool system equipped with sensors and a controller that collects input data during a lap around the working area to establish a preliminary perimeter, which is then adjusted using a perimeter adjustment function to refine the boundary, ensuring accuracy and alignment with terrain features and user input.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If non-physical boundaries are used to define working area, then installation time is reduced and risk of broken boundaries is reduced, but perimeter accuracy and precision deteriorate
Solution Approach 1:
The system performs a preliminary action by having the user drive the robotic work tool once around the desired working area to automatically capture boundary coordinates. This preliminary lap establishes the perimeter without requiring manual wire installation, significantly reducing installation time while maintaining accuracy through automated coordinate recording at regular intervals along the boundary path.
2Ease of manufacture
If user manually drives robotic work tool to establish perimeter, then installation is simplified, but perimeter accuracy deteriorates due to inability to control steering accurately
Solution Approach 1:
The system incorporates feedback mechanisms where the controller continuously monitors the robotic work tool's position, orientation, and movement data during the perimeter-establishing lap. This feedback allows the system to detect and correct steering deviations, ensuring that the recorded boundary accurately reflects the intended working area perimeter even when the user cannot precisely control the steering manually.
Solution Approach 2:
The invention replaces manual mechanical steering control with automated navigation assistance. The controller uses sensor data from navigation sensors to guide the robotic work tool along the correct boundary path, substituting imprecise manual mechanical control with precise electronic navigation and control systems that can accurately track and record the perimeter coordinates.
Data Source
AI summary
A robotic work tool system (200) for defining a working area (205) in which a robotic work tool (100) is subsequently intended to operate. The robotic work tool system (200) comprises a robotic work tool (100), at least one controller (210) and at least one memory (220). The robotic work tool (100) comprises at least one sensor unit (170) configured to collect sensed input data while the robotic work tool (100) is driven around the working area (205) to preliminarily define a perimeter around the working area (205). The at least one controller (210) is configured to establish a preliminary working area perimeter (250). The at least one memory (220) is configured to store a perimeter adjustment function and instructions that cause the at least one controller (210) to adjust the perimeter of the working area (205) by applying the stored perimeter adjustment function to the established preliminary working area perimeter (250) and thereby produce an adjusted working area perimeter (260). The perimeter adjustment function is based on the collected sensed input data corresponding to terrain features.