Robotic Work Tool 3D Map Generation Using Altitude Sensors
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Solution Overview
Problem
Contemporary robotic work tools face challenges in navigating complex garden layouts, particularly with elevation changes and unreliable satellite signals, leading to inaccurate map generation and increased risk of sliding or stalling on slopes.
Innovation Solution
Incorporating an altitude sensor and a reference altitude sensor into a robotic work tool system, which generates a map indicating elevations by receiving and processing current and reference altitude readings, allowing the tool to plan safe mowing patterns and operate effectively even in areas with unreliable GNSS reception.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If satellite navigation (GPS) is used for generating the map, then the robotic work tool can navigate the work area, but the low accuracy of GPS and blacked out areas lead to incorrect map generation and unreliable operation
Solution Approach 1:
The patent combines multiple sensing systems (GPS receiver, barometer, inclinometer, wheel encoders) into an integrated navigation system. The barometer provides altitude data to supplement GPS positioning, while the inclinometer measures slope angles. This multi-sensor fusion approach resolves the contradiction by maintaining reliable operation through alternative sensing mechanisms when GPS accuracy is insufficient or unavailable in blacked out areas.
Solution Approach 2:
The patent introduces a map generation system that acts as an intermediary between raw sensor data and navigation control. The system processes GPS coordinates, barometer altitude readings, and inclinometer slope measurements to create a comprehensive elevation map. This intermediary processing layer resolves the contradiction by transforming imprecise individual measurements into reliable navigational information through data integration and validation.
2Productivity
If the robotic work tool operates on steep slopes without elevation data, then it can cover more area, but it risks sliding down or stalling due to inability to negotiate the slope
Solution Approach 1:
The patent implements preliminary mapping of the work area including elevation data before actual mowing operations. The robotic work tool first traverses the area collecting GPS, barometer, and inclinometer data to generate an elevation map. This preliminary action allows the system to identify steep slopes in advance and plan safe mowing patterns, resolving the contradiction by enabling productivity while maintaining reliability through预先 knowledge of terrain challenges.
Solution Approach 2:
The patent incorporates real-time feedback from the inclinometer that continuously monitors slope angles during operation. When the inclinometer detects a slope exceeding safe operating thresholds, the system provides feedback to the control unit, which then adjusts the mowing pattern to avoid or safely navigate the steep area. This feedback mechanism resolves the contradiction by dynamically balancing productivity and operational stability based on actual terrain conditions.
3Measurement precision
If manual input of all altitudes is required for GPS map specification, then the map can be accurate, but the process becomes time-consuming and complex
Solution Approach 1:
The patent implements self-service automatic map generation where the robotic work tool autonomously collects elevation data using its onboard barometer and inclinometer sensors during normal operation. The system automatically processes this data to generate and update the elevation map without requiring manual surveying or user input. This resolves the contradiction by achieving high measurement precision through automated sensing while eliminating time loss associated with manual map preparation.
Solution Approach 2:
The patent enables continuous map generation and updating as the robotic work tool operates throughout the work area. Rather than requiring a separate one-time mapping operation, the system continuously collects elevation data during mowing operations and updates the map in real-time. This continuous action resolves the contradiction by maintaining accurate elevation data without dedicating separate time for map preparation, as useful work and mapping occur simultaneously.
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
Enables reliable operation and accurate altitude data for all areas, reducing the risk of sliding or stalling on slopes by allowing the robotic work tool to plan mowing patterns around steep slopes and adapt to changing weather conditions, without the need for costly navigation equipment.
Implementation Method 1
an altitude sensor, such as a barometer 185, for providing a current altitude reading
Data Source
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AI summary
A robotic work tool (100) comprising an altitude sensor (185) for providing a current altitude reading (HRL) and a controller (110) configured to receive the current altitude reading (HRL) from the altitude sensor (185); determine an altitude (H) based on the current altitude reading (HRL); determine a current position; and generating a map indicating elevations by including the determined altitude (H) for the current position in the map. A robotic work tool system (200) comprising a robotic work tool (100) and a reference altitude sensor (285) for providing a reference altitude reading (HCS), wherein the robotic work tool (100) is further configured to receive the reference altitude reading (HCS) from the reference altitude sensor (285); and determine the altitude (H) based on the current altitude reading (HRL) and the reference altitude reading (HCS).