Robotic Tool Navigation Using Obstacle Shadow Mapping
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Solution Overview
Problem
Robotic work tools face challenges in reliable navigation due to satellite signal blockages from obstacles, leading to incomplete coverage of work areas, as existing systems rely on accurate satellite reception for precise positioning.
Innovation Solution
A robotic work tool system that generates an obstacle map to identify shadowed areas where satellite signals are blocked, allowing it to schedule operations to minimize navigation errors by determining the position and timing of obstacles and adjusting its operation to avoid shadowed areas, using a combination of position determining devices and sensors to ensure accurate positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If satellite navigation is used for precise positioning, then navigation accuracy is improved, but reliability deteriorates when satellite signals are blocked by obstacles
Solution Approach 1:
The system performs preliminary actions by creating a shadow map before navigation operations to identify areas where satellite signals will be blocked. This allows the robotic work tool to plan its navigation route in advance to avoid shadowed areas, ensuring reliable positioning throughout the work area.
Solution Approach 2:
The shadow map acts as an intermediary between the satellite navigation system and the robotic work tool. It provides advance information about signal blockages, allowing the system to compensate for potential navigation failures in shadowed areas through alternative positioning methods.
2Productivity
If the robotic work tool operates in shadowed areas without reliable satellite signals, then productivity is maintained, but navigation reliability deteriorates
Solution Approach 1:
The system creates a shadow map in advance that identifies all areas where satellite signals will be blocked at different times. This preliminary information allows the robotic work tool to schedule its operations to complete work in shadowed areas during times when satellites are visible, or to use alternative positioning methods only when necessary.
Solution Approach 2:
The system dynamically adjusts its navigation strategy based on real-time satellite visibility and the pre-created shadow map. It can switch between satellite-based navigation and alternative positioning methods depending on the current operational context and predicted future satellite positions.
3Reliability
If the robotic work tool uses alternative navigation methods in shadowed areas, then reliability is improved, but device complexity increases
Solution Approach 1:
The shadow map serves as an intermediary that provides advance knowledge of signal blockages, allowing the system to use simple alternative positioning methods (such as odometry or boundary following) only when and where needed, rather than implementing complex real-time signal processing or multiple redundant navigation systems throughout.
Solution Approach 2:
The system applies different navigation strategies to different areas based on the shadow map. In unshadowed areas, simple satellite-based navigation is used. In shadowed areas, alternative methods are activated. This localized approach maintains overall system simplicity while ensuring reliability where needed.
Data Source
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AI summary
A robotic work tool system (200) comprising a charging station (210) and a robotic work tool (100), said robotic work tool (100) comprising a position determining device (190) for determining a current position, the robotic work tool (100) being configured to determine that reliable navigation through said position determining device (190) is no longer possible, such as when satellite signal reception is not possible, at a time point (T1) and position and in response thereto generate an obstacle map which gives information on the position of at least one obstacle (260), determine when an area will be shadowed with regards to satellite reception based on said obstacle map, and to schedule operation of the robotic work tool (100) accordingly.