Robotic Vehicle Boundary Learning via Virtual Coordinates

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Solution Overview

Problem

Robotic mowers are typically confined to operating within boundaries defined by physical boundary wires, which are difficult to install and limit the ability to accurately service specific areas of a yard, and there is a need for a solution that allows autonomous operation without these wires.

Innovation Solution

A robotic vehicle equipped with control circuitry, including a positioning module, sensor module, and mapping module, that uses contactless sensors to determine its position and learn boundaries from temporary indicia, allowing it to operate autonomously within defined areas without physical boundary wires.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If physical boundary wires are used to define operating area, then the robotic mower can detect boundaries, but the installation becomes time-consuming and difficult

Engineering Contradiction:

Improveboundary detection reliabilityVSAvoidinstallation time

Core Design Contradiction:

ReliabilityVSLoss of time

Solution Approach 1:

The patent extracts the boundary definition function from physical boundary wires and implements it through virtual boundaries created by GPS coordinates and map data. The robotic mower uses a positioning module to determine its location and compares it against stored boundary coordinates, eliminating the need for physical wire installation while maintaining boundary detection capability.

Inventive Principle:

Principle #2Taking out (Extraction)

Solution Approach 2:

The patent replaces the mechanical boundary wire system with an electronic positioning and mapping system. Instead of using physical wires that the mower detects through contact or electromagnetic fields, the system uses GPS satellite signals, inertial measurement units, and digital map data to define and enforce operational boundaries.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Reliability

If physical boundary wires are used to define operating area, then boundaries can be detected, but the ability to accurately service specific areas is limited

Engineering Contradiction:

Improveboundary detectionVSAvoidarea servicing accuracy

Core Design Contradiction:

ReliabilityVSMeasurement precision

Solution Approach 1:

The patent divides the operating area into precisely defined zones using GPS coordinates and map data. The system can create multiple separate service areas, exclusion zones, and no-mow areas with exact boundary definitions, allowing the robotic mower to service specific areas of a yard with high precision rather than treating the entire boundary area as a single zone.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Ease of operation

If boundary wires are removed for autonomous operation, then installation complexity is reduced, but positioning accuracy becomes difficult to ensure

Engineering Contradiction:

Improveinstallation easeVSAvoidvehicle position accuracy

Core Design Contradiction:

Ease of operationVSMeasurement precision

Solution Approach 1:

The patent combines multiple positioning technologies including GPS satellite receivers, inertial measurement units (accelerometers, gyroscopes, magnetometers), odometers, and visual odometry cameras into an integrated positioning system. This multi-sensor fusion approach compensates for the limitations of individual systems and maintains high positioning accuracy without requiring physical boundary wires.

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The patent performs preliminary mapping and boundary definition before autonomous operation begins. The system creates detailed digital maps of the operating area with precisely defined boundaries, obstacles, and service zones in advance. This pre-programmed spatial information enables the robotic mower to navigate and service areas accurately without real-time wire detection.

Inventive Principle:

Principle #10Preliminary action

4Adaptability or versatility

If comprehensive area servicing is required without boundary wires, then operational flexibility increases, but the complexity of ensuring accurate boundary compliance increases

Engineering Contradiction:

Improveoperational flexibilityVSAvoidboundary compliance complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The patent implements a universal positioning and mapping system that serves multiple functions: defining operational boundaries, creating service area maps, identifying obstacles, planning navigation paths, and monitoring compliance. The same GPS and inertial measurement system used for positioning also enables boundary compliance verification through continuous comparison of current position against stored boundary coordinates.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Data Source

PatentUS10444760B2Robotic vehicle learning site boundary

Publication Date: 2019.10.15 HUSQVARNA AB

AI summary

A method for employing learnable boundary positions for bounding operation of a robotic vehicle may include detecting temporary indicia of a boundary on a parcel via at least one sensor of a robotic vehicle, generating coordinate or location based boundary information 5 based on the temporary indicia, and operating the robotic vehicle within the boundary based on the generated coordinate or location based boundary information.