Solar Panel Pole Detection for Robotic Tool Navigation
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Solution Overview
Problem
Robotic work tools, such as lawnmowers, face challenges in navigating solar panel fields due to large areas, irregular surfaces, and blocked satellite reception, which can lead to collisions with poles, and existing navigation techniques are costly and inefficient in these environments.
Innovation Solution
A robotic work tool system equipped with a controller, memory for storing supporting structure geometry data, and an image sensor that detects poles, determines their height and scale, and adjusts navigation accordingly, using asymmetrical features and angle data to differentiate between front and rear poles, enabling accurate distance calculation and adaptive speed control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If satellite navigation is used for navigation in solar panel fields, then navigation accuracy is improved, but satellite reception is blocked by the panels causing errors
Solution Approach 1:
The patent introduces an intermediary system consisting of a camera and pole detection algorithm that mediates between the blocked satellite signals and the navigation function. The camera captures images of poles in the solar panel field, and the system uses these images to determine the robot's position and navigate, effectively bypassing the blocked satellite reception.
2Adaptability or versatility
If advanced cameras are used for visual odometry and V-SLAM, then navigation capability in irregular areas is improved, but device cost increases
Solution Approach 1:
The patent employs a cheap mono-camera instead of expensive advanced cameras for visual odometry and V-SLAM. The system compensates for the limitations of the simple camera by using pole detection algorithms and stored geometry data of supporting structures to achieve accurate navigation in irregular areas without requiring costly sophisticated sensors.
3Device complexity
If odometry-based navigation is used on irregular surfaces, then navigation simplicity is maintained, but measurement accuracy deteriorates due to flat surface assumptions
Solution Approach 1:
The patent introduces pole detection and supporting structure geometry data as an intermediary mechanism to correct position errors caused by irregular surfaces. The system detects poles in camera images, compares their positions with expected positions from stored geometry data, and uses these comparisons to correct navigation errors, thereby maintaining accuracy on slopes and uneven terrain without complicating the overall navigation system.
4Productivity
If the robotic work tool operates in large area solar panel fields, then productivity is improved, but collision risk with poles increases
Solution Approach 1:
The patent implements a feedback mechanism where the camera continuously monitors the environment for poles, and the system constantly compares detected pole positions with expected positions from stored geometry data. This continuous feedback loop allows the robot to adjust its navigation in real-time to avoid collisions with poles while operating efficiently in large area solar panel fields.
Data Source
AI summary
A method for use in a robotic work tool system (200) comprising a robotic work tool (100) arranged to operate in an operational area (205) comprising one or more solar panels (10) each solar panel (10) having a panel (11) and one or more poles (12) connected to the panel (11) through a supporting structure (13), the operational area (205) having a surface that is at least partially irregular, and the robotic work tool comprising a memory (120) configured to store supporting structure geometry data, an image sensor (185), wherein the method comprises:receiving an image from the image sensor (185) detecting a pole (12) in the image and determining a scale based on the determined height of the detected pole (12), wherein the pole (12) is detected based on the stored supporting structure geometry data.