Virtual Working Area Mapping for Wire-Free Robot Lawnmowers
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Solution Overview
Problem
Current self-driving mobile devices, such as robot lawnmowers, require the cumbersome and complex process of laying perimeter wires to define their working area, which becomes impractical as the area size and geometry complexity increase, despite advancements in satellite technologies.
Innovation Solution
A method that uses a control unit equipped with position detection means and sensors to estimate position uncertainty, allowing the device to map and define its working area through geographic coordinates, tolerance thresholds, and region-specific parameters, eliminating the need for perimeter wires by determining safe operating regions and paths.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If perimeter wire is laid to define working area contours, then safety and boundary definition are improved, but installation complexity and time increase significantly
Solution Approach 1:
The invention extracts and eliminates the perimeter wire component from the system by replacing it with satellite-based position detection. The working area boundary is defined virtually through coordinate storage rather than physically through wire installation, completely removing the installation time associated with wire laying while maintaining boundary definition accuracy.
Solution Approach 2:
The mechanical perimeter wire system is replaced with an electronic/satellite-based position detection system. Instead of using physical wire to define boundaries, the invention uses satellite signals to detect the mobile device's position and compare it against stored working area coordinates, substituting mechanical boundary definition with electronic positioning.
2Reliability
If perimeter wire is laid to define working area contours, then safety and boundary definition are improved, but device complexity increases
Solution Approach 1:
The invention removes the perimeter wire infrastructure from the system, eliminating the complexity associated with wire installation, burial, and maintenance. The boundary definition function is extracted from the physical environment and transferred to the digital coordinate system stored in the control unit.
Solution Approach 2:
The satellite position detection system serves multiple functions: it defines working area boundaries, tracks the mobile device's position in real-time, and provides navigation capability. This multi-functional approach replaces the single-function perimeter wire system, reducing overall system complexity while maintaining boundary definition accuracy.
3Device complexity
If satellite technologies are used for position detection, then installation complexity is reduced, but position uncertainty increases
Solution Approach 1:
The invention compensates for satellite position detection uncertainty by establishing a safety margin (first region) between the detected position and the actual working area boundary. This cushioning region accounts for potential position errors, ensuring that even with measurement uncertainty, the mobile device remains safely within the working area.
Solution Approach 2:
The system uses a conservative approach by restricting the mobile device to operate within a reduced first region that is smaller than the actual working area. This partial action approach accepts reduced operational area as a trade-off for ensuring position accuracy and safety despite satellite detection limitations.
4Reliability
If tolerance thresholds are applied to regions, then safety is improved, but operational flexibility decreases
Solution Approach 1:
The working area is segmented into multiple regions with different tolerance thresholds: a first region near the boundary with stricter constraints for safety, and a second inner region with greater operational flexibility. This segmentation allows the system to apply appropriate safety measures only where needed while maintaining flexibility in the core operational area.
Solution Approach 2:
Different tolerance thresholds are applied to different spatial locations within the working area. The first region near the boundary has stricter position requirements to ensure safety, while the second region in the interior allows greater operational freedom. This local differentiation of quality constraints optimizes both safety and operational flexibility.
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 efficient and precise definition of working areas and paths without the need for perimeter wires, enhancing safety and reducing operational complexity, while adhering to stringent regulations by ensuring the device remains within defined boundaries.
Implementation Method 1
a satellite detector configured to detect a position of the mobile device
Data Source
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AI summary
The present invention relates to a method for mapping a working area (1) of a mobile device (2). At least one contour (10) delimiting the working area (1) is defined. At least one first region (11) and a second region (12) are obtained from the working area (1), by defining in the working area (1) at least one first boundary (21) marking out the first region (11) and the second region (12). A first tolerance threshold and a second tolerance threshold are assigned to the first region (11) and to the second region (12) respectively, the second tolerance threshold being different from the first tolerance threshold. The present invention relates to a method for operating a mobile device (2) in the working area (1). The position of the mobile device (2) in said working area (1) and the uncertainty in position of the mobile device (2) are detected and/or estimated. The region of the working area (1) wherein the mobile device (2) is positioned is identified. If the first region (11) is identified to be the region wherein the mobile device (2) is positioned, the uncertainty in the detected and/or estimated position of the mobile device (2) is compared with the first tolerance threshold. If the uncertainty in the detected and/or estimated position of the mobile device (2) is greater than the first tolerance threshold, the uncertainty in the detected and/or estimated position of the mobile device (2) is compared with the second tolerance threshold. Preferably, the mobile device (2) is suitable for the maintenance of land, in particular for the lawnmowing.