Work Area Boundary Mapping for Robotic Lawnmowers
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Solution Overview
Problem
Existing methods for determining the boundary of a work area for mobile devices like robotic lawnmowers are imprecise and require significant computing resources, especially when using SLAM for navigation, leading to inaccuracies in defining the work area limits.
Innovation Solution
A two-step method involving manual and automated movements of the mobile device to capture environmental information, combined with SLAM and orthographic projection, allows for precise boundary determination using computer vision algorithms like semantic segmentation to refine the boundary.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the mobile device is moved externally during the first step to obtain environmental information, then the boundary determination can be performed, but the device cannot simultaneously perform its work function
Solution Approach 1:
The boundary determination process is divided into two distinct steps: a first step for obtaining environmental information and determining the boundary, and a second step for confirming or adjusting the boundary while performing the work function. This segmentation allows the device to separate the learning/mapping phase from the work execution phase, resolving the contradiction between accurate boundary determination and work function productivity.
2Loss of information
If environmental information is obtained during external movement of the mobile device, then boundary determination is enabled, but time is lost during movement without work execution
Solution Approach 1:
The boundary determination is performed as a preliminary action before the main work function. During this first step, the device is moved externally to collect environmental information and establish the working area boundary. This preliminary mapping phase prepares the ground for subsequent work execution, allowing the device to operate efficiently within the predetermined boundaries during the second step without repeated boundary determination interruptions.
3Measurement precision
If the mobile device moves outside the working area during the first step, then complete environmental information is obtained, but the device risks operating in unauthorized zones
Solution Approach 1:
The operational process is segmented into a first step where the device may move outside the intended working area under external control to collect comprehensive environmental information, and a second step where the device operates autonomously within the confirmed boundary. This segmentation allows temporary permission to explore unauthorized zones during the learning phase, while ensuring strict boundary adherence during the work execution phase, thus resolving the contradiction between map accuracy and operational safety.
Data Source
Figure 1a~1b
Figure 2a~2b
Figure 2c
AI summary
The invention relates to a method for determining a boundary (223, 233) that at least partially delimits a working area (222) for a mobile device (200), in particular a vehicle or robot that moves at least partially automatically, especially a robotic lawnmower, comprising: providing, in a first step, environmental information of an environment (220) in which the mobile device moves or is intended to move, which is obtained or has been obtained during externally controlled movement of the mobile device; determining, based on the environmental information from the first step, a boundary (223) of the working area within the environment for the mobile device; providing, in a second step, environmental information, in particular images, of the environment at least in the area of the boundary (223), which is obtained during renewed movement of the mobile device along the boundary and/or within the boundary.to be or have been obtained, and to confirm and/or adjust the border (223), based on the environmental information from the second step.