Autonomous Work Machine Positioning Using Neighbor GNSS Data
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Solution Overview
Problem
Autonomous work machines face reduced position specifying accuracy when GNSS signal information does not meet predetermined allowable accuracy, leading to instability in self-positioning within work areas.
Innovation Solution
The system employs a distance specifying unit to determine distances to other autonomous work machines based on image information and a communication unit to receive GNSS signal information from these machines, allowing the position specifying unit to calculate self-position using accurate GNSS signal information from neighboring machines when the self-machine's signal does not meet accuracy standards.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If autonomous work machines use GNSS signal information for position specifying, then position specifying accuracy is improved, but in cases where GNSS signal information does not satisfy allowable accuracy, position specifying accuracy decreases
Solution Approach 1:
The patent combines position information from multiple autonomous work machines through a communication network. When one machine cannot obtain accurate GNSS signals, it can utilize position information from neighboring machines that have reliable GNSS reception, thereby maintaining position specifying accuracy and reliability under varying signal conditions.
Solution Approach 2:
The communication unit acts as an intermediary, allowing autonomous work machines to share GNSS signal information and position data. This mediator mechanism enables machines with poor GNSS reception to obtain accurate position information from machines with good reception, resolving the contradiction between measurement precision and reliability.
2Device complexity
If autonomous work machines rely on own GNSS signal information, then position specifying is simple, but position specifying accuracy decreases when signal information does not satisfy allowable accuracy
Solution Approach 1:
The system dynamically switches between using own GNSS signal information and using position information from other machines based on signal quality assessment. The position specifying unit determines whether to use self-position information or neighboring machine position information, creating a flexible system that maintains accuracy without excessive complexity.
Solution Approach 2:
The system changes the parameter of position information source based on GNSS signal quality. When signal quality is good, it uses own position information; when signal quality is poor, it switches to using position information from other machines, thereby maintaining measurement precision while keeping the system relatively simple.
3Measurement precision
If autonomous work machines use position information from other machines, then position specifying accuracy is maintained in poor GNSS conditions, but device complexity increases
Solution Approach 1:
Each autonomous work machine is equipped with both a distance specifying unit and a communication unit, enabling it to independently determine distances to neighboring machines and exchange position information. This self-service capability allows machines to maintain position accuracy through peer-to-peer cooperation without requiring complex centralized control systems.
Data Source
AI summary
An autonomous work system comprises a plurality of autonomous work machines. The plurality of autonomous work machines each comprises: a distance specifying unit configured to specify a distance to another autonomous work machine based on image information obtained by imaging surroundings; and a communication unit configured to receive a GNSS signal of a self-machine, and GNSS signal information that has been acquired based on a GNSS signal that has been received by the another autonomous work machine and position information of the another autonomous work machine; and a position specifying unit configured to specify a self-position in a self-work area, based on the position information of the another autonomous work machine and a distance to the another autonomous work machine.