Autonomous Mower Steering Control for Slope Adaptation
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Solution Overview
Problem
Autonomous operation devices with moving blades experience inconsistent wheel grip on slopes, leading to slipping and getting stuck on slopes, causing uneven ground wear and potential stalling, especially when turning on uneven surfaces.
Innovation Solution
Implement a control method that adjusts steering strategies based on slope detection, using small-angle steering and wheel management to prevent slipping and ensure stable operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the autonomous operation device performs direct steering on a sloped work surface, then the steering action can be completed quickly, but the driving wheel with weaker grip will slip causing lawn wear and the device may get stuck
Solution Approach 1:
The patent changes the steering parameters (steering angle, steering speed) based on the detected slope condition. When a slope is detected, the control unit adjusts the steering parameters to prevent slipping while completing the steering action, thus resolving the contradiction between steering speed and steering reliability
2Ease of operation
If the autonomous operation device steers on a flat work surface, then the driving wheels have equal grip and steering is smooth, but this strategy fails when the work surface is sloped
Solution Approach 1:
The patent implements a dynamic steering strategy that adapts to different work surface conditions. The control unit detects the slope and dynamically adjusts the steering approach - using standard steering on flat surfaces and modified steering on sloped surfaces, thus achieving both steering smoothness and adaptability to different terrain
3Object-affected harmful factors
If the autonomous operation device uses a conservative steering strategy on slopes to prevent slipping, then ground wear is reduced, but the steering action takes longer and reduces productivity
Solution Approach 1:
The patent optimizes steering parameters based on slope detection to achieve the best balance between preventing ground wear and maintaining steering efficiency. By adjusting parameters like steering angle and speed according to the actual slope conditions, the system minimizes lawn wear while completing steering actions in reasonable time
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
Enhances stability and prevents slipping by adjusting steering based on slope, ensuring smooth operation and reducing ground damage.
Implementation Method 1
determining, based on a slope signal sensed by the first sensing unit, whether a slope of a work surface where the autonomous operation device is currently located exceeds a preset slope threshold
Data Source
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AI summary
A control method for an autonomous operation device. The method comprises: if an autonomous operation device needs to execute a steering action, determining, according to a slope signal that is sensed by a first sensing unit, whether the slope of a working surface where the autonomous operation device is currently located exceeds a preset slope threshold value; if the slope of the working surface where the autonomous operation device is currently located is greater than the preset slope threshold value, controlling the autonomous operation device to execute the steering action according to a first steering strategy; and if the slope of the working surface where the autonomous operation device is currently located is less than or equal to the preset slope threshold value, controlling the autonomous operation device to execute the steering action according to a second steering strategy. In the method, the slope of a working surface where an autonomous operation device is located is obtained by means of a first sensing unit, and according to different slopes of the working surface where the autonomous operation device is located, the autonomous operation device is controlled to execute steering according to different steering strategies, thereby avoiding skidding and grass grinding caused by direct steering of the autonomous operation device. Further comprised are a non-transitory computer-readable storage medium and an autonomous operation device.