GNSS-Aware Path Planning for Autonomous Working Machines
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Solution Overview
Problem
Autonomous working machines face challenges in maintaining accurate location recognition and stable movement due to varying GNSS signal reception strengths, often leading to unintended paths and incomplete work tasks, especially in areas with low signal reception like near buildings or depressed grounds.
Innovation Solution
A path setting apparatus for autonomous working machines that obtains information on GNSS signal reception strength and adjusts the movement path by shortening pitches and strokes in areas with low signal reception, allowing the machine to bypass such areas or change paths in real-time to maintain work quality.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If the autonomous working machine moves in the working site based on GNSS signal location recognition, then the machine can autonomously conduct work, but the machine moves on unintended paths when GNSS signal reception strength decreases
Solution Approach 1:
The working site is divided into multiple measurement points, and GNSS signal reception strength is measured at each point. This segmentation allows the system to identify specific low-reception areas and adjust the movement path accordingly, rather than treating the entire working site uniformly.
Solution Approach 2:
The system performs preliminary measurement of GNSS signal reception strength at multiple points in the working site before setting the movement path. This advance measurement allows the path planning to account for low-reception areas in advance, preventing the machine from moving on unintended paths during actual work.
2Reliability
If the movement path is adjusted to avoid low reception strength areas, then path accuracy improves, but work coverage may be reduced
Solution Approach 1:
The movement pitch is adjusted locally based on GNSS signal reception strength. In areas with low reception strength, a shorter movement pitch is used to maintain location accuracy, while in areas with good reception strength, a longer movement pitch can be used to maintain productivity. This local adaptation resolves the contradiction between path accuracy and work coverage.
Data Source
AI summary
A path setting apparatus for an autonomous working machine that autonomously conducts a work while moving in a working site with recognizing a current location based on a GNSS signal, includes an obtaining unit configured to obtain information regarding reception strength of the GNSS signal on the working site, and a setting unit configured to set a movement path of the autonomous working machine in the working site based on the information obtained by the obtaining unit.