Autonomous Mower GNSS Receiver Leveling on Inclined Slopes
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Solution Overview
Problem
Autonomous traveling machines face challenges on inclined slopes due to decreased positioning accuracy from navigation satellites and multipath effects, especially when there are no prominent objects like fruit trees to set target lines or reference lines, and the object detection units struggle with uniform inclinations and protrusions/recessions on slopes.
Innovation Solution
The implementation of a rotation control mechanism to keep the positioning receiver horizontal, a shielding plate to block irregularly reflected positioning signals, and an object detection system that uses reflecting portions and inclination sensors to accurately track objects on slopes, allowing for stable positioning and navigation even without prominent objects.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the positioning receiver is used on an inclined slope without rotation control, then the device complexity is reduced, but the positioning accuracy deteriorates due to decreased number of visible satellites and multipath effects
Solution Approach 1:
The positioning receiver is made dynamically adjustable through a rotation control mechanism that allows it to change its orientation angle according to the slope inclination, enabling the receiver to maintain optimal positioning accuracy on inclined surfaces while adapting to varying terrain conditions
Solution Approach 2:
The orientation angle of the positioning receiver is changed as a controllable parameter to match the slope inclination angle, transforming the receiver from a fixed-orientation device to one with adjustable parameters that can be optimized for different terrain conditions
2Measurement precision
If a rotation control mechanism is added to keep the positioning receiver horizontal, then the positioning accuracy is improved, but the device complexity increases
Solution Approach 1:
The rotation control mechanism introduces dynamic adjustment capability to the positioning receiver, allowing it to actively compensate for slope inclination and maintain horizontal orientation, thereby resolving the contradiction between improved positioning accuracy and increased device complexity through controlled adaptability
Solution Approach 2:
The rotation control mechanism replaces manual or passive mechanical positioning with an automated control system that uses sensors and actuators to maintain the positioning receiver's orientation, substituting complex mechanical adjustments with a more controllable and precise system
3Measurement precision
If the object detection unit is placed on the slope surface without inclination compensation, then the ease of operation is improved, but the measurement precision deteriorates due to inability to track objects on uniform inclines
Solution Approach 1:
The object detection unit is equipped with inclination compensation capability that allows it to dynamically adjust its detection angle and tracking parameters based on the slope inclination, enabling accurate object tracking on uniform inclines while maintaining ease of operation through automated compensation
Solution Approach 2:
The object detection unit incorporates feedback mechanisms that use inclination sensors to detect slope conditions and automatically adjust detection parameters, creating a closed-loop system that maintains measurement precision without requiring manual intervention
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
Ensures accurate positioning and navigation on inclined slopes by maintaining receiver orientation and blocking multipath effects, enabling autonomous traveling without deviating from paths and accurately detecting objects for mowing operations.
Implementation Method 1
a positioning receiver 4 that receives a positioning signal from a navigation satellite
Implementation Method 2
a rotation control mechanism 5 that rotates the positioning receiver 4 so as to keep the positioning receiver 4 horizontal
Implementation Method 3
block irregularly reflected positioning signals
Data Source
Figure 1
Figure 2~3
Figure 4
AI summary
The present invention provides an autonomous traveling work machine that can accurately receive positioning signals from navigation satellites and autonomously travel without deviating from a traveling path, even in the case of an inclined slope. The autonomous traveling work machine includes a traveling machine body (1), a positioning receiver (4) that receives positioning signals from navigation satellites, an autonomous traveling control device that performs control for autonomous traveling along traveling paths based on the positioning signals, an inclination detection unit that detects the inclination of the traveling machine body (1) and outputs inclination angle information, an inclination angle determination unit that determines an inclination angle based on the inclination angle information, and a rotation control mechanism (5) that rotates the positioning receiver (4) with one or more degrees of freedom. The rotation control mechanism (5) keeps the positioning receiver (4) horizontal based on the inclination angle.