GNSS Route Control for Autonomous Work Vehicle Avoidance Zones
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Solution Overview
Problem
Conventional methods for delineating an entry avoidance zone for autonomous work vehicles, such as robotic lawn mowers, require time and cost to rearrange area wires or fences, necessitating a more efficient solution for defining restricted areas.
Innovation Solution
An autonomous work vehicle equipped with a GNSS receiver, motor, memory for position coordinates, and a control unit that determines entry into an entry avoidance zone and performs avoidance maneuvers when necessary, using magnetic sensors and a processor to navigate and avoid predefined zones.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If area wire or fence is used to delineate entry avoidance zone, then the autonomous work vehicle can be prevented from entering restricted areas, but time and cost are required to rearrange the area wire or fence for each event
Solution Approach 1:
The patent replaces the mechanical area wire system with an electronic/software-based entry avoidance zone management system. The control unit stores position coordinates defining the avoidance zone and uses GNSS receiver data to determine whether to execute avoidance maneuvers, eliminating the need for physical wire rearrangement while maintaining reliable zone delineation.
Solution Approach 2:
The patent changes the approach from physical boundary definition to digital coordinate-based definition. By storing position coordinates in memory and comparing GNSS data against these coordinates, the system dynamically defines avoidance zones without physical barriers, reducing setup time while maintaining zone integrity.
2Reliability
If area wire or fence is used to delineate entry avoidance zone, then the autonomous work vehicle can be prevented from entering restricted areas, but cost is incurred to rearrange the area wire or fence for each event
Solution Approach 1:
The patent replaces the mechanical area wire system with an electronic/software-based entry avoidance zone management system. The control unit stores position coordinates defining the avoidance zone and uses GNSS receiver data to determine whether to execute avoidance maneuvers, eliminating the need for physical wire rearrangement while maintaining reliable zone delineation.
Solution Approach 2:
The patent uses digital copies (position coordinates) to represent the physical boundary. By storing coordinate data in memory that replicates the avoidance zone geometry, the system eliminates the need for expensive physical materials while maintaining the functional equivalence of boundary definition.
3Ease of operation
If GNSS receiver and control unit are used to determine entry avoidance zone, then easy and cost-effective delineation is achieved, but positioning accuracy may be affected by positioning errors
Solution Approach 1:
The patent applies beforehand cushioning by adding a predetermined threshold distance buffer around the entry avoidance zone boundaries. When the vehicle approaches this buffer zone, the control unit executes avoidance maneuvers before the vehicle could potentially cross into the restricted area due to positioning errors, thus compensating for GPS accuracy limitations.
Solution Approach 2:
The patent implements preliminary anti-action by proactively executing avoidance maneuvers when the vehicle approaches the threshold distance from the avoidance zone, rather than waiting for actual entry. This preemptive action counteracts the potential harm caused by positioning errors that might otherwise allow unintended entry.
4Reliability
If avoidance maneuver is executed based on positioning data, then the autonomous work vehicle avoids entering restricted areas, but the vehicle may become trapped in a trap area due to positioning errors
Solution Approach 1:
The patent uses feedback by continuously monitoring the vehicle's position via GNSS receiver and comparing it against the stored avoidance zone coordinates. The control unit adjusts navigation decisions based on real-time position data, executing avoidance maneuvers only when the vehicle approaches the threshold distance, thereby maintaining navigation flexibility while ensuring reliable avoidance.
Solution Approach 2:
The patent applies dynamics by making the avoidance maneuver execution conditional and dynamic rather than static. The control unit continuously evaluates the vehicle's position and only executes avoidance maneuvers when specific conditions (approaching threshold distance) are met, allowing the vehicle to navigate freely elsewhere while maintaining adaptability to changing positional conditions.
Data Source
AI summary
An autonomous work vehicle including a positioning information obtaining unit including a GNSS receiver acquiring a position of the autonomous work vehicle, a driving unit including a motor, a memory storing position coordinates used to establish an entry avoidance zone, and a control unit including a processor. The control unit is configured to function as a zone entry judgement unit determining whether the autonomous work vehicle has approached the entry avoidance zone, and a zone entry validation unit determining whether the determination by the zone entry judgement unit that the autonomous work vehicle has approached the entry avoidance zone is valid. When the zone entry judgement unit determines that the autonomous work vehicle has approached the entry avoidance zone, and the zone entry validation unit determines that the determination by the zone entry judgement unit is valid, the control unit controls the autonomous work vehicle to perform an avoidance maneuver.