Localized Navigation Control for Power Machines in GPS-Denied Areas
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Solution Overview
Problem
Power machines, such as work vehicles, face challenges in operating autonomously in environments where global positioning satellite signals are not available, particularly in areas with obstructions that prevent GPS navigation.
Innovation Solution
The implementation of a system with one or more controllers and computer programs that utilize localized positioning systems, object sensors, and real-time location systems to identify the machine's position, obstacles, and desired destination, allowing for augmented or autonomous control by creating a path and guiding the machine to its destination without relying on GPS signals.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GPS navigation is used for autonomous operation, then navigation accuracy is improved, but the system cannot operate in environments with satellite signal obstructions
Solution Approach 1:
The navigation system is segmented into multiple independent positioning subsystems: GPS satellite-based positioning and localized positioning systems (such as UWB, Wi-Fi, or infrared-based systems). Each subsystem operates independently within its effective range, allowing the machine to maintain navigation capability whether in open environments (using GPS) or obstructed environments (using localized positioning), thus resolving the contradiction between navigation accuracy and environmental adaptability.
Solution Approach 2:
The control system is designed with multi-functionality to support both GPS-based navigation and localized positioning system-based navigation. The system can automatically switch between these different positioning modes depending on signal availability, making it universally applicable across diverse environments from open fields to indoor facilities, thereby simultaneously achieving high navigation accuracy and broad environmental adaptability.
2Adaptability or versatility
If localized positioning systems are implemented, then operation in GPS-denied environments is enabled, but system complexity increases
Solution Approach 1:
The localized positioning system integrates multiple functional components including positioning receivers, obstacle detection sensors (laser radar, ultrasonic sensors, infrared sensors), and control units into a unified navigation system. By merging these components that work together synergistically, the system achieves enhanced environmental adaptability while managing complexity through integrated design rather than separate independent systems.
Solution Approach 2:
The control system automatically performs environment assessment to determine whether GPS signals are available and autonomously switches between GPS mode and localized positioning mode without requiring manual intervention. This self-service capability reduces operational complexity and allows the system to adapt to different environments automatically, offsetting the increased system complexity through automated decision-making.
3Reliability
If autonomous control is implemented in GPS-denied environments, then operational capability is maintained, but reliance on multiple positioning systems increases
Solution Approach 1:
The positioning system employs dynamic switching capability that automatically adjusts the active positioning mode based on real-time environment assessment. When GPS signals are strong, the system uses GPS; when signals are obstructed, it dynamically transitions to localized positioning systems. This dynamic adaptation ensures reliable operational capability across varying conditions while managing positioning system complexity through intelligent, context-aware selection rather than constant multi-system operation.
Data Source
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AI summary
Disclosed are power machines (100; 200; 300; 600) and systems configured to provide autonomous or augmented control of the machines in a localized positioning environment in which GPS navigation is not available. Also disclosed are methods (700) of providing augmented control of a power machine in such an environment.