Grass Mower GNSS Receiver Leveling for Accurate Slope Navigation
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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 serve as targets for navigation, and the need for manual installation and removal of detection objects on slopes with varying inclinations.
Innovation Solution
Incorporating an inclination detection unit and a rotation control mechanism to maintain the positioning receiver horizontal, using a discharge mechanism to create target lines from cut grass for navigation, and employing an object detection unit that can track reflecting portions on the machine itself to maintain accurate navigation on uneven slopes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the positioning receiver is installed on the traveling machine body without rotation control, then the device complexity is reduced, but the positioning accuracy deteriorates on inclined slopes due to decreased satellite communication and multipath effects
Solution Approach 1:
The positioning receiver is made dynamically adjustable through a rotation control mechanism that allows it to rotate about a horizontal axis. This enables the receiver to maintain an optimal orientation for satellite signal reception regardless of the machine's inclination angle on slopes, thereby preserving positioning accuracy without requiring a completely complex alternative system.
Solution Approach 2:
The rotation control mechanism automatically adjusts the positioning receiver's orientation based on the machine's inclination, enabling the system to self-correct for slope conditions without external intervention. This maintains positioning accuracy while keeping the added complexity minimal and functional.
2Measurement precision
If detection objects like fruit trees are used for navigation, then the navigation accuracy is improved, but the ease of operation deteriorates on slopes where such objects are absent and manual installation is required
Solution Approach 1:
The machine uses its own discharge mechanism to create navigation markers (lines of cut grass) rather than relying on external objects like fruit trees. This self-service approach eliminates the need for manual installation of detection objects while maintaining navigation accuracy, as the machine generates its own reference system during operation.
Solution Approach 2:
The system temporarily uses cut grass as navigation markers, discarding the grass after it serves its purpose as a reference object. This allows the machine to create and use navigation aids on-demand without permanent installation or reliance on pre-existing objects, improving ease of operation on slopes.
3Reliability
If the positioning receiver remains fixed in orientation, then the device complexity is reduced, but the reliability deteriorates on slopes due to multipath effects from reflected satellite signals
Solution Approach 1:
The positioning receiver's orientation is made dynamic rather than fixed, allowing it to rotate and adjust its antenna array's angle of arrival detection. This dynamic adjustment capability enables the receiver to avoid multipath effects from ground reflections on slopes while maintaining a relatively simple overall system architecture.
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 without deviating from the path, allows autonomous operation even without prominent target objects, and reduces labor for setup and maintenance by maintaining stable communication with satellites and accurate object detection.
Implementation Method 1
a positioning receiver (4) that receives a positioning signal from a navigation satellite
Implementation Method 2
an inclination detection unit configured to detect inclination of the traveling machine body
Implementation Method 3
a rotation control mechanism configured to rotate the positioning receiver with one or more degrees of freedom, wherein the rotation control mechanism keeps the positioning receiver horizontal based on the inclination angle
Implementation Method 4
a detection device configured to detect an object located in a work region
Data Source
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, a positioning receiver 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 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 that rotates the positioning receiver with one or more degrees of freedom. The rotation control mechanism keeps the positioning receiver horizontal based on the inclination angle.