Slope-Crossing Mower Drive Control to Prevent Side Slip

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

Mowers may slip down slopes and deviate from predetermined travel paths due to the gradient of the slope, especially when traveling in directions that cross the slope.

Innovation Solution

The mower is equipped with independently driven right and left side driving devices that adjust their driving forces based on slope gradient estimates, using triaxial acceleration sensors or point cloud data, to maintain travel direction without slipping.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Productivity

If the mower travels in a direction crossing the slope, then the mowing coverage is improved, but the mower slips down the slope and deviates from the predetermined travel path

Engineering Contradiction:

Improvemowing coverageVSAvoidtravel path accuracy

Core Design Contradiction:

ProductivityVSReliability

Solution Approach 1:

The patent applies local quality by differentiating the driving force between the right and left driving devices based on the slope gradient. The processor calculates the slope gradient and adjusts the driving force of each device independently, applying greater force to the device on the lower side of the slope to prevent slipping while maintaining the crossing direction for improved mowing coverage.

Inventive Principle:

Principle #3Local quality

2Reliability

If the driving force is increased to prevent slipping, then the travel path accuracy is improved, but the energy consumption increases

Engineering Contradiction:

Improvetravel path accuracyVSAvoidenergy consumption

Core Design Contradiction:

ReliabilityVSUse of energy by moving object

Solution Approach 1:

The patent applies parameter changes by dynamically adjusting the driving force parameters of the right and left driving devices based on real-time slope gradient calculations. The processor modifies the driving force parameters adaptively, increasing force only when and where needed to counteract gravity's effect on the slope, rather than maintaining constant high force, thereby preventing slipping while minimizing energy consumption.

Inventive Principle:

Principle #35Parameter changes

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

The mower effectively corrects its travel direction on slopes, preventing slipping and maintaining the predetermined path by dynamically adjusting the driving forces of its crawler units.

Implementation Method 1

estimating a gradient of a slope on a travel path based on acceleration information obtained by a triaxial acceleration sensor on the travel path

Methodology Applied

Scientific EffectAcceleration sensing: Accelerometer

Implementation Method 2

drive the driving devices with different driving forces on the right side and the left side based on the estimated gradient such that the mower does not slip down the slope

Methodology Applied

Scientific EffectFriction: Friction

Data Source

PatentUS12564136B2Mower, mowing system, and drive control method

Publication Date: 2026.03.03 TOYOTA JIDOSHA KK

AI summary

A mower includes: driving devices respectively provided on a right side and a left side of the mower and configured to be driven independently; and one or more processors configured to: estimate a gradient of a slope on a travel path; and drive the driving devices with different driving forces on the right side and the left side based on the estimated gradient such that the mower does not slip down the slope when the mower travels in a direction crossing the slope.