Autonomous Orchard Navigation Using GPS and Tree Perception

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Solution Overview

Problem

Existing orchard harvesting and pruning systems are inefficient and labor-intensive, especially in GPS-limited or denied environments, which can hinder the quick and precise harvesting of tree crops.

Innovation Solution

An autonomous agricultural vehicle equipped with a processing unit, perception sensors, and a wireless communication system, capable of navigating using GPS signals and environmental features, even in GPS-denied environments.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Productivity

If conventional mechanized harvesters are used to rapidly harvest tree crops, then harvesting speed is improved, but labor intensity and operational complexity increase

Engineering Contradiction:

Improveharvesting speedVSAvoidoperational complexity

Core Design Contradiction:

ProductivityVSDevice complexity

Solution Approach 1:

The autonomous vehicle performs self-navigation and self-positioning using perception sensors to detect environmental features and GPS data, eliminating the need for manual operation while maintaining high harvesting speed. The system autonomously determines its location and navigates to target trees without human intervention.

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The patent replaces manual mechanical operation with an automated control system that uses perception sensors, GPS receivers, and processing units to navigate and position the vehicle. This substitution reduces labor intensity while maintaining harvesting productivity.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Measurement precision

If GPS signals are used for navigation in orchards, then navigation precision is improved, but reliability deteriorates in GPS-denied environments

Engineering Contradiction:

Improvenavigation precisionVSAvoidnavigation reliability

Core Design Contradiction:

Measurement precisionVSReliability

Solution Approach 1:

The system uses perception sensors to detect local environmental features such as tree trunks, branches, and ground characteristics to determine position and orientation. This local feature-based navigation complements GPS by providing reliable positioning in GPS-denied environments through localized environmental cues.

Inventive Principle:

Principle #3Local quality

Solution Approach 2:

The processing unit acts as an intermediary that fuses GPS data with perception sensor data to determine vehicle position and orientation. When GPS is unavailable, the system transitions to using perception sensor-based navigation, ensuring continuous reliable operation across different environmental conditions.

Inventive Principle:

Principle #24Intermediary (Mediator)

3Reliability

If perception sensors are used for navigation in GPS-denied environments, then reliability is improved, but device complexity increases

Engineering Contradiction:

Improvenavigation reliabilityVSAvoidsystem complexity

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The perception sensors serve multiple functions: detecting environmental features for navigation, identifying tree locations for harvesting, and determining vehicle orientation. This multi-functionality reduces the need for separate specialized systems, thereby limiting the increase in overall system complexity while improving reliability.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Solution Approach 2:

The patent combines GPS reception, perception sensing, and vehicle control into an integrated autonomous navigation system. The processing unit merges data from multiple sources to determine position and control vehicle movement, reducing operational complexity despite the addition of perception sensors.

Inventive Principle:

Principle #5Merging (Combining)

4Extent of automation

If autonomous navigation systems are implemented, then labor requirements are reduced, but manufacturing cost increases

Engineering Contradiction:

Improveautonomous operationVSAvoidmanufacturing cost

Core Design Contradiction:

Extent of automationVSEase of manufacture

Solution Approach 1:

The autonomous navigation system is implemented as a modular add-on to existing harvesters, with separate components for GPS reception, perception sensing, processing, and control. This segmentation allows for phased implementation and reduces initial manufacturing costs by integrating autonomy into existing platforms rather than building entirely new systems.

Inventive Principle:

Principle #1Segmentation

Data Source

PatentUS12232450B2Autonomous navigation system and the vehicle made therewith

Publication Date: 2025.02.25 MOOG INC

AI summary

An autonomous agricultural vehicle including a wheel-set operably connected with a power source, a processing unit having a memory unit, and a controller operable to receive and transmit signals to the processing unit, wherein the controller is operable to control the wheel-set. The autonomous agricultural vehicle further including a wireless communication system electrically connected with the processing unit, a global positioning satellite receiver electrically connected with the processing unit, a first perception sensor electrically connected with the processing unit, wherein the first perception sensor is operable to detect environmental features, and a second perception sensor electrically connected with the processing unit, wherein the second perception sensor is operable to detect a feature of a tree. Wherein the processing unit is operable to navigate an environment utilizing signals from the global positioning satellite receiver, and wherein the processing unit is operable to navigate the environment utilizing signals from the first and second perception sensors in a GPS denied environment.