RTK Auto-Steering for Precise Parallel Turf Pathing
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Solution Overview
Problem
Existing automated steering systems for power equipment devices face challenges in maintaining parallel pathing and achieving high precision, especially in turf management applications, due to limitations in positioning accuracy and the inability to continuously rotate wheels during turns.
Innovation Solution
The proposed system employs real-time kinematic (RTK) terrestrial positioning correction data to enhance the accuracy of global positioning system (GPS) data, allowing for precise parallel pathing. Additionally, it utilizes continuous wheel rotation and optical sensors to maintain accurate steering and avoid divots in turf.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GPS satellite-based positioning data is used for automated steering, then the system can provide basic positioning functionality, but the positioning accuracy is insufficient to achieve high precision parallel pathing
Solution Approach 1:
The patent combines GPS satellite-based positioning with RTK terrestrial positioning correction data to achieve high accuracy. The system merges two positioning sources: standard GPS provides basic location data while RTK correction data refines the accuracy to centimeter-level precision, resolving the contradiction between basic functionality and high measurement precision.
Solution Approach 2:
The patent introduces RTK terrestrial transmitters as an intermediary element to correct GPS positioning data. The transmitters send correction signals that act as a mediator between the satellite-based GPS system and the final positioning output, improving accuracy without completely replacing the original GPS functionality.
2Ease of manufacture
If the power equipment device pivots about a stationary wheel during turns, then the turning mechanism is simple, but it creates divots in the turf and damages the turf surface
Solution Approach 1:
The patent implements continuous wheel rotation during turns by dynamically adjusting the rotation speed of individual wheels. Instead of keeping one wheel stationary, the system varies the rotational speed of each wheel independently based on steering requirements, eliminating turf damage while maintaining maneuverability. This dynamic control allows the equipment to pivot without creating divots.
Solution Approach 2:
The system changes the operational parameters of the wheels during turning operations. By independently controlling the rotation speed and direction of each wheel, the system transitions from a simple stationary-wheel pivot to a controlled differential rotation mode, where parameters like wheel speed and torque are continuously adjusted to prevent turf damage.
3Use of energy by moving object
If the position location data is acquired at low frequency, then the system consumes less energy and operates simpler, but the deviation from the calculated path increases at common operating speeds
Solution Approach 1:
The patent implements dynamic data acquisition frequency adjustment based on operating conditions. The system increases the frequency of position location data acquisition when the equipment is moving at higher speeds or making sharp turns, and reduces frequency during steady-state operation. This dynamic adaptation maintains path following accuracy while optimizing energy consumption.
Solution Approach 2:
The system changes the temporal parameter of data acquisition frequency based on operational context. By adjusting the sampling rate of position data according to speed and maneuvering requirements, the system optimizes the balance between energy consumption and path following precision, acquiring data more frequently only when necessary for accurate navigation.
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 system achieves high accuracy in parallel pathing, resulting in visually appealing and uniform turf management, while minimizing deviations from the calculated path and avoiding turf damage during turns.
Implementation Method 1
real time kinematic (RTK) terrestrial positioning correction data can be utilized to correct global positioning system (GPS) satellite-based positioning data
Implementation Method 2
optical sensors can be employed to identify motion non-parallel to a current path and utilized to adjust steering of a power equipment device
Data Source
AI summary
An automated steering device is provided usable in conjunction with power equipment machines. By way of example, the automated steering device can provide user-assisted steering for a power equipment machine to maintain tight parallel paths. The user-assisted steering can be defined relative to an initial vector traversed through user directed operation of the power equipment machine, independent of or at least in part independent of a predefined area of operation for the power equipment machine. Position location data refined by local terrestrial positioning system correction devices, or onboard rotational correction devices can be provided to obtain high positioning accuracy, and minimal path deviation. As a result, highly accurate pathing can be provided by way of the disclosed automated steering devices.