RTK Steering Correction for Parallel Path Turf Equipment
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Solution Overview
Problem
Existing automated steering systems for power equipment devices, such as lawn mowers and tractors, face challenges in maintaining precise parallel paths and high accuracy, especially in outdoor maintenance applications, due to variations in terrain and the need for continuous motion to avoid turf damage from pivoting wheels.
Innovation Solution
The implementation of a real-time kinematic (RTK) terrestrial positioning correction system in conjunction with GPS, which generates and adjusts path vectors to correct deviations, and employs continuous wheel rotation and optical sensors to ensure accurate and visually appealing turf management, along with a driver-assisted steering apparatus that uses user inputs and graphical user interfaces to refine positioning and steering.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If automated steering systems use standard GPS positioning, then the system complexity is reduced, but the positioning accuracy and path following precision deteriorate
Solution Approach 1:
The patent introduces RTK correction data as an intermediary element between the GPS receiver and the final position calculation. The correction data from base stations mediates the positioning process, transforming standard GPS signals into high-precision RTK positions without fundamentally changing the GPS receiver hardware, thus improving accuracy while limiting complexity growth.
Solution Approach 2:
The patent replaces mechanical/purely geometric path following with an electronically corrected positioning system. Instead of relying solely on mechanical steering mechanisms and basic GPS coordinates, the system substitutes electronic RTK correction data to achieve sub-meter positioning accuracy, reducing the need for complex mechanical path adjustment mechanisms.
2Ease of operation
If the power equipment device pivots on stationary wheels to change direction, then the steering mechanism is simplified, but the turf damage increases and visual appeal deteriorates
Solution Approach 1:
The patent replaces traditional mechanical pivot-based steering with a continuous motion control system. Instead of allowing wheels to stationary pivot (mechanical steering), the system uses automated control to maintain continuous wheel rotation, substituting electronic control for mechanical pivoting and thereby eliminating turf damage while maintaining steering capability.
Solution Approach 2:
The patent enforces continuous wheel rotation as a continuous useful action throughout the steering process. Rather than allowing intermittent stationary pivoting, the system maintains unbroken rotational motion of all wheels during direction changes, ensuring continuous turf contact without divots while achieving steering through coordinated wheel speed control.
3Measurement precision
If the position location data acquisition frequency is increased to minimize path deviation, then the path following accuracy improves, but the energy consumption and data processing load increase
Solution Approach 1:
The patent dynamically adjusts the data acquisition frequency as a variable parameter based on operational conditions. Rather than using a fixed high frequency that continuously consumes energy, the system modifies the sampling rate according to factors such as device speed, path complexity, and deviation magnitude, optimizing the balance between accuracy and energy consumption.
Solution Approach 2:
The patent implements feedback control where the acquired position data is continuously compared against the desired path, and the acquisition frequency is adjusted based on the magnitude of deviation and correction needs. When the device is closely following the path, acquisition frequency can be reduced; when deviation increases, frequency increases to maintain accuracy, creating an energy-efficient adaptive system.
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
This solution provides high accuracy and visual appeal in turf management by minimizing deviations from calculated paths, ensuring uniformity and precision, while allowing for efficient operation within defined boundaries, thereby enhancing the performance and usability of power equipment devices.
Implementation Method 1
real time kinematic (RTK) terrestrial positioning correction data can be utilized to correct global positioning system (GPS) satellite-based positioning data
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.