Self-Moving Navigation Control for GPS Dead Zones
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Solution Overview
Problem
Self-moving devices, such as automatic mowers, face navigation challenges when GPS signals are obstructed, leading to reduced precision and potential damage due to 'blind navigation' and increased complexity and cost, especially when inertial navigation systems lose accuracy over time.
Innovation Solution
A self-moving device equipped with a satellite navigation apparatus and location sensors that adjust its movement to maintain high-precision navigation by switching between inertial and satellite navigation methods, using a control module to determine the quality of location information and move towards areas with better signal reception, thereby ensuring accurate path correction and preventing dangerous areas.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If GPS navigation is used when traveling alongside obstacles, then navigation can be performed, but positioning precision deteriorates due to signal blocking
Solution Approach 1:
The patent combines multiple navigation systems (GPS, inertial navigation, magnetic navigation) into a unified navigation system that automatically selects and switches between different positioning methods based on signal quality and environmental conditions, ensuring continuous high-precision positioning even when traveling alongside obstacles
Solution Approach 2:
The patent introduces boundary markers as intermediary reference objects that provide alternative positioning references when GPS signals are blocked by obstacles, allowing the navigation system to maintain precision by detecting the position of these markers using cameras or other sensors
2Ease of operation
If inertial navigation system is used to perform navigation, then navigation can be maintained, but precision deteriorates over time
Solution Approach 1:
The patent implements a feedback mechanism where the navigation system continuously monitors the quality and availability of different positioning signals, and dynamically adjusts the navigation method based on real-time conditions, switching from inertial navigation to GPS or marker-based navigation when appropriate references become available
Solution Approach 2:
The patent pre-deploys boundary markers and reference objects in the working environment before the automatic mower begins operation, creating a prepared reference framework that enables accurate positioning when needed without requiring complex real-time computations
3Measurement precision
If DGPS base station and mobile station cannot receive signals of at least four satellites together, then positioning can be performed in open areas, but positioning precision deteriorates in dead zones
Solution Approach 1:
The patent transitions from relying solely on three-dimensional satellite signals to incorporating two-dimensional reference markers deployed on the ground plane, providing an alternative positioning dimension that works effectively in areas where satellite signals are blocked by obstacles
4Measurement precision
If automatic mower stops to perform computation for accurate coordinates, then positioning precision can be improved, but productivity deteriorates
Solution Approach 1:
The patent pre-establishes a network of boundary markers and reference points throughout the working area before mowing operations begin, so that when the automatic mower needs positioning correction, it can quickly locate and use these pre-placed references without requiring time-consuming computations or stopping operations
Data Source
Figure 1
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Figure 3~4
AI summary
The present application relates to a self-moving device (1), including: a moving module, a task execution module, and a control module. The control module is electrically connected to the moving module and the task execution module (7), controls the moving module to actuate the self-moving device to move, and controls the task execution module to execute a working task. The self-moving device (1) further includes a satellite navigation apparatus (15), electrically connected to the control module and configured to receive a satellite signal and output current location information of the self-moving device. The control module determines whether quality of location information output by the satellite navigation apparatus at a current location satisfies a preset condition, and controls, if the quality does not satisfy the preset condition, the moving module to actuate the self-moving device to change a moving manner, to enable quality of location information output by the satellite navigation apparatus at a location after the movement to satisfy the preset condition. A beneficial effect of the proposed device is: when the self-moving device moves to an area where a satellite navigation signal is poor, by changing a moving manner, the self-moving device can maintain high-precision navigation.