Slope Mower Contour-Line Navigation for Precise Remote Mowing

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Solution Overview

Problem

Existing mowers face difficulties in efficiently mowing grass on slopes due to challenges in controlling the machine's movement along inclining surfaces using remote control.

Innovation Solution

The mower incorporates a posture detection device to detect pitch angles, a controller with units to change direction and calculate a contour line, and a positioning device to ensure accurate travel along a reference line, allowing it to adapt and maintain alignment on slopes.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If the mower is controlled to travel on an inclining face of slope through remote control, then the mower can operate on slopes, but it becomes difficult to mow grass/lawn efficiently

Engineering Contradiction:

Improveability to operate on slopesVSAvoiddifficulty of remote control operation

Core Design Contradiction:

Adaptability or versatilityVSEase of operation

Solution Approach 1:

The mower performs self-positioning and self-direction control by automatically calculating its own posture angles and generating contour line trajectories, eliminating the need for difficult manual remote control operations on slopes

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The system changes the control parameter from manual remote control commands to automatic posture-based navigation, using detected pitch and roll angles to dynamically adjust the mower's travel path along contour lines

Inventive Principle:

Principle #35Parameter changes

2Manufacturing precision

If the mower travels along a reference line on a slope, then precise mowing is achieved, but complex posture detection and calculation is required

Engineering Contradiction:

Improveprecision of mowing pathVSAvoidcomplexity of posture detection system

Core Design Contradiction:

Manufacturing precisionVSDevice complexity

Solution Approach 1:

The system replaces complex mechanical positioning systems with electronic posture detection using sensors to measure pitch and roll angles, simplifying the overall device architecture while maintaining high precision

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The posture detection device acts as an intermediary between the slope environment and the control system, converting physical inclination into measurable angle data that guides the contour line calculation

Inventive Principle:

Principle #24Intermediary (Mediator)

Data Source

PatentEP3954187B1mower

Publication Date: 2023.11.01 KUBOTA CORP

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AI summary

To easily mow grass/lawn on a slope (face of slope) (50), a mower (1) includes a controller (25). The controller (25) controls a traveling device (3) so as to cause a machine body (2) to travel along a reference line, and includes a first posture changing unit (31) that controls the traveling device (3) to change a direction of the machine body (2) at least before the machine body (2) is caused to travel along the reference line, a contour line calculation unit (32) that calculates, when the machine body (2) is positioned on a slope, a contour line (J1) on the slope based on a plurality of pitch angles each of which is detected by a posture detection device (21) at each time when the direction of the machine body (2) is changed by the first posture changing unit (31), a line setting unit (33) that sets the contour line calculated by the contour line calculation unit (32) as the reference line, and a second posture changing unit (34) that changes the direction of the machine body (2) so as to cause the machine body (2) to travel along the reference line set by the line setting unit (33).