Work Head Path Control Around Obstacles Using GPS Reference Points
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Solution Overview
Problem
Existing working machines face challenges in efficiently maneuvering around obstacles during outdoor operations, particularly when multiple working heads are involved, leading to manual intervention and inefficiencies in maintaining uniformity and completeness of work, especially near roadways with recurring obstacles.
Innovation Solution
A working system that utilizes data collected during initial operations to automate the planning and control of subsequent operations, incorporating sensors and GPS/DGPS data to precisely navigate around obstacles, allowing for independent control of multiple working heads and optimizing their movement based on environmental and operational data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If GPS reception is used for guidance during work operations, then guidance capability is provided, but measurement precision deteriorates due to signal reflection and multipath effects in open terrain
Solution Approach 1:
The patent introduces an intermediary reference system (prominent points with known positions) to mediate between the GPS system and the work head. Instead of relying solely on direct GPS measurements which are affected by multipath errors, the system uses these reference points as intermediaries to establish accurate position relationships and guide the work head along predetermined paths.
Solution Approach 2:
The patent creates a copied reference framework by establishing prominent points at known positions that serve as a reference model. The actual work head position is determined by copying the spatial relationships defined by these reference points, rather than relying directly on imprecise GPS measurements. This allows accurate reproduction of the desired work path based on the reference coordinate system.
2Productivity
If work operations are performed without precise guidance, then operation speed is maintained, but manufacturing precision deteriorates due to inability to follow predetermined paths
Solution Approach 1:
The patent performs preliminary action by pre-establishing prominent points with known positions and calculating the predetermined path before the actual work operation begins. The work head then follows this pre-calculated path by navigating to successive prominent points, which allows maintaining high operation speed while ensuring manufacturing precision through the advance preparation of the guidance framework.
Solution Approach 2:
The system implements feedback by continuously monitoring the work head's position relative to the predetermined path defined by prominent points. The guidance system provides feedback signals to adjust the work head's position and orientation, ensuring it follows the predetermined path accurately while maintaining efficient operation speed through automated corrections.
3Productivity
If multiple work heads are used to increase productivity, then work coverage is improved, but device complexity increases due to need for coordinated control
Solution Approach 1:
The patent applies universality by creating a common reference system of prominent points that serves all work heads. Each work head uses the same set of prominent points and follows the same predetermined path logic, allowing multiple heads to operate independently yet coordinately. This universal reference framework simplifies control complexity while enabling increased productivity through multiple simultaneous work heads.
4Device complexity
If traditional GPS-only guidance is used, then system simplicity is maintained, but reliability deteriorates due to signal interference and loss
Solution Approach 1:
The patent changes the fundamental parameters of the guidance system by transitioning from direct GPS position measurement to relative position measurement based on prominent points. Instead of relying on absolute GPS coordinates which are susceptible to interference, the system uses relative positions to predetermined prominent points, fundamentally changing how position is determined and thereby improving reliability without excessive complexity.
Data Source
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AI summary
If, during a work operation, preferably in open terrain, the work head and/or chassis of the work machine can determine or receive external path data, operating data, and environmental data, and external GPS or DGPS data can be obtained, then by combining these two types of data – especially when starting from a prominent point whose position is known exactly, i.e., to a few centimeters – the subsequent similar or identical work operation, for example, using a second work head guided parallel at a distance behind or using the same work machine some time later, can be optimally planned and carried out.