Unmanned utility vehicle

• US 20060010844A1
• Filed: 06/30/2005
• Published: 01/19/2006
• Est. Priority Date: 06/30/2004
• Status: Abandoned Application

• Current Assignee: Toro Company (Toro)
• Original Assignee: Self-Guided Systems, LLC
• Inventors: Angott, Paul G.
• Application Number:
  US11/171,693
• Publication Number:
  US 20060010844A1
• Time in Patent Office: Days
• US Class Current: 56/7
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: B60L 1/003 to auxiliary motors, e.g. for pumps, compressors
• CPC Class Codes: B60L 15/2036 Electric differentials, e.g. for supporting steering vehicles
• CPC Class Codes: B60L 2200/40 Working vehicles
• CPC Class Codes: B60L 2220/20 DC electrical machines
• CPC Class Codes: B60L 2220/44 Wheel Hub motors, i.e. integrated in the wheel hub
• CPC Class Codes: B60L 2240/421 Speed
• CPC Class Codes: B60L 2240/423 Torque
• CPC Class Codes: B60L 2240/441 Speed
• CPC Class Codes: B60L 2240/622 by satellite navigation
• CPC Class Codes: B60L 2240/625 by GSM
• CPC Class Codes: B60L 2250/10 by alarm
• CPC Class Codes: B60L 2260/32 Auto pilot mode
• CPC Class Codes: B60L 3/0061 relating to electrical machines
• CPC Class Codes: B60L 50/61 by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles
• CPC Class Codes: B60L 58/20 having different nominal voltages
• CPC Class Codes: B60L 58/21 having the same nominal voltage
• CPC Class Codes: B60L 58/40 for controlling a combination of batteries and fuel cells
• CPC Class Codes: Y02T 10/62 Hybrid vehicles
• CPC Class Codes: Y02T 10/64 Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/70 : Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 : Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility
• CPC Class Codes: Y02T 90/16 : Information or communication technologies improving the operation of electric vehicles
• CPC Class Codes: Y02T 90/40 : Application of hydrogen technology to transportation, e.g. using fuel cells

Abstract

An unmanned utility vehicle (30) for traversing a plot of land is disclosed that includes a carriage (32) having first and second drive wheels (34, 36) for moving over the plot of land, a guidance assembly (44) for guiding the vehicle (30) about the plot, and at least one tool (46) for performing an operation. The vehicle (30) includes first and second electric drive motors (56, 58) operatively connected to the respective drive wheels (34, 36) and at least one electric tool motor (60) engaging the tool (46). A power supply (64) powers each of the electric drive motors (56, 58) and the electric tool motor (60). Each of the electric motors (56, 58, 60) includes a motor controller operatively connected thereto and in communication with a main controller (54) over a controller area network (86). The subject invention provides each of the motors (56, 58, 60) being modular such that the any electric motor may be connected to the respective controller for performing the required operation.

Claims

1. An unmanned utility vehicle (30) for traversing a plot of land comprising:

a carriage (32) having first and second drive wheels (34, 36) for moving over the plot of land;

a first electric drive motor (56) and a second electric drive motor (58) operatively connected to said first and second drive wheels (34, 36);

a first drive motor controller (80) operatively connected to said first electric drive motor (56) and a second drive motor controller (82) operatively connected to said second electric drive motor (58);

at least one tool (46) supported by said carriage (32) for performing an operation;

at least one electric tool motor (60) engaging said tool (46) and supported by said carriage (32);

a tool motor controller (84) operatively connected to said electric tool motor (60);

a power supply (64) supported by said carriage (32) for powering each of said electric drive motors (56, 58) and said electric tool motor (60);

a main controller (54) for communicating with said drive motor controllers (80, 82) and said tool motor controller (84) to control said electric drive (56, 58) and tool motors (60); and

a controller area network (86) interconnecting said main controller (54), said drive motor controllers (80, 82), and said tool motor controller (84) for facilitating communication therebetween to improve operation and modularity of said vehicle (30).

2. An unmanned utility vehicle (30) as set forth in claim 1 wherein said electric drive (56, 58) and said tool motors (60) are further defined as brushless electric motors.

3. An unmanned utility vehicle (30) as set forth in claim 1 wherein said tool (46) is further defined as selected from at least one of a mower assembly, a sweeping assembly, a cleaning assembly, and a painting assembly.

4. An unmanned utility vehicle (30) as set forth in claim 1 wherein said power supply (64) further comprises a plurality of batteries (66) for running said electric drive motors (56, 58) and said electric tool motor (60).

5. An unmanned utility vehicle (30) as set forth in claim 4 wherein said power supply (64) further comprises an internal combustion engine (68) and a generator (70) for charging said batteries (66).

6. An unmanned utility vehicle (30) as set forth in claim 5 wherein said internal combustion engine (68) is further defined as operating at a constant revolutions per minute for reducing noise and fuel consumption.

7. An unmanned utility vehicle (30) as set forth in claim 6 further comprising a muffler (74) connected to said internal combustion engine (68) for muffling a predetermined harmonic generated during operation of said internal combustion engine (68) at said constant revolutions per minute.

8. An unmanned utility vehicle (30) as set forth in claim 1 wherein said power supply (64) further comprises a fuel cell (76).

9. An unmanned utility vehicle (30) as set forth in claim 1 further comprising first and second drive motor housings (102) each having said electric drive motor (56, 58) and said drive motor controller (80, 82) disposed therein and spaced from said main controller (54).

10. An unmanned utility vehicle (30) as set forth in claim 1 further comprising a tool housing (122) having said electric tool motor (60) and said tool motor controller (84) disposed therein and spaced from said main controller (54).

11. An unmanned utility vehicle (30) as set forth in claim 1 further comprising an electric lift motor (52) connected to said power supply (64) and operatively connected to said tool (46) for raising and lowering said tool (46).

12. An unmanned utility vehicle (30) as set forth in claim 11 further comprising a lift motor controller (78) operatively connected to said lift motor (52) and in communication with said main controller (54) via said controller area network (86) for controlling operations of said lift motor (52).

13. An unmanned utility vehicle (30) as set forth in claim 1 further comprising a guidance assembly (44) supported by said carriage (32) for communicating with said main controller (54) for guiding said vehicle (30) about the plot.

14. An unmanned utility vehicle (30) as set forth in claim 13 wherein said guidance assembly (44) is further defined as selected from at least one of a laser navigation system, a radio frequency navigation system, a GPS navigation system, and a camera navigation system.

15. An unmanned utility vehicle (30) as set forth in claim 1 further comprising a user interface (90) for programming a route to be followed by said vehicle (30).

16. An unmanned utility vehicle (30) as set forth in claim 15 wherein said user interface (90) and said main controller (54) are further defined as a single, integral unit removable from said carriage (32).

17. An unmanned utility vehicle (30) as set forth in claim 15 further comprising a communication device (98) supported by said carriage (32) and in communication with said main controller (54) for wirelessly transmitting signals from said vehicle (30).

18. An unmanned utility vehicle (30) as set forth in claim 1 further comprising first and second drive sensors (108) disposed between said first and second drive motors (56, 58) and said first and second drive motor controllers (80, 82) for sensing operation of said drive motors (56, 58).

19. An unmanned utility vehicle (30) as set forth in claim 1 firther comprising a tool sensor (124) disposed between said tool motor (60) and said tool motor controller (84) for sensing operation of said tool motor (60).

20. An autonomous lawn mower (30) comprising:

a carriage (32) having first and second drive wheels (34, 36) for moving over a plot of land;

a guidance assembly (44) supported by said carriage (32) for navigating said lawn mower (30) about the plot;

a first electric drive motor (56) and a second electric drive motor (58) connected to said first and second drive wheels (34, 36);

a first drive motor controller (80) operatively connected to said first electric drive motor (56) and a second drive motor controller (82) operatively connected to said second electric drive motor (58);

at least one mower deck (46) supported by said carriage (32) for performing a mowing operation;

at least one electric mower deck motor (60) engaging said mower deck (46) and supported by said carriage (32);

a mower deck motor controller (84) operatively connected to said electric mower deck motor (60);

a main controller (54) for communicating with said guidance assembly (44), said drive motor controllers (80, 82), and said mower deck motor controller (84) to control said electric drive and mower deck motors (56, 58, 60);

a plurality of rechargeable batteries (66) for powering each of said electric drive motors (56, 58) and said electric mower deck motor (60);

an internal combustion engine (68) operating at a constant revolutions per minute for reducing noise and fuel consumption; and

a generator (70) disposed between said internal combustion engine (68) and said batteries (66) for recharging said batteries (66);

wherein said electric drive and said mower deck motors (56, 58, 60) are brushless electric motors such that said electric drive and said mower deck motors (56, 58, 60) are controlled by said main controller (54).

21. An autonomous lawn mower (30) as set forth in claim 20 further comprising a muffler (74) connected to said internal combustion engine (68) for muffling a predetermined harmonic generated during operation of said internal combustion engine (68) at said constant revolutions per minute.

22. An autonomous lawn mower (30) as set forth in claim 20 wherein said guidance assembly (44) is further defined as selected from at least one of a laser navigation system, a radio frequency navigation system, a GPS navigation system, and a camera navigation system.

23. An autonomous lawn mower (30) as set forth in claim 20 further comprising a user interface (90) for programming a route to be followed by said lawn mower (30).

24. An autonomous lawn mower (30) as set forth in claim 23 wherein said user interface (90) and said main controller (54) are further defined as a single, integral unit removable from said carriage (32).

25. An autonomous lawn mower (30) as set forth in claim 23 further comprising a communication device (98) supported by said carriage (32) and in communication with said main controller (54) for wirelessly transmitting signals from said lawn mower (30).

26. An autonomous lawn mower (30) as set forth in claim 20 further comprising a controller area network (86) interconnecting said main controller (54), said drive motor controllers (80, 82), and said mower deck motor controller (84) for facilitating communication therebetween to improve operation of said lawn mower (30).

27. An autonomous lawn mower (30) comprising:

a carriage (32) having first and second drive wheels (34, 36) for moving over a plot of land;

a guidance assembly (44) supported by said carriage (32) for navigating said lawn mower (30) about the plot;

a first electric drive motor (56) and a second electric drive motor (58) connected to said first and second drive wheels (34, 36);

a first drive motor controller (80) operatively connected to said first electric drive motor (56) and a second drive motor controller (82) operatively connected to said second electric drive motor (58);

at least one mower deck (46) supported by said carriage (32) for performing a mowing operation;

at least one electric mower deck motor (60) engaging said mower deck (46) and supported by said carriage (32);

a mower deck motor controller (84) operatively connected to said electric mower deck motor (60);

a main controller (54) for communicating with said guidance assembly (44), said drive motor controllers (80, 82), and said mower deck motor controller (84) to control said electric drive and mower deck motors (56, 58, 60); and

at least one fuel cell (76) connected to said electric motors (56, 58, 60) for powering each of said electric drive motors (56, 58) and said electric mower deck motor (60).

28. An autonomous lawn mower (30) as set forth in claim 27 further comprising a controller area network (86) interconnecting said main controller (54), said drive motor controllers (80, 82), and said mower deck motor controller (84) for facilitating communication therebetween to improve operation of said lawn mower (30).

29. An autonomous lawn mower (30) as set forth in claim 27 wherein said electric drive and said mower deck motors (56, 58, 60) are brushless electric motors such that said electric drive and said mower deck motors (56, 58, 60) are controlled by said main controller (54).