Modular robotic vehicle

• US 9,491,904 B2
• Filed: 06/27/2013
• Issued: 11/15/2016
• Est. Priority Date: 07/05/2012
• Status: Active Grant

• Current Assignee: Husqvarna AB (HUSQVARNA)
• Original Assignee: Husqvarna AB (HUSQVARNA)
• Inventors: Jgenstedt, Patrik, hrlund, Magnus, Svensson, Mats
• Primary Examiner(s): BUTLER, RODNEY ALLEN
• Application Number:
  US14/412,499
• Publication Number:
  US 20150189830A1
• Time in Patent Office: 1,237 Days
• US Class Current: 1/1
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: A01D 42/00 Mowers convertible to apparatus for purposes other than mowing; Mowers capable of performing operations other than mowing mowers combined with apparatus performing additional operations while mowing A01D43/00
• CPC Class Codes: A01D 42/06 Sweeping or cleaning lawns or other surfaces sweeping apparatus for lawns per se A01G20/43
• CPC Class Codes: A01D 42/08 Sweeping snow
• CPC Class Codes: B60L 1/003 to auxiliary motors, e.g. for pumps, compressors
• CPC Class Codes: B60L 15/20 for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
• CPC Class Codes: B60L 2200/40 Working vehicles
• CPC Class Codes: B60L 2240/36 Temperature of vehicle components or parts
• CPC Class Codes: B60L 2240/421 Speed
• CPC Class Codes: B60L 2260/32 Auto pilot mode
• CPC Class Codes: B60L 3/0061 relating to electrical machines
• CPC Class Codes: B60L 50/52 characterised by DC-motors
• CPC Class Codes: B60L 50/66 Arrangements of batteries
• CPC Class Codes: B60L 53/16 Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
• CPC Class Codes: B60L 8/003 Converting light into electric energy, e.g. by using photo-voltaic systems
• CPC Class Codes: G05D 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• CPC Class Codes: G05D 1/0265 using buried wires
• CPC Class Codes: Y02P 90/60 Electric or hybrid propulsion means for production processes
• 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 90/14 : Plug-in electric vehicles
• CPC Class Codes: Y10S 901/01 : Mobile robot
• CPC Class Codes: Y10S 901/46 : Sensing device

Abstract

A robotic vehicle may include a power module and a working module. The power module may include control circuitry configured to execute stored instructions to direct operation of the robotic vehicle on a defined area, and a drive motor for propelling the robotic vehicle responsive to control by the control circuitry. The working module may be configured to perform a function with respect to the defined area responsive to being propelled by the power module. The working module may be one of a plurality of interchangeable working modules that are attachable to the power module. At least one of the interchangeable working modules may have a different function than the working module.

Claims

1. A robotic vehicle comprising:

a power module including;

control circuitry configured to execute stored instructions to direct operation of the robotic vehicle on a defined area; and

a drive motor for propelling the robotic vehicle responsive to control by the control circuitry; and

a working module configured to perform a function with respect to the defined area responsive to being propelled by the power module,

wherein the working module is one of a plurality of interchangeable working modules that are attachable to the power module, wherein at least one of the interchangeable working modules has a different function than the working module,

wherein the power module includes a universal frame support extending from a portion of the power module to engage the working module, and wherein the universal support frame includes an attachment joint that is rotatably attachable to the working module, and

wherein the attachment joint is disposed at a distal end of the universal support frame, and wherein a releasable coupling engages another portion of the universal support frame to the working module during operation of the working module, and wherein the releasable coupling is released to enable the working module to be pivoted about the attachment joint.

2. The robotic vehicle of claim 1, wherein the interchangeable working modules are each interchangeably and separately attachable to the power module without the use of tools.

3. The robotic vehicle of claim 1, wherein the interchangeable working modules include a cutting deck, a snow throwing attachment, a brush cutting attachment, a sweeping attachment, or a watering attachment.

4. The robotic vehicle of claim 1, wherein at least one of the interchangeable working modules performs the same function as the working module, but is configured to have a different size than the working module.

5. The robotic vehicle of claim 1, wherein the power module further includes one or more sensors of a sensor network, and wherein the one or more sensors are configured to detect objects encountered during operation of the robotic vehicle to determine a location of the robotic vehicle based on the objects detected.

6. The robotic vehicle of claim 1, wherein the power module further includes one or more sensors of a sensor network, and wherein the one or more sensors are configured to determine a location of the vehicle relative to boundaries of the defined area or a point of interest associated with the defined area.

7. The robotic vehicle of claim 1, wherein the power module further includes one or more sensors of a sensor network, and wherein the one or more sensors are configured to detect collision, lifting, or tipping of the robotic vehicle.

8. The robotic vehicle of claim 1, wherein the power module further includes one or more sensors of a sensor network, and wherein each of the one or more sensors of the sensor network is in communication with the control circuitry via a single communication bus that extends between the power module and the working module.

9. The robotic vehicle of claim 1, wherein the universal frame support extends substantially parallel to a surface over which the power unit transits and extends over at least a portion of the working module.

10. The robotic vehicle of claim 1, wherein the attachment joint is configured to enable pivoting of the working module about an axis that extends in a transverse direction, and wherein the attachment joint further includes a flexible joint configured to enable pivoting of the working module about an axis that extends substantially perpendicular to the transverse direction.

11. The robotic vehicle of claim 1, wherein the working module comprises a cutting deck including a frame that is operably coupled to a cutter support beam supporting a plurality of cutting discs, and wherein the cutter support beam extends transversely across the cutting deck and the cutting discs are mounted to opposite sides of the cutter support beam.

12. The robotic vehicle of claim 1, wherein the working module comprises a cutting deck including a frame that is operably coupled to a cutter support beam supporting a plurality of cutting discs, wherein the cutter support beam extends transversely across the cutting deck and is operably coupled to the frame by a parallelogram disposed at each opposing end of the cutter support beam, and wherein an angle between the parallelogram and the frame is adjustable to adjust a height of the cutter support beam.

13. The robotic vehicle of claim 1, wherein the working module comprises a cutting deck including a frame that is operably coupled to a cutter support beam supporting a plurality of cutting discs, wherein the cutter support beam extends transversely across the cutting deck and is operably coupled to the frame by a parallelogram disposed at each opposing end of the cutter support beam, and wherein the parallelogram is operably coupled to the frame via a bracket and the parallelogram is attachable to different vertically oriented points of the bracket to adjust a height of the cutter support beam.

14. The robotic vehicle of claim 1, wherein the working module includes outer wheels disposed proximate to opposing transverse ends thereof, and wherein the working module further includes at least one protective feature configured to inhibit an operating tool of the working module from engaging the ground, and wherein the at least one protective feature comprises a puck disposed at a bottom portion of the operating tool.

15. The robotic vehicle of claim 1, wherein the working module includes outer wheels disposed proximate to opposing transverse ends thereof, and wherein the working module further includes at least one protective feature configured to inhibit an operating tool of the working module from engaging the ground, and wherein the at least one protective feature comprises an interior wheel disposed between the outer wheels, the interior wheel being configured to be spaced apart from a plane in which ground engaging portions of the outer wheels are disposed.

16. A robotic vehicle comprising:

a power module including;

control circuitry configured to execute stored instructions to direct operation of the robotic vehicle on a defined area; and

a drive motor for propelling the robotic vehicle responsive to control by the control circuitry; and

a working module having a frame and configured to perform a function with respect to the defined area responsive to being propelled by the power module,

wherein the power module includes a universal frame support extending from a front portion of the power module to rotatably engage a portion of the frame of the working module,

wherein the universal support frame includes an attachment joint that is rotatably attachable to the working module, and

wherein the attachment joint is disposed at a distal end of the universal support frame, and wherein a releasable coupling engages another portion of the universal support frame to the working module during operation of the working module, and wherein the releasable coupling is released to enable the working module to be pivoted about the attachment joint.

17. A robotic vehicle comprising:

a power module including;

control circuitry configured to execute stored instructions to direct operation of the robotic vehicle on a defined area; and

a drive motor for propelling the robotic vehicle responsive to control by the control circuitry; and

a deck including a frame that is operably coupled to a support beam supporting a plurality of operational tools configured to perform a function with respect to the defined area responsive to being propelled by the power module,

wherein the power module includes a universal frame support extending from a portion of the power module to the deck, and wherein the universal su ort frame includes an attachment joint that is rotatably attachable to the deck, and

wherein the attachment joint is disposed at a distal end of the universal support frame, and wherein a releasable coupling engages another portion of the universal support frame to the deck during operation of the deck, and wherein the releasable coupling is released to enable the deck to be pivoted about the attachment joint.