SYSTEM FOR STEERING A TRACTION DRUM DRIVEN MOBILE OBJECT

• US 20100199621A1
• Filed: 02/10/2009
• Published: 08/12/2010
• Est. Priority Date: 02/10/2009
• Status: Active Grant

• Current Assignee: Mtd Products Incorporated (Stanley Black & Decker, Inc.)
• Original Assignee: Precise Path Robotics, Inc.
• Inventors: Zielke, Jason L., Traster, Elden Douglas, Harrison, Michael E.
• Granted Patent: US 7,853,373 B2
• Time in Patent Office: Days
• US Class Current: 56/10.7
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation

Abstract

A turf device driven by a traction drum. The traction unit is connected to the tool by an articulable joint which allows the traction unit to rotate horizontally (yaw) and vertically (pitch), as well as roll side-to-side in relation to the tool. The articulation allows the tool and the traction unit to follow undulations in the terrain separately and allows the mobile object to turn by yawing the traction member in relation to the tool.

Claims

1. A mobile object for manipulating turf comprising:

a chassis comprising a drive section articularly coupled to a steering section, said steering section having a central axis parallel to its intended direction of movement;

a ground engaging traction drum having a length greater than its radius coupled to said drive section having a rotational axis;

a first motor operatively coupled to said ground engaging traction drum such that said first motor is operable to drive said ground engaging traction drum by rotating it about said rotational axis;

a ground engaging portion coupled to said steering section;

a second motor operably connected to said steering section such that said second motor is operable to pivot said steering section with respect to said drive section such that the central axis of said steering section is displaced from perpendicular alignment with the rotational axis of said traction drum so as to effectuate a change in direction of said mobile object; and

an onboard electronic controller having a localization system, said onboard electronic controller being operable to autonomously control said first motor and said second motor so as to navigate said mobile object across a defined area of terrain absent manual intervention.

2. The mobile object of claim 1, wherein said chassis comprises a tool operable to perform work on the terrain over which the chassis travels.

3. The mobile object of claim 2, wherein said ground engaging portion is a portion of said tool.

4. The mobile object of claim 2, wherein said tool has a longitudinal axis defined by its largest dimension, and said longitudinal axis is substantially perpendicular to said central axis.

5. The mobile object of claim 2, further comprising a lifting motor mounted to said chassis, wherein said lifting motor is operably connected to said tool such that said lifting motor is operable to selectively raise said tool vertically in relation to said ground engaging traction drum so as to raise said tool off of the terrain.

6. The mobile object of claim 2, wherein said tool is a grass mower comprising at least one grass cutting blade.

7. The mobile object of claim 6, wherein said grass mower is a reel-type turfgrass cutting head.

8. The mobile object of claim 7, further comprising:

a grass collection basket configured to collect grass clippings from said reel-type turfgrass cutting head; and

a lifting motor configured to simultaneously raise said reel-type turfgrass cutting head and said grass collection basket.

9. The mobile object of claim 8, wherein said grass collection basket is raised at an angle such that said grass collection basket'"'"'s opening faces upward and away from said terrain.

10. The mobile object of claim 2, wherein said tool is coupled to said chassis in a floating configuration.

11. The mobile object of claim 10, further comprising a lifting motor mounted to said chassis, wherein said lifting motor is operably connected to said tool such that said lifting motor is operable to selectively raise said tool off of the terrain.

12. The mobile object of claim 1, wherein said ground engaging portion is selected from the group consisting of a wheel, a track, or a roller.

13. The mobile object of claim 1, wherein said steering and drive sections are operably connected so as to allow said sections to rotate about a vertical axis independently of one another through at least a 45 degree angle.

16. The mobile object of claim 1, further comprising an electric energy storage device, wherein said motors are electrically connected to and exclusively powered by said electrical energy storage device.

17. The mobile object of claim 1, wherein said ground engaging traction drum extends at least substantially the width of said chassis.

14-15. -15. (canceled)

18-22. -22. (canceled)

23. A mobile object comprising:

a chassis comprising a drive section articularly coupled to a steering section, said steering section having a central axis parallel to its intended direction of movement;

a ground engaging traction drum having a length greater than its radius coupled to said drive section having a rotational axis;

a first motor operatively coupled to said ground engaging traction drum such that said first motor is operable to drive said ground engaging traction drum by rotating it about said rotational axis;

a reel-type turfgrass cutting head including at least one blade connected to said steering section, wherein the rotational axis of said cutting head is substantially perpendicular to said central axis; and

a second motor operably connected to said steering section such that said second motor is operable to pivot said steering section with respect to said drive section such that the central axis of said steering section is displaced from perpendicular alignment with the rotational axis of said traction drum so as to effectuate a change in direction of said mobile object; and

an onboard electronic controller having a localization system, said onboard electronic controller being operable to autonomously control said first motor and said second motor so as to navigate said mobile object across a defined area of terrain absent manual intervention.