WO2019197011A1 - Connecting module for a brush cutter, edge trimmer or the like - Google Patents

Connecting module for a brush cutter, edge trimmer or the like Download PDF

Info

Publication number
WO2019197011A1
WO2019197011A1 PCT/EP2018/058989 EP2018058989W WO2019197011A1 WO 2019197011 A1 WO2019197011 A1 WO 2019197011A1 EP 2018058989 W EP2018058989 W EP 2018058989W WO 2019197011 A1 WO2019197011 A1 WO 2019197011A1
Authority
WO
WIPO (PCT)
Prior art keywords
module
chassis
brush cutter
sensors
connecting module
Prior art date
Application number
PCT/EP2018/058989
Other languages
French (fr)
Inventor
Xavier David Beaulieu
Original Assignee
Vitirover
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Vitirover filed Critical Vitirover
Priority to PCT/EP2018/058989 priority Critical patent/WO2019197011A1/en
Publication of WO2019197011A1 publication Critical patent/WO2019197011A1/en
Priority to US17/065,935 priority patent/US20210022292A1/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/82—Other details
    • A01D34/828—Safety devices
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D75/00—Accessories for harvesters or mowers
    • A01D75/18—Safety devices for parts of the machines
    • A01D75/185—Avoiding collisions with obstacles

Definitions

  • the invention relates to a connecting module for a brush cutter, edge trimmer or the like, comprising a chassis and a cutting module.
  • a robot in such a configuration must face all the obstacles without ever being “jammed” and thus forced to stop his automatic work.
  • the best solution for cutting the grass closer to the grass is to come into contact with the obstacle. Therefore, the robot is not configured to avoid the obstacle but to detect it as quickly as possible.
  • the number of obstacles per unit area, and therefore the number of contacts between the robot and these obstacles per unit of time can be as important as one obstacle every 12 seconds in a vineyard planted at 6600 feet per hectare (plus 20% of stakes), at a speed of 350 m/h.
  • An object of the invention is, in particular, to provide a mowing robot adapted to detect an obstacle faster, and more precise and effective than the mowing robot known in the previous art.
  • the invention relates to a connecting module for a brush cutter, edge trimmer or the like, comprising a chassis and a cutting module, said module being intended to be connected to said chassis, on the one hand, by flexible damping elements and, on the other hand, fixed to said cutting module, said module being equipped with position sensors of said cutting module with respect to said chassis.
  • connection between said connecting module and the chassis has the degrees of freedom, around the pitch and roll axis, according to the mowing direction of the brush cutter, edge trimmer or the like.
  • the position sensors may comprise an electronic inertial measurement unit.
  • the invention relates to a brush cutter, edge trimmer or the like comprising a connecting module as claimed according to the first aspect of the invention, or one or more of its improvement elements.
  • the chassis comprises a processing unit and a controller, the processing unit being configured to detect obstacle by using data provided by the position sensors and to send orders to the controller.
  • the chassis may further comprise sensors fixed onto it and the processing unit may also be configured to detect obstacle by using data provided by the said sensors.
  • the sensors may comprise a torque sensor for each of the wheels.
  • the sensors may comprise a geographical position system.
  • the processing unit may be also configured to detect obstacle by using data provided by the controller.
  • a method of detecting an obstacle comprising the use of a connecting module according to the first aspect of the invention, or one or more of its improvement elements, or the use of a brush cutter, edge trimmer or the like, according to the second aspect of the invention, or one or more of its improvement elements.
  • FIG. 1 is a perspective view of a mowing robot comprising a connecting module according to the invention
  • Figure 2 is a cutaway drawing of Figure 1;
  • Figure 3 is a front view of Figure 1;
  • Figure 4 is a left side view of Figure 1;
  • Figure 5 is a top view of Figure 1;
  • FIG. 6 is a schematic representation of the mowing robot of Figure 1;
  • FIG. 7 is a perspective view of another embodiment of a mowing robot comprising a connecting module according to the invention. Detailed description of specific embodiments of the invention
  • variants of the invention comprising only a selection of characteristics described, subsequently isolated from the other characteristics described, if this selection of characteristics is sufficient to confer a technical advantage or to differentiate the invention from the state of the art.
  • This selection comprises at least one characteristic, preferably functional without structural details, or with only a part of the structural details if this part only is sufficient to confer a technical advantage or to differentiate the invention from the prior art.
  • Figure 1 a perspective view of a mowing robot 1 comprising a chassis 2 suspended on wheels 3, and a cutting module 4.
  • the mowing robot 1 also comprise a connecting module 5.
  • the connecting module 5 is connected to the chassis 2, for example by flexible damping elements 6 (see figure 2), such as silent blocks.
  • the connecting module 5 is fixed to the cutting module 4, for example by means of screws (not shown).
  • the connecting module might be in a position which is rotated around a longitudinal axis (according to the mowing direction) of the mowing robot 1.
  • both side of the cutting module 4 are at the same level.
  • the connecting module might be in a position which is rotated around a transverse axis (according to the mowing direction) of the mowing robot 1.
  • both side of the cutting module 4 are at the same level.
  • the connecting module might be in a position which is rotated around a vertical axis of the mowing robot 1.
  • the cutting module 4 is in a nominal direction.
  • the cutting module 4 is turned around the vertical axis according to a negative angle.
  • the cutting module 4 is turned around the vertical axis according to a positive angle.
  • connection between the connecting module 5 and the chassis 2 has six degrees of freedom: three rotations are shown on Figures 3 to 5 while 3 translations are allowed due to the use of damping elements connecting the cutting module 4 to the chassis 2.
  • the connecting module 5 is equipped with position sensors 7 of said cutting module with respect to said chassis.
  • the position sensors 7 comprise an electronic inertial measurement unit called IMU (for the English “Inertial Measurement Unit”).
  • IMU comprises a gyroscope, an accelerometer.
  • the mowing robot 1 might comprise a processing unit 8 and a controller 9.
  • the information provided by the position sensors 7 might be sufficient to detect an obstacle.
  • the processing unit 8 might be configured to detect obstacle by using data provided by the position sensors 7.
  • the processing unit 8 might be configured to send orders 10 to the controller 9.
  • the chassis further comprise sensors 11 fixed onto it.
  • the connecting module 5 is connected to the chassis 2 by a deformable connection of rubber type.
  • the silent blocs 6 absorb a part of the energy of the shock, and allows a local deformation between the connecting module 5 and the chassis 2.
  • the processing unit 8 is also configured to detect obstacle by using data provided by the said sensors 11.
  • the processing unit 9 might be configured to detect the changes between the data provided by the position sensor 7 and the sensors 8.
  • the sensors 11 might comprise a torque sensor for each of the wheels 3.
  • the sensors 11 might comprise a geographical position system. As illustrated on figure 7, the position sensor 7' might put inside the chassis 2', while being secured to the connecting module 5, for example via an arm.
  • This assembly amplifies the linear acceleration sensed by the inertial unit, which makes the shock detection more effective.

Abstract

Connecting module (5) for a brush cutter (1), edge trimmer or the like, comprising a chassis (2) and a cutting module (4), said module being intended to be connected to said chassis, on the one hand, by flexible damping elements (6) and, on the other hand, fixed to said cutting module, said module being equipped with position sensors (7) of said cutting module with respect to said chassis.

Description

CONNECTING MODULE FOR A BRUSH CUTTER, EDGE TRIMMER OR THE LIKE
Field of the invention
The invention relates to a connecting module for a brush cutter, edge trimmer or the like, comprising a chassis and a cutting module.
Background of the invention
In a configuration such as vineyard, a park, a photovoltaic field, many obstacles are present (vines, pegs, clods, potholes, slope, counter-slope, abandoned objects, etc).
A robot in such a configuration must face all the obstacles without ever being "jammed" and thus forced to stop his automatic work.
It should be noted that given a very low speed of movement of the robot and a low weight of the robot, these contacts have no effect on the vines.
The best solution for cutting the grass closer to the grass is to come into contact with the obstacle. Therefore, the robot is not configured to avoid the obstacle but to detect it as quickly as possible.
In these agricultural fields, the number of obstacles per unit area, and therefore the number of contacts between the robot and these obstacles per unit of time can be as important as one obstacle every 12 seconds in a vineyard planted at 6600 feet per hectare (plus 20% of stakes), at a speed of 350 m/h.
Object of the invention
An object of the invention is, in particular, to provide a mowing robot adapted to detect an obstacle faster, and more precise and effective than the mowing robot known in the previous art.
Summary of the invention
To this effect, the invention relates to a connecting module for a brush cutter, edge trimmer or the like, comprising a chassis and a cutting module, said module being intended to be connected to said chassis, on the one hand, by flexible damping elements and, on the other hand, fixed to said cutting module, said module being equipped with position sensors of said cutting module with respect to said chassis.
Preferably, the connection between said connecting module and the chassis has the degrees of freedom, around the pitch and roll axis, according to the mowing direction of the brush cutter, edge trimmer or the like.
The position sensors may comprise an electronic inertial measurement unit.
According to a second aspect of the invention, the invention relates to a brush cutter, edge trimmer or the like comprising a connecting module as claimed according to the first aspect of the invention, or one or more of its improvement elements.
Preferably, the chassis comprises a processing unit and a controller, the processing unit being configured to detect obstacle by using data provided by the position sensors and to send orders to the controller.
In an embodiment, the chassis may further comprise sensors fixed onto it and the processing unit may also be configured to detect obstacle by using data provided by the said sensors.
The sensors may comprise a torque sensor for each of the wheels.
The sensors may comprise a geographical position system.
The processing unit may be also configured to detect obstacle by using data provided by the controller.
According to a fourth aspect of the invention, a method of detecting an obstacle is provided, comprising the use of a connecting module according to the first aspect of the invention, or one or more of its improvement elements, or the use of a brush cutter, edge trimmer or the like, according to the second aspect of the invention, or one or more of its improvement elements. Figures
Many other features and advantages of the present invention will become apparent from reading the following detailed description, when considered in conjunction with the accompanying drawings, in which:
- Figure 1 is a perspective view of a mowing robot comprising a connecting module according to the invention;
- Figure 2 is a cutaway drawing of Figure 1;
- Figure 3 is a front view of Figure 1;
- Figure 4 is a left side view of Figure 1;
- Figure 5 is a top view of Figure 1;
- Figure 6 is a schematic representation of the mowing robot of Figure 1;
- Figure 7 is a perspective view of another embodiment of a mowing robot comprising a connecting module according to the invention. Detailed description of specific embodiments of the invention
The embodiments described hereinafter being in no way limiting, it is possible in particular to consider variants of the invention comprising only a selection of characteristics described, subsequently isolated from the other characteristics described, if this selection of characteristics is sufficient to confer a technical advantage or to differentiate the invention from the state of the art. This selection comprises at least one characteristic, preferably functional without structural details, or with only a part of the structural details if this part only is sufficient to confer a technical advantage or to differentiate the invention from the prior art.
The same references are used for identical elements or elements achieving the same function in the different embodiments of the invention that will be described.
Figure 1 a perspective view of a mowing robot 1 comprising a chassis 2 suspended on wheels 3, and a cutting module 4.
The mowing robot 1 also comprise a connecting module 5.
The connecting module 5 is connected to the chassis 2, for example by flexible damping elements 6 (see figure 2), such as silent blocks. The connecting module 5 is fixed to the cutting module 4, for example by means of screws (not shown).
As illustrated on figure 3, which is a schematically front view of figure 1, the connecting module might be in a position which is rotated around a longitudinal axis (according to the mowing direction) of the mowing robot 1.
On subfigure 3a, the right side of the cutting module 4 (according to the mowing direction) is raised while the left side of the cutting module 4 is lowered.
On subfigure 3b, both side of the cutting module 4 are at the same level.
On subfigure 3c, the left side of the cutting module 4 (according to the mowing direction) is lowered while the right side of the cutting module 4 is raised.
As illustrated on figure 4, which is a schematically side view of figure 1, taken on the left side of the mowing robot according to the mowing direction, the connecting module might be in a position which is rotated around a transverse axis (according to the mowing direction) of the mowing robot 1.
On subfigure 4a, both side of the cutting module 4 are at the same level.
On subfigure 4b, the front side of the cutting module 4 (according to the mowing direction) is raised while the rear side of the cutting module 4 is lowered.
On subfigure 4c, the front side of the cutting module 4 (according to the mowing direction) is lowered while the rear side of the cutting module 4 is raised.
As illustrated on figure 5, which is a schematically top view of figure 1 of the mowing robot, the connecting module might be in a position which is rotated around a vertical axis of the mowing robot 1.
On subfigure 5b, the cutting module 4 is in a nominal direction.
On subfigure 5a, the cutting module 4 is turned around the vertical axis according to a negative angle.
On subfigure 5c, the cutting module 4 is turned around the vertical axis according to a positive angle.
The connection between the connecting module 5 and the chassis 2 has six degrees of freedom: three rotations are shown on Figures 3 to 5 while 3 translations are allowed due to the use of damping elements connecting the cutting module 4 to the chassis 2.
As schematically represented on Figure 6 which is a schematic representation of the mowing robot of Figure 1, the connecting module 5 is equipped with position sensors 7 of said cutting module with respect to said chassis.
More specifically, the position sensors 7 comprise an electronic inertial measurement unit called IMU (for the English "Inertial Measurement Unit"). The IMU comprises a gyroscope, an accelerometer.
The mowing robot 1 might comprise a processing unit 8 and a controller 9.
The information provided by the position sensors 7 might be sufficient to detect an obstacle.
The processing unit 8 might be configured to detect obstacle by using data provided by the position sensors 7.
The processing unit 8 might be configured to send orders 10 to the controller 9.
In the embodiment illustrated on Figure 5, the chassis further comprise sensors 11 fixed onto it.
The connecting module 5 is connected to the chassis 2 by a deformable connection of rubber type. In case of encounter of the cutting head with an obstacle, the silent blocs 6 absorb a part of the energy of the shock, and allows a local deformation between the connecting module 5 and the chassis 2.
This results in acceleration, rotation, and magnetic field changes between the position sensor 7 and the sensors 8.
The processing unit 8 is also configured to detect obstacle by using data provided by the said sensors 11.
The processing unit 9 might be configured to detect the changes between the data provided by the position sensor 7 and the sensors 8.
The sensors 11 might comprise a torque sensor for each of the wheels 3.
The sensors 11 might comprise a geographical position system. As illustrated on figure 7, the position sensor 7' might put inside the chassis 2', while being secured to the connecting module 5, for example via an arm.
This makes it possible to move the position sensor 7', such as a magnetometer, away from the cutting motors and thus from the electromagnetic noise which disturbs the magnetometer. This assembly amplifies the linear acceleration sensed by the inertial unit, which makes the shock detection more effective.
Of course, the invention is not limited to the examples which have just been described and numerous adjustments can be made to these examples without departing from the scope of the invention. In addition, the various features, forms, variants and embodiments of the invention can be combined with one another in various combinations insofar as they are not incompatible or exclusive of one another. Other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed invention, from a study of the drawings, the disclosure, and the appended claims.

Claims

Claims
1. Connecting module (5) for a brush cutter (1), edge trimmer or the like, comprising a chassis (2) and a cutting module (4), said module being intended to be connected to said chassis, on the one hand, by flexible damping elements
(6) and, on the other hand, fixed to said cutting module, said module being equipped with position sensors (7) of said cutting module with respect to said chassis.
2. Connecting module as claimed in the previous claim, wherein the connection between said connecting module and the chassis has the degrees of freedom, around the pitch and roll axis, according to the mowing direction of the brush cutter, edge trimmer or the like.
3. Connecting module as claimed according to any one of the previous claims, wherein the position sensors (7) comprise an electronic inertial measurement unit.
4. Brush cutter (1), edge trimmer or the like comprising a connecting module as claimed according to any one of the previous claims.
5. Brush cutter (1), edge trimmer or the like according to the previous claim, wherein the chassis (2) comprises a processing unit (8) and a controller (9), the processing unit being configured to detect obstacle by using data provided by the position sensors (7) and to send orders (10) to the controller.
6. Brush cutter (1), edge trimmer or the like according to the previous claim, wherein the chassis (2) further comprise sensors (11) fixed onto it and wherein the processing unit (8) is also configured to detect obstacle by using data provided by the said sensors (11).
7. Brush cutter according to the preceding claim, wherein the sensors (11) comprise a torque sensor for each of the wheels (3).
8. Brush cutter according to the claim 6, wherein the sensors (11) comprise a geographical position system.
9. Brush cutter according to the claim 6, wherein the processing unit (8) also configured to detect obstacle by using data (12) provided by the controller (9).
10. Method of detecting an obstacle, comprising the use of a connecting module (5) for a brush cutter (1), edge trimmer or the like, the connecting module comprising a chassis (2) and a cutting module (4), said module being intended to be connected to said chassis, on the one hand, by flexible damping elements (6) and, on the other hand, fixed to said cutting module, said module being equipped with position sensors of said cutting module with respect to said chassis.
PCT/EP2018/058989 2018-04-09 2018-04-09 Connecting module for a brush cutter, edge trimmer or the like WO2019197011A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/EP2018/058989 WO2019197011A1 (en) 2018-04-09 2018-04-09 Connecting module for a brush cutter, edge trimmer or the like
US17/065,935 US20210022292A1 (en) 2018-04-09 2020-10-08 Robot and method for controlling the robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2018/058989 WO2019197011A1 (en) 2018-04-09 2018-04-09 Connecting module for a brush cutter, edge trimmer or the like

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2018/058987 Continuation-In-Part WO2019197010A1 (en) 2018-04-09 2018-04-09 Cutting head for a brush cutter, edge trimmer or the like

Related Child Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2018/058990 Continuation-In-Part WO2019197012A1 (en) 2018-04-09 2018-04-09 Stop element for a robot having a chassis and a free rear axle housing with two axes of rotation with respect to the chassis

Publications (1)

Publication Number Publication Date
WO2019197011A1 true WO2019197011A1 (en) 2019-10-17

Family

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Family Applications (1)

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PCT/EP2018/058989 WO2019197011A1 (en) 2018-04-09 2018-04-09 Connecting module for a brush cutter, edge trimmer or the like

Country Status (1)

Country Link
WO (1) WO2019197011A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4099815A4 (en) * 2020-02-07 2024-03-20 Texaroba Tech Inc Robotic lawn mower of non-traditional cutter

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020049517A1 (en) * 1999-03-19 2002-04-25 Ruffner Bryan John Multifunctional mobile appliance
EP2586283A1 (en) * 2011-10-31 2013-05-01 Robert Bosch Gmbh Autonomous work device
CN105746094A (en) * 2016-04-05 2016-07-13 常州格力博有限公司 Omnibearing crash sensor device and lawn mower

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020049517A1 (en) * 1999-03-19 2002-04-25 Ruffner Bryan John Multifunctional mobile appliance
EP2586283A1 (en) * 2011-10-31 2013-05-01 Robert Bosch Gmbh Autonomous work device
CN105746094A (en) * 2016-04-05 2016-07-13 常州格力博有限公司 Omnibearing crash sensor device and lawn mower

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4099815A4 (en) * 2020-02-07 2024-03-20 Texaroba Tech Inc Robotic lawn mower of non-traditional cutter

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