SE547373C2 - A robotic work tool with an automatic setting of height over ground - Google Patents

A robotic work tool with an automatic setting of height over ground

Info

Publication number
SE547373C2
SE547373C2 SE2351156A SE2351156A SE547373C2 SE 547373 C2 SE547373 C2 SE 547373C2 SE 2351156 A SE2351156 A SE 2351156A SE 2351156 A SE2351156 A SE 2351156A SE 547373 C2 SE547373 C2 SE 547373C2
Authority
SE
Sweden
Prior art keywords
work tool
robotic work
propulsion
tool
pivot axis
Prior art date
Application number
SE2351156A
Other languages
Swedish (sv)
Other versions
SE2351156A1 (en
Inventor
Daniel Manfredsson
Jonas Agerhall
Rajinder Mehra
Tor Sigurdsson
Original Assignee
Husqvarna Ab
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 Husqvarna Ab filed Critical Husqvarna Ab
Priority to SE2351156A priority Critical patent/SE547373C2/en
Publication of SE2351156A1 publication Critical patent/SE2351156A1/en
Publication of SE547373C2 publication Critical patent/SE547373C2/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
    • A01D34/42—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a horizontal axis, e.g. cutting-cylinders
    • A01D34/54—Cutting-height adjustment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/084—Endless-track units or carriages mounted separably, adjustably or extensibly on vehicles, e.g. portable track units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/10—Bogies; Frames
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/14—Arrangement, location, or adaptation of rollers
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/835—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes
    • A01D34/86—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes for use on sloping ground, e.g. on embankments or in ditches

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Harvester Elements (AREA)

Abstract

The present disclosure relates to a robotic work tool (100) comprising a control unit (110), a first propulsion module (120) and a second propulsion module (121), the propulsion modules (120, 121) being positioned at opposite sides of a main body (140). Each propulsion module (120, 121) comprises- a pivot axis (122) around which the propulsion module (120, 121) is adapted to pivot,- an endless caterpillar belt (123, 124), and- at least three wheels (125, 126, 127, 128) that are adapted to guide the caterpillar belt (123, 124).For each propulsion module (120, 121) the largest distance (d1, d2, d3, d4) between two adjacent wheels (125, 126; 126, 127; 127, 128; 128, 125) differs from the largest distance (d1, d2, d3, d4) between two other adjacent wheels (125, 126; 126, 127; 127, 128; 128, 125). The control unit (110) is adapted to control a module motor arrangement (130) to rotate the propulsion modules (120, 121) around the pivot axis (122) such that each propulsion module (120, 121) can be set in different rotational positions around the pivot axis (122).

Claims (16)

1. A robotic work tool (100) comprising a first end portion (101) facing a forward travelling direction (F), a second end portion (102) facing a reverse travelling direction (R), a main body (140), and a control unit (110) adapted to control the operation of the robotic work tool (100), where a longitudinal extension (105) extends along a straight travelling direction (F, R) for the robotic work tool (100), wherein the robotic work tool (100) comprises a first propulsion module (120) and a second propulsion module (121), the propulsion modules (120, 121) being positioned at opposite sides of the main body (140), where each propulsion module (120, 121) comprises - a pivot axis (122) around which the propulsion module (120, 121) is adapted to pivot, - an endless caterpillar belt (123, 124), and - at least three wheels (125, 126, 127, 128) that are adapted to guide the caterpillar belt (123, 124) along a circumference that lies in a plane (P1, P2) that mainly is parallel to the longitudinal extension (210) and perpendicular to the pivot axis (122), where, for each propulsion module (120, 121) , the caterpillar belt (123, 124) is adapted to be driven by at least one driven wheel comprised in the wheels (125, 126, 127, 128), where the largest distance (d1, d2, d3, d4) between two adjacent wheels (125, 126; 126, 127; 127, 128; 128, 125) differs from the largest distance (d1 , d2, d3, d4) between two other adjacent wheels (125, 126; 126, 127; 127, 128; 128, 125), where the control unit (110) is adapted to control a module motor arrangement (130) to rotate the propulsion modules (120, 121) around the pivot axis (122) such that each propulsion module (120, 121) can be set in different rotational positions around the pivot axis (122) such that a distance (h1, h2, h3) between the pivot axis (122) and a ground level (G) can be changed by setting the propulsion modules (120, 121) in different rotational positions around the pivot axis (122).
2. The robotic work tool (100) according to claim 1, wherein each propulsion module (120, 121) comprises a corresponding wheel motor (131, 132) that is adapted to propel the corresponding driven wheels.
3. The robotic work tool (100) according to claim 2, further comprising a position sensor arrangement (160), where the control unit (110) is adapted to control the wheel motors (131, 132) to keep the robotic work tool (100) in a desired position with respect to a ground level (G) by means of input from the position sensor arrangement (160).
4. The robotic work tool (100) according to any one of the previous claims, wherein the robotic work tool (100) is adapted to be connected to a separate tool part (183) that comprises one or more tools (180) adapted to perform one or more tasks.
5. The robotic work tool (100) according to any one of the previous claims, wherein the robotic work tool (100) comprises one or more swivelable wheels (133a, 133b; 134a, 134b).
6. The robotic work tool (100) according to any one of the previous claims, wherein each propulsion module (120, 121) comprises at least one auxiliary guide device (135, 136, 137, 138) that is adapted to guide the corresponding caterpillar belt (123, 124).
7. The robotic work tool (100) according to any one of the previous claims, wherein the module motor arrangement (130) is adapted to rotate the propulsion modules (120, 121) independently of each other around the pivot axis (122).
8. The robotic work tool (100) according to any one of the previous claims, wherein the robotic work tool (100) is a robotic lawn mower (100) that comprises at least one rotatable grass cutting device (180) having a rotation axis (181) and being adapted to be propelled by a cutting motor (182).
9. The robotic work tool (100) according to claim 8, wherein the rotatable grass cutting device (180) is housed in a tool part (183) that is comprised in the robotic work tool (100).
10. A robotic work tool system (100) comprising the robotic work tool (100) according to any one of the claims 1-7 and at least one tool part (183) that comprises one or more tools (180) adapted to perform one or more tasks, where each tool part (183) is adapted to be removably mounted to the robotic work tool (100).
11. The robotic work tool system (100) according to claim 10, further comprising interface means (169, 170) that are adapted to transfer at least one of power, control signals and sensor signals between the robotic work tool (100) and a tool part (183).
12. The robotic work tool system (100) according to any one of the claims 10 or 11, wherein at least one environmental detection sensor (171, 172) is comprised in at least one of the robotic work tool (100) and said tool part (183).
13. The robotic work tool system (100) according to any one of the claims 10- 12, wherein at least one rechargeable energy source (174, 175) is comprised in at least one of the robotic work tool (100) and said tool part (183).
14. The robotic work tool system (100) according to any one of the claims 10- 13, wherein said tool part (183) comprises one or more swivelable wheels (134a, 134b).
15. The robotic work tool system (100) according to any one of the claims 10- 13, wherein one tool part (183) comprises at least one rotatable grass cutting device (180) having a rotation axis (181) and being adapted to be propelled by a cutting motor (182).
16. A method for changing height over ground (G) and/or traction properties for a robotic work tool (100) according to any one of the claims 1-9, comprising acquiring (S100) data related to present rotational positions of the propulsion modules (120, 121); determining (S200) if a change of height over ground (G) and/or traction properties is needed; and if that is the case determining (S300) new rotational positions for the propulsion modules (120, 121); and setting (S400) the new rotational positions for the propulsion modules (120, 121).
SE2351156A 2023-10-09 2023-10-09 A robotic work tool with an automatic setting of height over ground SE547373C2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
SE2351156A SE547373C2 (en) 2023-10-09 2023-10-09 A robotic work tool with an automatic setting of height over ground

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE2351156A SE547373C2 (en) 2023-10-09 2023-10-09 A robotic work tool with an automatic setting of height over ground

Publications (2)

Publication Number Publication Date
SE2351156A1 SE2351156A1 (en) 2025-04-10
SE547373C2 true SE547373C2 (en) 2025-07-22

Family

ID=95560698

Family Applications (1)

Application Number Title Priority Date Filing Date
SE2351156A SE547373C2 (en) 2023-10-09 2023-10-09 A robotic work tool with an automatic setting of height over ground

Country Status (1)

Country Link
SE (1) SE547373C2 (en)

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB850569A (en) * 1958-06-10 1960-10-05 Patrick Flanagan Improvements in tractors
CN106828633A (en) * 2017-04-12 2017-06-13 吉林大学 A kind of full landform chassis of electric endless track type
WO2017198272A1 (en) * 2016-05-17 2017-11-23 A-Gruppen Tool carrier with mechanically adjustable track
CN107914788A (en) * 2017-12-14 2018-04-17 浙江大学自贡创新中心 The height adjustment device and method of a kind of caterpillar chassis
CN108725613A (en) * 2018-08-13 2018-11-02 湖南农业大学 A kind of crawler travel device of adjustable terrain clearance
EP3406119A1 (en) * 2016-01-21 2018-11-28 Positec Power Tools (Suzhou) Co., Ltd Self-moving device and method for controlling self-moving device
CN108100066B (en) * 2017-11-27 2019-12-10 中联重机股份有限公司 Adjustable crawler travel mechanism and tractor
CN111183788A (en) * 2020-03-13 2020-05-22 山东新坐标智能装备有限公司 A crawler-type multi-angle adjustable lawn mower
CN110510021B (en) * 2019-10-09 2020-09-11 湖州越彬智能科技有限公司 Variable crawler chassis
CN107867342B (en) * 2017-10-26 2020-11-20 江苏大学 A triangular crawler traveling device with adjustable ground clearance
US20220315137A1 (en) * 2020-01-14 2022-10-06 Kubota Corporation Crawler traveling device, and working machine including crawler traveling device

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB850569A (en) * 1958-06-10 1960-10-05 Patrick Flanagan Improvements in tractors
EP3406119A1 (en) * 2016-01-21 2018-11-28 Positec Power Tools (Suzhou) Co., Ltd Self-moving device and method for controlling self-moving device
WO2017198272A1 (en) * 2016-05-17 2017-11-23 A-Gruppen Tool carrier with mechanically adjustable track
CN106828633A (en) * 2017-04-12 2017-06-13 吉林大学 A kind of full landform chassis of electric endless track type
CN107867342B (en) * 2017-10-26 2020-11-20 江苏大学 A triangular crawler traveling device with adjustable ground clearance
CN108100066B (en) * 2017-11-27 2019-12-10 中联重机股份有限公司 Adjustable crawler travel mechanism and tractor
CN107914788A (en) * 2017-12-14 2018-04-17 浙江大学自贡创新中心 The height adjustment device and method of a kind of caterpillar chassis
CN108725613A (en) * 2018-08-13 2018-11-02 湖南农业大学 A kind of crawler travel device of adjustable terrain clearance
CN110510021B (en) * 2019-10-09 2020-09-11 湖州越彬智能科技有限公司 Variable crawler chassis
US20220315137A1 (en) * 2020-01-14 2022-10-06 Kubota Corporation Crawler traveling device, and working machine including crawler traveling device
CN111183788A (en) * 2020-03-13 2020-05-22 山东新坐标智能装备有限公司 A crawler-type multi-angle adjustable lawn mower

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