WO2003103375A8 - Self-propelled device with a sensor constituted of a hall effect transducer and an adjustable operational part - Google Patents

Self-propelled device with a sensor constituted of a hall effect transducer and an adjustable operational part

Info

Publication number
WO2003103375A8
WO2003103375A8 PCT/SE2003/000918 SE0300918W WO03103375A8 WO 2003103375 A8 WO2003103375 A8 WO 2003103375A8 SE 0300918 W SE0300918 W SE 0300918W WO 03103375 A8 WO03103375 A8 WO 03103375A8
Authority
WO
WIPO (PCT)
Prior art keywords
self
hall effect
operational part
propelled device
effect transducer
Prior art date
Application number
PCT/SE2003/000918
Other languages
French (fr)
Other versions
WO2003103375A1 (en
Inventor
Per-Olof Zakrisson
Lars-Erik Sundberg
Original Assignee
Electrolux Ab
Per-Olof Zakrisson
Lars-Erik Sundberg
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 Electrolux Ab, Per-Olof Zakrisson, Lars-Erik Sundberg filed Critical Electrolux Ab
Priority to AU2003244285A priority Critical patent/AU2003244285A1/en
Publication of WO2003103375A1 publication Critical patent/WO2003103375A1/en
Publication of WO2003103375A8 publication Critical patent/WO2003103375A8/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
    • A01D34/74—Cutting-height adjustment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L1/00—Supplying electric power to auxiliary equipment of vehicles
    • B60L1/003—Supplying electric power to auxiliary equipment of vehicles to auxiliary motors, e.g. for pumps, compressors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/0007—Measures or means for preventing or attenuating collisions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/52—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by DC-motors
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D2101/00—Lawn-mowers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/32—Auto pilot mode
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Environmental Sciences (AREA)
  • Guiding Agricultural Machines (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Harvester Elements (AREA)
  • Manipulator (AREA)

Abstract

The present invention relates to a self-propelling device, preferably a self-propelling lawn-mowing robot comprising at least a control and navigational control system that in conjunction with outer influence on the device, for instance collision with an object, at least by information from one or several sensors (41) placed in or on the device, controls the movements of the device across a surface area. The device is designed so that at least a first part of the device moves in relation to the device's remaining parts in conjunction with the outer influence. The device is so designed that the first part of the device moves in relation to the device's remaining parts in conjunction with outer influence. The self-propelling robot comprises a sensor (41) that detects the movements of the first part without being in contact with the first part.
PCT/SE2003/000918 2002-06-07 2003-06-03 Self-propelled device with a sensor constituted of a hall effect transducer and an adjustable operational part WO2003103375A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU2003244285A AU2003244285A1 (en) 2002-06-07 2003-06-03 Self-propelled device with a sensor constituted of a hall effect transducer and an adjustable operational part

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE0201741A SE0201741D0 (en) 2002-06-07 2002-06-07 Automatic device on wheels
SE0201741-6 2002-06-07

Publications (2)

Publication Number Publication Date
WO2003103375A1 WO2003103375A1 (en) 2003-12-18
WO2003103375A8 true WO2003103375A8 (en) 2004-05-27

Family

ID=20288113

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SE2003/000918 WO2003103375A1 (en) 2002-06-07 2003-06-03 Self-propelled device with a sensor constituted of a hall effect transducer and an adjustable operational part

Country Status (3)

Country Link
AU (1) AU2003244285A1 (en)
SE (1) SE0201741D0 (en)
WO (1) WO2003103375A1 (en)

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GB201005259D0 (en) 2010-03-29 2010-05-12 F Robotics Acquisitions Ltd Improvements relating to lawnmowers
US8234848B2 (en) * 2010-07-28 2012-08-07 Deere & Company Robotic mower height of cut adjustment assembly
DE202010008414U1 (en) * 2010-08-31 2011-12-07 Al-Ko Kober Ag gardening equipment
DE102010044276B4 (en) 2010-09-02 2015-08-06 AL-KO KOBER Ges.mbH Switching device for a lawnmower
CN102523841A (en) * 2010-12-29 2012-07-04 苏州宝时得电动工具有限公司 Mower
CN102687626B (en) * 2011-03-22 2016-02-17 苏州宝时得电动工具有限公司 Mower
CN102771258A (en) * 2011-05-13 2012-11-14 苏州宝时得电动工具有限公司 Automatic mower
JP5859323B2 (en) * 2012-01-25 2016-02-10 リョービ株式会社 Lawn mower
US9232692B2 (en) 2012-02-22 2016-01-12 Husqvarna Ab Robotic lawnmower
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EP2869690B1 (en) 2012-07-04 2017-11-01 Husqvarna Ab Adjustment of cutting height for a robotic mower
US9766627B2 (en) * 2012-07-05 2017-09-19 Husqvarna Ab Displacement sensor for a robotic vehicle detecting a lift event and a collision event
DE202012102637U1 (en) 2012-07-17 2013-10-21 Al-Ko Kober Se Self-propelled tillage implement
EP2692220B1 (en) 2012-08-03 2016-04-27 Robert Bosch GmbH Directional obstruction sensor
EP2939508B1 (en) 2012-12-28 2021-05-19 Positec Power Tools (Suzhou) Co., Ltd Automatic mowing system
EP2783563B1 (en) * 2013-03-27 2016-09-07 Viking GmbH Work machine with an adjustable assembly
EP2803255B1 (en) * 2013-05-15 2017-07-05 Viking GmbH Self-propelled working device with obstacle detection
US10031527B2 (en) 2014-02-03 2018-07-24 Husqvarna Ab Obstacle detection for a robotic working tool
CN106255406B (en) 2014-04-25 2019-07-30 胡斯华纳有限公司 Robot manipulating task tool system
WO2016150510A1 (en) * 2015-03-26 2016-09-29 Husqvarna Ab Improved lift/collison detection
CN105746094A (en) * 2016-04-05 2016-07-13 常州格力博有限公司 Omnibearing crash sensor device and lawn mower
CN109874487B (en) 2016-06-30 2022-11-04 创科（澳门离岸商业服务）有限公司 Autonomous mower and navigation system thereof
US11172608B2 (en) 2016-06-30 2021-11-16 Tti (Macao Commercial Offshore) Limited Autonomous lawn mower and a system for navigating thereof
DE102016211842B4 (en) 2016-06-30 2024-04-25 Robert Bosch Gmbh Soil tillage equipment
GB2552331B (en) 2016-07-18 2020-02-05 F Robotics Acquisitions Ltd Improvements relating to robotic lawnmowers
JP2018102247A (en) * 2016-12-27 2018-07-05 本田技研工業株式会社 Autonomous travel vehicle
KR101918994B1 (en) * 2017-01-02 2019-02-08 엘지전자 주식회사 Lawn mower robot
WO2018174777A1 (en) * 2017-03-23 2018-09-27 Husqvarna Ab A robotic work tool and a method for use in a robotic work tool comprising a lift and collision detection
SE540585C2 (en) 2017-03-23 2018-10-02 Husqvarna Ab A robotic work tool and a method for use in a robotic work tool comprising a lift/collision detection device
JP2021027809A (en) * 2019-08-09 2021-02-25 本田技研工業株式会社 Work machine
JP7309559B2 (en) * 2019-09-27 2023-07-18 株式会社やまびこ Self-propelled robot working machine
CN114454817B (en) * 2021-12-30 2023-11-03 南京苏美达智能技术有限公司 Shell displacement detection structure for self-walking equipment

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Also Published As

Publication number Publication date
WO2003103375A1 (en) 2003-12-18
SE0201741D0 (en) 2002-06-07
AU2003244285A1 (en) 2003-12-22

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