WO2013125992A1 - Tondeuse à gazon robotisée avec détecteur à levier de commande - Google Patents

Tondeuse à gazon robotisée avec détecteur à levier de commande Download PDF

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Publication number
WO2013125992A1
WO2013125992A1 PCT/SE2012/050194 SE2012050194W WO2013125992A1 WO 2013125992 A1 WO2013125992 A1 WO 2013125992A1 SE 2012050194 W SE2012050194 W SE 2012050194W WO 2013125992 A1 WO2013125992 A1 WO 2013125992A1
Authority
WO
WIPO (PCT)
Prior art keywords
joystick element
seat
joystick
chassis
lead
Prior art date
Application number
PCT/SE2012/050194
Other languages
English (en)
Inventor
Jonathan BJÖRN
Martin Elonsson
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 PCT/SE2012/050194 priority Critical patent/WO2013125992A1/fr
Priority to EP12869094.8A priority patent/EP2816885A4/fr
Publication of WO2013125992A1 publication Critical patent/WO2013125992A1/fr

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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
    • A01D34/835—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
    • A01D34/863—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes for use on sloping ground, e.g. on embankments or in ditches and for mowing around obstacles, e.g. posts, trees, fences or the like
    • 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
    • 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
    • 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
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/14—Conductive energy transfer
    • 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
    • B60L8/00—Electric propulsion with power supply from forces of nature, e.g. sun or wind
    • B60L8/003—Converting light into electric energy, e.g. by using photo-voltaic systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
    • 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
    • B60L2250/00—Driver interactions
    • B60L2250/10—Driver interactions by alarm
    • 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
    • Y02T10/70—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
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • 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
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

Definitions

  • the present invention relates to a robotic lawnmower.
  • the lawnmower comprises, inter alia, a chassis with drive means, a body which is movably fitted to the chassis by means of at least one suspension and at least one collision sensor which is configured to detect an obstacle as the robotic lawnmower traverses over a surface area by sensing a movement of the body relative to the chassis when the lawnmower collides with an obstacle, and to provide one or more sensor signals indicative thereof for bringing the lawnmower to respond, e.g. stop or change traversing direction.
  • the suspension comprises a joystick element by means of which the body is fitted to the chassis.
  • the suspension also comprises a resilient positioning member which is configured to hold the joystick element in a neutral position.
  • the resilient positioning member is also configured to permit movement of the joystick element when the lawnmower collides with an obstacle and the body moves relative to the chassis, and to return the joystick element to the neutral position after the collision.
  • the body is, as indicated above, elastically fitted to the chassis so they can move independently.
  • the body position needs to be precisely aligned to the chassis, but still be able to deflect easily. According to prior art, this has been achieved e.g. by means of a plastic joystick element which is held in position by a rubber gaiter. A good quality feel for the movement of the joystick element is thereby achieved, but some compromises regarding the precision have been made because of the irregular material properties of the rubber.
  • the primary object of the device according to the present invention is to eliminate the above mentioned drawbacks and provide a positioning member without the uncertainties of the rubber material as well as provide a positioning member with a precise time and wear independent setup
  • the resilient positioning member of the suspension in the form of a spring element of a time and wear resistant material.
  • the spring element of a time and wear resistant material is a metal compression spring.
  • Fig. 1 is a schematic side view of a robotic lawnmower according to the present invention in normal operation
  • Fig. 2 is a schematic side view of the robotic lawnmower according to the present invention at a collision with an obstacle;
  • Fig. 3a is a schematic side view, partly in section, of a first embodiment of a suspension for a body in the lawnmower according to the present invention, illustrating the suspension in normal operation;
  • Fig. 3b is a schematic side view, partly in section, of a first embodiment of a suspension for a body in the lawnmower according to the present invention, illustrating the suspension at a collision with an obstacle
  • Fig. 4a is a schematic side view, partly in section, of a second embodiment of a suspension for a body in the lawnmower according to the present invention, illustrating the suspension in normal operation and at a collision with an obstacle
  • Fig. 4b is a schematic side view, partly in section, of a second embodiment of a suspension for a body in the lawnmower according to the present invention, illustrating the suspension at a collision with an obstacle.
  • the robotic lawnmower 1 may be a conventional-type robotic lawnmower, comprising, inter alia, a chassis 2 with drive means (front and rear wheels 3 and 4 respectively) for traversing over a surface area and with cutting means 5 for cutting vegetation within said surface area.
  • the robotic lawnmower 1 may be powered by a main power source (not shown in the drawings), e.g. an electric motor which may be driven by one or more rechargeable batteries, a pneumatic or hydraulic drive, a fuel cell etc.
  • the rechargeable batteries may be charged by electrical energy using a charger, solar energy via a solar panel or a combination thereof.
  • the robotic lawnmower also comprises a control device (not shown in the drawings) with a processor; a memory etc., for maneuvering the lawnmower 1 within the surface area such that cutting is performed without supervision.
  • the surface area may be limited in different ways e.g. by a physical fence or be demarcated by a perimeter wire of a suitable type.
  • the robotic lawnmower 1 comprises a body 6 which is movably fitted to the chassis 2 by means of at least one suspension.
  • this suspension may then be located centrally in the lawnmower 1.
  • Two or more centrally located suspensions may also be provided for movably fitting the body 6 to the chassis 2.
  • the body 6 may be movably fitted to the chassis 2 also by means of at least one front suspension and at least one rear suspension, e.g. one front suspension and two rear suspensions or two front suspensions and one rear suspension.
  • one or more front suspensions and one or more rear suspensions may be completed by one or more centrally located suspensions.
  • the body 6 is movably fitted to the chassis 2 by means of front and rear suspensions 7 and 8 respectively. There are in the illustrated embodiment two front suspensions 7 and two rear suspensions 8, although only one of each is schematically shown in fig. 1 and 2.
  • the robotic lawnmower also comprises at least one collision sensor 9.
  • the collision sensor 9 is configured to detect an obstacle (not shown in the drawings) as the robotic lawnmower 1 during cutting or when it moves to a charging station traverses over said limited surface area. Detection is achieved by sensing a movement of the body 6 relative to the chassis 2 when the robotic lawnmower 1 collides with the obstacle.
  • the collision sensor 9 comprises a magnet 10 which is mounted on the body 6 and a sensor member 1 1 which is mounted on the chassis 2. The sensor member 1 1 senses a movement of the magnet 10 when the body 6 moves relative to the chassis 2.
  • the collision sensor 9 provides thereby one or more sensor signals indicative of the detection of the obstacle and these sensor signals are fed to the control device for bringing the robotic lawnmower 1 to respond, e.g., send an alarm, stop or to change the traversing direction of the lawnmower during cutting or during movement to a charging station.
  • each of the front and rear suspensions 7, 8 at the illustrated embodiment of fig. 1 and 2 comprises a joystick element, of which one end 12a is in contact with the body 6 whereas the opposite "inner" end 12b or adjacent parts of the joystick element cooperate or are in contact with the chassis 2.
  • a joystick element may in this connection be defined as a shaft with a return-to-center feature when moved from a center position.
  • each of the front and rear suspensions 7, 8 further comprises a resilient positioning member 13 which is configured to hold the joystick element 12 in a neutral position N (see fig. 1 , 2, 3a and 4a).
  • the resilient positioning member 13 is also configured to permit movement of the joystick element 12 (to another position I, different from the neutral position) when the lawnmower 1 collides with the obstacle and the body 6 moves relative to the chassis 2 (see fig. 2, 3b and 4b), and to return the joystick element to the neutral position N after the collision.
  • the resilient positioning member 13 comprises a spring element of a time and wear resistant material, and this spring element of a time and wear resistant material is at the illustrated embodiments of the invention a metal compression spring 14, i.e. the resilient positioning member 13 of either the front suspensions 7 or the rear suspension 8 or both, is at the illustrated embodiments of fig. 3a and 3b and 4a and 4b respectively, a metal compression spring.
  • the resilient positioning member 13 may comprise a spring element of plastic, carbon fiber or any other suitable time and wear resistant material with the proper elastic and flexible properties.
  • Leaf springs of metal or any other suitable material may also be used as resilient positioning members 13. Two suitable embodiments for obtaining stability and precision of the joystick element position by providing optimum seats for the joystick element 12 and the metal
  • the joystick element 12 is at the inner end 12b thereof configured or provided with a member 15 which is configured to define a first seat 16 for the metal compression spring 14.
  • This member 15 may be a separate member which in a suitable manner has been attached to the joystick element 12 or may constitute an integral part of said joystick element.
  • the joystick element 12 is at a distance from its inner end 12b configured (see below) such that it is movably seated in a lead-through 17 in the chassis 2, i.e. the chassis defines a seat 18 for the joystick element in the lead-through.
  • the joystick element 12 is "hanging" in the seat 18 in the lead-through 17 in the chassis 2.
  • the side 17a defining the lead-through 17 is converging such that said lead-through is tapering conically from an "outer" side 2a of the chassis 2, facing the body 6, to an “inner” side 2b thereof, facing away from said body.
  • the seat 18 for the joystick element 12 is provided in the part of the conically tapering lead-through 17 having the smallest diameter, close to the inner side 2b of the chassis 2.
  • the chassis 2 also defines a second seat 19 for the metal compression spring 14 at the lead-through 17. Accordingly, the spring 14 is mounted between said first spring seat 16 and the second spring seat 19 at the lead-through 17.
  • the spring 14 thereby pulls the joystick element 12 down against the seat 18, bringing the joystick element to hold its neutral position N.
  • the spring 14 is also configured to permit movement of the joystick element 12 from the neutral position N, which here is substantially perpendicular to the chassis 2 at the lead-through 17, to said other position, here an inclined position I relative to said chassis, when the lawnmower 1 collides with an obstacle, and to return the joystick element to the substantially perpendicular position after the collision by pulling the joystick element towards and against its seat 18 in the lead-through 17 in the chassis 2.
  • the metal compression spring 14 is mounted surrounding the portion 12c of the joystick element 12 extending between the first spring seat 16 in the member 15 defining said first spring seat and the second spring seat 19 at the lead- through 17 in the chassis 2.
  • the seat 18 for the joystick element 12 at the lead-through 17 in the chassis 2 is defined by an annular surface in the lead-through 17.
  • the second seat 19 for the metal compression spring 14 at the lead-through 17 is defined by an annular flange 20 surrounding said lead-through on the inner side 2b of the chassis 2. Accordingly, the spring 14 is at the lead-through 17 seated against the inner side 2b of the chassis 2 around the annular flange 20 and is held in position by said annular flange.
  • the joystick element For engagement with the annular surface in the lead-through 17 defining the seat 18 for the joystick element 12, the joystick element is configured with an annular flange 21.
  • the annular surface in the lead-through 17 defining the seat 18 for the joystick element 12 is defined by a bottom surface of the annular flange 20 surrounding said lead-through, i.e. the annular flange 20 defines the seat 18 for the joystick element 12 as well as the second seat 19 for the spring 14.
  • the joystick element 12 is at the inner end 12b thereof, opposite to the end 12a in contact with the body 6, configured such that it is movably seated in a first member 22 of the chassis 2 and at a distance from said inner end configured such that it passes through a lead-through 23 in a second member 24 of the chassis adjacent to said first member thereof.
  • said first member 22 defines a seat 25 for the joystick element.
  • the joystick element 12 is "resting" in the seat 25 in said first member 22 of the chassis 2.
  • said first member 22 is configured with a hole 26, the side 26a of which diverges such that said hole expands conically towards said second member 24 of the chassis and which at the bottom thereof, having the smallest diameter, defines said seat 25 for the joystick element.
  • said second member 24 is sufficiently large and configured with a sufficiently large lead-through 23.
  • the lead-through 23 has substantially the same diameter in its extension through said second member 24, from an "outer” side 24a thereof, facing the body 6, to an “inner” side 24b thereof, facing said first member 22.
  • Said first and second members 22, 24 may be separate members which have been attached to the chassis 2 in any suitable manner or may constitute integral parts of said chassis.
  • the metal compression spring 14 is mounted between a first spring seat 27 on the joystick element 12 at the inner end 12b thereof, i.e. in said first member 22 of the chassis, and a second spring seat 28 in said second member 24. The spring 14 presses the joystick element 12 against its seat 25 in said first member 22, bringing the joystick element to hold its neutral position N.
  • the spring 14 is further configured to permit movement of the joystick element 12 from the neutral position N, i.e. from the position substantially perpendicular to the chassis 2, or to said second member 24 thereof, at the lead-through 23, to said other position, i.e. the inclined position I relative to said chassis, when the lawnmower collides with an obstacle, and to return the joystick element to the substantially perpendicular position after the collision by pushing the joy-stick down towards and against its seat 25 in said first member 22 of the chassis 2.
  • N neutral position
  • said second member 24 thereof at the lead-through 23
  • said other position i.e. the inclined position I relative to said chassis
  • the metal compression spring 14 is mounted surrounding the portion 12c of the joystick element 12 extending between the first spring seat 27 at the inner end 12b of the joystick element and the second spring seat 28 in said second member 24 of the chassis 2, i.e. in the member with the lead-through 23.
  • the second seat 28 for the metal compression spring 14 in the member 24 with the lead- through 23 for the joystick element 12, i.e. said second member, is defined by an annular flange 29 in said lead-through, surrounding the opening of said lead-through in the side 24a of said second member facing the body 6.
  • the spring 14 is in the lead- through 23 seated against the side 23a defining said lead-through and seated around the annular flange 29 and held in position by said annular flange.
  • the first seat 27 for the spring 14 at the inner end of the joystick element 12 is defined by an annular flange 30 on said inner end.
  • This annular flange 30 on the inner end of the joystick element 12 also defines a surface for engagement with the seat 25 for the joystick element in said first member 22.
  • the first seat 27 for the spring 14 and the surface for engagement with the seat 25 for the joystick element 12 in said first member 22 are defined by opposite surfaces of the annular flange 30 on the inner end of the joystick element.
  • the seat 25 for the joystick element 12 is defined by an annular surface in said first member 22.
  • the shape, size and location of the metal compression spring 14 or any other spring element may vary based on its intended application, and so may the members associated therewith, e.g. the joystick element 12, the member 15 at the inner end 12b of the joystick element or the first and second members 22, 24 of the chassis 2 provided for the joystick element and the spring.
  • the metal compression spring 14 and any other spring element may in some applications be partly replaced by resilient positioning members of any conventional type, e.g. rubber gaiters. Replacements may be found in the front suspensions 7 or in the rear suspensions 8 or diagonally or in any other suitable arrangement.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Control Devices (AREA)
  • Harvester Elements (AREA)

Abstract

Cette invention concerne une tondeuse à gazon robotisée comprenant, notamment, un châssis (2), un corps qui est monté de manière amovible dans le châssis au moyen d'au moins une suspension (7, 8) et d'au moins un détecteur de collision qui détermine la présence d'un obstacle en détectant le mouvement du corps par rapport au châssis lorsque la tondeuse heurte l'obstacle, et qui émet des signaux indicateurs de l'obstacle auxquels la tondeuse répond en s'arrêtant ou en changeant de direction. La suspension (7, 8) comprend un élément à levier de commande (12) par l'intermédiaire duquel le corps est monté dans le châssis (2) et un élément de positionnement résilient (13) qui maintient l'élément à levier de commande dans une position neutre (N). L'élément de positionnement résilient (13) permet également le mouvement de l'élément à levier de commande (12) quand la tondeuse heurte l'obstacle et que le corps se déplace par rapport au châssis (2), et fait revenir l'élément à levier de commande à la position neutre (N) après la collision. L'élément de positionnement résilient (13) de la suspension (7, 8) est un élément à ressort (14) en matériau résistant à l'usure.
PCT/SE2012/050194 2012-02-22 2012-02-22 Tondeuse à gazon robotisée avec détecteur à levier de commande WO2013125992A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/SE2012/050194 WO2013125992A1 (fr) 2012-02-22 2012-02-22 Tondeuse à gazon robotisée avec détecteur à levier de commande
EP12869094.8A EP2816885A4 (fr) 2012-02-22 2012-02-22 Tondeuse à gazon robotisée avec détecteur à levier de commande

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/SE2012/050194 WO2013125992A1 (fr) 2012-02-22 2012-02-22 Tondeuse à gazon robotisée avec détecteur à levier de commande

Publications (1)

Publication Number Publication Date
WO2013125992A1 true WO2013125992A1 (fr) 2013-08-29

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ID=49006045

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SE2012/050194 WO2013125992A1 (fr) 2012-02-22 2012-02-22 Tondeuse à gazon robotisée avec détecteur à levier de commande

Country Status (2)

Country Link
EP (1) EP2816885A4 (fr)
WO (1) WO2013125992A1 (fr)

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160084436A1 (en) * 2014-09-20 2016-03-24 Viking Gmbh Self-Propelled Working Device
CN105746094A (zh) * 2016-04-05 2016-07-13 常州格力博有限公司 全方位碰撞传感器装置及割草机
WO2017109879A1 (fr) * 2015-12-24 2017-06-29 本田技研工業株式会社 Tondeuse à gazon robotique
EP3102914A4 (fr) * 2014-02-03 2017-08-09 Husqvarna AB Détection d'obstacles pour un outil de travail robotisé
US9820433B2 (en) 2012-12-28 2017-11-21 Positec Power Tools (Suzhou Co., Ltd.) Auto mowing system
JP2018073187A (ja) * 2016-10-31 2018-05-10 本田技研工業株式会社 自律走行車両
CN108227700A (zh) * 2016-12-14 2018-06-29 远升科技股份有限公司 表面处理设备和用于处理表面区域的方法
WO2018123597A1 (fr) * 2016-12-27 2018-07-05 本田技研工業株式会社 Véhicule de travail
WO2018174774A1 (fr) * 2017-03-23 2018-09-27 Husqvarna Ab Outil de travail robotique et procédé destiné à être utilisé dans un outil de travail robotique comprenant un dispositif de détection d'élévation/collision
WO2018174777A1 (fr) * 2017-03-23 2018-09-27 Husqvarna Ab Outil de travail robotique et procédé destiné à être utilisé dans un outil de travail robotique comprenant un dispositif de levage et de détection de collision
IT201800003378A1 (it) * 2018-03-08 2019-09-08 Stiga S P A In Breve Anche St S P A Tosaerba con dispositivo dissuasore ad ultrasuoni per animali selvatici.
US10440879B2 (en) 2014-04-25 2019-10-15 Husqvarna Ab Robotic work tool
CN113453536A (zh) * 2019-02-20 2021-09-28 胡斯华纳有限公司 机器人作业工具和用于改进的碰撞处理的方法
US11172608B2 (en) 2016-06-30 2021-11-16 Tti (Macao Commercial Offshore) Limited Autonomous lawn mower and a system for navigating thereof
US11172605B2 (en) 2016-06-30 2021-11-16 Tti (Macao Commercial Offshore) Limited Autonomous lawn mower and a system for navigating thereof
CN114454840A (zh) * 2021-12-30 2022-05-10 南京苏美达智能技术有限公司 一种高精度的碰撞检测组件
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US9820433B2 (en) 2012-12-28 2017-11-21 Positec Power Tools (Suzhou Co., Ltd.) Auto mowing system
US10555456B2 (en) 2012-12-28 2020-02-11 Positec Power Tools (Suzhou) Co., Ltd. Auto mowing system
EP3102914B1 (fr) 2014-02-03 2018-08-08 Husqvarna AB Détection d'obstacles pour un outil de travail robotisé
EP3102914A4 (fr) * 2014-02-03 2017-08-09 Husqvarna AB Détection d'obstacles pour un outil de travail robotisé
US10440879B2 (en) 2014-04-25 2019-10-15 Husqvarna Ab Robotic work tool
US9857025B2 (en) * 2014-09-20 2018-01-02 Viking Gmbh Self-propelled working device
US20160084436A1 (en) * 2014-09-20 2016-03-24 Viking Gmbh Self-Propelled Working Device
US10674660B2 (en) 2015-12-24 2020-06-09 Honda Motor Co., Ltd Autonomous lawn mower with movable cover
WO2017109879A1 (fr) * 2015-12-24 2017-06-29 本田技研工業株式会社 Tondeuse à gazon robotique
EP3395148A4 (fr) * 2015-12-24 2019-01-02 Honda Motor Co., Ltd. Tondeuse à gazon robotique
CN108366532A (zh) * 2015-12-24 2018-08-03 本田技研工业株式会社 自动行驶式割草机
JPWO2017109879A1 (ja) * 2015-12-24 2018-09-27 本田技研工業株式会社 自動走行式芝刈機
AU2015418271B2 (en) * 2015-12-24 2019-04-04 Honda Motor Co., Ltd. Autonomous lawn mower
CN105746094A (zh) * 2016-04-05 2016-07-13 常州格力博有限公司 全方位碰撞传感器装置及割草机
US11172608B2 (en) 2016-06-30 2021-11-16 Tti (Macao Commercial Offshore) Limited Autonomous lawn mower and a system for navigating thereof
US11832552B2 (en) 2016-06-30 2023-12-05 Techtronic Outdoor Products Technology Limited Autonomous lawn mower and a system for navigating thereof
US11172605B2 (en) 2016-06-30 2021-11-16 Tti (Macao Commercial Offshore) Limited Autonomous lawn mower and a system for navigating thereof
JP2018073187A (ja) * 2016-10-31 2018-05-10 本田技研工業株式会社 自律走行車両
CN108227700A (zh) * 2016-12-14 2018-06-29 远升科技股份有限公司 表面处理设备和用于处理表面区域的方法
WO2018123597A1 (fr) * 2016-12-27 2018-07-05 本田技研工業株式会社 Véhicule de travail
EP3545747A4 (fr) * 2016-12-27 2019-12-25 Honda Motor Co., Ltd. Véhicule de travail
JP2018102247A (ja) * 2016-12-27 2018-07-05 本田技研工業株式会社 自律走行車両
US11206760B2 (en) 2016-12-27 2021-12-28 Honda Motor Co., Ltd. Utility vehicle with spring suspension between cover and chassis
WO2018174777A1 (fr) * 2017-03-23 2018-09-27 Husqvarna Ab Outil de travail robotique et procédé destiné à être utilisé dans un outil de travail robotique comprenant un dispositif de levage et de détection de collision
WO2018174774A1 (fr) * 2017-03-23 2018-09-27 Husqvarna Ab Outil de travail robotique et procédé destiné à être utilisé dans un outil de travail robotique comprenant un dispositif de détection d'élévation/collision
US11844303B2 (en) 2017-03-23 2023-12-19 Husqvarna Ab Robotic work tool and a method for use in a robotic work tool comprising a lift/collision detection device
EP3536144A1 (fr) * 2018-03-08 2019-09-11 Stiga S.p.A. in breve anche St. S.p.A. Tondeuse à gazon avec dispositif de dissuasion à ultrasons pour animaux sauvages
IT201800003378A1 (it) * 2018-03-08 2019-09-08 Stiga S P A In Breve Anche St S P A Tosaerba con dispositivo dissuasore ad ultrasuoni per animali selvatici.
CN113453536A (zh) * 2019-02-20 2021-09-28 胡斯华纳有限公司 机器人作业工具和用于改进的碰撞处理的方法
WO2022157468A1 (fr) * 2021-01-22 2022-07-28 Dyson Technology Limited Système de détection de collision pour un robot mobile
CN114454840B (zh) * 2021-12-30 2023-01-24 南京苏美达智能技术有限公司 一种高精度的碰撞检测装置
CN114454840A (zh) * 2021-12-30 2022-05-10 南京苏美达智能技术有限公司 一种高精度的碰撞检测组件

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