WO2018134803A2 - Autonomous brush cutter with continuous movement - Google Patents

Autonomous brush cutter with continuous movement Download PDF

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Publication number
WO2018134803A2
WO2018134803A2 PCT/IB2018/053467 IB2018053467W WO2018134803A2 WO 2018134803 A2 WO2018134803 A2 WO 2018134803A2 IB 2018053467 W IB2018053467 W IB 2018053467W WO 2018134803 A2 WO2018134803 A2 WO 2018134803A2
Authority
WO
WIPO (PCT)
Prior art keywords
brush cutter
gps
cutting
sensors
controllers
Prior art date
Application number
PCT/IB2018/053467
Other languages
French (fr)
Other versions
WO2018134803A3 (en
Inventor
Orlando VARGAS
Eladio ARAÚZ
Lus Mery GONZÁLEZ
Original Assignee
Colegio De Ingenieros Agronomos De Panamá
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 Colegio De Ingenieros Agronomos De Panamá filed Critical Colegio De Ingenieros Agronomos De Panamá
Publication of WO2018134803A2 publication Critical patent/WO2018134803A2/en
Publication of WO2018134803A3 publication Critical patent/WO2018134803A3/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

Definitions

  • the present invention can be included within the technical field of agriculture.
  • the object of the invention relates to a brush cutter for herbaceous plants, but not limited to them.
  • an autonomous brush cutter with continuous movement for clearing herbaceous plants which has controllers for actuating: drive and bearing mechanisms; and a cutting system.
  • the controllers act together with different devices, without being limited to them, in order to be located geographically through the GPS.
  • they receive and send information by means of a radio transmitter in order to execute tasks such as: moving the cutting and movement system and receiving data through the surrounding sensors, such as indications, in order to define the cutting height, but without being limited to it.
  • the main objective of the invention is to provide a brush cutter, in other words, a device for performing weed-cutting jobs, with the capacity to be autonomous and have continuous mobility.
  • Another objective of the present invention is to provide a high-performance brush cutter, with an internal combustion engine, so it has the necessary power when performing the hard cutting work in areas with abundant weeds.
  • Another objective of the present invention is to provide multifunctionality in cutting jobs, since it enables cutting in difficult areas by varying cutting heights according to the topographies of the terrain.
  • Another objective of this invention is to provide a brush cutter with high quality and durability in the components thereof.
  • Another objective of our invention is to provide a brush cutter that performs movements with predetermined distances and directions.
  • the brush cutter as described has a remote control operating system and at least one actuating button to control the functions of the brush cutter.
  • Another objective of the present invention is that the brush cutter functions manually or automatically, as ordered by the user.
  • the brush cutter of the invention comprises the following elements: - frame with wheels;
  • Figure 1 Shows a schematic plan view of the brush cutter of the invention.
  • Figure 2 Shows a diagram of the power system, which includes: internal combustion engine; automatic transmission; electric generator; cutting system; electrical system and suspension, drive and bearing system.
  • Figure 3 Shows a diagram of the integrated electrical system that provides energy to the controllers, radio transmitters, GPS and sensors.
  • Figure 4 Shows a diagram of the controllers, which can exchange or send information with the GPS, radio transmitters, remote control, actuator for steering lever, user panel, cutting actuator, without being limited to these.
  • the invention relates to an autonomous brush cutter with continuous movement, which enables cutting weeds, both herbaceous and semi-arboreal ones, by means of a vehicle equipped with a cutting system (10), where both the movement of the vehicle, as well as the cutting system (10), have a dual operation mode: they can operate autonomously (in "autopilot” mode) based on information exchanged through radio transmitters (13), referring to positioning, through the GPS (14), and to characteristics of the surroundings, by means of sensors (15); or they can operate while being remotely commanded by a user (18) who uses the controllers (12) based on said information.
  • the machine for cutting weeds (brush cutter) according to the invention comprises a frame (2) that acts as a support for the rest of the elements, as will be explained later in greater detail.
  • Movement wheels are joined to the frame (2) and are equipped with tires (3a), which can be drive wheels and optionally, in an additional manner, driven wheels.
  • the drive wheels in this case are the rear wheels, although they could also be the front ones, or even both the front and the rear ones.
  • An internal combustion engine (1 ) provides separate actuation both for an automatic transmission system (7), connected to the wheels in order to enable the machine to be moved (forward, backward, turning), and for a cutting system (10).
  • the transmission system (7) is connected to a drive system (7a).
  • common elements can be used, such as a bearing (3) housed in the tire (3a) of each drive wheel, which is in turn connected with the drive shaft (4) coupled to the transmission system (7) by means of gears.
  • the engine (1 ) is also connected to the cutting system (10), as well as an electric generator that powers an integrated electrical system (9), which in turn powers controllers (12), radio transmitters (13), the GPS (14) and sensors (15).
  • the GPS (14) provides localization and geographic location in order to determine the trajectory of the machine.
  • the sensors detect information from the surroundings in order to determine the movement of the machine and the actuation of the cutting system (10).
  • the controllers (12) enable the movement of the machine and the actuation of the cutting system (10) to be controlled based on the information supplied by the GPS (14) and the sensors (15).
  • the user (18) can select between a manual remote actuation and "autopilot" operations in autonomous mode.
  • Figure 1 shows an internal combustion engine (1 ) which provides power to actuate the autonomous brush cutter with continuous movement, both for the automatic transmission (7) and the cutting system (10).
  • the automatic transmission (7) transmits the force to the drive system (7a) in order to move the device forwards or backwards.
  • the lightweight frame (2) is the structure that supports the physical components of the device and enables the integrity and mobility thereof.
  • the drive system (7a) and bearing (3) integrated into the tires (3a) are connected to a drive shaft mechanism (4) coupled to the automatic transmission (7) by means of a pilot shaft with gear coupling.
  • FIG. 2 indicates the devices that make up the engine (1 ) that transmits the power through the automatic transmission (7) to the suspension system (1 1 ) of the drive and to the cutting system (10); to the electric generator that carries energy to the integrated electrical system (9).
  • Figure 3 shows a diagram of the integrated electrical system (9) providing energy to the controllers (12), radio transmitters (13), GPS (14) and sensors (15); furthermore, it distributes and regulates the electrical flow to the distinct devices.
  • FIG 4 the devices that receive energy from the integrated electrical system are described, without being limited to them: GPS (14), radio transmitters (13), sensors (15) and controllers (12).
  • the operations of the devices responsible for the autonomy of the equipment is handled by the controllers (12).
  • the radio transmitter (13) sends signals to the couplers of the cutting system (10) and of the direction of the device in order to achieve the action thereof.
  • the GPS (14) provides the localization and geographic location of the device, useful for determining the trajectory thereof, and the sensors (15) gather, transmit and receive useful information from the surroundings that enable the work of the brush cutter to be determined through the remote control (17) and the actuator (16) of the cutting system (10). These commands are actuated by the user (18), who dictates by means of the actuation of a button whether the automatic or manual mode is to be used.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Guiding Agricultural Machines (AREA)

Abstract

The invention comprises: frame with wheels; internal combustion engine; engine-powered transmission system, for moving the brush cutter forwards and backwards and turning it; engine-powered cutting system for cutting weeds; GPS; sensors for detecting conditions of the surroundings of the brush cutter; radio transmitter for transmitting information taken by the GPS and sensors; controllers for autonomously controlling the movement of the brush cutter and the actuation of cutting means according to information received from the radio transmitter; battery for powering the GPS, sensors, radio transmitter and controllers; and switch for selecting controller operations from between remote manual and autonomous (autopilot) modes. It provides an autonomous brush cutter, with continuous movement, high yield and high performance, for areas with dense weeds of variable height, as well as increased durability.

Description

AUTONOMOUS BRUSH CUTTER WITH CONTINUOUS MOVEMENT
OBJECT OF THE INVENTION
The present invention can be included within the technical field of agriculture.
More specifically, the object of the invention relates to a brush cutter for herbaceous plants, but not limited to them.
BACKGROUND OF THE INVENTION
Current devices for cutting herbaceous plants (also referred to as clearing) require systems for coupling to a device with an operator, which increases the costs. The present invention applies a new concept by means of the implementation of programmable remote controllers and continuous autonomous operations for the optimal maintenance of green areas.
There are patented inventions with characteristics similar to the present invention, such as:
Detecting structures in fields by a device that is guided by an on-site operator U.S. Pat. No. 8,706,341 (Madsen). The present invention concept differs from the reference and is improved due to it not requiring an on-site operator.
Remotely controlling the vehicle in response to a boundary, as described in US
8,635,01 1 (Matthew). For the present invention, it will be programmed beforehand with the starting point, the trajectory of the device and the end cutting point, due to the fact that it maintains cutting autonomy and continuous mobility on the terrain with logical movement applications.
A system for controlling the trajectory of a pair of vehicles and safe stopping systems in coordination with the other is disclosed in US 8,306,727 (Marselli). Several brush cutters operate jointly by means of action areas defined previously by GPS devices and a topographic sensor, which enables obstacles to be evaded and adverse situations to be identified, which the equipment resolves by means of programmable logical sequences.
DESCRIPTION OF THE INVENTION
In the present invention an autonomous brush cutter with continuous movement for clearing herbaceous plants is described, which has controllers for actuating: drive and bearing mechanisms; and a cutting system. The controllers act together with different devices, without being limited to them, in order to be located geographically through the GPS. In particular, they receive and send information by means of a radio transmitter in order to execute tasks such as: moving the cutting and movement system and receiving data through the surrounding sensors, such as indications, in order to define the cutting height, but without being limited to it.
The main objective of the invention is to provide a brush cutter, in other words, a device for performing weed-cutting jobs, with the capacity to be autonomous and have continuous mobility.
Another objective of the present invention is to provide a high-performance brush cutter, with an internal combustion engine, so it has the necessary power when performing the hard cutting work in areas with abundant weeds.
Another objective of the present invention is to provide multifunctionality in cutting jobs, since it enables cutting in difficult areas by varying cutting heights according to the topographies of the terrain.
Another objective of this invention is to provide a brush cutter with high quality and durability in the components thereof.
Another objective of our invention is to provide a brush cutter that performs movements with predetermined distances and directions.
Another objective of our invention is that the brush cutter as described has a remote control operating system and at least one actuating button to control the functions of the brush cutter.
Another objective of the present invention is that the brush cutter functions manually or automatically, as ordered by the user.
In particular, the brush cutter of the invention comprises the following elements: - frame with wheels;
- internal combustion engine;
- engine-powered transmission system, for moving the brush cutter forwards, backwards and turning it;
- engine-powered cutting system, for cutting the weeds;
- GPS;
- sensors for detecting conditions of the surroundings of the machine;
- radio transmitter for transmitting information taken by the GPS and the sensors;
- controllers for controlling the movement of the machine and the actuation of the cutting means in an autonomous manner based on the information received from the radio transmitter;
- battery for powering the GPS, the sensors, the radio transmitter and the controllers; and
- switch for selecting the operations of the controllers between remote manual and autonomous (autopilot) modes.
DESCRIPTION OF THE DRAWINGS
As a complement to the description provided herein, and for the purpose of helping to make the characteristics of the invention more readily understandable, in accordance with a preferred practical exemplary embodiment thereof, a set of figures is attached as an integral part of said description, where by way of illustration and not limitation, the following is represented:
Figure 1 : Shows a schematic plan view of the brush cutter of the invention. Figure 2: Shows a diagram of the power system, which includes: internal combustion engine; automatic transmission; electric generator; cutting system; electrical system and suspension, drive and bearing system.
Figure 3: Shows a diagram of the integrated electrical system that provides energy to the controllers, radio transmitters, GPS and sensors.
Figure 4: Shows a diagram of the controllers, which can exchange or send information with the GPS, radio transmitters, remote control, actuator for steering lever, user panel, cutting actuator, without being limited to these.
PREFERRED EMBODIMENT OF THE INVENTION
A detailed description of a preferred exemplary embodiment of the autonomous brush cutter with continuous movement object of the present invention is provided below with the help of the attached figures 1 -4 mentioned above.
The invention relates to an autonomous brush cutter with continuous movement, which enables cutting weeds, both herbaceous and semi-arboreal ones, by means of a vehicle equipped with a cutting system (10), where both the movement of the vehicle, as well as the cutting system (10), have a dual operation mode: they can operate autonomously (in "autopilot" mode) based on information exchanged through radio transmitters (13), referring to positioning, through the GPS (14), and to characteristics of the surroundings, by means of sensors (15); or they can operate while being remotely commanded by a user (18) who uses the controllers (12) based on said information.
The machine for cutting weeds (brush cutter) according to the invention comprises a frame (2) that acts as a support for the rest of the elements, as will be explained later in greater detail.
Movement wheels, for example, are joined to the frame (2) and are equipped with tires (3a), which can be drive wheels and optionally, in an additional manner, driven wheels. The drive wheels in this case are the rear wheels, although they could also be the front ones, or even both the front and the rear ones.
An internal combustion engine (1 ) provides separate actuation both for an automatic transmission system (7), connected to the wheels in order to enable the machine to be moved (forward, backward, turning), and for a cutting system (10).
In order to move the brush cutter (forward-backward-turning), the transmission system (7) is connected to a drive system (7a). In particular, common elements can be used, such as a bearing (3) housed in the tire (3a) of each drive wheel, which is in turn connected with the drive shaft (4) coupled to the transmission system (7) by means of gears.
The engine (1 ) is also connected to the cutting system (10), as well as an electric generator that powers an integrated electrical system (9), which in turn powers controllers (12), radio transmitters (13), the GPS (14) and sensors (15). The GPS (14) provides localization and geographic location in order to determine the trajectory of the machine. The sensors detect information from the surroundings in order to determine the movement of the machine and the actuation of the cutting system (10). The controllers (12) enable the movement of the machine and the actuation of the cutting system (10) to be controlled based on the information supplied by the GPS (14) and the sensors (15). The user (18) can select between a manual remote actuation and "autopilot" operations in autonomous mode.
Figure 1 shows an internal combustion engine (1 ) which provides power to actuate the autonomous brush cutter with continuous movement, both for the automatic transmission (7) and the cutting system (10). The automatic transmission (7) transmits the force to the drive system (7a) in order to move the device forwards or backwards. The lightweight frame (2) is the structure that supports the physical components of the device and enables the integrity and mobility thereof. The drive system (7a) and bearing (3) integrated into the tires (3a) are connected to a drive shaft mechanism (4) coupled to the automatic transmission (7) by means of a pilot shaft with gear coupling.
The diagram shown in Figure 2 indicates the devices that make up the engine (1 ) that transmits the power through the automatic transmission (7) to the suspension system (1 1 ) of the drive and to the cutting system (10); to the electric generator that carries energy to the integrated electrical system (9). Figure 3 shows a diagram of the integrated electrical system (9) providing energy to the controllers (12), radio transmitters (13), GPS (14) and sensors (15); furthermore, it distributes and regulates the electrical flow to the distinct devices.
In Figure 4 the devices that receive energy from the integrated electrical system are described, without being limited to them: GPS (14), radio transmitters (13), sensors (15) and controllers (12). The operations of the devices responsible for the autonomy of the equipment is handled by the controllers (12). The radio transmitter (13) sends signals to the couplers of the cutting system (10) and of the direction of the device in order to achieve the action thereof. The GPS (14) provides the localization and geographic location of the device, useful for determining the trajectory thereof, and the sensors (15) gather, transmit and receive useful information from the surroundings that enable the work of the brush cutter to be determined through the remote control (17) and the actuator (16) of the cutting system (10). These commands are actuated by the user (18), who dictates by means of the actuation of a button whether the automatic or manual mode is to be used.

Claims

1 . An automatic brush cutter with continuous movement, comprising:
- frame and wheels;
- internal combustion engine;
- engine-powered transmission system, for moving the brush cutter forwards, backwards and turning it;
- engine-powered cutting system, for cutting the weeds;
- GPS;
- sensors for detecting conditions of the surroundings of the brush cutter;
- radio transmitter for transmitting information taken by the GPS and the sensors;
- controllers for controlling the movement of the machine and the actuation of the cutting means in an autonomous manner based on the information received from the radio transmitter;
- battery for powering the GPS, the sensors, the radio transmitter and the controllers; and
- switch for selecting the operations of the controllers between remote manual and autonomous (autopilot) modes.
2. The brush cutter of claim 1 , which further comprises a drive system connected to the transmission system, for moving the brush cutter forwards, backwards or turning it.
3. The brush cutter of claim 2, where the drive system is integrated into tires of the wheels, as well as being connected to a drive shaft mechanism coupled to the transmission system by means of a pilot shaft with gear coupling.
PCT/IB2018/053467 2018-04-13 2018-05-17 Autonomous brush cutter with continuous movement WO2018134803A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
PA9211101 2018-04-13
PA92111 2018-04-13

Publications (2)

Publication Number Publication Date
WO2018134803A2 true WO2018134803A2 (en) 2018-07-26
WO2018134803A3 WO2018134803A3 (en) 2018-11-01

Family

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Application Number Title Priority Date Filing Date
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Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5204814A (en) * 1990-11-13 1993-04-20 Mobot, Inc. Autonomous lawn mower
US5666792A (en) * 1994-12-30 1997-09-16 Mullins; Donald B. Remotely guided brush cutting, chipping and clearing apparatus and method
US5974347A (en) * 1997-03-14 1999-10-26 Nelson; Russell G. Automated lawn mower
US20100106344A1 (en) * 2008-10-27 2010-04-29 Edwards Dean B Unmanned land vehicle having universal interfaces for attachments and autonomous operation capabilities and method of operation thereof
EP3682725A1 (en) * 2014-01-21 2020-07-22 Positec Power Tools (Suzhou) Co., Ltd Automatic lawnmower

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