All wheel drive robotic vehicle with steering brake

Patent metadata

Field	Value
Publication number	US-11498205-B2
Application number	US-201716317244-A
Country	US
Kind code	B2
Filing date	Jul 11, 2017
Priority date	Jul 12, 2016
Publication date	Nov 15, 2022
Grant date	Nov 15, 2022

Abstract

A robotic vehicle ( 10 ) comprising a first chassis platform ( 200 ) comprising a first wheel assembly ( 202 ) and a second chassis platform ( 210 ) comprising a second wheel assembly ( 212 ). The first and second chassis platforms ( 200, 210 ) is arranged to be spaced apart from each other. The robotic vehicle ( 10 ) further comprises a linkage ( 220 ) operably coupled to the first chassis platform ( 200 ) and the second chassis platform ( 210 ). The linkage ( 220 ) being coupled so as to be fixed relative to the first chassis platform ( 200 ) and so that the second chassis platform ( 210 ) is rotatable relative to the first chassis platform ( 200 ), wherein the second chassis platform ( 210 ) comprises a turning axis ( 400 ). Said robotic vehicle ( 10 ) further comprising an electric brake ( 262 ) disposed proximate to a turning shaft ( 422 ) of the linkage ( 220 ). The electric brake ( 262 ) being selectively applied by processing circuitry ( 110 ) to resist turning of the second chassis platform ( 210 ) about the turning axis ( 400 ) and being selectively released to allow the second chassis platform ( 210 ) to turn about the turning axis ( 400 ).

First claim

The invention claimed is:

1. A robotic vehicle comprising:
a first chassis platform comprising a first wheel assembly;
a second chassis platform comprising a second wheel assembly, the first and second chassis platforms being spaced apart from each other;
a linkage operably coupled to the first chassis platform and the second chassis platform, such that the linkage is fixed relative to the first chassis platform, and such that the second chassis platform is rotatable relative to the first chassis platform, wherein the second chassis platform comprises a turning axis;
an electric brake disposed proximate to a turning shaft of the linkage, the electric brake being selectively applied by processing circuitry to resist turning of the second chassis platform about the turning axis and being selectively released to allow the second chassis platform to turn about the turning axis;
wherein the robotic vehicle is configured to operate in:
a first mode, wherein the electric brake is configured to unlock the linkage, thus allowing for rotation of the second chassis platform about the turning axis in order to change an actual turn angle of the robotic vehicle,
a second mode, wherein the electric brake is configured to lock the linkage, thus preventing rotation of the second chassis platform about the turning axis in order to minimize self-steering and instability of the robotic vehicle after the actual turn angle of the robotic vehicle matches a desired turn angle,
wherein the processing circuitry is configured to correct self-steering by selecting the first mode and minimize self-steering and instability of the robotic vehicle by selecting the second mode responsive to detecting that the actual turn angle of the robotic vehicle differs from the desired turn angle of the robotic vehicle.

2. The robotic vehicle according to claim 1 , wherein the first mode is a turning mode and the second mode is a straight traveling mode.

3. The robotic vehicle according to claim 1 , wherein the initial turning indicator is obtained from a turning instruction to be executed by the robotic vehicle.

4. The robotic vehicle according to claim 1 , wherein the robotic vehicle further comprises a sensor configured to communicate with the processing circuitry and obtain the initial turning indicator through detection of a turning indicator value.

5. The robotic vehicle according to claim 4 , wherein the turning indicator configured to be detected by the sensor is the alignment of the first and second chassis platform in relation to each other and the turning indicator value is a change in an alignment value collected from said sensor.

6. The robotic vehicle according to claim 5 , wherein the alignment value detected by the sensor is a change in turning angle about the turning axis of the second chassis platform in relation to the first chassis platform.

7. The robotic vehicle according to claim 1 , wherein the robotic vehicle further comprises a gyroscope, and wherein the initial turning indicator is at least in part obtained from the gyroscope.

8. The robotic vehicle according to claim 1 , wherein the processing circuitry is configured to adjust the steering of second wheel assembly to keep the robotic vehicle in the initial travelling direction.

9. The robotic vehicle according to claim 1 , wherein the turning shaft is mounted to the second chassis platform via a pivot bearing configured to allow pivoting about a pivot axis substantially perpendicular to the turning axis.

10. The robotic vehicle according to claim 9 , wherein the pivot bearing is a ball bearing.

11. The robotic vehicle according to claim 1 , wherein the electric brake is configured to lock the rotation of the linkage by locking the rotation of the turning shaft and said electric brake further comprises a brake disc configured to engage the electric brake.

12. The robotic vehicle according to claim 11 , wherein the electric brake comprises an electromagnet configured to engage the brake disc when applied.

13. The robotic vehicle according to claim 12 , wherein the brake disk is a soft magnet.

14. The robotic vehicle according to claim 12 , wherein response to the electromagnet being energized a magnetic field is reversed.

15. The robotic vehicle according to claim 12 , wherein the brake disc is adapted to be connected to a guide rod allowing the brake disc to travel in response to the application of the electric brake, toward the electric brake, and in response the release of the electric brake, away from the electric brake.

16. The robotic vehicle according to claim 11 , wherein the brake disc and electromagnet comprises an electropermanent magnet.

17. The robotic vehicle according to claim 1 , wherein the electric brake is deenergized when applied and energized when released.

18. The robotic vehicle according to claim 1 , wherein the robotic vehicle is an all wheel driven vehicle with articulated rear wheel steering.

19. A method for controlling a robotic vehicle having a first chassis platform and a second chassis platform being rotatable relative to the first chassis platform, and an electric brake, wherein said robotic vehicle is configured to operate in a first mode, wherein the electric brake is controlled to allow for rotation of the second chassis platform about the turning axis in order to change an actual turn angle of the robotic vehicle, and in a second mode, wherein the electric brake is controlled to prevent rotation of the second chassis platform about the turning axis in order to minimize self-steering and instability of the robotic vehicle after the actual turn angle of the robotic vehicle matches a desired turn angle, wherein the method comprises:
detecting that the actual turn angle of the robotic vehicle differs from the desired turn angle of the robotic vehicle, and
switching operating mode to correct self-steering by selecting the first mode and minimize self-steering and instability of the robotic vehicle by selecting the second mode.

20. The method according to claim 19 , wherein the step of obtaining information of the initial turning indicator comprises obtaining the initial turning indicator from a turning instruction to be executed by the robotic vehicle and wherein the step of switching operating mode for the robotic vehicle comprises switching operating mode for the robotic vehicle from the second mode to the first mode when the initial turning indicator is obtained, whereby the method further comprises:
switching operating mode for the robotic vehicle from the first mode to the second mode when the turning instruction has been executed.

21. The method according to claim 19 , wherein the step of obtaining information of the initial turning indicator comprises obtaining the initial turning indicator through detection of a turning indicator value via a sensor and wherein the step of switching operating mode for the robotic vehicle comprises switching the operating mode for the robotic vehicle from the first mode to the second mode when the turning indicator value is above a turning indicator threshold value, whereby the method further comprises:
switching the operating mode for the robotic vehicle from the second mode to the first mode after a period of time tswitch.

22. The method according to claim 21 , wherein the turning indicator threshold value is a change in turning angle about the turning axis of the second chassis platform ( 210 ) in relation to the first chassis platform is between 1 and 10 degrees.

Assignees

• Husqvarna Ab

Inventors

• Svensson Mats

Classifications

• B62D7/023

  Steering turntables · CPC title

• A01D34/86

  for use on sloping ground, e.g. on embankments {or in ditches}(undercarriages or frames specially adapted for harvesters or mowers A01D67/00; control mechanisms for harvesters or mowers when moving on slopes A01D75/28) · CPC title

• A01D34/008 Primary

  for automated or remotely controlled operation · CPC title

• B25J9/0021 Primary

  All motors in base · CPC title

• B25J9/1661

  characterised by task planning, object-oriented languages · CPC title