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WO2018154547A2 - Débroussailleuse autonome à mouvement continu et suspension hydraulique indépendante pour chacune des quatre roues - Google Patents

Débroussailleuse autonome à mouvement continu et suspension hydraulique indépendante pour chacune des quatre roues Download PDF

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Publication number
WO2018154547A2
WO2018154547A2 PCT/IB2018/053782 IB2018053782W WO2018154547A2 WO 2018154547 A2 WO2018154547 A2 WO 2018154547A2 IB 2018053782 W IB2018053782 W IB 2018053782W WO 2018154547 A2 WO2018154547 A2 WO 2018154547A2
Authority
WO
WIPO (PCT)
Prior art keywords
wheels
controllers
sensors
gps
brush cutter
Prior art date
Application number
PCT/IB2018/053782
Other languages
English (en)
Other versions
WO2018154547A3 (fr
Inventor
Eladio ARAÚZ
Orlando VARGAS
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 WO2018154547A2 publication Critical patent/WO2018154547A2/fr
Publication of WO2018154547A3 publication Critical patent/WO2018154547A3/fr

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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/70—Services for machine-to-machine communication [M2M] or machine type communication [MTC]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information

Definitions

  • the present invention can be included within the technical field of automated weed cutters. More specifically, the object of the invention relates to a brush cutter for cutting herbaceous and semi-ligneous plants, but not limited to the same.
  • US 2005/0060975 (McClymonds) relates to a remotely controlled mowing device and, more specifically, to radio-controlled devices suitable for the mowing of steep slopes.
  • the present invention differs from that of McClymonds in that it does not require an on-site operator to guide the device and identify the structure of the land, but rather it additionally has topographic sensors for recognizing the terrain, and information is exchanged with the cutting sensors to define the height of the cuts.
  • the user can access the automatic mode by means of a control once the information is remotely introduced in the control box.
  • the brush cutter of the present invention has autonomous continuous movement with independent hydraulic suspension for each of the four wheels, which allows for improved mobility and greater operational safety of the device over irregular topography.
  • US 8,706,341 (Madsen) describes a method of detecting structures in a field by a device controlled by an on-site operator.
  • the brush cutter of the invention differs from the invention by Madsen in that it does not require an on- site operator for detecting structures in a field.
  • US 8,635,01 1 (Matthew) describes a system and method for remotely controlling a vehicle in response to a particular boundary.
  • the present invention is previously programmed to include the starting point, the trajectory of the device and the end cutting point, such that it maintains autonomous cutting with continuous mobility over the terrain and logical applications for movement over irregular terrain due to the capacity thereof to adapt to different slopes provided by the independent hydraulic suspension for the four wheels thereof.
  • a system for controlling the trajectory of a pair of vehicles and safe stopping systems in coordination is disclosed in US 8,306,727 (Marselli). Unlike Marselli's invention, the present invention allows several brush cutters to operate together via action areas previously defined by GPS devices and topographic sensors, which allow obstacles to be avoided and adverse situations to be identified, solved by the equipment by means of programmable logical sequences with a high capacity for adapting to the varying relief of the terrain by the independent suspension devices for each of the four wheels thereof.
  • the present invention applies a new concept by implementing controllers and autonomous continuous operations for maintaining and clearing herbaceous and semi-ligneous weeds in areas that are difficult to access and terrains with an irregular topography.
  • the present invention shows a brush cutter that operates in an autonomous and continuous way, and which has independent hydraulic suspension for each of the four wheels thereof, a tubular frame which contains an internal combustion engine and an automatic transmission box that actuates the drive and bearing mechanisms and the cutting system by means of an automatic clutch.
  • the hydraulic system is made up of a hydraulic pump coupled to the frame and connected to the different hydraulic devices by means of tubes and pressure valves.
  • the independent suspension of each wheel is actuated by means of the hydraulic system, as is the actuator coupler of the hydraulic arm, and by means of the rods of the rotary actuator of the cutting system.
  • a steering actuator with hydraulic rods is also actuated by the hydraulic system and the same in turn actuates the actuator for the steering lever, which allows changes in the steering and turns over the terrain to be carried out.
  • the rear bearing system is coupled to a drive shaft, by means of which the drive system drives an external gear by means of a chain.
  • the controllers act together with different devices without being limited to the same in order to be geographically located by the GPS; they receive and send information by means of the radio transmitter in order to execute the tasks of the device such as: moving the cutting system and the device; and, by means of environmental sensors, they receive data such as indications for the cutting height, without being limited to the same.
  • the main object of the invention is to provide a brush cutter, in other words, a device for carrying out the task of cutting herbaceous and semi- capitaous weeds with capability for autonomous and continuous mobility on irregular terrain due to the inclusion of independent hydraulic suspension for each of the four wheels.
  • Another objective of the present invention is to provide a high- performance brush cutter with an internal combustion engine, since it has the necessary power when performing the hard cutting work in areas with abundant weeds and terrain with considerably irregular topography.
  • Another object of the present invention is to provide a multifunctional device for the tasks of cutting, since it enables cutting in difficult areas, varying the height of the cut according to the topography 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 the present invention is to provide a brush cutter that moves in 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 thereof.
  • Another objective of the present invention is that the brush cutter functions manually or automatically, as controlled by the user.
  • the brush cutter with Autonomous and Continuous Movement is an innovative concept applicable to operations of equipment and machinery operated by programmable remote controllers for actuating the drive mechanism, independent hydraulic suspension system in the bearing, and the cutting system, thereby improving the operation and efficiency thereof on terrains with irregular topography.
  • the programmable remote controllers act together with different devices without being limited to the same, in order to be geographically located by the GPS, and the topographic sensor for the height of the cut will receive and send information by means of the radio transmitter in order to execute the tasks of the device, such as moving the cutting system and the device by means of sensors of the surroundings, receiving data such as indications for the height of the cut, for avoiding obstacles and sounding a warning alarm for adverse situations on the terrain.
  • Figure 1 shows a front elevation view of the autonomous brush cutter with continuous movement and independent hydraulic suspension for each of the four wheels.
  • Figure 2 shows a diagram of the power system.
  • Figure 3 shows a diagram of the integrated electrical system.
  • Figure 4 shows a view of the diagram of the controllers.
  • Figure 5 shows a view of the diagram of the hydraulic system.
  • the invention relates to an autonomous brush cutter with continuous movement and independent hydraulic suspension 012 for each of the four wheels that allows both herbaceous and semi-arboreal weeds located on inclined and/or difficult to access terrain to be cut thanks to the cutting system 013, as well as the movement of the brush cutter, and the hydraulic suspension 012 of the wheels, which selectively operate with dual operation: they can operate in an autonomous way (in "auto-pilot" mode) based on information exchanged through radio transmitters 03a, with regard to positioning, such as GPS 018 and to characteristics of the surroundings (sensors); or they can operate while being remotely commanded by a user who uses the controllers 017, based on said information.
  • the brush cutter according to the invention comprises a frame 010 that serves as a support for the rest of the elements, as will be explained in greater detail below.
  • Wheels for movement are joined to the frame 010 and are equipped with tires 06, which can be drive wheels or driven wheels.
  • the drive wheels are the rear wheels, although they could also be the front wheels, or even both the front and the rear wheels.
  • An internal combustion engine 01 provides separate actuation for both an automatic transmission system 02, connected to the wheels to allow the machine to move (forwards, backwards, turning), as well as also for a cutting system 013, in this case through a hydraulic pump.
  • the automatic transmission system 02 is connected to a drive system 09.
  • common elements can be used, such as a bearing housed in the tire 06 of each drive wheel, which in turn is connected to the drive shaft 08 coupled to the automatic transmission system 02 by means of gears.
  • the combustion engine 01 is also connected to an electric generator 015, which powers an integrated electrical system 016, which in turn powers controllers 017, GPS 018, sensors and radio transmitters 03a.
  • the GPS 018 provides geographic detection and location to determine the trajectory of the brush cutter.
  • the engine 01 is also coupled to a hydraulic pump 014, which in turn powers: the cutting system 013, the hydraulic suspension 012 and the turning, as will be explained below.
  • the hydraulic pump 014 is connected to an individual hydraulic suspension 012 for each one of the wheels, as well as to a hydraulic steering 012 and turning system to allow the brush cutter to turn, and to the cutting system 013, both for producing the actuation of the cutting as well as for providing the height of the cut.
  • the sensors detect information from the surroundings in order to determine the movement of the brush cutter and the actuation of the cutting system 013.
  • the controllers 017 enable the movement of the brush cutter and the actuation of the cutting system 013 to be controlled based on the information provided by the GPS 018 and the sensors.
  • the user 021 can select between a manual remote actuation and "autopilot" operations in autonomous mode.
  • Figure 1 shows an internal combustion engine 01 assembled on the lightweight tubular frame 010, which is the structure that provides support for the physical components of the device and enables the integrity and mobility thereof, as well as the engine 01 , which provides power for driving the autonomous brush cutter with continuous movement and independent hydraulic suspension 012 for each of the four wheels, both for the automatic transmission 02, as well as the cutting system 013.
  • the automatic transmission 02 transmits force to the drive system 09 to move the device forwards or backwards by means of the drive gear 09a and drive chain 09b.
  • the drive system 09 connects to the bearing shaft 07 by means of the drive shaft 08 which couples to the shaft bearing 07 where the tires 06 are coupled.
  • FIG. 2 shows a diagram wherein the hydraulic pump 014 is incorporated into the operation of the brush cutter at a coupling point of the force 014a of the engine 01 , by which the rear hydraulic suspension system 012 and the front hydraulic steering system 012a are activated, which provide stability for the cutting operations on steep slopes according to the information incorporated by the control box 03 based on the data readings of the terrain by the topographic sensor 04 and cutting sensor 05, which emit information through the radio transmitter 03a antenna to the control box 03.
  • the steering system 012 makes it possible to turn and change direction on the terrain and is actuated through the steering actuator with hydraulic rods 01 1 a and the actuator for the steering lever 01 1 b.
  • Figure 2 therefore shows the diagram that indicates the devices that make up the engine 01 which transmits power through the automatic transmission 02, which actuates the drive system 09, and this in turn actuates the drive gear 09a which makes the rear drive shaft 08 rotate by means of the drive chain 09b.
  • the hydraulic pump 014 is actuated through a coupling point between the hydraulic pump 014 and the engine 014a.
  • the engine 01 transmits power to the electric generator 015 which transfers energy to the electrical system 016.
  • Figure 3 shows a diagram that describes the electrical system 016, which distributes and regulates energy to the controllers 017, radio transmitters 019, GPS 018, topographic sensor 04, coupling actuator for the steering lever 021 , coupling actuator of the hydraulic arm 022 and storage battery 015a.
  • FIG. 4 shows details of the controllers 017 and devices that receive energy from the integrated electrical system 016, without being limited to them.
  • the operation of the devices responsible for the autonomy of the machine is managed by the controllers 017.
  • a radio transmitter 019 sends signals to the couplers 013a of the cutting system 013 and of the actuator for steering the hydraulic rods 01 1 a to achieve the action thereof on the terrain.
  • the GPS 018 provides the geographic location and detection of the device useful for determining the trajectory thereof and a topographic sensor 04 determines the relief in order to establish the cutting height.
  • the receiving sensors in the control box 03 collect, transmit and receive useful information from the surroundings which allows the work of the brush cutter to be determined by remote control 020 and the actuator 013a of the cutting system 013, both commands being actuated by the user 021 , who decides by actuating a button if they want to use the automatic or manual mode.
  • Figure 5 shows a diagram of the hydraulic system formed by the hydraulic pump 014 for rear hydraulic suspension 012 and the front suspension system 012a, and the hydraulic coupling actuator 013a of the cutting system 013 and the hydraulic steering actuator 01 1 a are actuated by hydraulic oil pressure pumped by the hydraulic pump 014.
  • a coupling actuator of the hydraulic arm 013a for the cutting system 013 will activate by means of the hydraulic oil pressure, the coupling rod and the rotary actuator for cutting 013b.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Guiding Agricultural Machines (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Harvester Elements (AREA)

Abstract

La présente invention comprend : un cadre comprenant des roues ; un moteur à combustion interne ; une transmission alimentée par le moteur à combustion pour un mouvement des roues vers l'avant et vers l'arrière ; une pompe hydraulique accouplée au moteur ; un système de suspension individuel pour chaque roue, alimenté hydrauliquement ; un système de direction, actionné hydrauliquement pour mettre les roues en rotation ; un système de coupe, alimenté hydrauliquement, pour couper des mauvaises herbes ; un GPS ; des capteurs pour détecter des conditions de l'environnement ; un émetteur radio pour transmettre des informations prises par le GPS et des capteurs ; des dispositifs de commande pour commander de manière autonome le mouvement des roues et le fonctionnement du système en fonction des informations de l'émetteur radio ; un commutateur pour sélectionner le fonctionnement des dispositifs de commande entre un mode manuel et un mode autonome ; et une batterie pour alimenter le GPS, les capteurs, l'émetteur radio et les dispositifs de commande. Il est possible d'utiliser le dispositif sur un terrain incliné et/ou des zones auxquelles il est difficile d'accéder.
PCT/IB2018/053782 2018-05-08 2018-05-28 Débroussailleuse autonome à mouvement continu et suspension hydraulique indépendante pour chacune des quatre roues WO2018154547A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
PA92172 2018-05-08
PA9217201 2018-05-08

Publications (2)

Publication Number Publication Date
WO2018154547A2 true WO2018154547A2 (fr) 2018-08-30
WO2018154547A3 WO2018154547A3 (fr) 2018-11-01

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2018/053782 WO2018154547A2 (fr) 2018-05-08 2018-05-28 Débroussailleuse autonome à mouvement continu et suspension hydraulique indépendante pour chacune des quatre roues

Country Status (1)

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WO (1) WO2018154547A2 (fr)

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
CN107357287A (zh) * 2014-01-21 2017-11-17 宝时得科技（中国）有限公司 自动割草机

Also Published As

Publication number Publication date
WO2018154547A3 (fr) 2018-11-01

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