US20060236669A1 - Modular vehicle system having engine unit and mower unit for communication therewith - Google Patents
Modular vehicle system having engine unit and mower unit for communication therewith Download PDFInfo
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- US20060236669A1 US20060236669A1 US11/473,255 US47325506A US2006236669A1 US 20060236669 A1 US20060236669 A1 US 20060236669A1 US 47325506 A US47325506 A US 47325506A US 2006236669 A1 US2006236669 A1 US 2006236669A1
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- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
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- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Harvester Elements (AREA)
Abstract
A modular vehicle system comprises an engine unit and an engine management controller associated with the engine unit. A throttle actuator is associated with the engine management controller to control a throttle setting of an engine unit. A mower unit is associated with mower electronics. A blade clutch actuator activates or deactivates a cutting blade of the mower unit. A transmission line supports communications between the engine management controller and the mower electronics to support remote control mowing or unmanned mowing activities.
Description
- This invention relates to a modular vehicle system having an engine unit and a mower unit for communication therewith.
- A modular vehicle system may include an engine unit for propulsion and an implement unit. If an operator is manning or supervising a modular vehicle, the status of the implement may be observed visually, aurally or through gauges on an instrument panel. However, if an operator is not manning a modular vehicle or if the operator is impaired or distracted, there is a need provide technology that is a proxy for the observations, reactions, and control of the operator. Thus, there is a need for a modular vehicle system having an engine unit and a mower unit for communication therewith that supports unmanned operation or assistance to manned operation.
- A modular vehicle system comprises an engine unit and a mower unit. The mower unit and the engine unit communicate via a wireless or wire-line communications link. The mower unit may transmit status data to the engine unit on activation or deactivation of the cutting blade of the mower unit via the communications link. If the mower unit and the engine unit are mechanically disconnected, an operation of the mower is stopped or other precautionary measures are undertaken.
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FIG. 1 is a block diagram of a first embodiment of a modular vehicle system that is suitable for remote control of mowing by a user. -
FIG. 2 is a block diagram of a second embodiment of a modular vehicle system that is suitable for unmanned mowing. -
FIG. 3 is a block diagram of mower electronics in accordance with the modular vehicle system ofFIG. 1 andFIG. 2 -
FIG. 4 is a first example of a method for managing the unmanned operation of a modular vehicle system. -
FIG. 5 is a block diagram of a third embodiment of a modular vehicle system. -
FIG. 6 is a block diagram of a fourth embodiment of a modular vehicle system. -
FIG. 7 is a second example of a method for managing the unmanned operation of a modular vehicle system. - “Vehicle” shall refer to the modular vehicle system that includes a mower unit and an engine unit. The mower unit may be pulled by the engine unit, pushed by the engine unit, supported by the engine unit or otherwise integrated with the engine unit. A “communications link” refers to a transmission line that supports the transmission of an electrical or electromagnetic signal or wireless transceivers that communicate via an electromagnetic signal. “Status data” may relate to the operation or performance of the mower unit, the engine unit or both. A “status signal” refers to a transmission or continuity check signal (e.g., a pulse, a direct current signal, a modulated carrier or an audio tone) sent over a communications link between the mower unit and the engine unit to test the integrity of the communications link (e.g., transmission line, wireless communications link or other communications channel).
- In
FIG. 1 , a modular vehicle comprises anengine unit 11 coupled to amower unit 13. In one embodiment, theengine unit 11 tows, pushes or pulls themower unit 13. Theengine unit 11 comprisesvehicular electronics 10, apropulsion system 114, asteering system 118, and abraking system 116. Themower unit 13 comprisesmower electronics 22 and a mechanical mowing assembly. Themower electronics 22 communicates with thevehicular electronics 10 via a communications link (e.g., transmission line 23). - A
user interface 24 supports the entry or selection of input data for at least one of thevehicular electronics 10 andmower electronics 22. Theuser interface 24 may also support the display of output or status data to a user with respect to thevehicular electronics 10 and themower electronics 22. In one embodiment, theuser interface 24 communicates to thevehicular electronics 10 via a pair oftransceivers 26. Onetransceiver 26 is co-located with theuser interface 24, whereas theother transceiver 26 is co-located with thevehicular electronics 10. The pair oftransceivers 26 may use a modulation scheme, which is resistant to jamming or interference, such as frequency-hopping spread-spectrum (FHSS) or code-division multiple-access (CDMA). - In the embodiment of
FIG. 1 , thevehicular electronics 10 comprises a tele-operation controller 14. The tele-operation controller 14 further comprises acommand module 16, astatus module 18, and asafety module 20. Thecommand module 16 facilitates the forwarding of user commands entered or inputted via theuser interface 24 to at least one of thepropulsion system 114, thesteering system 118,braking system 116, and themower unit 13. Thestatus module 18 supports transmitting status information (e.g., feedback) on at least one of the following to a user interface 24: thepropulsion system 114,steering system 118,braking system 116,mower electronics 22, andmower unit 13. Thesafety module 20 may stop or change the course of the vehicle to avoid striking an obstacle or person or entering into a hazardous zone. Thesafety module 20 may over-ride user input from theuser interface 24, if necessary for safety reasons. - For remote control operation of the modular vehicle, a
user interface 24 is coupled to atransceiver 26 supporting remote control of at least one of the emergency stopping movement of the mower, emergency stopping of the cutting blade, adjustment of mowing height, activating rotation of the cutting blade, deactivating rotation of the cutting blade, and detecting an obstacle around the mower. - In one embodiment, the
transmission line 23 comprises one or more of the following: coaxial cable, flexible coaxial cable, a cord, a cable assembly, a bundle of wires, an optical transmission line, and a wiring harness. The transmission line may be associated with one or moreelectrical connectors 21. For example, anelectrical connector 21 may comprise a firstelectrical connector portion 115 that mates with a secondelectrical connector portion 117, where the firstelectrical connector portion 115 is associated with the engine unit (e.g., 11) and wherein the second electrical connector portion is associated with themower unit 13. The firstelectrical connector portion 115 may be male or female or otherwise capable of mating with or interlocking with the secondelectrical connector portion 117. Ethernet or other communication standards or protocol may be used for communications via thetransmission line 23 between theengine unit 11 and themower unit 13. - The
vehicular electronics 10, themower electronics 22, or both are arranged to electro-mechanically, mechanically, electrically, optically, electromagnetically or ultrasonically sense whether theengine unit 11 is mechanically connected to or disconnected from themower unit 13. The connection may be realized by hitching or connecting theengine unit 11 to themower unit 13. Further, an emergency-stop of themower unit 13 is provided by a cord or electrical connection between theengine unit 11 andmower unit 13 that removes electrical power to themower unit 13 if it is not connected to theengine unit 11. - The
vehicular electronics 101 ofFIG. 2 differ from thevehicular electronics 10 ofFIG. 1 . InFIG. 2 , thevehicular electronics 101 is configured for unmanned operation or user-assisted operation, whereas thevehicular electronics 10 ofFIG. 2 support wireless remote control or tele-operation by a user. Thevehicular electronics 101 comprises anautonomous vehicle controller 102 that receives input data (e.g., status data) from any of the following: one ormore sensors 110, a location-determiningreceiver 112, themower unit 13, and themower electronics 22. One of thesensors 110 may comprise an ultrasonic or laser sensor, for example. The location-determiningreceiver 112 may comprise a Global Positioning System (GPS) receiver, with or without differential correction. Theautonomous vehicle controller 102 provides output data (e.g., command data) to one or more of the following: apropulsion system 114, abraking system 116, asteering system 118,mower electronics 22, and amower unit 22. Theautonomous vehicle controller 102 communicates with themower electronics 22 via atransmission line 23, such as a cable or a wiring harness. - A
user interface 120 is coupled to atransceiver 26. Thetransceiver 26 communicates with anothertransceiver 26 associated with thevehicular electronics 101 via an electromagnetic signal (e.g., radio frequency signal). For example, theuser interface 120 andtransceivers 26 may support the issuance of a command by a user to stop the vehicle, to stop mowing, to stop a blade from rotating, to turn off the vehicle or to take another safety measure or precaution. The autonomous controller processes commands received from theuser interface 120 via the transceivers 122. - For unmanned operation of the modular vehicle, a location-determining
receiver 112 determines a location of theengine unit 111 or the modular vehicle system. Apath planning 104 module establishes a planned path for theengine unit 111 or the modular vehicle system. Anavigation 106 module guides the vehicle along the planned path based on the determined location of theengine unit 111 or vehicle. Anobstacle detection 108 module detects obstacles in at least one of the planned path and a defined region about the vehicle. -
FIG. 3 illustrates amower unit 13 in greater detail thanFIG. 1 andFIG. 2 . Themower unit 13 comprises aninternal combustion engine 150 associated withmower electronics 22. Theinternal combustion engine 22 may be configured to drive or rotate one or more cutting blades of themower unit 13. Themower electronics 22 comprises acontroller 172. In one embodiment, the controller comprises anengine management controller 174 and amower controller 176, although various single-processor and multiple-processor architectures may be used to carry out the invention. - The
engine management controller 174 receives input data from one or more sensors and sends output data (e.g., command data), responsive to the input data, to one or more actuators. In one embodiment, the sensors associated with theengine management controller 174 comprise one or more of the following: an electricalbus voltage sensor 156, an engine speed sensor 158 (e.g., RPM sensor), anengine temperature sensor 160, and arun time meter 162. The actuators associated with theengine management controller 174 comprise one or more of the following: throttle actuator 152 (e.g., a throttle control servo), a choke actuator 154 (e.g., a choke control servo), and an engine disable switch (e.g., fuel supply or electrical cut-off switch for the internal combustion engine). - The
engine speed sensor 158 may comprise a tachometer or another device for measuring the revolutions per unit time of a shaft (e.g., a crankshaft) of theinternal combustion engine 150. Theengine temperature sensor 160 may sense the temperature of an engine block, coolant or a lubricant associated with theinternal combustion engine 150. The run-time meter 162 may provide a record of cumulative duration of engine operation over the life time of theinternal combustion engine 150 or a per session duration of engine operation. - The
throttle actuator 152 controls a throttle setting of theinternal combustion engine 150. In one embodiment, thethrottle actuator 152 has a throttle position or setting that is controlled by pulse width modulation (PWM). Thechoke actuator 154 may control an intake air flow to theinternal combustion engine 150. - In one embodiment, the engine management sensors and actuators may be coupled to the
engine management controller 174 via a databus or directly to theengine management controller 174 via discrete conductors. A sensor may provide an analog or a digital output. Accordingly, if a sensor provides an analog output, an analog-to-digital converter may be interposed between the analog sensor and theengine management controller 174 to provide a digital signal to theengine management controller 174. - The
mower controller 176 receives input data (e.g., status data) from one or more sensors and sends output data (e.g., command data), responsive to the input data, to one or more actuators. In one embodiment, the sensors associated with themower controller 176 comprise: an emergency stop switch 164 (e.g., emergency stop, pull rope) and anobstacle detection sensor 170. The actuators associated with themower controller 176 comprise one or more of the following: a blade clutch actuator 166 (e.g., a blade clutch servo) and a mow height actuator 168 (e.g., mow height servo). The bladeclutch actuator 166 is associated with themower electronics 22 and supports the coupling or decoupling of the blade from a rotational energy source (e.g., the shaft of an internal combustion engine 150). Themow height actuator 168 supports adjustment of a cutting height of the cutting blades. - The
controller 172 of themower unit 13 communicates with the engine unit (e.g., 11 or 111). For example, thecontroller 172 of themower unit 13 may communicate with the autonomousvehicular controller 102 ofFIG. 2 or with the tele-operation controller 14 ofFIG. 1 . -
FIG. 4 is a method of managing the modular vehicle system for unmanned operation. The method begins with step S100. - In step S100, an engine unit (e.g., 11 or 111) is provided and has a first
electrical connector portion 115. - In step S102, a mower unit (e.g., 13) is provided and has a second electrical connector portion for engaging (or electromagnetically or electrically communicating with) the first
electrical connector portion 117. - In step S104, the engine unit (e.g., 11 or 111) and the mower unit (e.g., 13) are mechanically joined or coupled to form a modular vehicle system and to form an electrical connection or electromagnetic connection between the first
electrical connector portion 115 and the secondelectrical connector portion 117. - In step S106,
mower electronics 22, themower controller 176 or theengine management controller 174 determines if the electrical connection or electromagnetic connection formed in step S104 is or has been broken or provides a deficient communications channel. A deficient communications channel means that no electrical current or electromagnetic energy is conducted through thetransmission line 23 between the mower unit and the engine unit because of the lack of a complete direct current circuit or a complete alternating current circuit. If the electrical connection or electromagnetic connection has been broken or provides a deficient communications channel, the method continues with step S108. If the electrical connection has not been broken or provides an adequate communications channel, the method continues with step S110. - In one embodiment, the mower unit (e.g., 13) may include a signal generator that transmits a status signal over the communications link (e.g., transmission line) between the engine unit (e.g., 11 or 111) and the mower unit. If the vehicular electronics does not receive the transmitted status signal from the engine unit, the continuity of the electrical or electromagnetic connection is broken (i.e., the communications channel is deficient).
- In step S108, the
mower electronics 22, themower controller 176, or theengine management controller 174 stops an operation of themower unit 13. For example, at least one of themower electronics 22, themower controller 176, and theengine management controller 174 may send a command to execute any of the following actions: (a) disengaging the mower blade, (b) activating the blade clutch or the bladeclutch actuator 166 to withdraw rotational power from the blade, (c) stopping the rotation of the blade via theclutch actuator 166 or otherwise, (d) changing the throttle setting via thethrottle actuator 152 to reduce or eliminate the flow of fuel to theinternal combustion engine 150, (e) switching off high voltage provided to one or more spark plugs of theinternal combustion engine 150, (f) shutting off electrical energy provided to an electrical system (e.g., high voltage coil) of theinternal combustion engine 150 or (g) turning off theinternal combustion engine 150. - In step S110, at least one of the
mower electronics 22, thecontroller 172, theengine management controller 174, and themower controller 176 transmits status data on the operation of themower unit 13 from at least one sensor of the mower unit to the engine unit (11 or 111). The status data is transmitted from themower unit 13 to the engine unit (11 or 111) via the electrical connection formed in step S104. The method continues with step S106 following step S110. The method may execute any number of loops between step S110 and step S106 until the loop is interrupted by breaking or discontinuity of the electrical connection in step S106. -
FIG. 5 illustrates a configuration of a modular vehicle system that is similar to that ofFIG. 1 , except theengine unit 211 and amower unit 213 are associated with wireless transceivers (124, 125) that support wireless communication between thevehicular electronics 10 and themower electronics 22. Like reference numbers inFIG. 5 andFIG. 1 indicate like elements. Thefirst wireless transceiver 124 and thesecond wireless transceiver 125 ofFIG. 5 replace thetransmission line 23 and associated wire-line communications ofFIG. 1 . The wireless transceivers (124, 125) may comprise Blue-tooth devices, unlicensed code-division multiple access devices or other communication devices. Bluetooth is a wireless communications protocol that may be applied to the replacement of wires or cables with a short-range wireless communications equipment. -
FIG. 6 illustrates a configuration of a modular vehicle system that is similar to that ofFIG. 2 , except theengine unit 311 and amower unit 213 are associated with wireless transceivers (124, 125) that support wireless communication between thevehicular electronics 10 and themower electronics 22. Like reference numbers inFIG. 2 andFIG. 6 indicate like elements. The wireless transceivers (124, 125) ofFIG. 6 replace the transmission line ofFIG. 2 . The wireless transceivers may comprise Blue-Tooth devices, unlicensed code-division multiple access devices or other communication devices. -
FIG. 7 is a method of managing the modular vehicle system for unmanned operation. The method begins with step S200. - In step S200, an engine unit (e.g., 211 or 311) is provided having a first wireless communications device (e.g., a first wireless transceiver 124).
- In step S202, a mower unit (e.g., 213) is provided having a second wireless communications device (e.g., a second wireless transceiver 125).
- In step S204, the engine unit (211 or 311) and the
mower unit 213 are joined to form a modular vehicular system. - In step S206, a communications link is formed between the first wireless communications device and the second wireless communications device upon or after detection of the mechanical joining. For example, the engine unit and the mower unit may be hitched or removably fastened together. The communications link may represent a simplex, duplex, two-way or one-way communications channel that is established in a continuous, regular or intermittent basis.
- In step S208, at least one of the
mower electronics 22, thecontroller 172, theengine management controller 174, and themower controller 176 transmits status data on the operation of themower unit 13 from at least one sensor of themower unit 13 to the engine unit (211 or 311). For example, themower unit 13 transmits the status data from the secondwireless communications device 125 to the firstwireless communications device 124 via an electromagnetic signal (e.g., a radio frequency signal). - In step S210, the
mower electronics 22 determines if a timer has expired. If the time has expired, the method continues with step S212. However, if the timer has not expired, the method continues with step S208. - In step S212, the
mower electronics 22 determines if the mechanical connection between the engine unit (211 or 311) and themower unit 213 is absent or present. If the mechanical connection is present, the method continues with step S208. However, if the mechanical connection is absent, the method continues with step S214. - In step S214, an operation of the mower unit is stopped. Contrary to the method of
FIG. 4 , the stopping of the mower can be initiated by thevehicular electronics 10, themower electronics 22, or both because of the communications link between the firstwireless communications device 124 and the secondwireless communications device 125. Accordingly, step S214 may be accomplished by various alternate and cumulative techniques. Under a first technique, thesafety module 20 of the tele-operation controller 14 sends command data to themower electronics 22 via the communications link (e.g., via thefirst wireless transceiver 124 and the second wireless transceiver 125) to do one or more of the following actions: to stop the operation of themower unit 213, to stop the rotation of one or more mower blades of themower unit 213, to shut-off theinternal combustion engine 150 of themower unit 213, to stop themower unit 213 from moving, to activate the bladeclutch actuator 166, and to actuate theobstacle detection sensor 170. - Under a second technique, the vehicular module of the engine unit (211 or 311) sends command data to the
mower electronics 22 via the communications link (124, 125) to do one or more of the following actions: to stop the operation of themower unit 213, to stop the rotation of one or more mower blades of themower unit 213, to shut off theinternal combustion engine 150 of themower unit 213, or to stop themower unit 213 from moving. - Under a third technique, the
mower electronics 22, theengine management controller 174, themower controller 176 or thecontroller 172 of themower unit 213 sends command data to do one or more of the following actions: to stop the operation of themower unit 213, to stop the rotation of one or more mower blades of themower unit 213, to shut off theinternal combustion engine 150 of themower unit 213, or to stop the mower unit from moving. - The invention may be configured such that the engine unit tows the mower unit behind the engine unit, which is remote-controlled by a user or unmanned. The modular vehicle may be used to mow field perimeters, foliage between tree rows in orchards, vine rows in vineyards, and other applications where unmanned mowing is advantageous.
- Having described the preferred embodiment, it will become apparent that various modifications can be made without departing from the scope of the invention as defined in the accompanying claims.
Claims (22)
1. (canceled)
2. (canceled)
3. (canceled)
4. (canceled)
5. (canceled)
6. (canceled)
7. (canceled)
8. A modular vehicle, the modular vehicle comprising:
an engine unit;
an engine management controller associated with the engine unit;
a throttle actuator associated with the engine management controller;
a mower unit associated with mower electronics;
a blade clutch actuator associated with the mower electronics; and
a transmission line for conveying data between the engine management controller and the mower electronics.
9. The modular vehicle according to claim 8 wherein the transmission line further comprises a connector having a first connector portion associated with the engine unit and a second connector portion associated with the mower unit.
10. The modular vehicle according to claim 8 further comprising:
a user interface;
a transceiver coupled to the user interface and supporting remote control of at least one of the following: emergency stopping of the mower unit, emergency stopping of a blade of the mower unit, adjustment of a mowing height of the mower unit, activating rotation of a blade of the mower unit, deactivating rotation of the blade of the mower unit, directing motion of the mower unit, directing a position of the mower unit, and detecting an obstacle around the mower unit.
11. The modular vehicle according to claim 8 further comprising:
a location determining receiver for determining a location of the engine unit;
a path planning module for establishing a planned path for the engine unit, a navigation module for guiding the vehicle along the planned path based on the determined location,
an obstacle detection module to detect obstacles in at least one of the planned path and a defined region about the mower.
12. The modular vehicle according to claim 8 further comprising:
an obstacle detection sensor for detecting obstacles in a defined region about the mower, the obstacle detection sensor associated with the mower electronics.
13. The modular vehicle according to claim 8 wherein the vehicle electronics further comprises a mower controller for managing at least one of an emergency stop switch, a blade clutch actuator, a mow height actuator, an engine disable switch, and an obstacle detection sensor.
14. (canceled)
15. (canceled)
16. (canceled)
17. (canceled)
18. (canceled)
19. (canceled)
20. (canceled)
21. (canceled)
22. (canceled)
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US12/045,392 US7665283B2 (en) | 2003-10-30 | 2008-03-10 | Modular vehicle system having engine unit and mower unit for communication therewith |
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US11/473,255 US20060236669A1 (en) | 2003-10-30 | 2006-06-22 | Modular vehicle system having engine unit and mower unit for communication therewith |
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Also Published As
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US20080209877A1 (en) | 2008-09-04 |
US20050091953A1 (en) | 2005-05-05 |
US7089721B2 (en) | 2006-08-15 |
US7665283B2 (en) | 2010-02-23 |
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