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1. WO2020117640 - DIFFERENTIAL TRACTION DRIVE WITH STEERING AXIS COORDINATION SYSTEM AND METHOD

Publication Number WO/2020/117640
Publication Date 11.06.2020
International Application No. PCT/US2019/063931
International Filing Date 02.12.2019
IPC
B62D 5/04 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
5Power-assisted or power-driven steering
04electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
B62D 7/04 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
7Steering linkage; Stub axles or their mountings
02for pivoted bogies
04with more than one wheel
B62D 9/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
9Steering deflectable wheels not otherwise provided for
B62D 11/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
11Steering non-deflectable wheels; Steering endless tracks or the like
CPC
A01D 34/008
AHUMAN NECESSITIES
01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
DHARVESTING; MOWING
34Mowers
006Control or measuring arrangements
008for automated or remotely controlled operation
B60W 10/20
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
10Conjoint control of vehicle sub-units of different type or different function
20including control of steering systems
B60W 2300/15
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
2300Indexing codes relating to the type of vehicle
15Agricultural vehicles
B62D 1/283
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
1Steering controls, i.e. means for initiating a change of direction of the vehicle
24not vehicle-mounted
28non-mechanical ; , e.g. following a line or other known markers
283for unmanned vehicles
B62D 11/003
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
11Steering non-deflectable wheels; Steering endless tracks or the like
001control systems
003Electric or electronic control systems
B62D 11/10
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
11Steering non-deflectable wheels; Steering endless tracks or the like
02by differentially driving ground-engaging elements on opposite vehicle sides
06by means of a single main power source
10using gearings with differential power outputs on opposite sides, e.g. with twin-differential or epicyclic gears
Applicants
  • MTD PRODUCTS INC [US]/[US]
Inventors
  • CHANG, Her-Jye
  • SMITH, Aaron
  • MAGGARD, Jay E.
Agents
  • HAWK, Julie D.
  • WORGULL, Jason A.
  • FABRY, Michelle M.
  • HAYES, Charles Andrew
  • PEACOCK, Bruce E.
  • COTTON, Benjamin B.
  • CLAPPER, Matthew
Priority Data
62/774,27902.12.2018US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) DIFFERENTIAL TRACTION DRIVE WITH STEERING AXIS COORDINATION SYSTEM AND METHOD
(FR) ENTRAÎNEMENT DE TRACTION DIFFÉRENTIELLE AVEC SYSTÈME DE COORDINATION D'AXE DE DIRECTION ET PROCÉDÉ
Abstract
(EN)
A system and method for differential traction drive and steering axis coordination for an autonomous mower or other turf device includes initiating a steering motion based on determining a target forward speed and a steering rotational speed, calculating a left wheel speed and a right wheel speed, and applying the left and right wheel speeds, wherein the steering rotational speed is driven by a steering motor and the traction wheels associated with the autonomous mower, and the left and right wheel speeds are based on the target forward speed, a distance from a steering axle to the center of the respective wheel, and the steering rotational speed.
(FR)
Un système et un procédé pour un entraînement de traction différentielle et une coordination d'axe de direction pour une tondeuse autonome ou un autre dispositif à gazon comprend le lancement d'un mouvement de direction sur la base de la détermination d'une vitesse avant cible et d'une vitesse de rotation de direction, le calcul d'une vitesse de roue gauche et d'une vitesse de roue droite, et l'application des vitesses de roue gauche et droite, la vitesse de rotation de direction étant entraînée par un moteur de direction et les roues de traction associées à la tondeuse autonome, et les vitesses de roue gauche et droite étant basées sur la vitesse avant cible, sur une distance d'un axe de direction au centre de la roue respective, et sur la vitesse de rotation de direction.
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