WO2018104927A2 - Automomous spider lawnmower robot - Google Patents
Automomous spider lawnmower robot Download PDFInfo
- Publication number
- WO2018104927A2 WO2018104927A2 PCT/IB2018/052115 IB2018052115W WO2018104927A2 WO 2018104927 A2 WO2018104927 A2 WO 2018104927A2 IB 2018052115 W IB2018052115 W IB 2018052115W WO 2018104927 A2 WO2018104927 A2 WO 2018104927A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- cutting
- lawnmower robot
- cutting system
- central body
- autonomous lawnmower
- Prior art date
Links
- 241000239290 Araneae Species 0.000 title abstract description 8
- 244000025254 Cannabis sativa Species 0.000 claims description 7
- 230000007246 mechanism Effects 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 abstract description 3
- 230000005611 electricity Effects 0.000 abstract description 3
- 238000004140 cleaning Methods 0.000 description 3
- 230000009194 climbing Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/835—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes
- A01D34/86—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes for use on sloping ground, e.g. on embankments or in ditches
Definitions
- the present invention may be framed in the garden cleaning field, specifically, in grass maintenance. More particularly, the object of the invention refers to an autonomous robot model of the spider type for cutting the grass and capable of adapting to terrain unevenness,
- Edwin Beard Budding invented and patented the first lawnmower machine. That mower required a completely manual operation as well as human propulsion that made a blade rotate inside a cylinder for cutting all the grass in its path. As years have gone by, techniques have been improved and new technologies have been created allowing a lower human effort and more efficiency.
- the present invention provides an autonomous lawnmower robot with a wide range of cleaning coverage and which adapts to the terrain unevenness.
- a first aspect of the present invention refers to an autonomous robot lawnmower of the spider type comprising: - a central body and
- robot central body is divided into three sections:
- - upper section comprising a solar panel and a power plug connected to a battery, and a central processor intended for managing the decision making tasks through an algorithm.
- Intermediate section comprising an electric motor and a set of sensors configured for collecting information of the surrounding area.
- a cutting system configured for cutting the grass.
- the electric motor is configured for moving the legs of the travelling system and the cutting system.
- the robot comprises four articulated legs attached to the central body.
- the robot comprises, at the lower section of the central body, a second set of sensors for collecting information of the surrounding area.
- the cutting system comprises metallic blades or knives. In another preferred embodiment of the invention, the cutting system comprises cutting wires.
- the cutting system comprises a cutting rotational roller.
- the robot of the present invention as it has been described has autonomous mobility and allows cutting the grass in uneven surfaced terrains.
- the main peculiarity of this invention is the mechanism intended for mobility thereof, which is based on the legs of a spider, thus it allows climbing up slopes and going across obstacles, as well as adapting to different cutting heights and systems so as to achieve efficient cleaning.
- FIG 1 It is a front view of the autonomous lawnmower robot of the present invention.
- FIG. 2. It is an top elevation view of FIG. 1 .
- FIG. 3. It is a side autonomous lawnmower robot in an area of uneven terrain.
- FIG. 4. It shows a detail of an embodiment of a system used for the cutting system of the autonomous lawnmower robot based on blades or knives.
- FIG. 5. It shows a detail of an embodiment of the system used for the cutting system of the autonomous lawnmower robot based on wires.
- FIG. 6 It shows a detail of an embodiment of the system used for the cutting system of the autonomous lawnmower robot based on a lawn mowing cylinder.
- FIGs. 1 -6 The following is a detailed description of the autonomous lawnmower robot of the present invention based on FIGs. 1 -6.
- the figures are not to scale.
- the current dimensions for each of the components may vary according to the user needs.
- the most significant details of the device are highlighted so that a person not skilled in the art may clearly appreciate the concept thereof.
- FIG. 1 is a front view of the autonomous lawnmower robot of the spider type, where reference (1 ) corresponds to a solar panel and to a connection to electricity, intended for supplying power to a battery (2) and to provide the central processor (3) and the electric motor (4) with energy.
- the side and lower sensors (5) collect the information of the surrounding area for the cutting mechanism, being cutting blades (7) in the case of FIG. 1 , to adapt to the different conditions and to provide for a more efficient cutting.
- Mobility of the robot is inspired on the legs of a spider (8a, 8b, 8c, and 8d), which allows displacement under different conditions of the ground and the altitude changes to achieve a better cutting coverage.
- FIG. 2 depicts an upper view of the Autonomous Lawnmower Robot, showing a solar panel (1 ) covering most of the upper area. Furthermore, the motor (4) and the legs (8a, 8b, 8c and 8d) laid open are also shown.
- FIG. 3 offers a side plane of the autonomous lawnmower robot during cutting on an uneven terrain.
- the elements shown in this figure correspond to those described in figure 1 , better showing the rotating lever (6) which rotates the cutting device in any angle.
- flexibility of the legs (8a, 8b, 8c y 8d) in different terrain elevations can be observed.
- FIG. 4 shows an enlarged view of the lever (6) fastening the cutting system which consists of blades or knives (7).
- FIG. 5 shows an enlarged view of another embodiment of the cutting system (9), corresponding to inner ducts (9a) guiding the cutting wires (9b).
- FIG. 6 shows an enlarged view of the cylinder (10) cutting system, comprising inner blades (10a) cutting the grass which is introduced through the hollow gaps (10b) of the cylinder.
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvester Elements (AREA)
Abstract
The present invention corresponds to a robot intended for mowing the lawn, being totally autonomous, having the shape of spider legs, such that it allows displacement over uneven surfaces and adjustment of the cutting system depending on the terrain. It comprises: a battery powered by a solar panel or electricity, a central processor intended for managing decision making tasks through an algorithm, side and lower sensors for collecting information and a motor driving the legs for displacement and the cutting system.
Description
AUTOMOMOUS SPIDER LAWNMOWER ROBOT
OBJECT OF THE INVENTION
The present invention may be framed in the garden cleaning field, specifically, in grass maintenance. More particularly, the object of the invention refers to an autonomous robot model of the spider type for cutting the grass and capable of adapting to terrain unevenness,
BACKGROUND OF THE INVENTION
In 1830, Edwin Beard Budding invented and patented the first lawnmower machine. That mower required a completely manual operation as well as human propulsion that made a blade rotate inside a cylinder for cutting all the grass in its path. As years have gone by, techniques have been improved and new technologies have been created allowing a lower human effort and more efficiency.
Current solutions use principles being similar to those of the first mowers, but with the great difference that these are driven by electricity and combustion engines. The current tendency is directed to programmable mechanisms, capable of performing a task without human intervention. There already exist in the market lawnmower machines being remotely configurable, with running direction thereof being adjusted by GPS and a set of additional sensors, but having a great limitation: all of them have been constructed to travel over flat areas and none of them is provided with a mechanism capable of adapting to any terrain condition, as the models designed in patents US005974347A, US 20030023356A1 and US008857137B2.
The present invention provides an autonomous lawnmower robot with a wide range of cleaning coverage and which adapts to the terrain unevenness.
DESCRIPTION OF THE INVENTION
A first aspect of the present invention refers to an autonomous robot lawnmower of the spider type comprising:
- a central body and
- a moving mechanism comprising legs being articulated and attached to the central body,
wherein the robot central body is divided into three sections:
- upper section, comprising a solar panel and a power plug connected to a battery, and a central processor intended for managing the decision making tasks through an algorithm.
Intermediate section, comprising an electric motor and a set of sensors configured for collecting information of the surrounding area.
- lower section, comprising a cutting system configured for cutting the grass.
The electric motor is configured for moving the legs of the travelling system and the cutting system. In a preferred embodiment of the invention, the robot comprises four articulated legs attached to the central body.
In a preferred embodiment of the invention, the robot comprises, at the lower section of the central body, a second set of sensors for collecting information of the surrounding area.
In a preferred embodiment of the invention, the cutting system comprises metallic blades or knives. In another preferred embodiment of the invention, the cutting system comprises cutting wires.
In another preferred embodiment of the invention, the cutting system comprises a cutting rotational roller.
The robot of the present invention as it has been described has autonomous mobility and allows cutting the grass in uneven surfaced terrains.
The main peculiarity of this invention is the mechanism intended for mobility thereof, which is based on the legs of a spider, thus it allows climbing up slopes and going
across obstacles, as well as adapting to different cutting heights and systems so as to achieve efficient cleaning.
DESCRIPTION OF THE DRAWINGS
FIG 1 . It is a front view of the autonomous lawnmower robot of the present invention.
FIG. 2. It is an top elevation view of FIG. 1 . FIG. 3. It is a side autonomous lawnmower robot in an area of uneven terrain.
FIG. 4. It shows a detail of an embodiment of a system used for the cutting system of the autonomous lawnmower robot based on blades or knives. FIG. 5. It shows a detail of an embodiment of the system used for the cutting system of the autonomous lawnmower robot based on wires.
FIG. 6. It shows a detail of an embodiment of the system used for the cutting system of the autonomous lawnmower robot based on a lawn mowing cylinder.
PREFERRED EMBODIMENT OF THE INVENTION
The following is a detailed description of the autonomous lawnmower robot of the present invention based on FIGs. 1 -6. The figures are not to scale. The current dimensions for each of the components may vary according to the user needs. The most significant details of the device are highlighted so that a person not skilled in the art may clearly appreciate the concept thereof.
FIG. 1 is a front view of the autonomous lawnmower robot of the spider type, where reference (1 ) corresponds to a solar panel and to a connection to electricity, intended for supplying power to a battery (2) and to provide the central processor (3) and the electric motor (4) with energy. The side and lower sensors (5) collect the information of the surrounding area for the cutting mechanism, being cutting blades (7) in the case of FIG. 1 , to adapt to the different conditions and to provide for a more efficient cutting. Mobility of the robot is inspired on the legs of a spider (8a, 8b, 8c, and 8d), which
allows displacement under different conditions of the ground and the altitude changes to achieve a better cutting coverage.
FIG. 2 depicts an upper view of the Autonomous Lawnmower Robot, showing a solar panel (1 ) covering most of the upper area. Furthermore, the motor (4) and the legs (8a, 8b, 8c and 8d) laid open are also shown.
FIG. 3 offers a side plane of the autonomous lawnmower robot during cutting on an uneven terrain. The elements shown in this figure correspond to those described in figure 1 , better showing the rotating lever (6) which rotates the cutting device in any angle. Likewise, flexibility of the legs (8a, 8b, 8c y 8d) in different terrain elevations can be observed.
FIG. 4 shows an enlarged view of the lever (6) fastening the cutting system which consists of blades or knives (7).
FIG. 5 shows an enlarged view of another embodiment of the cutting system (9), corresponding to inner ducts (9a) guiding the cutting wires (9b). FIG. 6 shows an enlarged view of the cylinder (10) cutting system, comprising inner blades (10a) cutting the grass which is introduced through the hollow gaps (10b) of the cylinder.
Claims
1 . Autonomous lawnmower robot comprising:
- a central body and
- a moving mechanism comprising legs being articulated and attached to the central body,
wherein the robot central body is divided into three sections:
- upper section, comprising a solar panel and a power plug connected to a battery, and a central processor ntended forge of managing the decision making tasks through an algorithm.
- intermediate section, comprising an electric motor and a set of sensors configured for collecting information of the surrounding area.
- lower section, comprising a cutting system configured for cutting the grass.
2. Autonomous lawnmower robot according to claim 1 , comprising four articulated legs attached to the central body.
3. Autonomous lawnmower robot according to claim 1 , comprising, at the lower section of the central body, a second set of sensors for collecting information of the surrounding area.
4. Autonomous lawnmower robot according to claim 1 , wherein the cutting system comprises metallic blades or knives.
5. Autonomous lawnmower robot according to claim 1 , wherein the cutting system comprises cutting wires.
6. Autonomous lawnmower robot according to claim 1 , wherein the cutting system comprises a cutting rotating cylinder.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PA9205901 | 2018-03-20 | ||
| PA92059 | 2018-03-20 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| WO2018104927A2 true WO2018104927A2 (en) | 2018-06-14 |
| WO2018104927A3 WO2018104927A3 (en) | 2018-10-04 |
Family
ID=62488941
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/IB2018/052115 WO2018104927A2 (en) | 2018-03-20 | 2018-03-28 | Automomous spider lawnmower robot |
Country Status (1)
| Country | Link |
|---|---|
| WO (1) | WO2018104927A2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110192472A (en) * | 2019-03-25 | 2019-09-03 | 山东交通学院 | Both arms apple-picking circle is classified collecting robot people |
| CN113479501A (en) * | 2021-06-29 | 2021-10-08 | 华能左权煤电有限责任公司 | Spider formula feed bin scarifier |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09201126A (en) * | 1995-11-24 | 1997-08-05 | Honda Motor Co Ltd | Electric lawn mower |
| GB0113462D0 (en) * | 2001-06-02 | 2001-07-25 | Swansea Inst Higher Education | Lawn mowing system |
| CA2412815A1 (en) * | 2002-11-27 | 2004-05-27 | Martin Deschambault | Mobile and modular robot platform with several means of locomotion for making advanced movements in three dimensions |
| DE102007023157A1 (en) * | 2007-05-16 | 2008-11-20 | Robert Bosch Gmbh | Robot vehicle with drive means and method for driving drive means |
| US20100057286A1 (en) * | 2008-08-26 | 2010-03-04 | Robert Kerchner | Solar crawling lawn mower |
| EP3084543B1 (en) * | 2013-12-19 | 2021-05-19 | Husqvarna AB | Obstacle detection for a robotic lawnmower |
| US20170240041A1 (en) * | 2015-10-12 | 2017-08-24 | Chiou-muh Jong | Crawl speed lawnmower operable using solar energy as sole power source |
-
2018
- 2018-03-28 WO PCT/IB2018/052115 patent/WO2018104927A2/en active Application Filing
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110192472A (en) * | 2019-03-25 | 2019-09-03 | 山东交通学院 | Both arms apple-picking circle is classified collecting robot people |
| CN110192472B (en) * | 2019-03-25 | 2024-02-27 | 山东交通学院 | Round grading collection robot for picking apples with two arms |
| CN113479501A (en) * | 2021-06-29 | 2021-10-08 | 华能左权煤电有限责任公司 | Spider formula feed bin scarifier |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018104927A3 (en) | 2018-10-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3562293B1 (en) | Control device, work machine and program | |
| US8857137B2 (en) | Robotic lawn mower for cutting around conveyance member | |
| US4823464A (en) | Grass trimmer | |
| US12082524B2 (en) | Autonomous lawn mower with edger and control method thereof | |
| US9750179B2 (en) | Convertible mower deck with mulch on demand actuator | |
| CN203735069U (en) | Intelligent hay mower | |
| US20160360695A1 (en) | Cutting blade | |
| CN108293628A (en) | Automatic grass pruning machine and careless method is repaiied automatically | |
| WO2018104927A2 (en) | Automomous spider lawnmower robot | |
| CN109392419A (en) | A kind of gardens portable mowing machine, system and method | |
| CN204733587U (en) | Make things convenient for regulation type lawn mower | |
| US4446680A (en) | Battery powered lawn edger | |
| JP2020528275A (en) | Electric disc mower | |
| US11051449B2 (en) | Lawnmower cutting deck with angled cutter shafts | |
| CN110800454A (en) | A lawn mower with high trimming flatness and its working method | |
| US20210112709A1 (en) | Device and method for cutting vegetation | |
| US20140223878A1 (en) | Lawn Mower Assemblies | |
| CN206042826U (en) | A kind of self-traveling novel garden hay mover | |
| CN207219411U (en) | The electronic sitting type grass trimmer for function of sweeping away snow | |
| CN204616395U (en) | Hand-push type mower | |
| US20220142047A1 (en) | Lawn mower extension | |
| CN210580083U (en) | Automatic mower | |
| WO2020177396A1 (en) | Self-travelling device | |
| Morariu et al. | Autonomous lawn mowers: A comparative approach | |
| US20240415051A1 (en) | Autonomous Lawn Mower with Edger and Control Method Thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 18729013 Country of ref document: EP Kind code of ref document: A2 |
|
| NENP | Non-entry into the national phase |
Ref country code: DE |
|
| 122 | Ep: pct application non-entry in european phase |
Ref document number: 18729013 Country of ref document: EP Kind code of ref document: A2 |