Unmanned utility vehicle
An unmanned utility vehicle ( 30 ) for traversing a plot of land is disclosed that includes a carriage ( 32 ) having first and second drive wheels ( 34, 36 ) for moving over the plot of land, a guidance assembly ( 44 ) for guiding the vehicle ( 30 ) about the plot, and at least one tool ( 46 ) for performing an operation. The vehicle ( 30 ) includes first and second electric drive motors ( 56, 58 ) operatively connected to the respective drive wheels ( 34, 36 ) and at least one electric tool motor ( 60 ) engaging the tool ( 46 ). A power supply ( 64 ) powers each of the electric drive motors ( 56, 58 ) and the electric tool motor ( 60 ). Each of the electric motors ( 56, 58, 60 ) includes a motor controller operatively connected thereto and in communication with a main controller ( 54 ) over a controller area network ( 86 ). The subject invention provides each of the motors ( 56, 58, 60 ) being modular such that the any electric motor may be connected to the respective controller for performing the required operation.
1 . An unmanned utility vehicle ( 30 ) for traversing a plot of land comprising:
a carriage ( 32 ) having first and second drive wheels ( 34 , 36 ) for moving over the plot of land;
a first electric drive motor ( 56 ) and a second electric drive motor ( 58 ) operatively connected to said first and second drive wheels ( 34 , 36 );
a first drive motor controller ( 80 ) operatively connected to said first electric drive motor ( 56 ) and a second drive motor controller ( 82 ) operatively connected to said second electric drive motor ( 58 );
at least one tool ( 46 ) supported by said carriage ( 32 ) for performing an operation;
at least one electric tool motor ( 60 ) engaging said tool ( 46 ) and supported by said carriage ( 32 );
a tool motor controller ( 84 ) operatively connected to said electric tool motor ( 60 );
a power supply ( 64 ) supported by said carriage ( 32 ) for powering each of said electric drive motors ( 56 , 58 ) and said electric tool motor ( 60 );
a main controller ( 54 ) for communicating with said drive motor controllers ( 80 , 82 ) and said tool motor controller ( 84 ) to control said electric drive ( 56 , 58 ) and tool motors ( 60 ); and
a controller area network ( 86 ) interconnecting said main controller ( 54 ), said drive motor controllers ( 80 , 82 ), and said tool motor controller ( 84 ) for facilitating communication therebetween to improve operation and modularity of said vehicle ( 30 ).
2 . An unmanned utility vehicle ( 30 ) as set forth in claim 1 wherein said electric drive ( 56 , 58 ) and said tool motors ( 60 ) are further defined as brushless electric motors.
3 . An unmanned utility vehicle ( 30 ) as set forth in claim 1 wherein said tool ( 46 ) is further defined as selected from at least one of a mower assembly, a sweeping assembly, a cleaning assembly, and a painting assembly.
4 . An unmanned utility vehicle ( 30 ) as set forth in claim 1 wherein said power supply ( 64 ) further comprises a plurality of batteries ( 66 ) for running said electric drive motors ( 56 , 58 ) and said electric tool motor ( 60 ).
5 . An unmanned utility vehicle ( 30 ) as set forth in claim 4 wherein said power supply ( 64 ) further comprises an internal combustion engine ( 68 ) and a generator ( 70 ) for charging said batteries ( 66 ).
6 . An unmanned utility vehicle ( 30 ) as set forth in claim 5 wherein said internal combustion engine ( 68 ) is further defined as operating at a constant revolutions per minute for reducing noise and fuel consumption.
7 . An unmanned utility vehicle ( 30 ) as set forth in claim 6 further comprising a muffler ( 74 ) connected to said internal combustion engine ( 68 ) for muffling a predetermined harmonic generated during operation of said internal combustion engine ( 68 ) at said constant revolutions per minute.
8 . An unmanned utility vehicle ( 30 ) as set forth in claim 1 wherein said power supply ( 64 ) further comprises a fuel cell ( 76 ).
9 . An unmanned utility vehicle ( 30 ) as set forth in claim 1 further comprising first and second drive motor housings ( 102 ) each having said electric drive motor ( 56 , 58 ) and said drive motor controller ( 80 , 82 ) disposed therein and spaced from said main controller ( 54 ).
10 . An unmanned utility vehicle ( 30 ) as set forth in claim 1 further comprising a tool housing ( 122 ) having said electric tool motor ( 60 ) and said tool motor controller ( 84 ) disposed therein and spaced from said main controller ( 54 ).
11 . An unmanned utility vehicle ( 30 ) as set forth in claim 1 further comprising an electric lift motor ( 52 ) connected to said power supply ( 64 ) and operatively connected to said tool ( 46 ) for raising and lowering said tool ( 46 ).
12 . An unmanned utility vehicle ( 30 ) as set forth in claim 11 further comprising a lift motor controller ( 78 ) operatively connected to said lift motor ( 52 ) and in communication with said main controller ( 54 ) via said controller area network ( 86 ) for controlling operations of said lift motor ( 52 ).
13 . An unmanned utility vehicle ( 30 ) as set forth in claim 1 further comprising a guidance assembly ( 44 ) supported by said carriage ( 32 ) for communicating with said main controller ( 54 ) for guiding said vehicle ( 30 ) about the plot.
14 . An unmanned utility vehicle ( 30 ) as set forth in claim 13 wherein said guidance assembly ( 44 ) is further defined as selected from at least one of a laser navigation system, a radio frequency navigation system, a GPS navigation system, and a camera navigation system.
15 . An unmanned utility vehicle ( 30 ) as set forth in claim 1 further comprising a user interface ( 90 ) for programming a route to be followed by said vehicle ( 30 ).
16 . An unmanned utility vehicle ( 30 ) as set forth in claim 15 wherein said user interface ( 90 ) and said main controller ( 54 ) are further defined as a single, integral unit removable from said carriage ( 32 ).
17 . An unmanned utility vehicle ( 30 ) as set forth in claim 15 further comprising a communication device ( 98 ) supported by said carriage ( 32 ) and in communication with said main controller ( 54 ) for wirelessly transmitting signals from said vehicle ( 30 ).
18 . An unmanned utility vehicle ( 30 ) as set forth in claim 1 further comprising first and second drive sensors ( 108 ) disposed between said first and second drive motors ( 56 , 58 ) and said first and second drive motor controllers ( 80 , 82 ) for sensing operation of said drive motors ( 56 , 58 ).
19 . An unmanned utility vehicle ( 30 ) as set forth in claim 1 firther comprising a tool sensor ( 124 ) disposed between said tool motor ( 60 ) and said tool motor controller ( 84 ) for sensing operation of said tool motor ( 60 ).
20 . An autonomous lawn mower ( 30 ) comprising:
a carriage ( 32 ) having first and second drive wheels ( 34 , 36 ) for moving over a plot of land;
a guidance assembly ( 44 ) supported by said carriage ( 32 ) for navigating said lawn mower ( 30 ) about the plot;
a first electric drive motor ( 56 ) and a second electric drive motor ( 58 ) connected to said first and second drive wheels ( 34 , 36 );
a first drive motor controller ( 80 ) operatively connected to said first electric drive motor ( 56 ) and a second drive motor controller ( 82 ) operatively connected to said second electric drive motor ( 58 );
at least one mower deck ( 46 ) supported by said carriage ( 32 ) for performing a mowing operation;
at least one electric mower deck motor ( 60 ) engaging said mower deck ( 46 ) and supported by said carriage ( 32 );
a mower deck motor controller ( 84 ) operatively connected to said electric mower deck motor ( 60 );
a main controller ( 54 ) for communicating with said guidance assembly ( 44 ), said drive motor controllers ( 80 , 82 ), and said mower deck motor controller ( 84 ) to control said electric drive and mower deck motors ( 56 , 58 , 60 );
a plurality of rechargeable batteries ( 66 ) for powering each of said electric drive motors ( 56 , 58 ) and said electric mower deck motor ( 60 );
an internal combustion engine ( 68 ) operating at a constant revolutions per minute for reducing noise and fuel consumption; and
a generator ( 70 ) disposed between said internal combustion engine ( 68 ) and said batteries ( 66 ) for recharging said batteries ( 66 );
wherein said electric drive and said mower deck motors ( 56 , 58 , 60 ) are brushless electric motors such that said electric drive and said mower deck motors ( 56 , 58 , 60 ) are controlled by said main controller ( 54 ).
21 . An autonomous lawn mower ( 30 ) as set forth in claim 20 further comprising a muffler ( 74 ) connected to said internal combustion engine ( 68 ) for muffling a predetermined harmonic generated during operation of said internal combustion engine ( 68 ) at said constant revolutions per minute.
22 . An autonomous lawn mower ( 30 ) as set forth in claim 20 wherein said guidance assembly ( 44 ) is further defined as selected from at least one of a laser navigation system, a radio frequency navigation system, a GPS navigation system, and a camera navigation system.
23 . An autonomous lawn mower ( 30 ) as set forth in claim 20 further comprising a user interface ( 90 ) for programming a route to be followed by said lawn mower ( 30 ).
24 . An autonomous lawn mower ( 30 ) as set forth in claim 23 wherein said user interface ( 90 ) and said main controller ( 54 ) are further defined as a single, integral unit removable from said carriage ( 32 ).
25 . An autonomous lawn mower ( 30 ) as set forth in claim 23 further comprising a communication device ( 98 ) supported by said carriage ( 32 ) and in communication with said main controller ( 54 ) for wirelessly transmitting signals from said lawn mower ( 30 ).
26 . An autonomous lawn mower ( 30 ) as set forth in claim 20 further comprising a controller area network ( 86 ) interconnecting said main controller ( 54 ), said drive motor controllers ( 80 , 82 ), and said mower deck motor controller ( 84 ) for facilitating communication therebetween to improve operation of said lawn mower ( 30 ).
27 . An autonomous lawn mower ( 30 ) comprising:
a carriage ( 32 ) having first and second drive wheels ( 34 , 36 ) for moving over a plot of land;
a guidance assembly ( 44 ) supported by said carriage ( 32 ) for navigating said lawn mower ( 30 ) about the plot;
a first electric drive motor ( 56 ) and a second electric drive motor ( 58 ) connected to said first and second drive wheels ( 34 , 36 );
a first drive motor controller ( 80 ) operatively connected to said first electric drive motor ( 56 ) and a second drive motor controller ( 82 ) operatively connected to said second electric drive motor ( 58 );
at least one mower deck ( 46 ) supported by said carriage ( 32 ) for performing a mowing operation;
at least one electric mower deck motor ( 60 ) engaging said mower deck ( 46 ) and supported by said carriage ( 32 );
a mower deck motor controller ( 84 ) operatively connected to said electric mower deck motor ( 60 );
a main controller ( 54 ) for communicating with said guidance assembly ( 44 ), said drive motor controllers ( 80 , 82 ), and said mower deck motor controller ( 84 ) to control said electric drive and mower deck motors ( 56 , 58 , 60 ); and
at least one fuel cell ( 76 ) connected to said electric motors ( 56 , 58 , 60 ) for powering each of said electric drive motors ( 56 , 58 ) and said electric mower deck motor ( 60 ).
28 . An autonomous lawn mower ( 30 ) as set forth in claim 27 further comprising a controller area network ( 86 ) interconnecting said main controller ( 54 ), said drive motor controllers ( 80 , 82 ), and said mower deck motor controller ( 84 ) for facilitating communication therebetween to improve operation of said lawn mower ( 30 ).
29 . An autonomous lawn mower ( 30 ) as set forth in claim 27 wherein said electric drive and said mower deck motors ( 56 , 58 , 60 ) are brushless electric motors such that said electric drive and said mower deck motors ( 56 , 58 , 60 ) are controlled by said main controller ( 54 ).