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Title:
A CHASSIS FOR VEHICLES
Document Type and Number:
WIPO Patent Application WO/2020/228916
Kind Code:
A1
Abstract:
The present invention concerns a chassis for a vehicle, comprising a frame, a pair of side wheels (6) in a parallel configuration, at least one steerable wheel (3), at least one electric motor (4), wherein said steerable wheel (3) is connected to and driven by the at least one electric motor (4), and wherein the at least one of the side wheels (6) is connected to and driven by the at least one electric motor (4), and wherein said frame is comprising a longitudinal member (1) connecting said steerable wheel (3) with one of said side wheels (4), and at least one inverse U-shaped member (11) being attached to said longitudinal member (1) and being attached, directly or indirectly, to the other of said side wheels (6), and wherein an area above said longitudinal member (1) is defining a platform for supporting items to be transported, the platform preferably being substantially in the full length of the vehicle.

Inventors:
BENDT MADS (DK)
Application Number:
DK2020/050127
Publication Date:
November 19, 2020
Filing Date:
May 04, 2020
Export Citation:
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Assignee:
BENDT IPR APS (DK)
International Classes:
B62D49/06; B62D21/14; B62D61/00; A01B51/02; A01B69/00; A01B69/04
Foreign References:
EP1533214A12005-05-25
FR2636032A11990-03-09
Other References:
NAÏO TECHNOLOGIES: "Le robot de désherbage autonome Ted, dans le vignes de Château Fombrauge", 7 January 2019 (2019-01-07), pages 1, XP054980721, Retrieved from the Internet [retrieved on 20200723]
Attorney, Agent or Firm:
PLOUGMANN VINGTOFT A/S (DK)
Download PDF:
Claims:
A CHASSIS FOR VEHICLES

CLAIMS 1. A chassis for a vehicle, comprising :

- a frame,

- a pair of side wheels in a parallel configuration,

- at least one steerable wheel,

- at least one electric motor, wherein said steerable wheel is connected to and driven by the at least one electric motor, and

wherein the at least one of the side wheels is connected to and driven by the at least one electric motor, characterized in that said frame is comprising :

- a longitudinal member connecting said steerable wheel with one of said side wheels, and

- at least one inverse U-shaped member being attached to said longitudinal member and being attached, directly or indirectly, to the other of said side wheels, and wherein an area above said longitudinal member is defining a platform for supporting items to be transported, the platform preferably being substantially in the full length of the vehicle.

2. The chassis according to claim 1, wherein both side wheels are connected to and driven by each own electric motor. 3. The chassis according to any of the preceding claims, wherein the frame

constitutes at least a part of an asymmetric construction about a longitudinal axis, creating an L-Shaped vehicle when seen from above.

4. The chassis according to any of the preceding claims, wherein the longitudinal member on one side of the vehicle is connected to one of the side wheels and to the steerable wheel, and wherein the longitudinal member is connected, through at least one inverted U-shaped member, to a second longitudinal member on the other side of the vehicle, the second longitudinal member being connected to the other side wheel and a second steerable wheel.

5. The chassis according to claim 4, wherein the first steerable wheel is

corresponding with said second steerable wheel according to the Ackermann steering principle.

6. The chassis according to any of the preceding claims, wherein at least one conveyer belt is attached, directly or indirectly, upon at least one of the longitudinal members.

7. The chassis according to any of the preceding claims, wherein at least one inverted U-shaped member is comprising :

- a telescopic mechanism providing a direct or indirect coupling between one side of the vehicle and the other side of the vehicle allowing the vehicle to change its width.

8. The chassis according to any of the preceding claims, wherein the telescopic mechanism changes the width of the vehicle by being activated automatically and/or manually.

9. The chassis according to any of the preceding claims, wherein at least one inverted U-shaped member optionally comprising one or more of: a robot arm, a rope robot, a spraying mechanism, a plough, a harvest mechanism, a fertilizer mechanism, a wee burner, a camera, as plant manipulator, a soil manipulator, a manipulator for laying protecting or insulating material on plants and soil, a manipulator for removing protecting or insulating material from plants and soil.

10. The chassis according to any of the preceding claims, wherein the chassis is directly or indirectly connected with at least one battery for propulsion and electric functions. 11. The chassis according to any of the preceding claims, the chassis comprising a turning mechanism, wherein said turning mechanism comprises one of more of: gear wheels, rollers, tension rods, hydraulic hoses, hydraulic pistons, wires, cables, ropes and the like.

12. The chassis according to any of the preceding claims, wherein the turning mechanism is activated manually or automatically. 13. The chassis according to any of the preceding claims, wherein the turning mechanism is driven by at least one of: a linear actuator, a servomotor, a hydraulic cylinder or the like.

14. The chassis according to any of the preceding claims, wherein at least one of the conveyors are used for feeding a robotic manipulator with one or more of: plants, fertilizers, herbicides, fungicides, pesticides, or other farm relevant object or materials.

15. The chassis according to any of the preceding claims, wherein at least one of the conveyors are used for transferring at least one wireless charged and/or discharged battery.

16. The chassis according to any of the preceding claims, wherein at least one of: a container for a fluid, a collection of pellets, grains or fertilizer, is attached, directly or indirectly, upon at least one of the longitudinal members.

17. The chassis according to any of the preceding claims, wherein at least one of the conveyors is connected, directly or indirectly, to a dispenser, the conveyors being fed with containers, packets, crate, boxes, trays, pots for plants and/or the like, by the dispenser.

18. The chassis according to any of the preceding claims, wherein at least one of the conveyors is connected, directly or indirectly, to a receiver of containers, packets, crate, boxes, trays, pots for plants and/or the like.

19. The chassis according to any of the preceding claims, wherein at least one end of at least one of the conveyers can be automatically adjusted in a vertical direction by a control system.

20. The chassis according to any of the preceding claims, wherein at least one first of said vehicle supports another at least one second of said vehicle by delivering and transferring objects and fluids of different kind from one place to said second vehicle, these objects and fluids be plants, fertilizers, herbicides, fungicides, pesticides, or other farm relevant object or materials.

21. The chassis according to any of the preceding claims, wherein at least one robotic manipulator manipulates plants and or soil with one or more of the following : weed removal tool, a burner, a sound emission unit, a light emission unit, a heat emission unit, plants, fertilizers, herbicides, fungicides, pesticides, or other farm relevant object or materials.

22. The chassis according to any of the preceding claims, wherein at least one of the conveyors are used for feeding a robotic manipulator with one or more of following : plants, fertilizers, herbicides, fungicides, pesticides, or other farm relevant object or materials, batteries or fuel.

23. The chassis according to claim 1, wherein the inverse U-shaped member

confine the outer side or the inner side of the vehicle.

24. The chassis according to any of the preceding claims, wherein the chassis is for an autonomous outdoor mobile vehicle.

25. A method of charging an autonomous outdoor mobile vehicle comprising a chassis according to claim 1, the method of charging comprising :

- a charging station charging a wireless battery wirelessly,

- a first autonomous outdoor mobile vehicle moving to a receiving position at said charging station,

- said battery being transferred to a first autonomous outdoor mobile vehicle by use of at least one conveyor or the like, - said first autonomous outdoor mobile vehicle moving to a second autonomous outdoor mobile vehicle,

- said first autonomous outdoor mobile vehicle transferring said charged wireless battery to said second autonomous outdoor mobile vehicle, by use of at least one conveyor or the like,

- said charged wireless battery discharging its energy to said second

autonomous outdoor mobile vehicle, the energy being internal energy.

26. A method of receiving a wireless battery from an autonomous outdoor mobile vehicle comprising a chassis according to claim 1, the method of receiving a battery comprising :

- a first autonomous outdoor mobile vehicle moving to a receiving position at a second autonomous outdoor mobile vehicle,

- said battery being transferred to said first autonomous outdoor mobile vehicle by use of at least one conveyor or the like,

- said first autonomous outdoor mobile vehicle moving to a charging station, and

- said first autonomous outdoor mobile vehicle transferring said charged wireless battery to said charging station.

Description:
A CHASSIS FOR VEHICLES

FIELD OF THE INVENTION

The present invention relates to a chassis for a vehicle having a steerable front wheel or a steerable rear wheel and two parallel sidewheels.

The invention further relates to a vehicle, such as an electrically autonomous driven mobile farm robot, comprising the chassis.

BACKGROUND OF THE INVENTION

Since the beginning of the development of driving frames for electrically driven autonomous mobile farm vehicles, it has been a known problem to ensure;

1) adequately long possible work time before recharging;

2) adequately large manoeuvrability;

3) adequately low weight;

4) adequately capacity of materials to be processed;

5) adequately minimum complexity; and

6) adequate capacity to overcome obstacles.

All of these problems have not been addressed in one single solution.

A chassis constitutes a structural part or parts of an electrically driven

autonomous mobile farm vehicle. Electrically driven autonomous mobile farm vehicles are often used outdoors where there are requirements to be able to overcome obstacles in the form of dirt, stones and the like, and to drive uphill and downhill and along cross-sloping surfaces. Preferably, the electrically driven autonomous mobile farm vehicle should, work 24 hours a day 7 days a week without any need pitstop for further recharging of the electrically driven autonomous mobile farm vehicle.

Such electrically driven autonomous mobile farm vehicles are today very similar within their structural groupings and may generally be divided into three different subgroups with respect to their steering : 1) Electrically driven autonomous mobile farm vehicles that are differential steered, where driven wheels in each side of the vehicle are used, differential steering, by changing direction and speed of the wheels.

2) Electrically driven autonomous mobile farm vehicles with articulated steering where the front wheelset shares same axle and the rear wheelset shares same axle, steering is done by changing the angle between front and rear axle.

3) Electrically driven autonomous mobile farm vehicles with steering of the Ackermann type, where a couple of steering wheels are in one end of the vehicle and a couple of wheels are in the other end of the vehicle.

4) Electrically driven autonomous mobile farm vehicles with individual wheel steering, where each wheel is steered and driven.

When navigating an autonomous mobile outdoor vehicle, especially for farming, two references regarding localization are normally used in combination: a global reference where the vehicles position is calculated by means of a Global navigation satellite system (GNSS), this could be GPS, GLONASS, BeiDou,

GALILEO or the like in combination.

Furthermore, a local reference system where a combination of sensors, cameras and other means in combination with the vehicles odometry is used, both to calculate position but also to find proper path the objects to be manipulated or avoid. This could be, lanes to driver in, rocks to avoid, plants to manipulate, living creatures to avoid or even other autonomous vehicles to correspond to, relate and work with.

As mentioned, an important factor when navigation autonomous mobile vehicles is the use of odometry. Odometry is mechanical way of measuring the length of a travelled distance by knowing the exact rotation of a related wheel and there by the distant it moves. This requires no slipping of the wheel surface related to the ground passed. The first subgroup can be considered a relatively simple solution, which exists in several versions.

The two parallel, not steerable wheels may be configured at the front part of the chassis, the centre part of the chassis or the rear part of the chassis, supported by a number of supporting caster wheels, and are all associated with a number of disadvantages.

The fact that they turn by regulating rotation speed of the two parallel wheels individually makes them energy inefficient since turning implies that the rotation speed of one or both of the wheels is changed.

As a consequence, larger batteries are needed, which makes the vehicle difficult to manoeuvre and add additional pressure on the soil.

The abovementioned three versions of the first category also have their own disadvantages.

For example, the chassis having the supporting caster wheels getting stuck in loose surfaces because of surface pressure from size, turning and weight distribution. This also results in risk of one of the driving wheels slipping related to the ground, this slipping can be of larger magnitude, especially in wet weather etc, resulting in loss of precise odometrical feedback from the motors.

Another version includes a multiple of wheels each side, where the wheels on side rotate with one speed and direction and the wheels on the other side rotates with same or another speed and direction, this type of wheel frame is energy inefficient since turning implies the corner wheels sideways while turning, also shuffling up soil and unprecise odometrical feedback.

The second subgroup covers electrically driven autonomous mobile farm vehicles with articulated steering where the front wheelset shares same axle and the rear wheelset shares same axle where steering is done by changing the angle between front and rear axle. This type is hindered in turning radius by the front and back wheel in same side closes up in turning to that side, furthermore the turning can be heavy and energy inefficient, especially if adequate motor steering is not implemented to support this move, and as such result in unprecise odometrical feedback.

Furthermore, the construction hinders wheels on each side of high rows of plants, as the axle combines the wheels on each side. The third subgroup includes chassis on which two electrically driven wheels are mounted in parallel, usually at the rear part of the chassis, and one wheel in the middle or two steerable wheels, one on each side, at the front part of the chassis. Typically, the steerable front wheel is mechanically coupled to a steering actuator, by means of a control and steering system, controls a linear actuator or servo that mechanically turns the wheels. These chassis are typically directionally stable.

A known disadvantage with this chassis is the large turning radius due to the driving force in a forward direction of the vehicle, i.e. the rear wheel do not propel in the direction of the steering wheel, risking slip and unprecise odometrical feedback.

The fourth category includes chassis on which four electrically driven steering wheels are mounted where the wheels may be rotated around a vertical axis mounted above the wheel.

These chassis are characterized by high manoeuvrability, highly complex, heavy, expensive, energy inefficient, and increased installation height because of the rotary shaft above the driving wheel for steering, typically resulting in smaller wheels as a trade-off. The smaller the wheels, the higher the pressure on the ground, combined with a heavy weight there is substantial risk of digging and unprecise odometrical feedback.

Another issue is that a lot of farming consist of treating plants in rows of different width and hight depending of the specific crop and adequate related procedures. This have resulted in a lot of different application related vehicles.

As an example, hereof can be mentioned, grapes in narrow high rows and opposite, salads and vegetables in flat wide rows.

Yet another issue of the known solutions is the energy consumption compared to the possible size and weight of batteries. This also results in limits in range and possible of continuous working hours for the vehicle between need of recharging the batteries, leaving the work to be done for a trip to the charging station, this also means loss of exact reposition after ended recharging and time loss. Solutions using solar panels have been suggested but these only works in day hours and the size of needed solar panels related to the work to be done by the vehicle is limiting the vehicles working possibilities. Yet another issue of the known solutions is the needed room and supply of the materials, fluids, plants and other needed, to get the work done. When the vehicle runs out of materials, plants or other, it has to move to a fill up station or be filled up manually, this either results in leaving the work to be done for a trip to the refill station, with means loss of exact reposition after ended refilling and time loss. Or, that the vehicle has to stop working while being serviced manually by a filler, where this have to use time on this.

Solutions using solar panels have been suggested but these only works in day hours and the size of needed solar panels related to the work to be done by the vehicle is limiting the vehicles working possibilities.

The above mentioned solutions seek to solve various problems concerning chassis for vehicles, but they all have problems with regard to the combination of the following aspects:

Driving distance, working time between recharging, lay off due to charging time, insufficient inboard solar panel solutions, energy inefficiency, manoeuvrability, weight, size, steering complexity, odometry, different width of rows, different heights of rows, charging of batteries, refilling of materials, fluids, plants and others.

SUMMARY OF THE INVENTION

The present invention provides a chassis for vehicle with improvements related to driving distance, working time between recharging, lay off due to charging time, insufficient inboard solar panel solutions, energy inefficiency, manoeuvrability, weight, size, steering complexity, odometry, different width of rows, different heights of rows, charging of batteries, refilling of materials, fluids, plants and others. The presently disclosed invention relates to a chassis for a vehicle, comprising :

- a frame,

- a pair of side wheels in a parallel configuration,

- at least one steerable wheel,

- at least one electric motor,

wherein said steerable wheel is connected to and driven by the at least one electric motor, and

wherein the at least one of the side wheels is connected to and driven by the at least one electric motor,

said frame is comprising :

- a longitudinal member connecting said steerable wheel with one of said side wheels, and

- at least one inverse U-shaped member being attached to said longitudinal member and being attached, directly or indirectly, to the other of said side wheels, and

wherein an area above said longitudinal member is defining a platform for supporting items to be transported, the platform preferably being substantially in the full length of the vehicle.

In this configuration, the energy that the motor has to supply is only applied to propulsion directly in the moving direction. This is a more energy efficient solution, which means that a vehicle mounted on the chassis can be transported a longer distance on the same battery compared to a conventional chassis and the odometry be precise. The fact that the steering wheel driven, coupled with differential support steering on sidewheels makes the design simple and efficient compared to earlier mentioned solutions. Further advantages of the presently disclosed invention relates to a fleet solution of more vehicles of same type and size, where one or more vehicles work manipulating plants and soil work continually, with one or more of, but not restricted to, the following : planting, harvesting, picking or plucking vegetables, flowers, berries, fruit, nuts and the like, moving plants, removing weeds, spraying with herbicides, pesticides or fungicides, preparation of soil, covering soil with material, removing material from soil, and said vehicle or vehicles are serviced by other vehicles that transports batteries, material, plants and other to and from a storage facility to and from said working vehicle, and where said batteries, materials, plants and other are moved from one vehicle to another vehicle by means of conveyers or the like mounted to each said vehicle and storage facility.

Further advantages of the presently disclosed invention relates to storage and transportation of said autonomously mobile farm vehicle as the geometry of said vehicle allow for said vehicles to be stored in opposite direction allowing for more of said vehicles in a smaller confined area.

Further advantages of the presently disclosed invention relates to the said vehicle made as a generic autonomously mobile farm vehicle for multipurpose use, with many possible attachable applications.

Further advantages of the presently disclosed inventions relates to use of light or sound as manipulator of plants, pests and fungus, this might be as a neutralizer or sterilizer. Light in the UV area have shown results for sterilizing plants and light in the infrared area have shown results in removing, planta, pests and fungus.

Use of ultrasound forming bursting microcavities in algae have shown results in removing said algae.

According to one embodiment of the invention, both side wheels are connected to and driven by each own electric motor.

According to one embodiment of the invention, the frame constitutes at least a part of an asymmetric construction about a longitudinal axis, creating an L- Shaped vehicle when seen from above.

According to one embodiment of the invention, the longitudinal member on one side of the vehicle is connected to one of the side wheels and to the steerable wheel, and wherein the longitudinal member is connected, through at least one inverted U-shaped member, to a second longitudinal member on the other side of the vehicle, the second longitudinal member being connected to the other side wheel and a second steerable wheel. According to one embodiment of the invention, the longitudinal member on one side of the vehicle is connected to one of the side wheels and to the steerable wheel, and wherein the longitudinal member is connected, through at least one inverted U-shaped member, to a second longitudinal member on the other side of the vehicle, the second longitudinal member being connected to the other side wheel.

According to one embodiment of the invention, the first steerable wheel is corresponding with said second steerable wheel according to the Ackermann steering principle.

According to one embodiment of the invention, at least one conveyer belt is attached, directly or indirectly, upon at least one of the longitudinal members.

According to one embodiment of the invention, at least one inverted U-shaped member is comprising :

- a telescopic mechanism providing a direct or indirect coupling between one side of the vehicle and the other side of the vehicle allowing the vehicle to change its width.

An advantages of the embodiment relates to a telescopic top of said opposite U shaped frame traversing from one part of the frame, including the steering wheel and the side wheel that is in line with the steering wheel, over to the other part of the frame where the opposite side wheel is mounted, this allows for alternating the width of wheel base, adapting to different width of rows.

According to one embodiment of the invention, the telescopic mechanism changes the width of the vehicle by being activated automatically and/or manually.

According to one embodiment of the invention, at least one inverted U-shaped member optionally comprising one or more of: a robot arm, a rope robot, a spraying mechanism, a plough, a harvest mechanism, a fertilizer mechanism, a wee burner, a camera, as plant manipulator, a soil manipulator, a manipulator for laying protecting or insulating material on plants and soil, a manipulator for removing protecting or insulating material from plants and soil.

An advantages of the embodiment relates to the said opposite U shapes frame is basis for mounting or attaching relevant farm tools, as but not confined to one or more of the following : cameras, robotic manipulator, robot arm, spray unit, harvest unit, plow unit, weed burner, unit for placing or removing material on plants or soil, harrow or the like.

According to one embodiment of the invention, the chassis is directly or indirectly connected with at least one battery for propulsion and electric functions.

An advantages of the embodiment relates to use of wireless chargeable

dischargeable moveable batteries. Where these batteries are charged centrally and then collected by a servicing autonomous mobile vehicle, by means of conveyer or the like, transporting these batteries to the working autonomous vehicles, delivering said batteries to said working autonomous vehicles by means of conveyers or the like and also transporting and moving said objects in the opposite flow direction.

According to one embodiment of the invention, the chassis comprising a turning mechanism, wherein said turning mechanism comprises one of more of: gear wheels, rollers, tension rods, hydraulic hoses, hydraulic pistons, wires, cables, ropes and the like.

According to one embodiment of the invention, the turning mechanism is activated manually or automatically.

According to one embodiment of the invention, the turning mechanism is driven by at least one of: a linear actuator, a servomotor, a hydraulic cylinder or the like.

According to one embodiment of the invention, at least one of the conveyors are used for feeding a robotic manipulator with one or more of: plants, fertilizers, herbicides, fungicides, pesticides, or other farm relevant object or materials. According to one embodiment of the invention, at least one of the conveyors are used for transferring at least one wireless charged and/or discharged battery. According to one embodiment of the invention, at least one of: a container for a fluid, a collection of pellets, grains or fertilizer, is attached, directly or indirectly, upon at least one of the longitudinal members.

According to one embodiment of the invention, at least one of the conveyors is connected, directly or indirectly, to a dispenser, the conveyors being fed with containers, packets, crate, boxes, trays, pots for plants and/or the like, by the dispenser.

According to one embodiment of the invention, at least one of the conveyors is connected, directly or indirectly, to a receiver of containers, packets, crate, boxes, trays, pots for plants and/or the like.

According to one embodiment of the invention, at least one end of at least one of the conveyers can be automatically adjusted in a vertical direction by a control system.

By the invention it is found advantageous that a first vehicle with a chassis according to the invention supports a second vehicle with a chassis according to the invention by delivering and transferring objects and fluids of different kind from one place to said second vehicle. These objects and fluids could be plants, fertilizers, herbicides, fungicides, pesticides, or other farming related objects or materials.

Similarly by the invention, a robotic manipulator may advantageously manipulate plants and or soil with one or more of the following : weed removal tool, a burner, a sound emission unit, a light emission unit, a heat emission unit, plants, fertilizers, herbicides, fungicides, pesticides, or other farm relevant object or materials. Accordingly, at least one of the conveyors are used for feeding a robotic manipulator with one or more of following : plants, fertilizers, herbicides, fungicides, pesticides, or other farm relevant object or materials, batteries or fuel.

According to one embodiment of the invention, the inverse U-shaped member confine the outer side or the inner side of the vehicle.

The fact that the inverse U-shaped member substantially is mounted on the outer side of the vehicle in at least one side, allows for a greater working area, not hindering the movement of a robotic arm or manipulator and also allowing the space over the wheels to be used by one or more conveyer belts, servicing the robotic unit, another vehicle or the like.

According to one embodiment of the invention, the chassis is for an autonomous outdoor mobile vehicle.

An advantages of the embodiment relates to the said vehicle made as a generic autonomously mobile farm vehicle for multipurpose use, with many possible attachable applications. Most of seen autonomous mobile farm vehicles have been developed for a specific application, as such, such a solution will rather be expensive do to miss of opportunity of cheaper mass production, as the

development of the application well contain expenses for development of an adequate vehicle frame as well.

In one embodiment of the presently disclosed invention relates to a chassis for vehicle, comprising : a rigid frame, a pair of side wheels in a parallel configuration, a steerable front wheel, a steerable rear wheel, at least one electric motor, wherein at least one of said front wheel or rear wheel is connected to and driven by the at least one electric motor, the chassis characterized in that said front and rear wheels are mutually connected through a turning mechanism arranged to turn said front and rear wheels simultaneously and synchronously between : a middle position in which the axles of the front and rear wheels are substantially parallel with the axles of the side wheels, and left or right end positions, in which the axles of the front and rear wheels are substantially perpendicular to the axles of the side wheels. The rigid frame may be an asymmetric construction about an imagined

longitudinal axis in the forward direction of the chassis - in such an embodiment said rigid frame constitutes at least a part of an asymmetric construction about the longitudinal axis.

In one embodiment the rigid frame comprises two parts which together form a basic asymmetric rigid frame of the chassis. The asymmetric shape enables an efficient implementation, in which the steering wheel and one of the side wheels are held together with a primary part of the rigid frame and the secondary part is connected to the other side wheel, preferably configured such that said two parts are connected by a ridged but horizontal telescoping inverse U-shaped

construction. Allowing for a change of width of the vehicle. As mentioned, in this configuration the energy that the at least one motor has to supply is only applied to propulsion directly in the moving direction. This is a more energy efficient solution, which means that a vehicle mounted on the chassis can be transported a longer distance on the same battery compared to a conventional chassis.

In one embodiment said chassis is directly or indirectly connected with at least one battery for propulsion and electric functions to take advantage of the driving and energy improvements of the present invention. In one embodiment the steering wheels and at least one side wheel are connected with or comprises a device which transforms supplied energy into rotation, which can be said to provide additional energy to move the vehicle forwards or backwards. In one embodiment, the positions of one steering wheel, can be positioned 90°in relation to the parallel side wheels by means of an adequate turning mechanism. In one embodiment said turning mechanism therefore comprises gear wheels, rollers, tension rods, hydraulic hoses, hydraulic pistons, wires, cables, ropes and the like. The turning mechanism may be activated manually. In one embodiment the turning mechanism is driven by a linear actuator, a servomotor, a hydraulic cylinder or the like, which may further improve the turning capabilities.

A further advantage of the invention is that in one embodiment the rigid frame comprises at least two parts, connected through an inverted U-shaped member, and in which at least two of these parts are telescopically connected, preferably horizontally, relative to one another, configured such that the horizontal position of each said part can be adjusted in one direction. Such a design can be said to combine that advantages relating to allow for use on different width of rows.

In one embodiment there is disclosed that the chassis has a longitudinal first part connected with a steering wheel and first wheel of said pair of side wheels of said pair of side wheels, and horizontal telescopically connected through an inverted U- shaped member, with a secondary part, wherein the secondary part is connected with second wheel of said pair of side wheels. In one embodiment, said secondary part is also a longitudinal part, allowing for an additional steering wheel and more space for conveyers and the like.

In one embodiment at least one of said conveyer can be vertical adjusted, by a mechanically unit, in at least one end of said conveyer, this adjustment can be manually or automatic activated. Said automatically adjustment can be done by a local or central control system. This allows for as more adequate transfer, by conveyer, of items from a stationary unit to one of said vehicles, from one of said vehicles to another of said vehicles and from one of said vehicles to stationary unit, from another kind of moveable unit to one of said vehicles and from one of said vehicles to said another kind of moveable unit.

To further control the driving speed of the chassis/vehicle at least one of said wheels is directly or indirectly coupled to a brake, such as a mechanical brake and/or an electric brake and/or a hydraulic brake in one embodiment of the invention. The chassis may also be equipped with at least one positioning device for displaceable and/or rotational positioning of at least one element with at least one degree of freedom to move relative to the driving frame or parts thereof, which can be said to improve the overall flexibility of the chassis. Preferably, the horizontal beam of the inverted U-shaped frame, has a bottom that has a height that allows for carrying relevant tools and object in such a way that such said tools and objects can operate free and can pass free of relevant rows and plants passing underneath.

In one embodiment the height of the chassis is higher than 40 cm, or higher than 60 cm, or higher than 80 cm, or higher than 100 cm, or higher than 120 cm, or higher than 140 cm, or higher than 160 cm, or higher than 180 cm, or higher than 200 cm, or higher than 250 cm, or higher than 300 cm, or higher than 350 cm, or, such as 50 cm, or 70 cm, or 90 cm, or 110 cm, or 130 cm, or 150 cm, or 170 cm, or 190 cm, or 225 cm, or 275 cm, or 325 cm, or 375 cm.

In one embodiment the length, i.e. the distance between the outer part of the front wheel and the outer part of the rear wheel, is between 40 cm and 1200 cm, or between 40 cm and 1000 cm, or between 40 and 800 cm, or between 40 cm and 600 cm, or between 40 cm and 400 cm, or between 40 cm and 300 cm, or between 40 cm and 250 cm, or between 40 cm and 220 cm, or between 40 cm and 200 cm, or between 40 cm and 180 cm, or between 160 cm and 250 cm, such as 45 cm, such as 60 cm, or 90 cm, or 130 cm, or 180 cm, or 210 cm, or 240 cm, or 270 cm, or 300 cm, or 400 cm, or 500 cm, or 600 cm, or 700 cm, or 800 cm.

In one embodiment the width, i.e. the distance between the outer part of the left side of said vehicle and the outer part of the right side of said vehicle, is between 40 and 800 cm, or between 40 cm and 600 cm, or between 40 cm and 500 cm, or between 40 cm and 400 cm, or between 40 cm and 350 cm, or between 50 cm and 300 cm, or between 100 cm and 250 cm, such as 50 cm, or 80 cm, or 110 cm, or 140 cm, or 170 cm, or 200 cm, or 230 cm, or 260 cm, or 290 cm, or 320 cm, or 350 cm, or 400 cm, or 500 cm, or 600 cm, or 700 cm, or 800 cm.

Electrically driven autonomous mobile outdoor farm vehicles are relatively heavy vehicles which is due to several interconnected factors: firstly, the very

construction with batteries to drive for long time between pit stop for recharging generates a high weight of 500-5.000 kg; secondly, the manner in which conventional electrically driven autonomous mobile vehicles are steered by means of differential steering , changing rotation speed of the driving wheels gives rise to a large energy consumption and loss since relatively larges forces are required to drive such an electrically driven vehicle, or all wheel steering with 4 large motors and 4 steering motors and batteries are required because of the weight which also contributes to the total relatively high weight of the electrically driven vehicle Therefore, the present disclosure further relates to a mobile autonomous farm vehicle comprising the chassis according to the above description and the figures.

In one embodiment, a charging station charges said vehicle wirelessly, first autonomous outdoor mobile vehicle moves in receiving position at said charging station, said battery is transferred to a first autonomous outdoor mobile vehicle by use of at least one conveyor or the like, said first autonomous outdoor mobile vehicle moves to second autonomous outdoor mobile vehicle, said first

autonomous outdoor mobile vehicle transfers said charged wireless battery to said second autonomous outdoor mobile vehicle, by use of at least one conveyor or the like, said charged wireless battery discharge its energy to said second

autonomous outdoor mobile vehicles internal energy

In one embodiment, a battery from said vehicle is moved from said vehicle to a charger, first autonomous outdoor mobile vehicle moves in receiving position at second autonomous outdoor mobile vehicle, said battery is transferred to said first autonomous outdoor mobile vehicle by use of at least one conveyor or the like, said first autonomous outdoor mobile vehicle moves to a charging station, said first autonomous outdoor mobile vehicle transfers said charged wireless battery to said charging station.

The invention further relates to a method being adapted to enable charging an autonomous outdoor mobile vehicle comprising a chassis, the method of charging comprising :

- a charging station charging a wireless battery wirelessly,

- a first autonomous outdoor mobile vehicle moving to a receiving position at said charging station,

- said battery being transferred to a first autonomous outdoor mobile vehicle by use of at least one conveyor or the like, - said first autonomous outdoor mobile vehicle moving to a second autonomous outdoor mobile vehicle,

- said first autonomous outdoor mobile vehicle transferring said charged wireless battery to said second autonomous outdoor mobile vehicle, by use of at least one conveyor or the like,

- said charged wireless battery discharging its energy to said second

autonomous outdoor mobile vehicle, the energy being internal energy.

In one embodiment the method of receiving a wireless battery from an

autonomous outdoor mobile vehicle comprising a chassis, the method of receiving a battery comprising :

- a first autonomous outdoor mobile vehicle moving to a receiving position at a second autonomous outdoor mobile vehicle,

- said battery being transferred to said first autonomous outdoor mobile vehicle by use of at least one conveyor or the like,

- said first autonomous outdoor mobile vehicle moving to a charging station, and

- said first autonomous outdoor mobile vehicle transferring said charged wireless battery to said charging station.

The aspects of the present invention may each be combined with any of the other aspects. These and other aspects of the invention will be apparent from and elucidated with reference to the embodiments described hereinafter.

BRIEF DESCRIPTION OF THE FIGURES

In the following the invention is described in more detail with regard to the accompanying figures. The figures show one way of implementing the present invention and is not to be construed as being limiting to other possible

embodiments falling within the scope of the attached claim set.

Figure 1 shows an embodiment of a chassis according to the invention, seen from above, with the steering wheel in a forward position and the frame in most narrow position.

Figure 2 shows an embodiment of a chassis according to the invention, seen from behind, the chassis in narrow mode driving on a field on narrow rows. Figure 3 shows an embodiment of a chassis according to the invention, seen from above, with the steering wheel in a turning position and the frame in most wide position.

Figure 4 shows an embodiment of a chassis according to the invention, seen from behind, the chassis in wide mode driving on a field with wide rows.

Figure 5 shows an embodiment of a chassis according to the invention, seen from one the side. Figure 6 shows an embodiment of a chassis according to the invention, seen from the other side.

Figure 7 shows an embodiment of a chassis according to the invention, seen from above with an additional longitudinal member and an additional steering wheel.

Figure 8 shows an embodiment of a driving frame according to the invention, seen in a field, planting, fed by conveyor belt, being serviced by another driving frame with new plants to sow. Figure 9 shows an embodiment of a driving frame according to the invention, seen in a field, spraying plants, being serviced by another driving frame with change of supplementary battery.

Figure 10 shows an embodiment of a chassis according to the invention, seen from behind, the chassis in narrow mode driving on a field on narrow rows using additional area (19) for workarea.

DETAILED DESCRIPTION OF AN EMBODIMENT

Figure 1 shows an embodiment of a chassis according to the present invention, seen from above, in which the chassis comprises the following parts: a primary part 1 of the rigid frame, telescopical travers members 11 attached to a secondary part 2, wherein these two parts 1 and 2 together form a basic asymmetric rigid frame of the chassis seen from above. Direction 100 represents a forward driving direction of the chassis. Steering wheel 3 is connected to a steering wheel electric motor 4 and a steering wheel mechanism. These parts are connected to primary part 1 of the rigid frame. Primary part 1 is connected to the vertical rotation axis of steering wheel 3. Of physical part of said axis connects steering wheel 3, the electric motor 4 and steering mechanism 5 connects to the primary part 1. Side wheel 6 is connected to primary part 1 of the rigid frame.

Side wheel 6 is connected to a side wheel electric motor 7. Side wheel 8 is connected to a secondary part 2 of the rigid frame, which is connected to the primary part 1. Side wheel 6 is connected to a side wheel electric motor 9. The reference 10 represents the distances between the centres of the side wheels. In this embodiment the distance from the centre of side wheel 6 to the centre of side wheel 8 is in the most narrow position. Driving forward in same direction 100 as longitude member. Area 12 is show as to indicate placement of conveyer, tank or other, to support manipulator, this area is between longitudinal frame and bottom of inverted U-Shape vertically 1, and between inner side of inverted U-Shape horizontally and inner side of longitudinal member same side. Area 13 is show as to indicate placement of additional conveyer, Area 14 is show as to indicate working area of robotic manipulator, though the manipulator can also operate in area 12 and 13 to get supplies or to deposit. Horizontally it is contained by the borders of area 12 and 13, vertically it is contained by the upper limit of the manipulator to the soil.

Figure 2 shows an embodiment of a chassis according to the invention, seen from behind, the chassis in narrow mode driving. Vertical limits of area 12, 13 and 14 are shown.

Figure 3 shows an embodiment of a chassis according to the invention, seen from above, with the steering wheel in a turning position and the frame in most wide position 10, telescopic function of the telescopic members 11 is shown. The reference 101 shows path for steering wheel according to turn of wheel.

Figure 4 shows an embodiment of a chassis according to the invention, seen from behind, the chassis in wide mode driving.

Figure 5 shows an embodiment of a chassis according to the invention, seen from one first side. First side wheel 8 is shown with electric hub motor 9, steering wheel 3 is shown with electric hub motor 4, steering mechanism 5 is shown, internal batteries are shown.

Figure 6 shows an embodiment of a chassis according to the invention, seen from one second side. Second side wheel 6 is shown with electric hub motor 7.

Figure 7 shows an embodiment of a chassis according to the invention, seen from above with an additional longitudinal member 2 and an additional steering wheel 16, with motor 17 and steering 18.

Figure 8 shows an embodiment of a driving frame 51 according to the invention, planting with robotic manipulator 53, seen in a field 50, being serviced, through conveyer transfer 54, by another driving frame 52 with new plants 55 to sow.

Figure 9 shows an embodiment of a driving frame 60 according to the invention, seen in a field spraying 62, with material from tank 63, being serviced with new batteries 65 by another driving frame 61 with transfer by conveyor 64 & 65 of supplementary battery. Figure 10 shows an embodiment of a chassis according to the invention, seen from behind, the chassis in narrow mode driving. Vertical limits of area 12, 13, 14 and 19 are shown. Area 19 and 14 are areas where said robotic manipulator work with soil and plants. Area 12 and 13 are areas for deposit of materials, plants etc. either been plucked, taken or removed from ground or plants or to be used by the vehicle or manipulation to plant, spray, manipulate or other.

Although the present invention has been described in connection with the specified embodiments, it should not be construed as being in any way limited to the presented examples. The scope of the present invention is set out by the accompanying claim set. In the context of the claims, the terms "comprising" or "comprises" do not exclude other possible elements or steps. Also, the mentioning of references such as "a" or "an" etc. should not be construed as excluding a plurality. The use of reference signs in the claims with respect to elements indicated in the figures shall also not be construed as limiting the scope of the invention. Furthermore, individual features mentioned in different claims, may possibly be advantageously combined, and the mentioning of these features in different claims does not exclude that a combination of features is not possible and advantageous.