PRIORITY

[OOOIJThe present application claims priority to and the benefit of U.S. NonProvisional Patent Application No. 17/526,872 filed November 15, 2021 the entire contents of which are incorporated herein by reference.

TECHNICAL FIELD

[0002] This invention relates to autonomous vehicles, more specifically, the chassis design and battery placement for an autonomous, electric vehicle.

BACKGROUND INFORMATION

[0003] There are many instances where autonomous vehicles are preferred to human-operated vehicles. Such autonomous vehicles are particularly advantageous for performing dangerous tasks or operating in hazardous conditions, akin to what first responders, or explosive ordinance disposal teams may experience. They are also favorable in situations where large fleets are needed, such as in agriculture, where farms have increased in size but the limited window of time for agricultural operations remains the same. No matter the situation, personnel need autonomous vehicles that are readily available and robust enough to operate in all conditions.

[0004] Therefore, there is a need in the art for a method, system, and/or apparatus that can aid persons in completing various operations. The method, system, and/or apparatus can be used to reduce the time for completing operations, improve the conditions in which an operation can be completed, reduce the amount of manpower needed, or otherwise reduce the number of issues associated with farming and other industries. SUMMARY

[0005] In accordance with one aspect of the present invention, disclosed is a robotic vehicle comprising a chassis, a right track assembly and a left track assembly for supporting the chassis, and a battery unit comprising a front portion and a back portion with a center of gravity at the front portion. The battery unit is configured for connection to the chassis.

[0006] In an embodiment, the center of gravity is fixed at the front portion of the battery unit. In an embodiment the battery unit is configured for connection to the chassis with the center of gravity fixed forward of the chassis.

[0007] In an embodiment, a vertical anchor can be combined to the chassis for attachment to the battery unit such that the battery unit is cantilevered to the chassis with the center of gravity forward of the chassis. A lateral anchor can be combined to the chassis for attachment to the battery unit to restrict lateral movement of the battery unit with respect to the chassis. For ease of installation, the chassis can comprise of a battery receiver with a support shelf between the right track assembly and the left track assembly for supporting a back portion of the battery unit with the center of gravity of the battery unit forward of the support shelf.

[0008] The support shelf of the battery receiver can comprise of a top surface on which the back portion of the battery unit is located and a front face perpendicular to the top surface with the center of gravity of the battery unit is forward of the front face of the support shelf. The vertical anchor can be in the back of the battery receiver and comprise of a latch mechanism that is configured to latch to a rod on the battery unit. The lateral anchor can be in the front face of the support shelf and comprise of a socket and plug configuration that attaches the battery unit to the chassis. [0009] In an embodiment, the chassis can comprise of a support frame that supports an operating unit above the chassis. A front hood can be cantilevered to the operating unit and supported by the battery unit.

[0010] The battery unit can comprise of an electrical connector at the back portion of the battery unit configured to connect to a corresponding connector on the vehicle chassis to provide operating power to the vehicle. The front portion of the battery unit can have a bottom surface configured for supporting the weight of the battery unit so that it can be easily installed and removed from the chassis.

[0011] In an embodiment, the battery unit can comprise of a plurality of battery receptacles oriented in at least two horizontal rows for receiving a corresponding number of batteries therein. The front portion of the battery unit can be configured for holding more batteries than the back portion of the battery unit so that the center of gravity of the battery unit is at the front portion. The battery unit can also comprise of an electrical connector at the front portion of the battery unit configured to connect to a corresponding connector on a charging unit to allow charging batteries without having to separate the battery unit from the robotic vehicle.

[0012] In yet another embodiment, a robotic vehicle comprising a chassis comprising a support shelf and a support frame that extends above the support shelf is provided with a right track assembly and a left track assembly connected on opposite sides of the support shelf of the chassis for supporting the chassis. An operating unit is positioned on the support frame of the chassis and positioned above the support shelf of the chassis. A battery unit is positioned on the support shelf of the chassis. A front hood is cantilevered to the operating unit and supported from below by the battery unit. [0013] In an embodiment, the battery unit is configured for connection to the chassis with the center of gravity of the battery unit is forward of the support shelf. A vertical anchor can be combined to the chassis for attachment to the battery unit such that the battery unit is cantilevered to the chassis with the center of gravity forward of the support shelf of the chassis. A lateral anchor can be combined to the chassis for attachment to the battery unit to restrict lateral movement of the battery unit with respect to the chassis.

[0014] In an embodiment, the battery unit can comprise of a plurality of battery receptacles oriented in at least two horizontal rows for receiving a corresponding number of batteries therein. The front portion of the battery unit can be configured for holding more batteries than the back portion of the battery unit so that the center of gravity of the battery unit is at the front portion.

BRIEF DESCRIPTION OF THE DRAWINGS

[0015] These features are among the advantages of the present invention. They will be better understood by reading the following detailed description, taken together with the drawings wherein:

[0016] FIG. 1 is a perspective view of a robotic vehicle.

[0017] FIG. 2 is a side view of the robotic vehicle of FIG. 1 .

[0018] FIG. 3 is a perspective view of the robotic vehicle of FIG. 1 with the battery unit removed from the robotic vehicle.

[0019] FIG. 4 is the perspective view of FIG. 3 with the right motor driver and right track assembly removed for clarity.

[0020] FIG. 5 is a perspective view of the chassis for the robotic vehicle of FIG. 1 . [0021] FIG. 6 is a side cross-section of the robotic vehicle of FIG. 1 .

[0022] FIG. 7 is a close-up view of area A of FIG. 6. [0023] FIG. 8 is a close-up view of area B of FIG. 6.

[0024] FIG. 9 is a back-side perspective view of the battery unit for the robotic vehicle of FIG. 1.

[0025] FIG. 10 is a front-side perspective view of the battery unit for the robotic vehicle of FIG. 1.

[0026] FIG. 11 is the perspective view of FIG. 10 with the side panels of the battery unit removed for clarity.

[0027] FIG. 12 is a side view of the battery unit of FIG. 1 with the side panels and the batteries removed for clarity.

[0028] FIG. 13 is a front side perspective view of the of the chassis for the robotic vehicle with an alternative embodiment of a latch mechanism.

[0029] FIG. 14 is a back side perspective view of the chassis of FIG. 13 and the battery unit.

[0030] FIG. 15 is front side perspective view of the battery unit of FIG. 1 with the front hood removed.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0031] Referring to FIGs. 1 -2, a front perspective view and a side view of robotic vehicle 100 is disclosed. Robotic vehicle 100 is electric driven, and remotely operable, in order to carry out manpower-intensive or high-risk functions without exposing an operator to fatigue or hazard. Robotic vehicle 100 is robust and sturdy to operate in challenging environments. Its low, and forward center of gravity allows for towing or hauling equipment many times its weight. With an easily replaceable battery pack, robotic vehicle 100 can operate for many hours then quickly exchange battery packs for continued operation. [0032] Robotic vehicle 100 comprises of a chassis 102 with a front end 102a and rear end 102b supported on a right track assembly 104 and a left track assembly 106 with a corresponding right track 104a and a left track 106a. A right motor driver 108 and a left motor driver 110 are provided for driving corresponding right track 104a and left track 106a. Right motor driver 108 and left motor driver 110 are connected together by an operating unit 112, where the circuitry and software necessary for operating robotic vehicle 100 is located. A front hood 114 projects outward from operating unit 1 12, right motor driver 108, and left motor driver 1 10 where ancillary equipment such as cameras 1 11 and lights 1 13 can be located.

[0033] Beneath front hood 1 14, on chassis 102, and between right track assembly 104, and left track assembly 106, is a battery unit 200. FIG. 3 shows battery unit 200 separated from robotic vehicle 100. Battery unit 200 may approach 25-30% of the total weight of robotic vehicle 100 weighing more than 1 ,500 pounds. By positioning battery unit 200 underneath front hood 114 on chassis 102, the center of gravity of robotic vehicle 100 is lowered and moved forward to improve traction and towing capacity. In this regard, the center of gravity of battery unit 200 is fixed at the front portion 204 of battery unit 200, such that when battery unit 200 is connected to chassis 102, the center of gravity is fixed forward of chassis 102. In other implementations, chassis 102 can be extended further forward such that all or most of the weight of battery unit 200 is supported on chassis 102 in which case the center of gravity of robotic vehicle 100 is above chassis 102, that is fixed above chassis 102 when battery unit 200 is connected to chassis 102 as described here.

[0034] FIG. 4 shows the same view as FIG. 3, with right track assembly 104 removed to better illustrate chassis 102. The height of support shelf 124 relative to the bottom of left track 106a should be noted as providing robotic vehicle with good ground clearance for easy maneuverability through a field of various conditions. FIG. 5 shows chassis 102 removed from the vehicle. Chassis 102 comprises of a battery receiver 122 formed by a support shelf 124. A support frame 128 is positioned on top of support shelf 124 at the back end of battery receiver 122 to support operating unit 112 on chassis 102. Support frame 128 is appropriately fixed to chassis 102 in a manner to transfer moments from support frame 128 throughout chassis 102. Support frame 128 includes vertical guides 129 that are perpendicular to a top surface 125 of support shelf 124 of chassis 102. Wear pads 126 can be located on top surface 125 to protect support shelf 124 from wear as battery unit 200 is inserted and removed from battery receiver 122. Optional slots, rails, guide-ways, etc., can be added to guide battery unit 200 into battery receiver 122 by corresponding features on battery unit 200.

[0035] An axial anchor 119 is provided to combine battery unit 200 to chassis 102 to prevent battery unit 200 from sliding axially out of battery receiver 122. In one implementation, as seen in FIG 5, support frame 128 can include a latch mechanism 130 between vertical guides 129. Latch mechanism 130 can include one or more latches 131 spaced apart by a rotating bar 133 that extends between sides of support frame 128. Rotating bar 133 can be located by bearings and manually operated to release battery unit 200 from battery receiver 122. An additional retention bar 135 can be added between sides of support frame 128 and above latch mechanism 130.

[0036] Battery unit 200 is further held in place in battery receiver 122 of chassis 102 by a vertical anchor 142 and a lateral anchor 140 that prevent vertical and lateral movement, respectively, of battery unit 200 with respect to chassis 102. FIG 6 shows a left side cross-section view of the robotic vehicle 100 with the latch mechanism 130 shown in AREA A. FIG 7 is a detailed view of the latch mechanism

130, used to secure the battery unit 200 to chassis 102. Vertical anchor 142 can be provided to prevent battery unit 200 from tipping forward with respect to chassis 102 due to its cantilevered attachment with its center of gravity out front of support shelf 124 of battery receiver 122. Vertical anchor 142 can be implemented as a rod 208 combined to battery unit 200 and retention bar 135 on chassis 102 above latch mechanism 130. As can be seen, latch mechanism 130 engages rod 208 from beneath while retention bar 135 serves as a stop above rod 208. Upward vertical motion of the battery unit 200 is transferred from rod 208 to retention bar 135 on the chassis 102 to anchor battery unit 200 from moving vertically.

[0037] Referring now to FIG 6, it can be seen that support frame 128 supports operating unit 112 above battery unit 200. Operating unit 1 12 is cantilevered forward of support frame 128 so that front hood 114 can be supported by the top of battery unit 200.

[0038] As can be seen from the illustrations, most notably FIG. 4 and FIG. 9, battery unit 200 comprises of a rear portion 202 and a front portion 204. Rear portion 202 of battery unit 200 is supported on support shelf 124 of battery receiver 122 while front portion 204 extends forward beyond any physically supporting area of battery receiver 122 such that it is cantilevered with its center of gravity forward of support shelf 124 of battery receiver 122 of chassis 102. In addition to moving the combined center of gravity of robotic vehicle forward, this configuration also improves the removability of the battery unit 200. A cart (not shown) can be placed under the center of gravity of battery unit 200 prior to releasing latch mechanism 130 at the rear of battery receiver 122 of chassis 102. [0039] AREA B of FIG 6 shows lateral anchor 140 provided to lock the battery unit 200 to battery receiver 122 of chassis 102. FIG 8 show the details of lateral anchor 140. Support shelf 124 comprises of a front face 132 that is perpendicular to top surface 125 of support shelf 124. Lateral anchor 140 can comprise a female socket 136 on chassis 102 the cooperates with a male plug 206 on battery unit 200 or vice versa. Female socket 136 can be in front face 132 of support shelf 124 and extend into support shelf 124. Female socket 136 is configured to receive the corresponding male plug 206 on battery unit 200. The connection of male plug 206 to female socket 136 forms lateral anchor 140 to retain battery unit 200 to chassis 102 in both the vertical and horizontal directions, but primarily restricts side-to-side, lateral motion of battery unit 200 in battery receiver 122 of chassis 102. Any side loading or moments on battery unit 200 while robotic vehicle 100 is in use is transferred to chassis 102. It should also be understood that male plug 206 can be replaced with a female socket and female socket 136 can be replaced with a male plug. In fact, any type of fastener assembly for connecting battery unit 200 to chassis 102 can be provided.

[0040] FIGs. 13-14 show an alternative embodiment of axial anchor 1 19, vertical anchor 142, and lateral anchor 140 for combing battery unit 200 to chassis 102. Battery unit 200 is positioned in battery receiver 122 in the same manner as described above, but is located with respect to battery receiver 122 by one or more upper locating sockets 121 and one or more lower locating sockets 123 and corresponding rear locating plugs 231 and front locating plugs 233, respectively, on battery unit 200. This combination of upper locating sockets 121 and lower locating sockets 123, and rear locating plugs 231 and front locating plugs 233, respectively, fixes battery unit 200 vertically and laterally to chassis 102. These elements can be switch with the plugs on the chassis and the sockets on the battery unit. A latch mechanism 145 on top surface 125 of support shelf 124 of battery receiver 122 of chassis 102 engages a latch retaining plate 235 on second bottom side 218 of battery unit 200. When battery unit 200 is moved into battery receiver 122 upper locating sockets 121 and lower locating sockets 123, and rear locating plugs 231 and front locating plugs 233, respectively, fixes battery unit 200 locates laterally and vertically battery unit 200 with respect to battery receiver 122. Latch retaining plate 235 moves up and over the ramp of latch mechanism 145 to hold battery unit 200 axially with respect to battery receiver 122. When battery unit 200 is to be released, latch mechanism 145 is released by moving downward into top shelf 125 so that battery unit 200 can be slid outward. The releasing of latch mechanism 145 can be carried out by a spring biased lever or automatically by an electrically actuated lever. [0041] On support shelf 124 in the rear of battery receiver 122 of chassis 102 is an electrical connector 138, seen in FIG. 7 that corresponds with a mating electrical connector 210 on battery unit 200. This transfers power from battery unit 200 to operating unit 1 12 for distribution through robotic vehicle 100.

[0042] As illustrated in FIGS. 1 -4, battery unit 200 comprises of a body 212 to give battery unit 200 an aesthetically pleasing appearance. Wear pads 217 can be provided on body 212 to protect battery unit 200 when it is inserted and removed from battery receiver 122 of chassis 102. On the front of body 212 is a door 219 that conceals a battery charging port 221 , as best seen in FIG 10, for charging battery unit 200 without having to remove battery unit 200 from battery receiver 122 of chassis 102 of robotic vehicle 100. Also, on the front of body 212 above and to the either side of door 219 are additional lights 1 13a. [0043] FIGs. 9-11 illustrate battery unit 200 with body 212 removed. Battery unit 200 is shaped with rear portion 202 and front portion 204 each in such a manner as to position the center of gravity of battery unit 200 in front portion 204 and forward of chassis 102 when located in battery receiver 122.

[0044] More specifically, battery unit 200 comprises of a top side 214 that is relatively flat so as to position battery unit 200 flush with the underside of front hood 114 of robotic vehicle 100. This flat surface of 214 can supports front hood 114, which is cantilevered from operating unit 1 12. The substantially flat front bottom side, 216 as best seen in FIG 9, provides a surface for a cart (not shown) to raise up against, in order to remove battery unit 200 from battery receiver 122. Parallel to surface 216 is the substantially flat second bottom side 218, which is offset upward from surface 216 to provide a location on which battery unit 200 can set on support shelf 124 of battery receiver 122.

[0045] As previously described, battery unit 200 utilizes a structural male plug 206. This is positioned on a vertical side 220 extending between first bottom side 216 and second bottom side 218. Battery unit 200 also comprises of rod 208 used to attach battery unit 200 to latch mechanism 130 of battery receiver 122, and electrical connector 210 to transfer power from battery unit 200 to operating unit 112 for distribution through robotic vehicle 100. Both rod 208 and electrical connector 210 are positioned on the back side, 215, of battery unit 200. On front side 213 is battery charging port 221 for charging battery unit 200, as described above.

[0046] Within the area described above are one or more battery receptacles 222 (seen in FIG. 12 with side panels and multiple batteries 224 removed). Each battery receptacle 222 is designed to receive a battery 224 (as shown in FIG. 11 with the side panels removed). Multiple batteries 224 are wired in parallel to create a battery set which is then wired in series with one or more other battery sets to provide long lasting power to robotic vehicle 100. In the illustrated embodiment, 24 batteries are connected together in two sets of 12 for a total voltage of 300 VDC. A control area network controller is used to control the voltage at electrical connector 210 and battery charging port 221 . A battery management system can also be provided to monitor battery charge and to maintain proper dispensing of current. One skilled in the art will recognize that the number of batteries can be increased or decreased based on the charged power required by robotic vehicle 100. One skilled in the art will also recognize that advancements in battery technology will likely lead to a reduction in the number of batteries 224 required by battery unit 200. In this case, batteries can be replaced with weights to maintain the center of gravity.

[0047] FIG. 15 shows battery unit 200 with front hood 114 removed to reveal an open interior space 150. A shelf 156 can be cantilevered to the front of operating unit 112. Fasteners 158 can attach shelf 156 to operating unit 1 12 to hold shelf 112 above battery unit 200. Front hood 114 is then pivotally attached to either operating unit 112 or to shelf 112 so that it can be raised to reveal access to interior space 150. Interior space 150 can be used for storage, but in the illustrated embodiment is used for locating all of the low voltage DC electrical components 152. One or more mounting plates 154 can be located in interior space 154 for mounting low voltage DC electrical components 152 in a manner that is easy to access. This arrangement allows for easy access, testing, and troubleshooting of the electrical circuity.

[0048] The foregoing description shows a battery unit 200 cantilevered to the back of battery receiver 122 by vertical anchor 142 interfaced to retention bar 135. Because the center of gravity of battery unit 200 is in front portion 204 of battery unit 200, when battery unit 200 is installed in battery receiver 122, the center of gravity of robotic vehicle 100 is positioned forward of chassis 102 of robotic vehicle 100. By positioning the center of gravity out front of chassis 102, the traction of robotic vehicle 100 is greatly improved for towing farm implements. While towing, the loads on robotic vehicle 100 are very high, especially upon take off or acceleration. These high loads create a moment about the rear axle of robotic vehicle 100 which tends to lift the front of robotic vehicle 100. With the center of gravity out front of chassis 102, robotic vehicle stays firmly grounded.

[0049] Other embodiments, include a robotic vehicle 100 comprising: a chassis 102 comprising a support shelf 124 and a support frame 128 that extends above the support shelf 124; a right track assembly 104 and a left track assembly connected on opposite sides of the support shelf 124 of the chassis 102 for supporting the chassis 102 off the ground; an operating unit 112 positioned on the support frame 128 of the chassis 102 and positioned above the support shelf 124 of the chassis 102; a battery unit 200 positioned on the support shelf 124 of the chassis 102; and a front hood 114 cantilevered to the operating unit 112 and supported from below by the battery unit 200. In an embodiment, the battery unit 200 is configured for connection to the chassis 102 with the center of gravity of the battery unit 200 forward of the support shelf 124. In a further embodiment, the robotic vehicle 100 further comprises a vertical anchor 142 combined to the chassis 102 for attachment to the battery unit 200 such that the battery unit 200 is cantilevered to the chassis 102 with the center of gravity forward of the support shelf 124 of the chassis 102; and a lateral anchor 140 combined to the chassis 102 for attachment to the battery unit 200 to restrict lateral movement of the battery unit 200 with respect to the chassis 102. In yet a further embodiment, the battery unit 200 comprises a plurality of battery receptacles 222 oriented in at least two horizontal rows for receiving a corresponding number of batteries 224 therein, wherein a front portion 204 of the battery unit 200 is configured for holding more batteries 224 than a rear portion 202 of the battery unit 200 so that the center of gravity of the battery unit 200 is at the front portion 204.

[0050] Those skilled in the art will recognize that various assemblies, subassemblies, and elements herein described can be implemented in various arrangements. Assemblies can be divided into subassemblies, multiple subassemblies can be combined in single assemblies, and elements can be broken out of subassemblies and vice versa.

[0051]Words of inclusion used herein and the claims, such as “comprising”, “having”, and “including,” are intended to have the same open-ended meaning.

[0052] While the principles of the invention have been described herein, it is to be understood by those skilled in the art that this description is made only by way of example and not as a limitation to the scope of the invention. Other embodiments are contemplated within the scope of the present invention in addition to the exemplary embodiments shown and described herein. Modifications and substitutions by one of ordinary skill in the art are considered to be within the scope of the present invention, which is not to be limited except by the following claims.