Differential traction drive and steering axis coordination system and method
AssigneeMTD Products Inc
InventorsHer-Jye Chang, Aaron Smith, Jay E. Maggard
Life of this patent
Estimating the term…
Abstract
A system and method for differential traction drive and steering axis coordination for an autonomous mower or other turf device includes initiating a steering motion based on determining a target forward speed and a steering rotational speed, calculating a left wheel speed and a right wheel speed, and applying the left and right wheel speeds, wherein the steering rotational speed is driven by a steering motor and the traction wheels associated with the autonomous mower, and the left and right wheel speeds are based on the target forward speed, a distance from a steering axle to the center of the respective wheel, and the steering rotational speed.
Claims15
A method for traction control for a device having at least one wheel for providing motion on a surface, comprising:
- detecting a first wheel slip event of a first wheel having a wheel speed;
- responding to the first wheel slip event by stopping the first wheel, gradually increasing the wheel speed of the first wheel;
- detecting a second wheel slip event of the first wheel;
- and
- responding to the second wheel slip event by, stopping the first wheel, determining if a steering angle α of the first wheel is less than or equal to a maximum steering angle, adjusting the steering angle α of the first wheel to some first defined angle less than or equal to the maximum steering angle, and
- gradually increasing the wheel speed of the first wheel while the steering angle is the first defined angle.
A computer implemented method for traction control for a turf device having at least one wheel for providing motion on a ground surface, comprising:
- detecting a wheel slip event;
- responsive to the wheel slip event, stopping motion of the wheel and then gradually increasing a wheel speed;
- detecting another wheel slip event;
- stopping motion of the wheel;
- determining that a steering angle of the wheel is less than or equal to a predetermined maximum steering angle and
- i) adjusting the steering angle of the wheel;
- and
- ii) gradually increasing the wheel speed while the steering angle is less than or equal to a predetermined maximum steering angle.
Dependencies are inferred from the claim text.