Description:TECHNICAL FIELD
[001] Embodiments disclosed herein relate to electric farm vehicles, and more particularly to battery protection in the electric farm vehicles.
BACKGROUND
[002] Batteries are positioned in electric farm vehicles (such as tractors) close to the terrain, to obtain a lower center of gravity (CG) and to ensure stability of the vehicle.
[003] The farm vehicle may need to maneuver in uneven/rough terrain. The stability of the farm vehicle may vary based on the terrain conditions. Therefore, the farm vehicle should be stable enough to maneuver in different terrain conditions which may include, but are not limited to, wet land, plain terrain, rocky land, dry land, mud, hard soil, riverbed, sand, and the like, while preventing damage to the battery and the critical components of the farm vehicle.
[004] Hence, there is a need in the art for solutions which will overcome the above mentioned drawback(s), among others.
OBJECTS
[005] The principal object of embodiments herein is to disclose an electric farm vehicle and methods of operating the same, wherein the battery(ies) of the electric farm vehicle can be raised/lowered based on the stability of the vehicle and the terrain conditions.
[006] Another object of embodiments herein is to disclose an electric farm vehicle and methods of operating the same, wherein rail(s) is/are used to move the battery(ies) of the electric farm vehicle to a pre-defined height, based on the stability of the vehicle and the terrain conditions.
[007] Another object of embodiments herein is to disclose an electric farm vehicle and methods of operating the same, wherein the stability of the electric farm vehicle is monitored based on the position of the battery(ies).
[008] These and other aspects of the embodiments herein will be better appreciated and understood when considered in conjunction with the following description and the accompanying drawings. It should be understood, however, that the following descriptions, while indicating at least one embodiment and numerous specific details thereof, are given by way of illustration and not of limitation. Many changes and modifications may be made within the scope of the embodiments herein without departing from the spirit thereof, and the embodiments herein include all such modifications.
BRIEF DESCRIPTION OF FIGURES
[009] Embodiments herein are illustrated in the accompanying drawings, throughout which like reference letters indicate corresponding parts in the various figures. The embodiments herein will be better understood from the following description with reference to the following illustratory drawings. Embodiments herein are illustrated by way of examples in the accompanying drawings, and in which:
[0010] FIG. 1 depicts the components of an electric farm vehicle, according to embodiments as disclosed herein;
[0011] FIGs. 2A and 2B depict example electric tractors, which depict example arrangements of the plurality of rails, the actuator, and the batteries, according to embodiments as disclosed herein;
[0012] FIG. 3A depicts an example placement of the plurality of rails and the batteries, according to embodiments as disclosed herein;
[0013] FIG. 3B depicts an example placement of the battery at its home position, according to embodiments as disclosed herein;
[0014] FIG. 4 is a flowchart depicting the process of changing the height of the battery in the farm vehicle, based on the terrain conditions, according to embodiments as disclosed herein; and
[0015] FIG. 5 is a flowchart depicting the process of monitoring the stability of the vehicle, based on the terrain conditions, according to embodiments as disclosed herein; and
[0016] FIG. 6 is a flowchart depicting the process of monitoring the stability of the vehicle, based on the terrain conditions and current angle of the vehicle, according to embodiments as disclosed herein.
DETAILED DESCRIPTION
[0017] The embodiments herein and the various features and advantageous details thereof are explained more fully with reference to the non-limiting embodiments that are illustrated in the accompanying drawings and detailed in the following description. Descriptions of well-known components and processing techniques are omitted so as to not unnecessarily obscure the embodiments herein. The examples used herein are intended merely to facilitate an understanding of ways in which the embodiments herein may be practiced and to further enable those of skill in the art to practice the embodiments herein. Accordingly, the examples should not be construed as limiting the scope of the embodiments herein.
[0018] For the purposes of interpreting this specification, the definitions (as defined herein) will apply and whenever appropriate the terms used in singular will also include the plural and vice versa. It is to be understood that the terminology used herein is for the purposes of describing particular embodiments only and is not intended to be limiting. The terms “comprising”, “having” and “including” are to be construed as open-ended terms unless otherwise noted.
[0019] The words/phrases "exemplary", “example”, “illustration”, “in an instance”, “and the like”, “and so on”, “etc.”, “etcetera”, “e.g.,” , “i.e.,” are merely used herein to mean "serving as an example, instance, or illustration." Any embodiment or implementation of the present subject matter described herein using the words/phrases "exemplary", “example”, “illustration”, “in an instance”, “and the like”, “and so on”, “etc.”, “etcetera”, “e.g.,” , “i.e.,” is not necessarily to be construed as preferred or advantageous over other embodiments.
[0020] Embodiments herein may be described and illustrated in terms of blocks which carry out a described function or functions. These blocks, which may be referred to herein as managers, units, modules, hardware components or the like, are physically implemented by analog and/or digital circuits such as logic gates, integrated circuits, microprocessors, microcontrollers, memory circuits, passive electronic components, active electronic components, optical components, hardwired circuits and the like, and may optionally be driven by a firmware. The circuits may, for example, be embodied in one or more semiconductor chips, or on substrate supports such as printed circuit boards and the like. The circuits constituting a block may be implemented by dedicated hardware, or by a processor (e.g., one or more programmed microprocessors and associated circuitry), or by a combination of dedicated hardware to perform some functions of the block and a processor to perform other functions of the block. Each block of the embodiments may be physically separated into two or more interacting and discrete blocks without departing from the scope of the disclosure. Likewise, the blocks of the embodiments may be physically combined into more complex blocks without departing from the scope of the disclosure.
[0021] It should be noted that elements in the drawings are illustrated for the purposes of this description and ease of understanding and may not have necessarily been drawn to scale. For example, the flowcharts/sequence diagrams illustrate the method in terms of the steps required for understanding of aspects of the embodiments as disclosed herein. Furthermore, in terms of the construction of the device, one or more components of the device may have been represented in the drawings by conventional symbols, and the drawings may show only those specific details that are pertinent to understanding the present embodiments so as not to obscure the drawings with details that will be readily apparent to those of ordinary skill in the art having the benefit of the description herein. Furthermore, in terms of the system, one or more components/modules which comprise the system may have been represented in the drawings by conventional symbols, and the drawings may show only those specific details that are pertinent to understanding the present embodiments so as not to obscure the drawings with details that will be readily apparent to those of ordinary skill in the art having the benefit of the description herein.
[0022] The accompanying drawings are used to help easily understand various technical features and it should be understood that the embodiments presented herein are not limited by the accompanying drawings. As such, the present disclosure should be construed to extend to any modifications, equivalents, and substitutes in addition to those which are particularly set out in the accompanying drawings and the corresponding description. Usage of words such as first, second, third etc., to describe components/elements/steps is for the purposes of this description and should not be construed as sequential ordering/placement/occurrence unless specified otherwise.
[0023] The embodiments herein achieve an electric farm vehicle and methods of operating the same, wherein the battery(ies) of the electric farm vehicle can be raised/lowered based on the stability of the vehicle and the terrain conditions. Referring now to the drawings, and more particularly to FIGS. 1 through 6, where similar reference characters denote corresponding features consistently throughout the figures, there are shown embodiments.
[0024] Embodiments herein use the terms ‘electric farm vehicle’, ‘farm vehicle’, ‘electric vehicle’, ‘vehicle’, and so on interchangeably, to refer to the electric farm vehicle as referred to herein. Embodiments herein are explained using an electric tractor as an example of an electric farm vehicle; but it may be obvious to a person of ordinary skill in the art that the embodiments herein can be extended to any electric farm vehicle which comprise one or more batteries.
[0025] FIG. 1 depicts the components of an electric farm vehicle. The electric farm vehicle (100), as depicted, can comprise a control unit (101), a stability monitoring module (102), a plurality of rails (103), at least one camera (106), and a tilt angle sensor (107). The plurality of rails (103) can be controlled by an actuator (104), wherein the control unit (101) can control the actuator (104), and the actuator (104) can move the rails (103) (based on instructions received from the control unit (101)) and correspondingly the locations of one or more batteries held in the plurality of rails. In an embodiment herein, the plurality of rails (103) can be guided rails. The at least one camera (106) can be mounted on the vehicle (100), so as to capture one or more media of the terrain below the vehicle, and to enable the control unit (101) to identify the type of soil in the area, where the vehicle (100) is currently operating. In an embodiment herein, the at least one camera (106) can be mounted so as to adjust its field of view. The media captured by the at least one camera (106) can be provided to the stability monitoring module (102). The tilt angle sensor (107) can measure the angle at which the vehicle is currently positioned. The angle measured by the tilt angle sensor (107) can be provided to the stability monitoring module (102).
[0026] FIGs. 2A and 2B depict example electric tractors (100), which depict example arrangements of the plurality of rails (103), the actuator (104), and one or more batteries (105). The plurality of rails (103) can be arranged in a vertical manner, wherein the plurality of rails (103) can hold one or more batteries (105) and the batteries (105) can move along the plurality of rails (103) to one or more configured points. In an embodiment herein, a default position of the battery (i.e., its home location) can be at a bottom position along the rails (as shown in the example depicted in FIG. 3B). Embodiments herein are explained using a plurality of rails (103) holding a single battery (105) (as depicted in the example depicted in FIG. 3A); but it may be obvious to a person of ordinary skill in the art that the electric tractor (100) can comprise multiple rails (103) holding multiple batteries (105) and embodiments herein can be extended to electric tractors 100 which comprise multiple rails (103) holding multiple batteries (105).
[0027] The control unit (101) can receive inputs related to the terrain conditions (at the location where the farm vehicle (100) is currently operating) from one or more sensors (such as soil sensor(s), pre-configured terrain maps, current weather conditions (received from an external entity (not shown), current location of the farm vehicle (100), and so on) (not shown). Based on the terrain conditions, the control unit (101) can determine an optimal height of the battery (105). The optimal height of the battery (105) is a height where the battery (105) is not exposed to the soil and/or mud and/or obstacles on the terrain (such as, but not limited to, rocks, stones, trees, tree stumps, bushes, branches, walls, shoulders, headlands, and so on) and does not suffer any impact/damage from the soil and/or mud and/or obstacles. The optimal height can vary based on the terrain conditions. The control unit (101) can process media (which can be an image, a video, and so on) of the terrain around the vehicle, captured by the one or more cameras (106). The control unit (101) can compare the captured media with a database to determine the type of terrain and objects (if any present in the terrain) (hereinafter referred to as terrain conditions). Examples of the type of terrain can be, but not limited to, a level terrain, an upslope, a downslope, and so on. Examples of the objects can be, but not limited to, rock, mud, clay, tree stumps, branches, walls, shoulders, headlands, bunds, and so on. Based on the determined terrain type and objects, the control unit (101) can determine the optimal height, wherein the optimal height can be the height at which the battery (105) can clear the terrain and the objects without impact.
[0028] On determining the optimal height, the control unit (101) can provide communication to the actuator (104), which can move the battery (105) along the rails (103) to the determined optimal height. In an example herein, the actuator (104) can be a lead-screw actuator. The rails (103) can comprise one or more securing means (such as, but not limited to, retractable projections, a counter mechanism, and so on) to securely hold the battery (105) at the determined optimal height.
[0029] The control unit (101) can vary the optimal height, at which the battery (105) is placed, based on the terrain conditions in real time.
[0030] The stability monitoring module (102) can monitor the stability of the vehicle (100) (i.e., stability condition of the vehicle) using one or more sensors (such as, one or more acceleration sensors, inertial sensors, micro-electromechanical systems (MEMS) gyroscopes, and so on) (not shown). In an example herein, a MEMS gyroscope can measure the orientation of the vehicle and the angular movement. The stability monitoring module (102) can determine the stability of the vehicle, based on the measured angular movement, and the orientation of the vehicle. In an embodiment herein, the stability monitoring module (102) can monitor the stability of the vehicle, on the battery (105) moving to the determined optimal height. In an embodiment herein, the stability monitoring module (102) can continuously monitor the stability of the vehicle. On determining that the vehicle is not stable, the stability monitoring module (102) can provide an indication to the control unit (101). In an embodiment herein, the stability monitoring module (102) can determine that the vehicle is not stable (i.e., vehicle may be in a situation, where it may topple) by comparing the stability of the vehicle to a pre-determined threshold.
[0031] In an embodiment herein, the stability monitoring module (102) can monitor the stability of the vehicle by monitoring the wheel speeds of the vehicle. On determining that at least one of the wheel has started to slip, the stability monitoring module (102) can also trigger an indication.
[0032] In an embodiment herein, the stability monitoring module (102) can receive inputs from the at least one camera (106). The at least one camera (106) can provide media (which can be at least one of pictures, video, and so on) of the terrain on which the vehicle (100) is currently located, or travelling, to the stability monitoring module (102).
[0033] Based on the media captured by the at least one camera (106), the stability monitoring module (102) can identify the type of terrain. Examples of the terrain can be, but not limited to, hard soil, rocky soil, soft soil, mud, marsh, rock, boulders, pebbles, and so on. Based on the identified terrain type, the stability monitoring module (102) can determine a threshold stability value. In an embodiment herein, for determining the threshold stability value, the stability monitoring module (102) can compare the identified terrain type to pre-defined threshold stability values for each terrain type in a look-up table (LUT). The threshold stability value can be an optimized user calibratable angular value that defines a stabilized vehicle condition.
[0034] On receiving an indication from the stability monitoring module (102) that the vehicle (100) is unstable, the control unit (101) can move the battery (105) to a second optimal height using the actuator (104). In an embodiment herein, the second optimal height can be a home position of the battery (105), wherein the home position of the battery (105) is the default lowered position of the battery (105).
[0035] In an embodiment herein, the stability monitoring module (102) can receive inputs from the tilt angle sensor (107). The tilt angle sensor (107) can measure an angle that the vehicle (100) is currently positioned at, and provide the measured angle to the stability monitoring module (102). The tilt value can be directly proportional to stability of the vehicle (100). In an embodiment herein, the tilt angle value can be defined through user calibration by maneuvering the vehicle on various type of terrains. In an embodiment herein, the stability monitoring module (102) can monitor the measured tilt angle value and compare the measured tilt angle value with the pre-defined threshold stability value.
[0036] If the measured tilt angle value is less than or equal to the pre-defined threshold stability value, the stability monitoring module (102) can provide a first indication to the control unit (101) to maintain the battery (105) at the current location or move the battery (105) to the optimal height from the home position using the actuator (104).
[0037] If the measured tilt angle value is greater than the pre-defined threshold stability value, the stability monitoring module (102) can determine that the vehicle (100) is potentially unstable. On determining that the vehicle (100) is potentially unstable, the stability monitoring module (102) can provide a second indication to the control unit (101) to move the battery (105) to the home location using the actuator (104).
[0038] FIG. 4 is a flowchart depicting the process for securing the battery in the farm vehicle, based on the terrain conditions. In step 401, the control unit (101) receives inputs from one or more sensors (such as soil sensor(s), pre-configured terrain maps, current weather conditions (received from an external entity (not shown), current location of the farm vehicle (100), and so on) (not shown), related to the terrain conditions. Based on the terrain conditions, in step 402, the control unit (101) determines the optimal height for the battery (105). The optimal height of the battery (105) is the height where the battery (105) is not exposed to the soil and/or mud and/or obstacles on the terrain and does not suffer any impact/damage from the soil and/or mud and/or obstacles. The optimal height can vary based on the terrain conditions. On determining the optimal height, in step 403, the control unit (101) provides communication to the actuator (104). In step 404, the actuator (104) moves the battery (105) along the rails (103) to the determined optimal height. In step 405, the securing means engages, thereby holding the batteries (105) securely at the determined optimal height. The various actions in method 400 may be performed in the order presented, in a different order or simultaneously. Further, in some embodiments, some actions listed in FIG. 4 may be omitted.
[0039] FIG. 5 is a flowchart depicting the process of monitoring the stability of the vehicle, based on the terrain conditions. In step 501, the stability monitoring module (102) monitors the stability of the vehicle. On determining that the vehicle is not stable (step 502), in step 503, the stability monitoring module (102) provides an indication to the control unit (101). On receiving an indication from the stability monitoring module (102) that the vehicle (100) is unstable, in step 504, the control unit (101) moves the battery (105) to the second optimal height using the actuator (104), wherein the battery (105) is not exposed to the soil and/or mud and/or obstacles on the terrain and does not suffer any impact/damage from the soil and/or mud and/or obstacles at the second optimal height, while ensuring that the vehicle (100) is stable. The various actions in method 500 may be performed in the order presented, in a different order or simultaneously. Further, in some embodiments, some actions listed in FIG. 5 may be omitted.
[0040] FIG. 6 is a flowchart depicting the process of monitoring the stability of the vehicle, based on the terrain conditions and current angle of the vehicle. In step 601, the stability monitoring module (102) receives inputs from the at least one camera (106), wherein the inputs can be media of the terrain on which the vehicle (100) is currently located, or travelling. Based on the received media, in step 602, the stability monitoring module (102) identifies the type of terrain. Examples of the terrain can be, but not limited to, hard soil, rocky soil, soft soil, mud, marsh, rock, boulders, pebbles, and so on. Based on the identified terrain type, in step 603, the stability monitoring module (102) determines the threshold stability value using the LUT, wherein the pre-defined threshold stability value is an angular value.
[0041] In step 604, the stability monitoring module (102) receives inputs from the tilt angle sensor (107), which can be the angle measured by the tilt angle sensor (107). In step 605, the stability monitoring module (102) compares the measured tilt angle value with the pre-defined threshold stability value. If the measured tilt angle value is greater than the pre-defined threshold stability value, in step 606, the stability monitoring module (102) determines that the vehicle (100) is potentially unstable. On determining that the vehicle (100) is potentially unstable, in step 607, the stability monitoring module (102) provides the first indication to the control unit (101) to move the battery (105) to the home location using the actuator (104). If the measured tilt angle value is less than or equal to the pre-defined threshold stability value, in step 608, the stability monitoring module (102) provides the second indication to the control unit (101) to maintain the battery (105) at the current location or move the battery (105) to the optimal height using the actuator (104). The various actions in method 600 may be performed in the order presented, in a different order or simultaneously. Further, in some embodiments, some actions listed in FIG. 6 may be omitted.
[0042] Embodiments herein have been described considering that the control unit (101) and the stability monitoring module (102) as distinct units, however, it may be obvious to a person of ordinary skill in the art that the control unit (101) and the stability monitoring module (102) can be combined into a single unit/module.
[0043] The embodiments disclosed herein can be implemented through at least one software program running on at least one hardware device and performing network management functions to control the network elements. The network elements shown in FIGs. 1, 2A, 2B, 3A and 3B, include blocks which can be at least one of a hardware device, or a combination of hardware device and software module.
[0044] The embodiment disclosed herein describes an electric farm vehicle and methods of operating the same. Therefore, it is understood that the scope of the protection is extended to such a program and in addition to a computer readable means having a message therein, such computer readable storage means contain program code means for implementation of one or more steps of the method, when the program runs on a server or mobile device or any suitable programmable device. The method is implemented in at least one embodiment through or together with a software program written in e.g., Very high speed integrated circuit Hardware Description Language (VHDL) another programming language, or implemented by one or more VHDL or several software modules being executed on at least one hardware device. The hardware device can be any kind of portable device that can be programmed. The device may also include means which could be e.g., hardware means like e.g., an ASIC, or a combination of hardware and software means, e.g., an ASIC and an FPGA, or at least one microprocessor and at least one memory with software modules located therein. The method embodiments described herein could be implemented partly in hardware and partly in software. Alternatively, the invention may be implemented on different hardware devices, e.g., using a plurality of CPUs.
[0045] The foregoing description of the specific embodiments will so fully reveal the general nature of the embodiments herein that others can, by applying current knowledge, readily modify and/or adapt for various applications such specific embodiments without departing from the generic concept, and, therefore, such adaptations and modifications should and are intended to be comprehended within the meaning and range of equivalents of the disclosed embodiments. It is to be understood that the phraseology or terminology employed herein is for the purpose of description and not of limitation. Therefore, while the embodiments herein have been described in terms of embodiments and examples, those skilled in the art will recognize that the embodiments and examples disclosed herein can be practiced with modification within the scope of the embodiments as described herein.
, Claims:We claim:
1. An electric farm vehicle (100), the vehicle (100) comprising:
a control unit (101);
a stability monitoring module (102);
a plurality of rails (103);
at least one battery (105) held by the plurality of rails (103);
at least one camera (106); and
at least one tilt angle sensor (107),
wherein the stability monitoring module (102) is configured to:
determine a threshold stability value for a terrain, based on media captured by the at least one camera (106);
determine if a tilt angle value is lesser than the determined threshold stability value, wherein the tilt angle value is measured by the at least one tilt angle sensor (107); and
provide a first indication to the control unit (101), if the tilt angle value is less than or equal to the determined threshold stability value, and
wherein the control unit (101) is configured to:
move the at least one battery (105) along the plurality of rails (103) to an optimal height from a home position, on receiving the first indication from the stability monitoring module (102).
2. The electric farm vehicle, as claimed in claim 1, wherein the stability monitoring module (102) is configured to:
determine a terrain type based on the media captured by the at least one camera (106); and
determine the threshold stability value using a Look up Table (LUT) and the determined terrain type, wherein the LUT comprises pre-defined threshold stability values for different terrain types.
3. The electric farm vehicle, as claimed in claim 1, wherein the threshold stability value is an angular value.
4. The electric farm vehicle, as claimed in claim 1, wherein the stability monitoring module (102) is configured to:
provide a second indication to the control unit (101), if the tilt angle value is greater than the determined threshold stability value; and
move the at least one battery (105) along the plurality of rails (103) from the optimal height to the home position.
5. The electric farm vehicle, as claimed in claim 1, wherein the vehicle (100) further comprises an actuator (104) is configured to move the at least one battery (105) along the plurality of rails (103).
6. The electric farm vehicle, as claimed in claim 1, wherein the plurality of rails comprise at least one securing means to securely hold the at least one battery (105) at the determined optimal height.
7. The electric farm vehicle, as claimed in claim 6, wherein the at least one securing means is at least one of retractable projections; and a counter mechanism.
8. The electric farm vehicle, as claimed in claim 1, wherein the stability monitoring module (102) is further configured to:
monitor wheel speeds of the vehicle; and
provide an indication to the control unit (101) on determining that at least one of wheel of the vehicle (100) has started to slip.
9. A method (600) for managing stability of an electric farm vehicle (100), the method comprising:
determining, by a stability monitoring module (102), a threshold stability value for a terrain, based on media captured by at least one camera (106);
determining, by the stability monitoring module (102), if a tilt angle value is lesser than the determined threshold stability value, wherein the tilt angle value is measured by at least one tilt angle sensor (107);
providing, by the stability monitoring module (102), a first indication to a control unit (101), if the tilt angle value is less than or equal to the determined threshold value; and
moving, by the control unit (101), at least one battery (105) along the plurality of rails (103) to an optimal height from a home position, on receiving the first indication from the stability monitoring module (102).
10. The method, as claimed in claim 9, wherein the method comprises:
determining, by the stability monitoring module (102), a terrain type based on the media captured by the at least one camera (106); and
determining, by the stability monitoring module (102), the threshold stability value using a Look up Table (LUT) and the determined terrain type, wherein the LUT comprises pre-defined threshold stability values for different terrain types.
11. The method, as claimed in claim 10, wherein the threshold stability value is an angular value.
12. The method, as claimed in claim 9, wherein the method comprises:
providing, by the stability monitoring module (102), a second indication to the control unit (101), if the tilt angle value is greater the determined threshold stability value; and
performing, by the control unit (101), at least one of
moving the at least one battery (105) along the plurality of rails (103) from the optimal height to the home position, and
maintaining the at least one battery (105) at a current location, on receiving the second indication from the stability monitoring module (102).
13. The method, as claimed in claim 9, wherein the method comprises moving, by an actuator (104), the at least one battery (105) along the plurality of rails (103).
14. The method, as claimed in claim 9, wherein the method comprises:
monitoring, by the stability monitoring module (102), wheel speeds of the vehicle; and
providing, by the stability monitoring module (102), an indication to the control unit (101) on determining that at least one of wheel of the vehicle (100) has started to slip.