Method for docking an autonomous mobile greenland farming robot to a docking station, docking station system, greenland farming system and system

Abstract

The invention relates to a method for docking an autonomous mobile green space cultivation robot (20) to a docking station (60), wherein an electric conductor device (70) extends in the area of ​​the docking station (60), wherein the conductor device (70) is configured to: allow a periodic current (I(t)) to flow through the conductor device (70), wherein the current (I(t)) generates a periodic magnetic field (B(t)), wherein the green space cultivation robot (20) has two magnetic field sensors (21a, 21b), wherein the two magnetic field sensors (21a, 21b) The invention is configured to: cause a magnetic field (B(t)) to generate periodic sensor signals (S21a(t), S21b(t)) in magnetic field sensors (21a, 21b), respectively, wherein the method comprises the following steps: a) determining a phase shift (PV) between two sensor signals (S21a(t), S21b(t)) or signals based on the sensor signals (S21a(t), S21b(t)), and b) controlling the movement of a green field farming robot (20) for docking according to the determined phase shift (PV).

Description

Technical Field

[0001] The present invention relates to a method for docking an autonomous mobile green space farming robot to a docking station, a docking station system having a docking station, a green space farming system having an autonomous mobile green space farming robot, and a system having such a green space farming system and especially such a docking station system. Summary of the invention

[0002] The object of the present invention is to provide a method for docking an autonomous mobile green space farming robot to a docking station, the method having improved properties. In addition, the object of the present invention is to provide a docking station system having a docking station and a green space farming system having an autonomous mobile green space farming robot and a system having such a green space farming system and in particular such a docking station system.

[0003] The invention achieves this object by providing a method having the features of claim 1. Furthermore, the object on which the invention is based is achieved by a docking station system having the features of claim 12, a greenfield farming system having the features of claim 14 and a system having the features of claim 15. Advantageous developments and / or embodiments of the invention are described in the dependent claims.

[0004] The method according to the invention is constructed or configured for docking or docking an autonomous mobile green field cultivation robot in a docking station, in particular automatically. An electrical conductor arrangement extends in the area of ​​the docking station. The conductor arrangement is constructed or configured for: an electrical and / or temporally periodic current to flow through the conductor arrangement. The current generates or causes a magnetic field, in particular a temporally periodic magnetic field.

[0005] The green field cultivation robot has two, in particular electrical, magnetic field sensors. The two magnetic field sensors are constructed or configured to: the magnetic field causes or generates, in particular electrical and / or temporally periodic sensor signals in the magnetic field sensors. The method has the following steps: a) determining, in particular automatically determining, a phase shift or a phase offset or a phase difference between two sensor signals or signals based on sensor signals. b) controlling, in particular automatically controlling, in particular regulating the movement of the green field cultivation robot for docking, in particular temporally following step a) and / or after step a), in accordance with the determined phase shift, in particular controlling to a determined or predetermined phase shift or controlling so that the phase shift reaches or occupies a determined or predetermined value.

[0006] In particular, unlike the amplitude or strength of the sensor signals, the phase shift between the two sensor signals can be less or even not influenced by possible external disturbances of the magnetic field and / or less or even not influenced by internal deviations caused by components and manufacturing tolerances between the magnetic field sensors. This thus makes it possible that the docking is robust. This thus makes it possible that, in particular, unlike docking based on the amplitude, in particular the amplitude difference, of the sensor signals, the docking can be carried out without a prior calibration of the docking in time. This thus makes it possible that, if possible, docking can be carried out with a plurality of docking stations, in particular without different calibrations for a plurality of docking stations.

[0007] In particular, the docking station can be configured for docking by the green field farming robot. Additionally or alternatively, the green field farming robot can be configured for docking to the docking station.

[0008] Autonomously capable means that the green field farming robot is capable of moving independently, automatically, self-determining, self-controlling, self-guiding and / or independently of a user.

[0009] The green field farming robot can be configured as a lawn mowing robot.

[0010] The conductor arrangement can be arranged below or in a plate, in particular a floor and / or a running board. Additionally or alternatively, the conductor arrangement can be in particular a closed loop, in particular a wire loop.

[0011] The current can have sinusoidal oscillations. Additionally or alternatively, the current need not flow continuously. In particular, the current can flow in the form of periodic signal trains, with pauses between the signal trains. In particular, the duration of the flow of the respective signal trains in the signal train can correspond to, in particular, be equal to, the duration of the respective pauses in the pauses. Additionally or alternatively, the duration of the flow of the respective signal trains in the signal train can be a minimum of 100 milliseconds (ms) and / or a maximum of 1000 ms, and / or the duration of the respective pauses in the pauses can be a minimum of 100 ms and / or a maximum of 1000 ms. Also additionally or alternatively, the periodicity between the respective signal trains in the signal train and the respective pauses in the pauses can be fixed.

[0012] The two magnetic field sensors can be constructed to detect the magnetic field and convert it into a sensor signal. Additionally or alternatively, the two magnetic field sensors can have a sensor distance and. Also additionally or alternatively, the green field farming robot can have at least three magnetic field sensors. In particular, the third magnetic field sensor with a greater coupling coefficient than the two magnetic field sensors can achieve an improvement in large-area reception. Also additionally or alternatively, the two magnetic field sensors can have a detection direction respectively. In particular, the detection directions can be parallel to each other. Additionally or alternatively, the two magnetic field sensors can be constructed or configured, especially oriented, so that only the magnetic field component parallel to the detection direction can cause, especially cause a sensor signal in the magnetic field sensor respectively. Also additionally or alternatively, the two magnetic field sensors can be constructed to detect only the magnetic field component parallel to the detection direction.

[0013] In a development of the invention, step b) includes controlling, in particular regulating, such that the phase shift is in a range between 0 and π, in particular π / 2. This enables the green field farming robot to follow the conductor arrangement.

[0014] In a refinement of the invention, the docking station has a particularly horizontal station docking axis, in particular a station center axis. The conductor device extends with at least one conductor section approximately parallel to the station docking axis. This enables the green field farming robot to be moved to the docking station, in particular to the center of the docking station or to be moved centrally to the docking station. In particular, approximately parallel can mean that the conductor section can have an angle of a maximum of 5 degrees (°), in particular a maximum of 2°, in particular a maximum of 1° relative to the station docking axis. In particular, the conductor section can extend parallel to the station docking axis.

[0015] In one design of the present invention, the green field farming robot has a particularly horizontal robot docking axis, in particular a robot center axis or a robot longitudinal axis. Step b) comprises: controlling the green field farming robot so that its robot docking axis is roughly coaxially aligned with the station docking axis and moves to the docking station. This achieves: the green field farming robot is aligned with the docking station in a matching manner. In particular, roughly coaxial can mean that the robot docking axis can have an angle of a maximum of 5°, in particular a maximum of 2°, in particular a maximum of 1° relative to the station docking axis. In particular, the robot docking axis can be coaxial with the station docking axis.

[0016] In one design of the present invention, the green field farming robot has a particularly horizontal moving plane, in particular a travel plane. The two magnetic field sensors each have a detection direction that is approximately orthogonal to the moving plane, in particular vertical. In addition, the two magnetic field sensors are constructed or configured, in particular aligned, so that only the magnetic field component parallel to the detection direction, in particular the vertical component, causes a sensor signal in the magnetic field sensor. Step b) has: control is performed so that one of the two magnetic field sensors is positioned on at least one conductor segment in the detection direction and the other of the two magnetic field sensors is not positioned on at least one conductor segment in the detection direction. In particular, this can be achieved by controlling so that the phase shift can be in a range between 0 and π, in particular π / 2. In particular, the travel plane can be defined by the travel wheels of the green field robot. Additionally or alternatively, approximately orthogonal can mean that the detection direction can have an angle of at least 85°, in particular at least 88°, in particular at least 89° relative to the moving plane. The detection direction can be particularly orthogonal to the moving plane. Additionally or alternatively, the detection directions can be parallel to each other. Additionally or alternatively, the two magnetic field sensors can each be designed to detect only magnetic field components parallel to the detection direction. Additionally or alternatively, the conductor section can extend approximately parallel to the displacement plane.

[0017] In one design of the present invention, the conductor device has at least two conductor sections. The two conductor sections extend approximately parallel to the station docking axis, in particular approximately parallel to the moving plane. In addition, the two conductor sections have a conductor spacing and in a conductor spacing direction orthogonal to the station docking axis, in particular horizontal and / or parallel to the moving plane. The two magnetic field sensors have a sensor spacing and in a sensor spacing direction orthogonal to the robot docking axis, in particular horizontal and / or parallel to the moving plane. The value of the conductor spacing and, in particular the conductor spacing and, is different from, in particular greater than, the value of the sensor spacing and, in particular the sensor spacing and. In particular, this can be achieved by controlling so that the phase shift can be in a range between 0 and π, in particular π / 2. Additionally or alternatively, this can be achieved by controlling so that a magnetic field sensor can be positioned on a conductor section in the detection direction, and another magnetic field sensor can not be positioned on another conductor section in the detection direction. In particular, another magnetic field sensor can be positioned closer to the other conductor section than the one conductor section. Additionally or alternatively, one magnetic field sensor can be constructed or positioned so that only the magnetic field component of the one conductor segment parallel to the detection direction can cause a sensor signal in the one magnetic field sensor, while the other magnetic field sensor can be constructed or positioned so that only the magnetic field component of the other conductor segment parallel to the detection direction can cause a sensor signal in the other magnetic field sensor. Additionally or alternatively, the two magnetic field sensors can have the same spacing from the front side or front of the green field farming robot along the robot docking axis. Also additionally or alternatively, the conductor spacing direction and the sensor spacing direction can be parallel.

[0018] In one embodiment of the present invention, the conductor arrangement has at least two conductor sections. The two conductor sections extend approximately parallel to the station docking axis, in particular approximately parallel to the displacement plane. In addition, the two conductor sections have different conductor spacings, in particular different values ​​of the conductor spacings, from the station docking axis, in particular the station center axis, in a conductor spacing direction orthogonal to the station docking axis, in particular horizontally or parallel to the displacement plane.

[0019] Additionally or alternatively, the two magnetic field sensors have the same sensor distance, in particular the same value of the sensor distance, from the robot docking axis, in particular the robot center axis, in a sensor spacing direction orthogonal to the robot docking axis, in particular horizontally and / or parallel to the displacement plane.

[0020] In particular, this can be achieved: control is performed so that the phase shift can be in the range between 0 and π, especially π / 2. Additionally or alternatively, this can be achieved: control is performed so that a magnetic field sensor can be positioned on a conductor segment in the detection direction, while another magnetic field sensor can not be positioned on another conductor segment in the detection direction. In particular, another magnetic field sensor can be positioned closer to the other conductor segment than the one conductor segment. Additionally or alternatively, a magnetic field sensor can be constructed or positioned so that only the magnetic field component of the one conductor segment parallel to the detection direction can cause a sensor signal in a magnetic field sensor, while another magnetic field sensor can be constructed or positioned so that only the magnetic field component of the other conductor segment parallel to the detection direction can cause a sensor signal in another magnetic field sensor. Also additionally or alternatively, the two magnetic field sensors can have the same spacing from the front side or front of the green field farming robot along the robot docking axis. Also additionally or alternatively, the conductor spacing direction and the sensor spacing direction can be parallel.

[0021] In one embodiment of the invention, the docking station is constructed or configured as an in particular electrical charging station. In addition, the docking station has at least one, in particular electrical, station charging terminal. The docking station is constructed or configured for in particular automated and / or electrical charging via the in particular station charging terminal. The in particular station charging terminal defines a station docking axis.

[0022] Additionally or alternatively, the green field farming robot is constructed or configured as a green field farming robot that is particularly electrically rechargeable. Furthermore, the green field farming robot has at least one, particularly electrical, robot charging terminal. The green field farming robot is constructed or configured for charging, particularly automatically and / or electrically, via at least one robot charging terminal. At least one robot charging terminal defines a robot docking axis.

[0023] This enables: the docking station to charge the green field farming robot, in particular the docked one.

[0024] In particular, the station charging terminal and the robot charging terminal can be in contact for charging. Additionally or alternatively, the station charging terminal and / or the robot charging terminal can have or can be charging contacts, respectively. Also additionally or alternatively, the green field farming robot can have a battery. The battery can be configured to supply power to a farming drive, in particular a mowing drive, and / or a moving drive, in particular a travel drive, of the green field farming robot. In addition, the battery can be configured to be charged via the robot charging terminal.

[0025] In a refinement of the invention, the two magnetic field sensors each have a detection direction, in particular a detection direction that is perpendicular and / or orthogonal to the plane of movement. In addition, the two magnetic field sensors are constructed or configured, in particular aligned, so that only a magnetic field component that is parallel to the detection direction, in particular perpendicular, causes a sensor signal in each magnetic field sensor. Step b) includes: controlling so that the detection direction of one of the two magnetic field sensors, in particular at the position of one magnetic field sensor, is orthogonal to the magnetic field, and the detection direction of the other of the two magnetic field sensors, in particular at the position of the other magnetic field sensor, is not orthogonal to the magnetic field, in particular parallel to the magnetic field. In particular, this can be achieved by controlling so that the phase shift can be in the range between 0 and π, in particular π / 2. Additionally or alternatively, this can be achieved by controlling so that one magnetic field sensor can be positioned on at least one conductor segment in the detection direction, while the other magnetic field sensor can not be positioned on at least one conductor segment in the detection direction. In particular, the detection directions can be parallel to each other. Additionally or alternatively, the two magnetic field sensors can each be constructed to detect only a magnetic field component that is parallel to the detection direction. Additionally or alternatively, a magnetic field sensor can be constructed or positioned so that only a magnetic field component of a conductor segment parallel to the detection direction can cause a sensor signal in the magnetic field sensor, and another magnetic field sensor can be constructed or positioned so that only a magnetic field component of another conductor segment parallel to the detection direction can cause a sensor signal in the other magnetic field sensor. Additionally or alternatively, control can be performed so that the detection direction of a magnetic field sensor can be orthogonal to the magnetic field of a conductor segment, and the detection direction of another magnetic field sensor can be non-orthogonal to the magnetic field of another conductor segment.

[0026] In a further development of the invention, the two magnetic field sensors each have an in particular electrical coil. The two coils are designed or configured so that the magnetic field causes or induces a sensor signal in the coils. This makes it possible that the two magnetic field sensors can be designed so that only the magnetic field components parallel to the detection direction can cause a sensor signal in the magnetic field sensor. In particular, the two coils can each be designed to detect a magnetic field.

[0027] In an improved version of the invention, the method has the following steps: the green field cultivation robot is positioned, in particular automatically positioned, in the magnetic field region so that the magnetic field causes a sensor signal in at least one of the two magnetic field sensors, in particular respectively. After this, in particular after the positioning, step a) and / or step b) are performed. In particular, the positioning can be performed so that at least one of the two magnetic field sensors can detect the magnetic field. Additionally or alternatively, the positioning can be performed with the aid of another magnetic field of another electrical conductor device. In particular, the conductor device can be referred to as a docking conductor device and / or the other conductor device can be referred to as a boundary conductor device.

[0028] The docking station system according to the present invention has a docking station, in particular the docking station and an electrical conductor device in the docking station area, in particular the electrical conductor device. The docking station is constructed or configured for docking an autonomous mobile green space farming robot, in particular the autonomous mobile green space farming robot. In addition, the docking station has a station docking axis, in particular the station docking axis. The conductor device has in particular the at least two conductor sections. The two conductor sections extend approximately parallel to the station docking axis, respectively. In addition, the two conductor sections have different conductor spacings from the station docking axis, in particular the station center axis, in a conductor spacing direction orthogonal to the station docking axis, in particular the conductor spacing direction. The conductor device is constructed or configured for: a periodic current, in particular the periodic current, flows through the conductor device. The current generates a periodic magnetic field, in particular the periodic magnetic field.

[0029] The docking station system can achieve the same advantages as the aforementioned method.

[0030] In particular, the docking station and / or the conductor arrangement can be constructed as previously described for the method. In particular, the docking station system can have a plate. Additionally or alternatively, the docking station system can have, in particular, a docking station, a current source. The current source can be constructed to generate a current through the conductor arrangement.

[0031] In an improved solution of the present invention, the two conductor segments have different, especially small conductor spacings, especially conductor spacing values, near the docking station, especially in the conductor spacing direction, from the station docking axis. In addition, the two conductor segments have the same, especially large conductor spacings, especially conductor spacing values, far from the docking station, especially in the conductor spacing direction, from the station docking axis. This enables: the magnetic field can extend far from the docking station and the docked green field farming robot, or can act further away, so that another green field farming robot can be kept away.

[0032] The green field cultivation system according to the present invention has an autonomous mobile green field cultivation robot, in particular the autonomous mobile green field cultivation robot, an in particular electrical determination device and an in particular electrical control device. The green field cultivation robot is constructed or configured for docking to a docking station, in particular the docking station, in particular in an automated manner. In addition, the green field cultivation robot has in particular the two magnetic field sensors. The two magnetic field sensors are constructed or configured for: a periodic magnetic field, in particular the periodic magnetic field, respectively causes a periodic sensor signal, in particular the periodic sensor signal, in the magnetic field sensor. The determination device is constructed or configured for in particular automated determination of a phase shift, in particular the phase shift, between two sensor signals or signals based on the sensor signals. The control device is constructed or configured for in particular automated control of the movement of the green field cultivation robot, in particular the movement, according to the determined phase shift for docking.

[0033] Greenfield farming systems can achieve the same advantages as the previous methods.

[0034] In particular, the green field cultivation system can be configured to perform the above method. Additionally or alternatively, the green field cultivation robot can be configured as previously described for the method. Also additionally or alternatively, the green field cultivation robot can have a determination device and / or a control device.

[0035] The system according to the invention has at least one, in particular as described above, greenfield farming system and at least one, in particular as described above, docking station system. The docking station system has a docking station, in particular the docking station and an electrical conductor device, in particular the conductor device, extending in the docking station area. The docking station is constructed or configured for: docking by a greenfield farming robot. The conductor device is constructed or configured for: a periodic current, in particular the periodic current, to flow through the conductor device. The current generates a periodic magnetic field, in particular the periodic magnetic field. In particular, the system can have a plurality of greenfield farming systems and / or a plurality of docking station systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Further advantages and aspects of the invention are apparent from the claims and from the following description of preferred exemplary embodiments of the invention, which are explained below with reference to the drawings.

[0037] Figure 1 A top view of a system according to the invention and a method according to the invention for docking a green field cultivation robot to a docking station are shown, the system comprising a docking station system according to the invention and a green field cultivation system according to the invention, the docking station system comprising a docking station and an electrical conductor device; the green field cultivation system comprising an autonomous mobile green field cultivation robot, a determination device and a control device,

[0038] Figure 2 Show Figure 1 A side view of a conductor arrangement having at least two conductor sections through which a periodic current flows, the periodic current generating a periodic magnetic field,

[0039] Figure 3 Show Figure 1 Conductor device and Figure 1 A top view of the two magnetic field sensors of the green field farming robot.

[0040] Figure 4 Show Figure 3 A plot of the amplitude of a periodic sensor signal of a magnetic field sensor versus time,

[0041] Figure 5 Show Figure 1 Another top view of the conductor arrangement and the magnetic field sensor,

[0042] Figure 6 Show Figure 5 A graph showing the amplitude of the sensor signal of the magnetic field sensor as a function of time,

[0043] Figure 7 Show Figure 1 Another top view of the magnetic field sensor and conductor arrangement, and

[0044] Figure 8 Show Figure 3 , 5 7 and 8 are diagrams showing the phase shift between the sensor signals of the magnetic field sensors. DETAILED DESCRIPTION

[0045] Figure 1 The method according to the present invention is shown. The method is configured to dock an autonomous mobile green space cultivation robot 20 to a docking station 60. An electrical conductor arrangement 70 extends in the area of ​​the docking station 60. The conductor arrangement 70 is configured to: flow a periodic current I(t) through the conductor arrangement 70, such as Figures 1 to 3 , 5 and 7. The current I(t) generates a periodic magnetic field B(t). The green field farming robot 20 has two magnetic field sensors 21a and 21b. Figure 4 and Figure 6 As shown in FIG. , two magnetic field sensors 21a and 21b are configured to cause a magnetic field B(t) to cause periodic sensor signals S21a(t) and S21b(t) in the magnetic field sensors 21a and 21b, respectively. The method comprises the following steps: a) determining a phase shift PV between the two sensor signals S21a(t) and S21b(t), such as Figure 8 b) Controlling the movement of the green field farming robot 20 for docking according to the determined phase shift PV.

[0046] The system 1 according to the invention has at least one green field farming system 10 according to the invention and at least one docking station system 50 according to the invention.

[0047] The green field farming system 10 has a green field farming robot 20, a determination device 22 and a control device 23. The green field farming robot 20 is configured to dock with a docking station 60. In addition, the green field farming robot 20 has two magnetic field sensors 21a, 21b. The two magnetic field sensors 21a, 21b are configured to: the periodic magnetic field B(t) causes periodic sensor signals S21a(t), S21b(t) in the magnetic field sensors 21a, 21b, respectively. The determination device 22 is configured to determine the phase shift PV between the two sensor signals S21a(t), S21b(t). The control device 23 is configured to control the movement of the green field farming robot 20 for docking according to the determined phase shift PV.

[0048] In the exemplary embodiment shown, the green field cultivation system 10 is designed to carry out the method. In addition, in the exemplary embodiment shown, the green field cultivation robot 20 has a determination device 22 and a control device 23 .

[0049] The docking station system 50 has a docking station 60 and an electrical conductor device 70 extending in the area of ​​the docking station 60. The docking station 60 is configured for docking by the green field farming robot 20. The conductor device 70 is configured to allow a periodic current I(t) to flow through the conductor device 70. The current I(t) generates a periodic magnetic field B(t).

[0050] In the exemplary embodiment shown, the docking station system 50 has a plate 55 . A conductor arrangement 70 is arranged in the plate 55 .

[0051] In detail, the docking station 60 Figure 1 In the horizontal direction y, there is a station connection axis 60A, in particular a station center axis. The conductor arrangement 70 extends with at least one conductor section 71a, 71b approximately parallel to the station connection axis 60A.

[0052] In the exemplary embodiment shown, the conductor arrangement 70 has at least two conductor sections 71a, 71b. The two conductor sections 71a, 71b each extend approximately parallel to the station docking axis 60A.

[0053] In addition, the two conductor sections 71a, 71b are perpendicular to the station docking axis 60A and at Figure 1 In the horizontal conductor spacing direction x, there are different conductor spacings 71aD', 71bD' from the station docking axis 60A.

[0054] In detail, the two conductor segments 71a, 71b have different conductor spacings 71aD', 71bD' from the station docking axis 60A near the docking station 60, which are small in the illustrated embodiment. In addition, the two conductor segments 71a, 71b have the same conductor spacings 71aD'', 71bD'' from the station docking axis 60A away from the docking station 60, which are large in the illustrated embodiment.

[0055] Furthermore, the two conductor segments 71 a , 71 b have a conductor spacing 71 aD′+ 71 bD′ from one another in a conductor spacing direction x orthogonal to the station docking axis 60A, in particular in the vicinity of the docking station 60 .

[0056] In the illustrated embodiment, the conductor spacing sum 71aD′+ 71bD′ is the sum of the different conductor spacings 71aD′, 71bD′.

[0057] In addition, the green field farming robot 20 Figure 1In the horizontal direction y, there is a robot docking axis 20A, in particular a robot center axis. Step b) comprises: controlling the green field farming robot 20 to move to the docking station 60 with its robot docking axis 20A approximately coaxially aligned with the station docking axis 60A.

[0058] In addition, two magnetic field sensors 21a, 21b are located at a position perpendicular to the robot docking axis 20A. Figure 1 The sensor spacing direction x in the middle and horizontal direction has the same sensor spacing 21aD, 21bD from the robot docking axis 20A.

[0059] In addition, the two magnetic field sensors 21a, 21b have a sensor spacing 21aD + 21bD in the sensor spacing direction x orthogonal to the robot docking axis 20A. The conductor spacing 71aD' + 71bD' is different from the sensor spacing 21aD + 21bD and is greater than the sensor spacing 21aD + 21bD in the embodiment shown.

[0060] In the illustrated embodiment, the sensor spacing sum 21aD + 21bD is the sum of the identical sensor spacings 21aD, 21bD.

[0061] Furthermore, the docking station 60 is configured as a charging station. Furthermore, the docking station 60 has at least one station charging terminal 65a, 65b, and in the illustrated embodiment, two station charging terminals 65a, 65b. The docking station is configured for charging via at least one station charging terminal 62, 65b. At least one station charging terminal 65a, 65b defines a station docking axis 60A.

[0062] In addition, the green field farming robot 20 is configured as a rechargeable green field farming robot. In addition, the green field farming robot 20 has at least one robot charging terminal 25a, 25b, and in the illustrated embodiment has two robot charging terminals 25a, 25b. The green field farming robot 20 is configured to be charged via at least one robot charging terminal 25a, 25b. At least one robot charging terminal 25a, 25b defines a robot docking axis 20A.

[0063] In the exemplary embodiment shown, the conductor arrangement 70 is in particular a closed loop. The current I(t) flows away from the docking station 60 via a conductor section 71a, in the exemplary embodiment shown, in the opposite direction to the horizontal direction y. Figure 2 As shown in FIG, a current I(t) through a conductor segment 71a generates a magnetic field B(t) with a field line direction. In the embodiment shown, the current I(t) flows in the horizontal direction y through another conductor segment 71b to the docking station 60. The current I(t) through another conductor segment 71b generates a magnetic field B(t) with an opposite field line direction.

[0064] Step b) also comprises: Figure 1 and Figure 8 As shown in , the control is performed such that the phase shift PV is in the range between 0 and π, in particular π / 2.

[0065] In addition, the green field farming robot 20 has Figure 1 The middle horizontal movement plane 20E.

[0066] Furthermore, the two magnetic field sensors 21a, 21b each have a substantially perpendicular direction, in particular approximately orthogonal to the plane of movement 20E and / or Figure 1 and 2 In addition, the two magnetic field sensors 21a, 21b are configured to detect the magnetic field B(t) only in parallel with the detection direction z and in Figure 1 and Figure 2 The vertical component Bz(t) in the magnetic field sensors 21a, 21b results in sensor signals S21a(t), S21b(t), respectively.

[0067] In the illustrated embodiment, one of the two magnetic field sensors 21a is constructed or arranged to cause a sensor signal S21a(t) in one magnetic field sensor 21a only in the component Bz(t) of the magnetic field B(t) of a conductor segment 71a that is parallel to the detection direction z, while the other of the two magnetic field sensors 21b is constructed or arranged to cause a sensor signal S21b(t) in the other magnetic field sensor 21b only in the component Bz(t) of the magnetic field B(t) of the other conductor segment 71b that is parallel to the detection direction z.

[0068] In addition, step b) includes: controlling so that the detection direction z of a magnetic field sensor 21a is orthogonal to the magnetic field B(t), and in the embodiment shown, is orthogonal to the magnetic field of a conductor segment 21a, and the detection direction z of another magnetic field sensor 21b is non-orthogonal to the magnetic field B(t), and in the embodiment shown, is non-orthogonal to the magnetic field of another conductor segment 71b.

[0069] Step b) also includes: controlling so that a magnetic field sensor 21a is positioned on at least one conductor segment in the detection direction z, in the embodiment shown, on the one conductor segment 71a, and another magnetic field sensor 21b is not positioned on at least one conductor segment in the detection direction z, in the embodiment shown, on the other conductor segment 71b, in particular, wherein the other magnetic field sensor 21b is positioned closer to the other conductor segment 71a relative to the one conductor segment 71a.

[0070] Furthermore, the two magnetic field sensors 21a, 21b each have a coil 24a, 24b. The two coils 24a, 24b are designed so that a magnetic field B(t) causes a sensor signal S21a(t), S21b(t) in each coil 24a, 24b.

[0071] In the embodiment shown, the periodic current I(t) has sinusoidal oscillations. Figure 4 and 6 As shown in , the two sensor signals S21a(t), S21b(t) each have a sinusoidal oscillation.

[0072] exist Figure 3 In the figure, a magnetic field sensor 21a, in particular a coil 24a, is positioned in the form of a loop within the conductor arrangement 70 or on the right side of a conductor segment 71a. Therefore, a magnetic field sensor 21a is not positioned on a conductor segment 71a. Therefore, the detection direction z of a magnetic field sensor 21a is not orthogonal to the magnetic field B(t) of a conductor segment 71a. Another magnetic field sensor 21b, in particular a coil 24b, is positioned in the form of a loop within the conductor arrangement 70 or on the left side of another conductor segment 71b. Therefore, another magnetic field sensor 21b is not positioned on another conductor segment 71b. Therefore, the detection direction z of another magnetic field sensor 21b is not orthogonal to the magnetic field B(t) of another conductor segment 71b. Therefore, as Figure 4 As shown in , the sensor signals S21a(t), S21b(t) or their sinusoidal oscillations are in phase. Figure 4 and 8 As shown in , the phase shift PV is 0. Therefore, the movement of the green field farming robot 20 for docking is Figure 3 The control is performed toward the left and especially upward, so that a magnetic field sensor 21a is positioned on a conductor segment 71a in the detection direction z, so that the detection direction z of the magnetic field sensor 21a is orthogonal to the magnetic field B(t) of the conductor segment 71a, and so that the phase shift PV is in the range between 0 and π, especially π / 2.

[0073] exist Figure 5In the figure, a magnetic field sensor 21a, in particular a coil 24a, is positioned outside the conductor arrangement 70 in the form of a loop, or is positioned on the left side of a conductor segment 71a. Therefore, a magnetic field sensor 21a is not positioned on a conductor segment 71a. Therefore, the detection direction z of a magnetic field sensor 21a is non-orthogonal to the magnetic field B(t) of a conductor segment 71a. Another magnetic field sensor 21b, in particular a coil 24b, is positioned inside the conductor arrangement 70 in the form of a loop, or is positioned on the left side of another conductor segment 71b. Therefore, another magnetic field sensor 21b is not positioned on another conductor segment 71b. Therefore, the detection direction z of another magnetic field sensor 21b is non-orthogonal to the magnetic field B(t) of another conductor segment 71b. Therefore, the sensor signals S21a(t), S21b(t) or their sinusoidal oscillations are in antiphase, such as Figure 6 Therefore, Figure 6 and Figure 8 As shown in , the phase shift PV is π. Therefore, the movement of the green field farming robot 20 for docking is Figure 5 The magnetic field sensor 21a is controlled to the right and especially upward, so that a magnetic field sensor 21a is positioned on a conductor segment 71a in the detection direction z, so that the detection direction z of the magnetic field sensor 21a is orthogonal to the magnetic field B(t) of the conductor segment 71a, and the phase shift is in the range between 0 and π, especially π / 2.

[0074] exist Figure 7 In the figure, a magnetic field sensor 21a, in particular a coil 24a, is positioned on the conductor arrangement 70 or on a conductor segment 71a. Therefore, the detection direction z of a magnetic field sensor 21a is orthogonal to the magnetic field B(t) of a conductor segment 71a. Another magnetic field sensor 21b, in particular a coil 24b, is positioned in the conductor arrangement 70 in the form of a loop, or is positioned on the left side of another conductor segment 71b. Therefore, the other magnetic field sensor 21b is not positioned on the other conductor segment 71b. Therefore, the detection direction z of the other magnetic field sensor 21b is not orthogonal to the magnetic field B(t) of the other conductor segment 71b. Therefore, the sensor signals S21a(t), S21b(t) or their sinusoidal oscillations vary between in-phase and anti-phase on the diameter of the coil 24a, in particular in the horizontal direction x. Therefore, as Figure 8 As shown in , the phase shift PV is in the range between 0 and π, especially π / 2. Therefore, the movement of the green field farming robot 20 for docking is Figure 7 It is controlled straightly or upwardly so that a magnetic field sensor 21a is positioned or retained on a conductor segment 71a in the detection direction z, so that the detection direction z of the magnetic field sensor 21a is orthogonal to or remains orthogonal to the magnetic field B(t) of the conductor segment 71a, and so that the phase shift PV is in the range between 0 and π, especially π / 2, or remains within this range.

[0075] Therefore, the landscaping robot 20 follows the conductor device 70 , in particular until docking with the docking station 60 .

[0076] Furthermore, the method has the following steps: positioning the green field farming robot 20 in the area of ​​the magnetic field B(t) so that the magnetic field B(t) causes a sensor signal S21a(t), S21b(t) in at least one of the two magnetic field sensors 21a, 21b, such as Figure 1 Step a) and / or step b) are performed subsequently in time.

[0077] In the exemplary embodiment shown, positioning is performed with the aid of a further magnetic field, in particular a further electrical conductor arrangement 75 of the system 1 , in particular the docking station system 50 .

[0078] As is clear from the embodiments shown and described above, the present invention provides an advantageous method for docking an autonomous mobile green space farming robot to a docking station, which method has improved characteristics. In addition, the present invention provides an advantageous docking station system with a docking station, an advantageous green space farming system with an autonomous mobile green space farming robot, and an advantageous system with such a green space farming system and in particular such a docking station system.

Claims

1. A method for docking an autonomous mobile greenland farming robot (20) to a docking station (60), - an electrical conductor arrangement (70) extends in the region of the docking station (60), wherein the conductor arrangement (70) is designed to allow a periodic current I(t) to flow through the conductor arrangement (70), wherein the current I(t) generates a periodic magnetic field B(t), - wherein the green field farming robot (20) has two magnetic field sensors (21a, 21b), wherein the two magnetic field sensors (21a, 21b) are configured to: the magnetic field B(t) causes periodic sensor signals S21a(t), S21b(t) in the magnetic field sensors (21a, 21b), respectively; - wherein the method comprises the following steps: a) determining a phase shift PV between the two sensor signals S21a(t), S21b(t) or a signal based on the sensor signals S21a(t), S21b(t), and b) controlling the movement of the green field farming robot (20) for docking according to the determined phase shift PV, -in, Step b) comprises: adjusting so that the phase shift PV is in the range between 0 and π.

2. The method according to claim 1, - wherein the docking station (60) has a station docking axis (60A), - wherein the conductor arrangement (70) extends with at least one conductor section (71a, 71b) parallel to the station docking axis (60A).

3. The method according to claim 2, - wherein the green field farming robot (20) has a robot docking axis (20A), - wherein step b) comprises: controlling the green field farming robot (20) to move to the docking station (60) with its robot docking axis (20A) coaxially aligned with the station docking axis (60A).

4. The method according to claim 2, - wherein the green field farming robot (20) has a moving plane (20E), - wherein the two magnetic field sensors (21a, 21b) each have a detection direction z orthogonal to the movement plane (20E) and are designed to: only the component Bz(t) of the magnetic field B(t) parallel to the detection direction z causes sensor signals S21a(t), S21b(t) in the magnetic field sensors (21a, 21b), respectively, - wherein step b) comprises: controlling so that one of the two magnetic field sensors (21a) is positioned above the at least one conductor segment (71a) in the detection direction z and the other of the two magnetic field sensors (21b) is not positioned above the at least one conductor segment (71b) in the detection direction z.

5. The method according to claim 3 or 4, - wherein the conductor arrangement (70) comprises at least two conductor sections (71a, 71b), wherein the two conductor sections (71a, 71b) extend parallel to the station docking axis (60A) and have a conductor spacing of (71aD'+71bD') with respect to each other in a conductor spacing direction x orthogonal to the station docking axis (60A), and - wherein the two magnetic field sensors (21a, 21b) have a sensor spacing sum (21aD+21bD) with respect to each other in a sensor spacing direction x orthogonal to the robot docking axis (20A), - wherein the conductor spacing sum (71aD'+71bD') is different from the sensor spacing sum (21aD+21bD).

6. The method according to claim 2, - wherein the conductor arrangement (70) comprises at least two conductor sections (71a, 71b), wherein the two conductor sections (71a, 71b) extend parallel to the station docking axis (60A) and have different conductor spacings 71aD', 71bD' from each other in a conductor spacing direction x orthogonal to the station docking axis (60A), and / or - wherein the two magnetic field sensors (21a, 21b) have the same sensor spacing 21aD, 21bD from the robot docking axis (20A) in the sensor spacing direction x orthogonal to the robot docking axis (20A).

7. The method according to claim 2, - wherein the docking station (60) is configured as a charging station and has at least one station charging terminal (65a, 65b), wherein the docking station (60) is configured for charging via the at least one station charging terminal (65a, 65b), wherein the at least one station charging terminal (65a, 65b) defines the station docking axis (60A), and / or -Wherein, the green field farming robot (20) is configured as a rechargeable green field farming robot and has at least one robot charging terminal (25a, 25b), wherein the green field farming robot (20) is configured to be charged via the at least one robot charging terminal (25a, 25b), wherein the at least one robot charging terminal (25a, 25b) defines the robot docking axis (20A).

8. The method according to any one of claims 1 to 4, - the two magnetic field sensors (21, 21b) each have a detection direction z and are designed to: only the component Bz(t) of the magnetic field B(t) parallel to the detection direction z causes the sensor signals S21a(t), S21b(t) in the magnetic field sensors (21a, 21b), respectively, wherein step b) comprises: controlling so that the detection direction z of one of the two magnetic field sensors is orthogonal to the magnetic field B(t) and the detection direction z of the other of the two magnetic field sensors is non-orthogonal to the magnetic field B(t).

9. The method according to any one of claims 1 to 4, - the two magnetic field sensors (21a, 21b) each have a coil (24a, 24b), wherein the two coils (24a, 24b) are designed to cause the magnetic field B(t) to respectively cause the sensor signals S21a(t), S21b(t) in the coils (24a, 24b).

10. The method according to any one of claims 1 to 4, - wherein the method comprises the following steps: positioning the green field farming robot (20) in the area of ​​the magnetic field B(t) so that the magnetic field B(t) causes the sensor signal S21a(t), S21b(t) in at least one of the two magnetic field sensors (21a, 21b), and - Step a) and / or step b) are performed sequentially in time.

11. A docking station system (50) comprising: - a docking station (60), wherein the docking station (60) is configured to dock the autonomous mobile green field farming robot (20) and has a station docking axis (60A), and - an electrical conductor arrangement (70) in the area of ​​the docking station (60), wherein the conductor arrangement (70) has at least two conductor sections (71a, 71b), wherein the two conductor sections (71a, 71b) respectively extend approximately parallel to the station docking axis (60A) and have different conductor spacings 71aD', 71bD' from the station docking axis (60A) in a conductor spacing direction x orthogonal to the station docking axis (60), wherein approximately parallel means that the two conductor sections can each have an angle of maximum 5 degrees with respect to the station docking axis, and wherein the conductor arrangement (70) is designed for: a periodic current I(t) to flow through the conductor arrangement (70), wherein the periodic current I(t) generates a periodic magnetic field B(t).

12. The docking station system (50) according to claim 11, wherein the two conductor sections can each have an angle of maximum 2 degrees relative to the station docking axis.

13. The docking station system (50) according to claim 11, wherein the two conductor sections can each have an angle of maximum 1 degree relative to the station docking axis.

14. The docking station system (50) according to any one of claims 11 to 13, - wherein the two conductor segments (71a, 71b) have different conductor spacings 71aD', 71bD' from the station docking axis (60A) near the docking station (60), and have the same conductor spacings 71aD", 71bD" from the station docking axis (60A) away from the docking station (60).

15. A greenfield farming system (10) having: - An autonomous mobile green space farming robot (20), wherein the green space farming robot (20) is configured to dock with a docking station (60) and has two magnetic field sensors (21a, 21b), wherein the two magnetic field sensors (21a, 21b) are configured to: a periodic magnetic field B(t) causes periodic sensor signals S21a(t), S21b(t) in the magnetic field sensors (21a, 21b), respectively; - a determination device (22), wherein the determination device (22) is designed to determine a phase shift PV between the two sensor signals S21a(t), S21b(t) or a signal based on the sensor signals S21a(t), S21b(t), and - A control device (23), wherein the control device (23) is configured to control the movement of the green field farming robot (20) for docking according to the determined phase shift PV.

16. A system (1) for docking an autonomous mobile greenland farming robot (20) to a docking station (60), comprising: - at least one greenfield farming system (10) according to claim 15, - at least one docking station system (50), wherein the docking station system (50) has a docking station (60) and an electrical conductor device (70) extending in the area of ​​the docking station (60), wherein the docking station (60) is configured for docking by the green field farming robot (20), and wherein the conductor device (70) is configured for: a periodic current I(t) to flow through the conductor device (70), wherein the periodic current I(t) generates a periodic magnetic field B(t).

17. The system (60) according to claim 16, wherein the docking station system (50) is a docking station system (50) according to one of claims 11 to 14.

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