Outdoor work system

Abstract

This invention relates to an outdoor work system (1), wherein the outdoor work system (1) has an autonomous mobile outdoor work robot (2) and sensors and a control device (3), wherein the outdoor work robot (2) has a driving mechanism (4) and a contact element (5), wherein the driving mechanism (4) is configured to cause the outdoor work robot (2) to travel in a driving direction (x), and wherein the contact element (5) is configured to perform avoidance movement in an avoidance direction (z) by traveling in the driving direction (x) and contacting an obstacle at a lower contact point (uP) below the height limit (HG), and by traveling in the driving direction The traveling motion of (x) and the contact of the upper contact point (oP) with the obstacle at or above the height limit (HG) are detected along the detection direction (-z), and are movably supported relative to the traveling mechanism (4), wherein the avoidance direction (z) and the detection direction (-z) are different, and wherein the sensor and control device (3) are configured to detect the detection motion or the motion caused by the detection motion, and to control the protection function (SF) of the outdoor working robot (2) triggered by the detected detection motion or the detected motion, and wherein the sensor and control device (3) do not detect or evaluate the avoidance motion or the motion caused by the avoidance motion.

Description

Technical Field

[0001] This invention relates to an outdoor operation system. Summary of the Invention

[0002] The purpose of this invention is to provide an outdoor operation system with improved characteristics, particularly for improving the operation of outdoor operation robots.

[0003] This invention achieves this objective by providing an outdoor operating system according to the invention. Advantageous improvements and / or designs of the invention are described in other parts of this disclosure.

[0004] The outdoor operation system according to the invention comprises an autonomous mobile outdoor operation robot, as well as sensors and control devices. The outdoor operation robot has a traveling mechanism and contact elements. The traveling mechanism is configured to enable the outdoor operation robot to travel in a traveling direction. The contact elements are specifically configured to perform avoidance movement in an avoidance direction by traveling in the traveling direction and making particularly direct contact with obstacles at a lower contact point below the height limit, and are movably supported relative to the traveling mechanism. Furthermore, the contact elements are specifically configured to perform detection movement in a detection direction by traveling in the traveling direction and making particularly direct contact with obstacles at an upper contact point above or above the height limit, and are movably supported relative to the traveling mechanism. The avoidance direction and the detection direction are particularly different from each other. The sensors and control devices are configured to detect, particularly only detect movement or movement caused by detected movement, particularly automatically, and to control, particularly automatically, the protective functions of the outdoor operation robot triggered, particularly only or solely by the particularly only detected detection movement or the detected movement. Furthermore, the sensors and control devices do not detect or evaluate avoidance movement or movement caused by avoidance movement. In other words: the sensor and control device are not configured to detect avoidance motion or motion caused by avoidance motion and / or are not configured to control protection functions triggered by detected avoidance motion or detected motion.

[0005] This enables height-filtering control of obstacles for protection. Therefore, this allows outdoor robots to operate more robustly, especially when encountering taller obstacles, and also allows them to operate undisturbed or unaffected, particularly when encountering lower obstacles (e.g., negligible small objects), by reducing erroneous triggering of sensors and control devices. Thus, this results in improved operation of outdoor robots.

[0006] In particular, outdoor operating systems, outdoor robots, and / or sensors and control devices can be electrical.

[0007] Outdoor robots can be equipped with sensors and control devices.

[0008] An autonomous mobile outdoor work robot can mean that the outdoor work robot can be configured to move automatically or spontaneously or self-controlled and / or independently of the user, especially on a pre-defined and / or bounded surface, and / or automatically or spontaneously or self-controlled and / or independently of the user to work on that surface, especially to start and / or end the work.

[0009] Outdoor operation systems can be free-face or exterior-face operation systems or green space operation systems. Additionally or alternatively, outdoor operation robots can be free-face or exterior-face operation robots or green space operation robots. Further additionally or alternatively, outdoor operation robots can be garden and / or patio operation equipment.

[0010] The term “chassis” can be used synonymously with the term “driving mechanism”.

[0011] The traveling mechanism may have at least one driven roller and at least one undriven roller for enabling the outdoor work robot to travel, particularly on a surface. At least the undriven roller may be arranged in the direction of travel, particularly in front of at least the driven roller.

[0012] Traveling along the direction of travel can be forward motion.

[0013] The term "contact component" can be used synonymously with the term "contact element".

[0014] Contact with an obstacle can be made by contacting the side or front of the contact element along the direction of travel or forward.

[0015] Before contacting components, especially along the direction of travel, nothing on an outdoor work robot needs to or can be arranged, especially at and / or below, the same height.

[0016] Height limits can be defined by at least one segment of the shape, profile, or form of the contact element. Additionally or alternatively, height limits may have contour lines, particularly contour lines. Further additionally or alternatively, height limits may be referred to as filter limits.

[0017] Contact elements can be configured to perform avoidance movements and / or detection movements simultaneously or jointly or mutually, caused solely and / or directly and / or mechanically and / or by movement in the direction of travel and, in particular, corresponding contact with an obstacle.

[0018] The avoidance direction and the detection direction can be opposite to each other.

[0019] The sensor and control device may be configured to detect motion or movement and / or to control a protection function triggered by the detected motion or movement under minimum motion or minimum value conditions. Additionally or alternatively, the sensor and control device may have Hall sensors and / or switches and / or buttons, particularly for detecting motion or movement. Further additionally or alternatively, the sensor and control device may have a computing unit (particularly a processor) and / or a storage unit.

[0020] The term “cause” can be used synonymously with the term “cause”.

[0021] In one improvement of the invention, the avoidance direction is at least partially upward. Additionally or alternatively, the detection direction is at least partially downward. This, particularly upward, avoidance direction enables avoidance of lower obstacles.

[0022] In one improved embodiment of the invention, the traveling mechanism defines or has a traveling plane. Additionally, the lower and upper contact points are arranged particularly along a height direction orthogonal to the traveling plane. Further, or alternatively, the height limit is arranged particularly above the traveling plane, particularly along the height direction. Further, or alternatively, the avoidance direction is particularly non-orthogonal to the height direction and particularly parallel to the traveling plane. Further, or alternatively, the detection direction is particularly non-orthogonal to the height direction and particularly antiparallel to the traveling plane. In particular, the traveling mechanism may have rollers for enabling the outdoor work robot to travel, particularly on this surface. The rollers may define the traveling plane. Additionally, or alternatively, the traveling plane may be horizontal. Further, or alternatively, the height direction may be vertical. Further, or alternatively, non-orthogonal may mean a deviation of a maximum of 30°, particularly a maximum of 20°, particularly a maximum of 10° and / or a minimum of 150°, particularly a minimum of 160°, particularly a minimum of 170°, particularly an angular deviation.

[0023] In one improved embodiment of the invention, the outdoor work robot has at least one element swing arm. The at least one element swing arm is rotatably supported about a rotation axis. The rotation axis is arranged, in particular, non-parallel and particularly orthogonal, with respect to the travel direction. Contact elements are connected to at least this element swing arm such that avoidance movement in the avoidance direction directly causes avoidance rotation movement of at least this element swing arm about the rotation axis in the avoidance rotation direction, and detection movement in the detection direction directly causes detection rotation movement of at least this element swing arm about the rotation axis in the detection rotation direction. The avoidance rotation direction and the detection rotation direction are particularly different from each other. The sensor and control device are configured to detect, in particular, only the rotational movement or the movement caused by the detected rotational movement, particularly automatically, and to control, in particular, protective functions triggered, in particular, only or solely by the detected rotational movement or the detected movement, particularly automatically. Furthermore, the sensor and control device does not detect or evaluate the avoidance rotational movement or the movement caused by the avoidance rotational movement. In other words: the sensor and control device are not constructed for detecting avoidance rotational motion or motion caused by avoidance rotational motion and / or are not constructed for controlling protective functions triggered by detected avoidance rotational motion or detected motion. This achieves at least one movement in at least one direction different from the upward and / or downward and / or height direction. In particular, movement along this direction can be detected simply. In particular, the terms "component carrier" or "component arm" can be used synonymously with the term "component rocker arm". Additionally or alternatively, at least the component rocker arm can be rotatably supported relative to the travel mechanism. Further additionally or alternatively, non-parallelism can mean a deviation of at least 60°, especially at least 70°, especially at least 80° and / or at most 120°, especially at most 110°, especially at most 100°, especially angular deviation. Further additionally or alternatively, the axis of rotation can be arranged non-orthogonally, especially parallel, with respect to the travel plane. Further additionally or alternatively, the axis of rotation can be horizontal. Further or alternatively, the contact element may be connected to at least one free end of at least the rocker arm of the element. Further or alternatively, the contact element may be mechanically and / or directly and / or rigidly or securely connected to at least the rocker arm of the element. Further or alternatively, at least the rocker arm of the element and the contact element may be constructed in particular as a single piece or integrally with each other. Further or alternatively, the avoidance rotation direction and the detection rotation direction may be opposite to each other.

[0024] In one embodiment of the invention, at least the rocker arm is a push-type rocker arm. Additionally or alternatively, especially when not in contact with an obstacle, the axis of rotation is arranged above the height limit. This, particularly the push-type rocker arm, achieves contact with the obstacle via a contact element. Additionally or alternatively, this rotation axis above the height limit allows for a different avoidance direction and a different detection direction. In particular, the contact element may be arranged, particularly along the travel direction, ahead of the rotation axis.

[0025] In an improved embodiment of the invention, particularly when not in contact with an obstacle, the contact element, below the height limit, has a particularly inclined extension, particularly against the driving direction, from the upper front to the lower rear, or is formed extending from the upper front to the lower rear. Specifically, this extension has an angle with the driving direction of a maximum of 60°, particularly a maximum of 45°, particularly 30°, and / or a minimum of 10°. Additionally or alternatively, particularly when not in contact with an obstacle, the contact element, at or above the height limit, has a particularly against the driving direction, extending from the lower front to the upper front, particularly the rear, or extending from the lower front to the upper front, particularly the rear. At least this extension enables, particularly different extensions enable, avoidance movement along the avoidance direction and / or detection movement along particularly different detection directions. In particular, the extension from the upper front to the lower rear can be straight, or the particularly outward extension can be convex.

[0026] In one improved embodiment of the invention, the outdoor work robot has a cover. The cover is arranged above the contact element. Furthermore, the cover is movably supported, particularly directly, relative to the travel mechanism. The contact element is movably supported relative to the cover such that movement of the cover caused by detection of movement, particularly in the opposite direction of travel relative to the travel mechanism, is avoided, and avoidance of movement is prevented. Sensors and control devices are configured to detect cover movement or movement caused by cover movement, particularly automatically, and to control protective functions, particularly triggered only or solely by the detected cover movement or the detected movement, particularly automatically. This, particularly the simplicity of cover movement detection. Additionally or alternatively, the cover provides protection for the outdoor work robot, particularly the travel mechanism and / or the sensors and control devices. In particular, the term "protective cover" may be used synonymously with the term "cover". Additionally or alternatively, the cover may be arranged at the same height, particularly in the opposite direction of travel, and / or particularly below the contact element. Further additionally or alternatively, at least the rocker arm of the element may be rotatably supported, particularly directly, at the cover. Further or alternatively, rotational detection motion can directly cause shroud movement. Further or alternatively, avoidance rotational motion does not require or cannot cause shroud movement. Further or alternatively, the expression "rearward" can be used synonymously with the expression "opposite direction of travel".

[0027] In one embodiment of the invention, the cover is specifically configured to move by means of travel movement in the direction of travel and particularly direct contact between the cover points and obstacles. This achieves control of the protective function and / or, in particular, a synergistic effect when contacting particularly high obstacles. In particular, the cover points may be arranged above the upper contact points. Additionally or alternatively, the cover may be configured to move solely and / or directly and / or mechanically and / or caused by travel in the direction of travel and contact with the obstacle, and / or caused simultaneously, jointly, or mutually by travel in the direction of travel and contact with the obstacle.

[0028] In an improved embodiment of the invention, particularly a design embodiment, the contact element is suspended by means of a spring and / or suspended at a cover (if present). Additionally or alternatively, the contact element is configured to directly contact, or rest on, the surface to be worked on. This suspension facilitates avoidance movement, particularly upward, in the avoidance direction. Additionally or alternatively, this contact with the surface limits the height, particularly above the travel plane. In particular, the spring can be a helical spring and / or a tension spring. Additionally or alternatively, the surface can be worked on by means of an outdoor work robot. Further additionally or alternatively, the surface can be a free surface, particularly an unsealed ground, or a green space, such as a lawn. Furthermore, the surface can be a surface with path slabs, patio bricks, and / or paving stones.

[0029] In one embodiment of the invention, the contact element is configured to slide on the surface, particularly as a kufe, especially on top. Alternatively or additionally, the contact element is configured to roll on the surface, particularly as a roller. In particular, the term "kufe" may be used synonymously with the term "skateboard."

[0030] In one improved embodiment of the invention, the outdoor work robot has a work tool. Contact elements are arranged particularly in front of the work tool along the travel direction. This enables control and protection functions, especially during travel in the travel direction, for more robust operation. In particular, the work tool can be configured to work on the surface. Additionally or alternatively, the work tool can have a cutting tool, especially a cutting tool. Further additionally or alternatively, the work tool can have a cleaning tool, especially a wire brush, especially a cleaning tool, especially a wire brush.

[0031] In one improvement of the invention, the outdoor work robot has a work tool, particularly the work tool. The work tool has a mowing tool, particularly a grass-cutting tool. Additionally or alternatively, the outdoor work robot is configured as a grass-cutting robot. In particular, the grass-cutting tool can be configured for harvesting the surface. Additionally or alternatively, the grass-cutting tool can have at least one harvesting line, at least one plastic blade, at least one metal blade and / or a metal cutting disc with at least one cutting edge and / or at least one cutting tooth. Further additionally or alternatively, the grass-cutting robot can be a mulch harvesting robot.

[0032] In one improvement of the invention, the outdoor work robot has a tool system. This tool system includes a work tool, particularly the work tool itself. Sensors and control devices are configured for particularly automatic control, particularly deactivation of the tool system as a protective function. Additionally or alternatively, the outdoor work robot has a travel system. The travel system has a travel mechanism. Sensors and control devices are configured for particularly automatic control, particularly deactivation of the travel system as a protective function. This achieves more robust operation. In particular, the tool system and / or travel system can be electrical and / or controllable. Additionally or alternatively, the tool system can have a particularly electrical and / or controllable drive motor for driving the work tool and / or moving the work tool. Further additionally or alternatively, the work tool can be drivable and / or movable. Further additionally or alternatively, the work tool can be configured for working on the surface. Further additionally or alternatively, the work tool can have a cutting tool, particularly a cutting tool. Further or alternatively, the working tool may have a cleaning tool, particularly a wire brush. Further or alternatively, the travel system may have a particularly electrical and / or controllable drive motor for driving at least one driven roller and / or moving at least one driven roller. Further or alternatively, sensors and control devices may be configured for controlling the travel system to move around and / or away from particularly high obstacles as a protective function. Further or alternatively, the term "stop" may be used synonymously with the term "disable." Attached Figure Description

[0033] Further advantages and aspects of the present invention will become apparent from the claims and the description of embodiments thereof, which are explained below with reference to the accompanying drawings. Wherein:

[0034] Figure 1 A side view of an outdoor work system with an outdoor work robot according to the present invention is shown.

[0035] Figure 2 It shows Figure 1A partial cross-sectional view of the side of an outdoor work robot.

[0036] Figure 3 It shows Figure 1 A top-down view of the outdoor work robot, and

[0037] Figure 4 It shows Figure 1 A schematic bottom view of an outdoor work robot. Detailed Implementation

[0038] Figures 1 to 4 An outdoor work system 1 according to the present invention is shown, comprising an autonomous mobile outdoor work robot 2 and a sensor-and-control device 3. The outdoor work robot 2 has a travel mechanism 4 and a contact element 5. The travel mechanism 4 is configured to cause the outdoor work robot 2 to travel in a particularly horizontal travel direction x, and thus move and travel. The contact element 5 is configured to perform avoidance movement in an avoidance direction z by traveling in the travel direction x and by contacting an obstacle at a lower contact point uP below the height limit HG or by contacting a particularly low obstacle uH, and is movably supported relative to the travel mechanism 4, and thus makes contact and thus moves and thus avoids obstacles. Furthermore, the contact element 5 is configured to perform detection movement in a detection direction -z by traveling in the travel direction x and by contacting an obstacle at an upper contact point oP above or above the height limit HG or by contacting a particularly high obstacle oH, and is movably supported relative to the travel mechanism 4, and thus makes contact and thus moves and thus detects obstacles. The avoidance direction z and the detection direction -z are different. The sensor and control device 3 is configured to detect or cause motion, and to control the protective function SF of the outdoor robot 2 triggered by the detected motion, specifically for detection and therefore control. Furthermore, the sensor and control device 3 does not detect or evaluate avoidance motion or motion caused by avoidance motion.

[0039] In detail, the avoidance direction z is upward.

[0040] Additional or alternative locations, the detection direction -z is downward.

[0041] In addition, the driving mechanism 4 has a driving plane 4E.

[0042] Additionally, the lower contact point uP and the upper contact point oP are aligned along a height direction z orthogonal to the driving plane 4E.

[0043] Additionally or alternatively, the height limit HG is above the driving plane 4E, especially along the height direction z.

[0044] Further, or alternatively, the avoidance direction z is particularly non-orthogonal to the height direction z, and particularly parallel to the driving plane 4E.

[0045] Additionally or alternatively, the detection direction -z is particularly non-orthogonal to the height direction z, and particularly antiparallel to the driving plane 4E.

[0046] Furthermore, the outdoor operation robot 2 has at least one element rocker arm 6. This element rocker arm 6 is rotatably supported about a rotation axis 6A. The rotation axis 6A is not parallel, and in particular orthogonal, about the travel direction x. A contact element 5 is connected to this element rocker arm 6 such that a avoidance movement along the avoidance direction z causes the element rocker arm 6 to undergo an avoidance rotational movement about the rotation axis 6A in an avoidance rotational direction r, and a detection movement along the detection direction -z causes the element rocker arm 6 to undergo a detection rotational movement about the rotation axis 6A in a detection rotational direction -r. The avoidance rotational direction r and the detection rotational direction -r are different. The sensor and control device 3 is configured to detect the detection rotational movement or the movement caused by the detection rotational movement, and to control the protection function SF triggered by the detected detection rotational movement or the detected movement, specifically performing detection and thus control. Furthermore, the sensor and control device 3 does not detect or evaluate the avoidance rotational movement or the movement caused by the avoidance rotational movement.

[0047] In the illustrated embodiment, the outdoor work robot 2 has two component rocker arms 6. In alternative embodiments, the outdoor work robot may have only one component rocker arm or at least three component rocker arms.

[0048] Specifically, at least the rocker arm 6 is a push-type rocker arm 6'.

[0049] Additionally or alternatively, especially when not in contact with obstacles, the rotation axis 6A is above the height limit HG.

[0050] Furthermore, in the illustrated embodiment, the contact element 5 extends from the right side, particularly the right side of the outdoor work robot 2, to the left side, particularly the left side of the outdoor work robot, or extends non-parallel, particularly orthogonal, with respect to the travel direction x, and / or non-parallel, particularly orthogonal, with respect to the height direction z, and / or non-orthogonal, particularly parallel, with respect to the travel plane 4E and / or the rotation axis 6A.

[0051] Furthermore, especially when not in contact with an obstacle, the contact element extends from the upper front to the lower rear in the reverse driving direction -x, below the height limit HG.

[0052] In particular, especially when there is no contact with an obstacle, the extension has at least one angle α with the particularly horizontal driving direction x, which is at least 10° and / or 60°.

[0053] Additionally or alternatively, the extension has a length L of at least 5 mm and / or at most 100 mm.

[0054] Further or alternatively, especially when not in contact with an obstacle, the contact element 5 extends from the lower front to the upper front, especially the rear, in the opposite direction of travel -x, at or above the height limit HG.

[0055] Furthermore, the outdoor operation robot 2 has a cover 7. The cover 7 is located above the contact element 5. Furthermore, the cover 7 is movably supported relative to the travel mechanism 4. The contact element 5 is movably supported relative to the cover 7 such that detected movement causes cover 7 to move relative to the travel mechanism 4, particularly in the opposite direction of travel – x, while avoidance movement does not occur. The sensor and control device 3 is configured to detect cover movement or movement caused by cover movement, and to control the protection function SF triggered by the detected cover movement or the detected movement, specifically performing detection and thus control.

[0056] In detail, the cover 7 is configured to perform cover movement by travel motion along the travel direction x and contact between the cover point 7P and the obstacle.

[0057] In the illustrated embodiment, at least the rocker arm 6 is rotatably supported on the cover 7 by means of at least one rotating hinge.

[0058] Additionally or alternatively, the rotational motion is detected to cause the cover to move, and in particular, the rotational motion is avoided to prevent it from causing the cover to move.

[0059] Furthermore, the sensor and control device 3 has a Hall sensor, which is fixedly arranged relative to the travel mechanism 4 in the illustrated embodiment, particularly fixed at the travel mechanism. Additionally, the sensor and control device 3 has a magnet, which is fixedly arranged relative to the cover 7 in the illustrated embodiment, particularly fixed at the cover. The Hall sensor is configured to detect relative movement of the magnet, particularly movement of the cover, and to perform detection. In an alternative embodiment, the Hall sensor may be fixedly arranged relative to the cover, and the magnet may be fixedly arranged relative to the travel mechanism. Additionally or alternatively, in an alternative embodiment, the sensor and control device may have a switch and / or a button.

[0060] In addition, the contact element 5 is suspended from and / or suspended from the cover 7 by means of the spring 8.

[0061] Alternatively or additionally, the contact element 5 is configured to contact the surface 100 to be worked on, in particular to make contact.

[0062] In detail, the contact element 5 is configured to slide, in particular, as a sliding plate 5' on the surface 100.

[0063] In an alternative embodiment, the contact element may be configured to roll on the surface, particularly as a roller, wherein the roller, due to its diameter, rolls only over lower obstacles and not over higher obstacles.

[0064] In addition, the outdoor work robot 2 has work tools 9.

[0065] In addition, the contact element 5 is located in front of the working tool 9, especially along the travel direction x.

[0066] In addition, the work tool 9 includes a grass-cutting tool 9'.

[0067] Alternatively or alternatively, the outdoor work robot 2 may be configured as a lawn mower robot 2'.

[0068] In addition, the outdoor work robot 2 has a tool system 10. The tool system 10 has a work tool 9. Sensors and control devices 3 are configured for controlling, and in particular deactivating, the tool system 10 as a protective function SF, specifically for controlling and deactivating.

[0069] Alternatively or additionally, the outdoor work robot 2 has a travel system 11. The travel system 11 has a travel mechanism 4. Sensors and control devices 3 are configured for controlling, and in particular deactivating, the travel system 11 as a protective function SF, specifically for controlling and deactivating.

[0070] In the illustrated embodiment, the sensor and control device 3 is configured to control the driving system 11 to move around and / or away from particularly high obstacles as a protective function SF.

[0071] In summary / or in other words:

[0072] The contact element 5, which is rotatably supported or pivotally mounted as a sliding plate 5', slides on or is located on the surface 100.

[0073] Upon encountering a high or steep obstacle, the skateboard 5' does not travel over the obstacle but is instead pressed down by it, primarily by the further travel of the travel mechanism 4 causing at least the rocker arm 6 to lock, the cover 7 to move backward, swing open, or shift, and the sensor-and-control device 3 to detect and control the impact. Specifically, the sensor-and-control device 3 identifies or detects this as a collision and changes the direction of movement of the outdoor work robot 2, specifically turning it away from the high obstacle. Therefore, the work tool 9 does not work on the high obstacle, and the lawnmower 9', in particular, does not cut or harvest the high obstacle.

[0074] When encountering a lower obstacle uH, the skateboard 5' travels over the obstacle or is pressed upward by the obstacle, especially by the further travel of the travel mechanism 4 causing at least the rocker arm 6 of the element to swing, the cover 7 to remain stationary, and the sensor and control device 3 to neither detect nor control.

[0075] As clearly demonstrated by the embodiments shown and described above, the present invention provides an advantageous outdoor work system with improved characteristics, particularly enabling improved operation of outdoor work robots.

Claims

1. An outdoor operation system (1), - in, The outdoor operation system (1) has an autonomous mobile outdoor operation robot (2) and sensors and control devices (3). - The outdoor work robot (2) has a driving mechanism (4) and a contact element (5). - Wherein, the driving mechanism (4) is configured to enable the outdoor work robot (2) to move along the driving direction (x), and - Wherein, the contact element (5) is configured to perform avoidance movement in the avoidance direction (z) by the travel movement along the travel direction (x) and contact with an obstacle at a lower contact point (uP) below the height limit (HG), and to perform detection movement in the detection direction (-z) by the travel movement along the travel direction (x) and contact with an obstacle at an upper contact point (oP) above or above the height limit (HG), and is movably supported relative to the travel mechanism (4), wherein the avoidance direction (z) and the detection direction (-z) are different, and - Wherein, the sensor and control device (3) are configured to detect the detected motion or the motion caused by the detected motion, and to control the protection function (SF) of the outdoor work robot (2) triggered by the detected motion or the detected motion, characterized in that - Wherein, the sensor and control device (3) do not detect or evaluate the avoidance motion or the motion caused by the avoidance motion, - Wherein, the avoidance direction (z) is upward, and - Wherein, the detection direction (-z) is downward.

2. The outdoor operation system (1) according to claim 1, - in, The driving mechanism (4) has a driving plane (4E), and - Wherein, the lower contact point (uP) and the upper contact point (oP) are along a height direction (z) orthogonal to the driving plane (4E), and / or - Wherein, the height limit (HG) is above the driving plane (4E) along the height direction (z), and / or - Wherein, the avoidance direction (z) is non-orthogonal to the driving plane (4E) with respect to the height direction (z), and / or - Wherein, the detection direction (-z) is non-orthogonal to the driving plane (4E) with respect to the height direction (z).

3. The outdoor operation system (1) according to claim 1, - in, The driving mechanism (4) has a driving plane (4E), and - Wherein, the lower contact point (uP) and the upper contact point (oP) are along a height direction (z) orthogonal to the driving plane (4E), and / or - Wherein, the height limit (HG) is above the driving plane (4E) along the height direction (z), and / or - Wherein, the avoidance direction (z) is parallel to the driving plane (4E) about the height direction (z), and / or - Wherein, the detection direction (-z) is parallel to the travel plane (4E) with respect to the height direction (z).

4. The outdoor operation system (1) according to claim 1, - Wherein, the outdoor operation robot (2) has at least one component, a rocker arm (6), - in, At least the rocker arm (6) of the component is rotatably supported about a rotation axis (6A), wherein the rotation axis (6A) is not parallel with respect to the direction of travel (x), and - Wherein, the contact element (5) is connected to at least the element rocker arm (6) such that the avoidance movement along the avoidance direction (z) causes at least the element rocker arm (6) to undergo an avoidance rotational movement about the rotation axis (6A) along the avoidance rotational direction (r), and the detection movement along the detection direction (-z) causes at least the element rocker arm (6) to undergo a detection rotational movement about the rotation axis (6A) along the detection rotational direction (-r), wherein the avoidance rotational direction (r) and the detection rotational direction (-r) are different. - Wherein, the sensor and control device (3) are configured to detect the detected rotational motion or the motion caused by the detected rotational motion, and to control the protection function (SF) triggered by the detected rotational motion or the detected motion, and - Wherein, the sensor-and control device (3) does not detect or evaluate the avoidance rotational motion or the motion caused by the avoidance rotational motion.

5. The outdoor operation system (1) according to claim 1, - Wherein, the outdoor operation robot (2) has at least one component, a rocker arm (6), - in, At least the rocker arm (6) of the component is rotatably supported about a rotation axis (6A), wherein the rotation axis (6A) is orthogonal to the direction of travel (x), and - Wherein, the contact element (5) is connected to at least the element rocker arm (6) such that the avoidance movement along the avoidance direction (z) causes at least the element rocker arm (6) to undergo an avoidance rotational movement about the rotation axis (6A) along the avoidance rotational direction (r), and the detection movement along the detection direction (-z) causes at least the element rocker arm (6) to undergo a detection rotational movement about the rotation axis (6A) along the detection rotational direction (-r), wherein the avoidance rotational direction (r) and the detection rotational direction (-r) are different. - Wherein, the sensor and control device (3) are configured to detect the detected rotational motion or the motion caused by the detected rotational motion, and to control the protection function (SF) triggered by the detected rotational motion or the detected motion, and - Wherein, the sensor-and control device (3) does not detect or evaluate the avoidance rotational motion or the motion caused by the avoidance rotational motion.

6. The outdoor operation system (1) according to claim 4 or 5, - Wherein, at least the element rocker arm (6) is a push-type element rocker arm (6').

7. The outdoor operation system (1) according to claim 4 or 5, - Wherein, when not in contact with an obstacle, the axis of rotation (6A) is above the height limit (HG).

8. The outdoor operation system (1) according to any one of claims 1 to 5, - Wherein, when not in contact with an obstacle, the contact element (5) extends from the upper front to the lower rear in the opposite direction of travel (-x) below the height limit (HG), the extension having an angle (α) of up to 60° with the direction of travel (x), and / or - Among them, When not in contact with an obstacle, the contact element (5) extends from the lower front to the upper front or the upper rear in the opposite direction of travel (-x) at or above the height limit (HG).

9. The outdoor operation system (1) according to any one of claims 1 to 5, - Wherein, when not in contact with an obstacle, the contact element (5) has an extension from the upper front to the lower rear in the opposite direction of travel (-x) below the height limit (HG), the extension having an angle (α) of up to 45° with the direction of travel (x).

10. The outdoor operation system (1) according to any one of claims 1 to 5, - Wherein, when not in contact with an obstacle, the contact element (5) has an extension from the upper front to the lower rear in the opposite direction of travel (-x) below the height limit (HG), the extension having an angle (α) of 30° with the direction of travel (x).

11. The outdoor operation system (1) according to any one of claims 1 to 5, - The outdoor operation robot (2) has a cover (7). - in, The cover (7) is movably supported above the contact element (5) and relative to the travel mechanism (4), and - Wherein, the contact element (5) is movably supported relative to the cover (7) such that the detection movement causes the cover (7) to move in the opposite direction (-x) to the travel mechanism (4), and the avoidance movement does not cause, and - Wherein, the sensor-and control device (3) is configured to detect the movement of the cover or the movement caused by the movement of the cover, and to control the protection function (SF) triggered by the detected movement of the cover or the detected movement.

12. The outdoor operation system (1) according to claim 11, - in, The cover (7) is configured to perform the cover movement by the travel motion along the travel direction (x) and the contact between the cover point (7P) and the obstacle.

13. The outdoor operation system (1) according to claim 12, - Wherein, the contact element (5) is suspended and / or suspended at the cover (7) by means of a spring (8), and / or - in, The contact element (5) is configured to contact the surface (100) to be worked on.

14. The outdoor operation system (1) as described in claim 13, - Wherein, the contact element (5) is configured to slide as a slide plate (5') on the surface (100), and / or - in, The contact element (5) is configured to roll as a roller on the surface (100).

15. The outdoor operation system (1) according to any one of claims 1 to 5, - The outdoor work robot (2) has a work tool (9). - in, The contact element (5) is ahead of the working tool (9) along the travel direction (x).

16. The outdoor operation system (1) according to any one of claims 1 to 5, - Wherein, the outdoor operation robot (2) has an operation tool (9), wherein, The work tool (9) has a grass-cutting tool (9'), and / or - The outdoor operation robot (2) is constructed as a lawn mowing robot (2').

17. The outdoor operation system (1) according to any one of claims 1 to 5, - in, The outdoor work robot (2) has a tool system (10), wherein the tool system (10) has a work tool (9), and wherein the sensor-and control device (3) is configured to control the tool system (10) as the protection function (SF), and / or - The outdoor work robot (2) has a driving system (11), wherein the driving system (11) has a driving mechanism (4), and wherein the sensor-and control device (3) is configured to control the driving system (11) as the protection function (SF).

18. The outdoor operation system (1) according to any one of claims 1 to 5, - in, The outdoor work robot (2) has a tool system (10), wherein the tool system (10) has a work tool (9), and wherein the sensor-and control device (3) is configured to deactivate the tool system (10) as the protection function (SF), and / or - The outdoor work robot (2) has a driving system (11), wherein the driving system (11) has a driving mechanism (4), and wherein the sensor-control device (3) is configured to disable the driving system (11) as the protection function (SF).

Images