Base station for service robots

Abstract

The invention is based on a base station (10) for a service robot (12), in particular for an autonomous lawnmower (14), comprising at least one base plate (16) for setting up and / or fixing the base station (10) on a surface (18), in particular a lawn (20), and a charging interface (24) for the service robot (10). It is proposed that the base plate (16) has contrasting surface areas (56), in particular by contrasting surfaces (62a, 62b, 62c, 62d) designed to contrast with a basic color of the base plate (56), in particular as a contrasting marking device for an optical detection device of the service robot (12).

Description

Prior ArtBase stations for service robots, in particular for an autonomous lawn mower, having at least one base plate for placing and / or fixing the base station on a subgrade, in particular a lawn surface, and a charging interface for the service robot are already known. For example, reference may be made to a lawn mower robot base station of a BOSCH Indego lawn mower.Disclosure of the InventionThe invention relates to a base station for a service robot, in particular for an autonomous lawnmower, having the features of independent claim 1.A base station can also be referred to as a docking station. It is provided at least for loading the service robot. It can also provide other supplies for the service robot, for example suction or extraction, filling, cleaning, securing or the like. It is typically connectable to a power grid via a power plug.A "service robot" is to be understood in particular as an at least partially automatic mobile device which at least partially automatically performs a work, preferably a machining of a surface-in particular a so-called machining surface. In particular, the service robot is intended to automatically begin a work, automatically end it, and / or automatically select and / or influence at least one parameter relating to the machining of the machining surface. A service robot is to be understood in particular as an appliance which moves automatically at least for performing this work, in particular for machining the machining area, and / or moves autonomously in the predefined working area of the machining area. Typical areas of application include various activities such as sweeping, cleaning, mowing lawns, (collecting), sorting, irrigation, fertilizing, mapping, or the like. Examples of these are, in particular, autonomous cleaning robots, autonomous snow removing robots, autonomous sowing machines, autonomous irrigation robots, autonomous fertilizing machines, autonomous mapping machines, or the like and particularly preferably autonomous lawn mowers or lawn mower robots. Lawn mower robots, in particular, whose active area extends to the surroundings of a residential house, in particular the gardens of a residential house.The contrasting surface areas are configured in particular as contrasting marking devices for an optical detection device of the service robot. For example, this can improve visual navigation of the service robot, in particular for docking to the base station. Robust detection of the base station can sometimes be guaranteed. A more exact positioning of the service robot on the base station and / or more exact or faster contacting of charging contacts or other supply devices of the base station can be made possible. The weathering resistance and / or wear resistance of the marking device or of the surface areas configured to contrast can also be improved. Exchangeability of contrast surfaces can be made possible. The location of the base station can become more robust in terms of weather and / or ageing. Component integration can be achieved. Maintainability and / or user-friendliness in the maintenance of the base station can be improved.A base station for a service robot, in particular for an autonomous lawn mower, having at least one base plate for placing and / or fixing the base station on or on a subgrade, in particular a lawn surface, and comprising a charging interface for the service robot, is proposed. The base station, in particular the base plate of the base station, can be fixed to or on a subgrade, in particular a lawn surface, with additional anchoring or fixing means, such as e.g. earth nails or earth screws, or the like. The base plate is provided for the purpose of being traveled on by the service robot, in particular for reaching the charging contacts and / or a docking interface.It is proposed that the base plate has at least one, preferably two, in particular four, contrasting surface areas, in particular comprising contrasting surfaces formed contrastingly to a base colour of the base plate. The contrasting surface areas are in particular surface areas. The area areas formed in contrasting fashion are provided in particular by light and dark area areas adjoining one another, preferably black and white area areas, in particular as so-called light-dark or black-white contrast. In principle, surface areas configured to contrast could also be provided by color contrasts, such as, for example, a comparison or a border of pink, yellow, blue and / or green or the like. In particular, it comprises a group of contrasting individual areas, wherein, for example, light to dark, in particular alternating, border. These could be circular ring, circular segment or circular ring segment surfaces. For example, surfaces adjoining one another in a light-dark manner, which with increasing diameters are formed once light, then once again dark, then once again light and thus form a larger contrasting surface region. Other geometric shapes or alternating geometric shapes could also form a contrasting surface area. For example, using rectangular areas, a bright rectangle adjoining a dark rectangle and the one adjoining a bright rectangle again, in particular having different or constant area sizes, in particular, for example, dividing a larger rectangular area which is then designed to contrast. In particular, parts of the contrasting surface areas are provided from a separate component or by a separate component. In particular, contrast surfaces of one type, i.e. bright or dark, white or black, are formed by a component or a component. In particular, a plurality of contrast surfaces of a surface region configured to contrast are formed by the separate component or the separate component, in particular an insert component, for example bright or white surfaces. The contrasting surface areas are arranged in particular in a base plate plane or base plate surface plane. This is formed in particular facing away from the placement surface of the base plate; in particular substantially parallel offset to the placement surface. The base plate plane corresponds in particular substantially to a travel plane provided for the service robot or to a horizontal footprint of the base plate or base station for the service robot.It is proposed that surface areas and / or contrast areas of contrasting design are systematically arranged on the base plate, in particular on, for example, two or four, edge areas or corners of the base plate and / or in a geometrically repeating sequence. Systematically, this may mean, in particular, geometrically recurrent and / or logically building. In the case of rectangular areas, for example, at least one dimension, e.g. a length of the contrast areas, can remain identical, preferably while, for example, a width of the contrast area varies. Contrast surfaces can be configured to be aligned with one another. Contrasting surface areas can be arranged substantially mirror-symmetrically to one another. The contrasting surface areas can be formed as at least two, in particular as four groups, contrasting surfaces and / or from groups of at least two, in particular of four contrasting surfaces, in particular contrasting surfaces.The in particular bright, preferably substantially white, contrast areas are adjacent to in particular dark, preferably substantially black areas, in particular intermediate areas and / or the surrounding area. The contrast surfaces, preferably a plurality of contrast or individual surfaces, are in particular bounded in a hard or sharp manner, that is to say without a harmonic color transition, to the adjacent and / or surrounding surface.Each contrast surface or individual surface of a group has in particular a different surface size and / or different width, in particular a width in the longitudinal axis direction of the base plate. In particular, contrast surfaces of a group have a sequence of surface widths which successively increase or successively decrease in a longitudinal direction of the base plate.The contrast areas with respect to one another preferably have an essentially simple, twice, three times and four times as large area size, preferably implemented by a simple, twice, three times and four times as large width. In the case of circular ring surfaces or the like, a width of the circular ring surface could also vary. The contrast surfaces are formed on the base plate in particular as substantially rectangular surfaces. Furthermore, in particular, the contrasting surface region is also formed overall as a substantially rectangular surface.It is proposed that contrast surfaces or individual surfaces are separated and / or delimited from one another by intermediate surfaces, preferably by ribs, in particular connected to, preferably bonded to, the surrounding surface, in particular the surrounding base plate surface. The ribs in particular subdivide or separate recesses, in particular recesses in the base plate, from one another. This makes it possible to provide a high component integration with good resistance at the same time.It is proposed that a plurality of contrasting surface areas are formed substantially mirror-symmetrically to one another, in particular substantially mirror-symmetrically to a longitudinal axis and / or substantially mirror-symmetrically to a transverse axis of the base plate. One could also say mirror-symmetrically with respect to a longitudinal axis / transverse axis vertical plane which is spanned by the X or Y axis in conjunction with the Z axis (as a vertical axis). As a result, the localization accuracy of the base station can be improved, in particular for efficient, i.e. in particular rapid and exact docking at the base station. The robustness of the localization of the base station can also be improved if a contrasting surface region is unintentionally covered or suspected, for example.It is proposed that surface areas of contrasting design are arranged in alignment or in an extension of a rear-end aid of the base station, in particular in the form of ramps and / or ribs. This also allows the localization and / or positioning accuracy of the service robot relative to the base station to be improved, in particular during the process of engaging and / or driving up and / or docking. It is proposed that surface areas of contrasting design are arranged on both sides of a contact holder for the charging contacts, which contact holder is lifted vertically from the base plate. As a result, during docking or docking, in particular despite the arrangement of the contrasting surface area on or in the base plate, localization by optical detection means of the service robot can be reliably ensured for as long as possible or early as possible. An overlap by the service robot or a wear / contamination by passing over these surface areas can be avoided.It is proposed that the base plate be provided for the purpose of being traveled on by the service robot, in particular wherein surface regions of contrasting design are provided for the purpose of being traveled on by the service robot and / or surface regions of contrasting design are formed in extensions of a driving lane. This makes it possible to ensure reliable positioning of the service robot even when driving on and off. In particular, despite driving over and sometimes wear, in particular due to the formation of the contrast surface as a different component or separate component, the contrast maintenance is not adversely affected. Surface areas of contrasting design can be arranged in, on or on a base plate plane, in particular a base plate plane which can be traveled by the service robot. The contrasting surface areas can form a common surface plane with the base plate. Furthermore, the base station has a substantially rectangular basic shape. The base plate essentially forms a base surface, in particular a base surface vertically spaced apart from the processing surface. Thus, regardless of the ground condition-for example in the case of otherwise sludged, soft and / or wet subsoil, a fixed standing surface can be provided for the service robot.Furthermore, a base station for a service robot is proposed, in particular for an autonomous lawn mower, having at least one base plate for setting up and / or fixing the base station on a subgrade, in particular a lawn surface, and a charging interface for the service robot. It is proposed that the base station has at least one surface region of contrasting design, in particular a base plate surface region, which is provided at least from two different components, in particular two separate components. This contrasting surface area could now also be arranged on another component or another component of the base station, for example a docking housing. A surface region formed in such a way from two components or components in a contrasting manner could also be attached to a marking element independent of the base station, for example a ground spit, screw or the like, with marking element. Different components of contrasting design could be used, for example, in a two- or multi-component injection molding process for producing the base station. A component forming the later contrast areas could be light or white plastic, a component forming the remaining base plate and / or intermediate and / or surrounding regions of the contrast area could be dark or black plastic, for example. An insert part forming the contrast surface, for example, could also be injection molded. In particular, however, a separate insert component, which can be connected to the base plate in an insertable and / or replaceable manner and which forms the contrast surface(s).It is proposed that the contrasting surface area comprises in particular two, preferably four contrasting surfaces. The base plate forms in particular a base component. It is formed in particular from dark material, preferably black material. It forms in particular surrounding surfaces and intermediate surfaces. The contrast surfaces delimited thereby are formed in particular by an additional insert component. This is in particular formed separately from the base plate. A printed, bonded and / or sprayed surface, in particular as a contrast surface, is easily subject to abrasion and / or wear during use and / or operation, in particular due to weather influences, driving over by the service robot, or the like. In contrast, the resistance is increased by providing two components. Not only the surface but in principle the entire, in particular appropriately colored, component or the entire separate component is available as the wear surface. Thus, the surface itself retains its contrasting property due to weathering and / or wear, in particular with respect to the other component or with respect to the other component.It is proposed that the contrasting surface area is provided by two color contrasting components or components, in particular a black and a white component. The one component or the one component is in particular a base component of the base station, in particular the base plate; the other component or the other component is in particular an insert component, in particular for the base plate. This allows easy assembly and / or exchangeability of the insert component. A restoration of the contrasting surface is possible when the original contrasting surface is weathered or worn.It is proposed that the contrast surfaces or that separated individual surfaces of the contrasting surface region, in particular two, preferably four contrast surfaces or separated individual surfaces, are formed from a single insert component. They are therefore connected in particular in a materially bonded manner. They are produced in particular from a casting, for example injection-molded plastic part. The stability of the individual contrast surfaces can thus be increased. Component integration can be made possible, simplified assembly can be achieved. The contrast surfaces come to lie in particular in a common plane, in particular a surface plane, preferably the surface plane of the base plate, or base plate plane.The one component, in particular the insert component, is designed to be fixable and / or replaceable without tools, in particular fixable by means of a form-fit and / or snap-fit connection, preferably fixable by means of a snap-fit connection. As a result, a user can also change the insert component or the contrast surface in a simple manner. The useful life of the base station as a whole can be increased.It is proposed that the contrasting surface region is formed at least by recesses, in particular through holes, in the one component, preferably the base plate, and another component, in particular the insert component, which is configured contrastingly and can be located thereon or therein. This(s) can be located in particular from a rear side to the surface region embodied in a contrasting manner. As for example from a bottom side of the base plate.It is proposed that at least one rib of one component, preferably of the base plate, in particular a rib traversing a recess, divides contrast surfaces of the other component, in particular of the insert component, in particular divides them into individual surfaces. As a result, a high component integration and / or stability and / or low complexity can be provided.It is proposed that a rib width of a plurality of ribs is substantially constant and a width of the contrast surfaces and / or recesses subdivided by the ribs substantially varies, in particular increases or decreases from individual surface to individual surface and / or from recess to recess, in particular increases or decreases successively in a longitudinal direction of the base station. The localization probability and / or accuracy can thus be improved. A recognition as a corresponding marking element is increased. A mark pattern may be provided. Robustness is maintained, in particular with respect to an adhesively bonded, sprayed contrasting surface region or the like.It is proposed that recesses are rectangular or elongated hole-like, in particular having a constant transverse extension, in particular perpendicular to the longitudinal axis direction of the base station and / or base plate, preferably having a varying width, in particular in the longitudinal axis direction of the base station.Furthermore, a service robot, in particular autonomous lawnmower, having an aforementioned base station is proposed.It is furthermore proposed that in particular four surface regions of contrasting design are formed on the base plate substantially at the distance of a track width and / or at the distance of a distance of the service robot.In particular, the four contrasting surface regions are arranged with respect to one another in the longitudinal axis direction and in the transverse axis direction substantially at a distance of a track width and / or the axis position of the service robot. Preferably, mirror symmetry in pairs with respect to the longitudinal axis and / or transverse axis. This allows reliable detection and / or localization of the base station by the service robot. A docking process can be simplified and / or accelerated.Base station (10) for a service robot (12), in particular for an autonomous lawnmower (14), having at least one base plate (16) for setting up and / or fixing the base station (10) on a base (18), in particular a lawn surface (20), characterized in that the base station (10) has at least one surface region (56), in particular a base plate surface region (106), which is provided at least from two different components, in particular two separate components (108, 110), preferably a base plate (16) and an insert component (112), which is configured in contrast to the base plate (16).Base station (10) according to Claim 1, characterized in that the contrasting surface region is provided by a light-dark contrast or a colour contrast, in particular by contrasting components or components (108, 110) which are preferably black and white.Base station (10) according to one of the preceding claims, characterized in that contrast surfaces (62a, 62b, 62c, 62d), in particular separated individual surfaces (64), of the component (110) of contrasting design, in particular two, preferably four contrast surfaces (62a, 62b, 62c, 62d), are formed from a single insert component (112).Base station (10) according to one of the preceding claims, characterized in that the one component or the one component (110), in particular the insert component (112), are designed to be fixable and / or replaceable without tools on the other component or the other component (108), in particular fixable and / or replaceable without tools by means of a positive and / or non-positive locking connection.Base station (10) according to one of the preceding claims, characterized in that the contrasting surface region is formed at least by recesses (96a, 96b, 96c, 96d), in particular through holes (97), in the one component (108), preferably the base plate (16), and the other component (110), in particular the insert component (112), which can be located thereon or therein and is designed to contrast in colour, in particular wherein the insert component (112) can be located thereon or therein from a rear side (116), in particular a base side (118) of the base plate (16).Base station (10) according to one of the preceding claims, characterized in that the one component or the one component (108) has at least one rib (94a, 94b, 94c), in particular at least one rib (94) crossing a recess (96a, 96b, 96c, 96d), which divides contrast surfaces (62a, 62b, 62c, 62d) of the other component or of the other component (110), in particular of the insert component (112), in a contrasting manner, in particular into individual surfaces (64).Base station (10) according to Claim 6, characterized in that a rib width (85a, 85b, 85c) of a plurality of ribs (94a, 94b, 94c) is substantially constant and a width (84a, 84b, 84c, 84d) of the contrast surfaces (62a, 62b, 62c, 62d) and / or recesses (96a, 96b, 96c, 96d) subdivided by the ribs (94a, 94b, 94c) substantially varies, in particular increases or decreases from contrast surface (62a, 62b, 62c, 62d) to contrast surface (62a, 62b, 62c, 62d) and / or from recess (96a, 96b, 96c, 96d) to recess (96a, 96b, 96c, 96d), in particular, it increases or decreases in the direction of a longitudinal axis (40) of the base station (10).Base station (10) according to one of Claims 5-7, characterized in that the contrast surfaces (62a, 62b, 62c, 62d) and / or recesses (96a, 96b, 96c, 96d) are of substantially rectangular and / or slot-like design, in particular having a constant transverse extent, preferably having a varying width (84a, 84b, 84c, 84d), in particular in the direction of the longitudinal axis (40) of the base station (10).DRAWINGFurther advantages are evident from the following description of the drawings. The drawing shows an embodiment of the invention. The drawings, specification and claims contain numerous features in combination. The skilled person will expediently also consider the features individually and summarize them to form meaningful further combinations.The following are shown: FIG. 1 shows a perspective view of a base station according to the invention for a service robot in the form of an autonomous lawn mower, FIG. 2 shows the base station in a plan view, FIG. 3 a shows an exploded view of the base station in a perspective bottom view, FIG. 3 b shows an enlarged view of FIG. 3 a FIG. 4 shows a perspective view of an insert component, FIG. 5a is a sectional view of the base station, FIG. 5 b shows an enlarged view of FIG. 5 a FIG. 6 shows a system comprising the service robot and the base station in a rear view.DESCRIPTION OF THE EMBODIMENTFIG. 1 shows a base station 10 for a service robot 12, in particular for an autonomous lawn mower 14, and comprises a base plate 16, in particular for setting up and / or fixing the base station 10 on a subgrade 18, in particular a lawn surface 20, The base plate 16 can have, for example, fixing holes 22 for soil nails or screws, not shown, or the like, in particular in order to anchor the base station to the subgrade 18. The base station 10 comprises a charging interface 24. the service robot 12 can be charged via charging contacts 26 of the charging interface 24. Two charging contacts 26 are oriented offset parallel to a base plate plane 28. The service robot 12 (cf. FIG. 6 ) is provided for contacting the charging contacts 26 with its charging contacts (not shown) according to the plug-socket principle, in particular when traveling horizontally on the base station 10, in particular wherein the service robot has female counter-charging contact elements. Alternative charging contact configurations, as are known in particular from the prior art of service robots, are likewise conceivable. The base station can be connected to the power network via a power plug 30. In particular, the mains voltage can be transformed to a charging voltage via a power supply unit, not shown. Load release routines, in particular comprising a communication between base station 10 and service robot 12, are conceivable.The base station 10 can also be referred to as a docking station. The service robot 12 is provided for docking to it, in particular for loading. In principle, however, also for another supply, for example a cleaning service robot could be sucked out and / or filled with cleaning liquid. Likewise, an irrigation robot could be filled with water through the docking station to subsequently carry it out on the service area, a fertilizer robot could be filled with fertilizer, a lawn mower robot cleaned and / or the like. The base station can also assume further functions for and / or in connection with the service robot 12, such as communication functions, limit signal provision functions, anti-theft functions or the like. The base station 10 can also be provided with a roof and / or walls and can in particular form a type of garage or carport or the like, for example in order to protect the service robot 12 from weather influences.A docking region 32, in particular a mechanical and electrical docking region 32, is arranged vertically spaced apart from the base plate 16. It is provided in particular for the purpose of being detachably connected to a front section and / or counter-charging contact elements of the service robot 12. A docking housing 34 or contact holder housing supports at least the charging contacts 26, sometimes accommodates the power supply unit, provides guidance means, in particular for fine alignment during docking of the service robot 12 and / or the like. The docking housing 34 is fixed to the base plate 16 by means of screws 36 (cf. FIG. 3 a). It is provided to transmit forces exerted on the docking housing to the base plate 16 and / or support it above it. The docking housing 34 is mounted substantially perpendicular to the base plane 28. The base station 10 or the base plate 16 of the base station 10 is provided to be traveled on by the service robot 12. The service robot 12 can in particular move up and down the base plate 16 in an upward and downward direction 38, in particular along a longitudinal axis 40 of the base station 10. In principle, the service robot can also drive over or cover the base plate 16 in a different manner. In principle, the service robot 12 can also approach, cover or traverse the base station 10 at an angle transverse to the longitudinal axis 40 of the base station 10.In order to facilitate the approach and departure to the base plate 16, the base plate 16 has a ramp 42, in particular in order to bridge a height 43 of the base plate 16, or a height difference between the underlying surface 18 and the base plate plane 28, in particular in a smooth manner. The height 43 of the base plate 16 is approximately 10-12 mm in the exemplary embodiment. Furthermore, in particular at the distance of a track width 44 of the service robot 12, in particular at least between an inner and outer wheel distance, ribs 46 are provided on the base plate 16. They extend perpendicular to the longitudinal axis 40 or in the direction of a transverse axis 48, they are each formed offset parallel to one another, in particular offset parallel to one another in the direction of the longitudinal axis 40, they extend in rows 49, on both sides of the longitudinal axis 40, in particular at least in the track width 44, they rise substantially vertically from the base plate plane 28, they are in particular formed at least partially corresponding to the cleat profile of a tire, in particular of the drive wheels 50, of the service robot 12, for example in that their distance from one another corresponds to the circumferential distance of the studs of the tire and / or a height of the ribs is matched to the height of the studs and / or the free ends of the ribs are beveled and / or the like. The ribs 46 are provided to form an improved grip surface, in particular for the drive wheels 50 of the service robot 12, preferably the rear drive wheels 50 of the service robot 12. They serve to improve traction. The stud tires 52 of the service robot 12 are provided for the purpose of engaging in particular the ribs 46. On both sides of the longitudinal axis 40, in particular reaching as far as lateral edge regions of the base plate 16, a plurality of ribs 46, in particular eight ribs 46, preferably offset parallel to one another, are provided in each case, in particular per row 49. The ribs 46 do not extend completely over the base plate 16, but are arranged in particular in a region distal to the docking region 32, in particular in a rear quarter of the base plate 16; they end approximately at a distance from the wheel base, in particular between front and rear wheels, of the service robot 12 - that is to say in particular in front of the charging contacts 26 and / or in front of the docking housing 34; they extend over approximately a quarter of the longitudinal extent of the base station 10 or base plate 16.As can also be seen in particular from FIG. 2, the base plate 16 has a substantially rectangular basic shape. The docking station has, for example, a length 66 of approximately 60 cm, a width 68 of approximately 40 cm, and a height 70 (see FIG. 5 a) of approximately 14 cm. Also shown in FIG. 1 is a coordinate system 54. The X axis points in the direction of the longitudinal axis 40. the Y axis points in the direction of the transverse axis 48. the Z axis points in the vertical axis direction.The base plate 16 further has at least one contrasting surface region 56. It has in particular four contrasting surface areas 56. In principle, two or more contrasting surface areas 56 can also be provided. The contrasting surface areas 56 are spaced apart from one another, in particular substantially at the distance of the track width 44 and / or at the distance of a distance of the service robot 12.The contrasting surface areas 56 are systematically arranged on the base plate 16. They are arranged in edge regions 72 or corner regions 74 of the base plate 16. They are arranged or formed in a geometric recurring sequence. Surface areas 56 configured to contrast are configured to be substantially mirror-symmetrical to one another, in particular substantially mirror-symmetrical to the longitudinal axis 40 and / or mirror-symmetrical to the transverse axis 48 of the base plate 16, preferably in pairs.A contrasting surface area 56 comprises contrast areas 62, 63. bright areas 58 a, 58 b, 58 c, 58 dand dark areas 60, in particular white areas 58 a, 58 b, 58 c, 58 dand black areas 60. They are formed in particular alternately in the direction of the longitudinal axis 40, preferably multiply alternately. Bright and dark areas could also be interchanged, so that the bright areas would be dark and the dark areas would be light. The light areas 58 a, 58 b, 58 c, 58 dare designed to contrast with the dark areas 60, in particular the contrast areas 62 or individual areas 64 are designed to contrast with the contrast area or areas 63. The contrast surface 63 forms in particular a connected surface 65, preferably a connected surface. It is provided in particular by a base body 92 of the base plate 16, or the base plate 16. The light areas 58 a, 58 b, 58 c, 58 d, or the contrast areas 62, contrast in particular to an in particular dark base color, preferably black, of the base plate 16 or base station 10.Surface areas 56 of contrasting design are configured in particular as a contrasting marking device, in particular for an optical detection device of the service robot 12, for example a camera. The surface regions 56 configured to contrast are in particular surface regions, in particular at least comprising surface regions of the base plate 16. The contrasting surface areas 56 are provided, so to speak, by adjoining light areas 58 a, 58 b, 58 c, 58 and dark areas 60, preferably white and black areas. The surfaces 90 a, 90 b, 90 d, 90 d, 91 a, 91 b, 91 cof these surfaces 58 a, 58 b, 58 c, 58, 60 come to lie in the base plate plane 28. They are provided or supported in particular by the material thickness of the components or components, so that, for example, when the original surface 90 a, 90 b, 90 d, 90 d, 91 a, 91 b, 91 cis removed and / or worn, contrasting is still provided. The base plate plane 28 corresponds substantially to a travel plane 78 for the service robot 12.Surface areas 56 configured to contrast and / or the contrast areas 62 are systematically configured and / or arranged, in particular configured in a geometric recurring sequence. For example, at least one dimension, e.g., a length 80 of all contrast surfaces 62, is substantially identical, in particular a length 80 perpendicular to the longitudinal axis 40. individual contrast surfaces 62, in particular at least one contrast-forming surface region 56, are configured to be aligned with one another, in particular aligned with one another in the direction of the longitudinal axis 40. Surface areas 56 which are designed to contrast with one another in a manner offset with respect to one another in the direction of the longitudinal axis 40 are in particular likewise designed to be substantially aligned with one another. Individual contrast surfaces 62 of surface regions 56 embodied in contrasting fashion on both sides of the longitudinal axis 40 can likewise be embodied in alignment. Area areas 56 configured to contrast each comprise a group 82 of in particular bright contrast areas 62, in particular a group 82 of four in particular bright contrast areas 62, which are bounded in particular by dark intermediate areas and / or the surrounding in particular dark area 60.Each contrast surface 62 a, 62 b, 62 c, 62 dor individual surface 64 of a group 82, or of a surface region 56 configured to contrast, has in particular a different surface size and / or a different width 84 a, 84 b, 84 c, 84 d, in particular width 84 a, 84 b, 84 c, 84 din the longitudinal axis direction of the base plate 16. In particular comprising a substantially simple, double, triple and quadruple surface area, preferably implemented by a simple, double, triple and quadruple as large width 84 a, 84 b, 84 c, 84 d, in particular rectangular, surface areas. In the present exemplary embodiment, the width 84 aof the contrast surface 62 ais approximately 4 mm, the width 84 bof the contrast surface 62 bis approximately 8 mm, the width 84 cof the contrast surface 62 cis approximately 12 mm, the width 84 dof the contrast surface 62 dis approximately 16 mm. A length 80 of the contrast surfaces 62 a, 62 b, 62 c, 62 dis around 33 mm. By way of the surface areas 56 which are arranged, for example, substantially mirror-symmetrically to the transverse axis 48 and are embodied in contrasting fashion, adjacent surface areas 56 in the longitudinal axis are embodied in mirrored fashion with respect to one another. Surface areas 56 embodied in contrasting fashion are embodied as such in particular likewise substantially rectangular. They have a width 86, in particular corresponding to the length 80 of the individual surfaces 64, and a length 88. In this case, therefore, in particular a width 86 of around 33 mm, alternatively in particular around 40 mm and a length 88 of around 60 mm. In principle, individual surfaces 64 could also have a different geometry, for example circular ring patterns or the like. A plurality of circular rings constructed around a circle center and having mutually bright and dark surfaces could then likewise have a width which in particular increases or decreases successively. Thus, a surface region which is likewise embodied as contrasting could be provided, in particular light-dark or black-and-white contrasting or the like. Other geometries are also conceivable.Intermediate surfaces 61 a, 61 b, 61 care provided between the contrast surfaces 62 or individual surfaces 64. These have a width 85 a, 85 b, 85 c, preferably a substantially constant width 85 a, 85 b, 85 c, in particular deviating by +-50%. In the present exemplary embodiment, the width 85 aof the intermediate surface 61 ais approximately 1.5 mm, the width 85 bof the intermediate surfaces 61 bis approximately 1 mm, and the width 85 cof the intermediate surfaces 61 cis approximately 1 mm. A length 80 of the contrast surfaces 62 a, 62 b, 62 c, 62 dand / or intermediate surfaces 61 a, 61 b, 61 cis around 33 mm alternatively to 40 mm. The intermediate surfaces 61 a, 61 b, 61 care in particular connected to the surrounding surface 60 or formed by it. The intermediate surfaces 61 a, 61 b, 61 care provided in particular by ribs 94, in particular ribs 94, which bridge a recess 96 in the base plate. The ribs 94 separate contrast surfaces 62 and individual surfaces 64 from one another. The ribs 94 form a part of a recess 96 in the base plate 16, or a plurality of recesses 96a, 96b, 96c, 96d. The recesses 96 a, 96 b, 96 c, 96 dare formed as through holes 97, in particular as through holes 97 in the base body 92 or the base plate 16. They extend from the base plate plane 28, surface plane 102 or travel plane 78 in the direction of the placement surface 76, as can be seen in particular from FIGS. 3 a, 3 b.Surface areas 56 of contrasting design are arranged in particular in alignment and / or in an extension of a rear-end aid 98 of the base station 10. In particular, in extension a grip surface 100 of the base station 10 formed by the ribs 46, for example. These ribs 46 form, so to speak, a traction improvement device for the service robot 12.The contrasting surface areas 56 are arranged substantially in an extension of the row 49 of ribs 46, in particular on both sides of the longitudinal axis 40. in particular, two surface areas 56 formed at a distance from one another in the longitudinal axis direction 40, in particular each on the right and left of the longitudinal axis 40, are arranged substantially in alignment and / or in an extension of a rear-end aid 98 of the base station 10 or of the base plate 16.A contrasting surface region 56 is arranged on each side of a contact holder or docking housing 34 for the charging contacts 26, which in particular lifts vertically from the base plate 16. Viewed in the direction of the longitudinal axis 40, they begin behind the docking interface, or the docking area 32, or behind the charging contacts 26, and are situated, as it were, in the last sixth of the base plate 16.The base plate 16 is provided to be traveled on by the service robot 12. In principle, surface areas 56 designed to contrast are also provided for the purpose of being traveled on by the service robot 12, in particular surface areas designed to contrast, which are adjacent to the driving-on aid. Surface areas 56 formed in contrasting fashion are formed or arranged in particular in a common surface plane 102, in particular of the base plate plane 28. They are provided in particular by different components and / or components. In principle, however, they could also be formed by spraying, printing, painting, adhesive bonding and / or the like. The base plate 16 essentially forms a base 104, in particular a base 104 vertically spaced apart from the machining surface. The contrasting surface areas 56 are arranged in, on or on a base plate plane 28, in particular a base plate plane 28 which can be traveled by the service robot 12.A contrasting surface region 56 of the base station 10, in particular of the base plate 16, in particular a base plate surface region 106, is provided at least from two different components, in particular two separate components 108, 110. A surface region 56 of contrasting design comprises in particular two, preferably four, contrasting design contrast surfaces 62. The four contrasting design contrast surfaces 62 are in particular formed integrally with one another, preferably materially connected, preferably connected outside a surface plane 102, in particular formed by the insert component 112. See in particular FIG. 4 : The two components or components 108, 110 are in particular injection-molded components, preferably differently or contrastingly colored injection-molded components. The base body 92 is in particular dark, preferably black. The insert component 112 is in particular light, preferably white or gray. In principle, the two components 108, 110 could also be produced in a two-component injection molding process-in particular therefore the term "component" or the insert component 112 as an insert component could be injection molded in an injection molding process or the like. In particular, however, as shown in FIG. 3 a, the insert component 112 is configured such that it can be separated from the base plate 16 or the base component or base body 92. It can be exchanged and / or separated from the base plate 16 as an additional insert component 112. Despite abrasion and / or wear and / or aging of the initial surface 90 a, 90 b, 90 d, 90 d, 91 a, 91 b, 91 c, for example by driving on or weathering, the two components or components 108, 110 can continue to have their contrasting effect, in particular in that not only one surface 90 a, 90 b, 90 d, 90 d, 91 a, 91 b, 91 cbut the component or wall thickness, or the entire component 108, 110, is formed from the contrasting material, in particular with the contrasting color.In particular, the contrasting surface region 56 is provided by two components or components 108, 110 configured to contrast in color, in particular by a black and a white component or a black and a white component 108, 110. In particular, the one component or the one component 108 is a base component or base body 92 of the base station 10, in particular the base plate 16, and the other component or the other component 110 is an insert component 112, in particular for the base plate 16, preferably in order to close recesses provided for this purpose in the base plate, in particular in the same surface area.Contrast surfaces 62, or in particular individual surfaces 64 formed separately from one another in a surface plane 102, are formed in particular from an insert component 112. In particular, two, preferably four, contrast surfaces 62, or separated individual surfaces 64, are formed from an insert component 112. Such an insert component 112 can be seen in particular in the exploded illustration of FIG. 3 bfrom the rear side and in the perspective illustration of FIG. 4. It has an asymmetric geometry, so that it cannot be inserted into the receptacle of the base plate 16 as desired. The insert component 112 can be inserted into all four receptacles of the base plate 16 for the insert components 112 (cf. FIG. 3 a), in particular for providing four surface regions 56 of contrasting design. By means of a snap connection 114, an insert component 112 can be connected to the base plate 16 or the base body 92 of the base plate 16. In particular, four snap hooks 115 a, 115 b, 115 c, 115 dare provided, which fix the insert component from four sides offset from one another by 90°, in particular on the rear side via latching surfaces 120. The snap hooks 115 a, 115 dare formed wider in the longitudinal axis direction 40, in particular since traction forces due to wheels can be expected here. Furthermore, the insert component also has an undercut 113 in order to form an additional positive connection with side surfaces of the snap hooks 115 b, 115 c.The one component, in particular the insert component 112, is provided to be designed to be replaceable and / or in particular to be fixed to the other component, in particular to the base body 92 or the base plate 16, in a fixable manner without tools. The insert component 112 can be fixed in particular by means of a form-fit and / or snap-fit connection, preferably fixable by means of a snap-fit connection 114. In principle, an insert component 112 could be arranged not only in the base plate 16, but also on another component of the base station 10, or even on a stand-alone component, for example an optical marking device. This could then equally have recesses in order to receive the contrast surfaces provided by the insert component 112 and to separate them by intermediate surfaces, which are in particular dark, in particular to separate them by intermediate surfaces which are in the form of ribs.A contrasting surface region 56 is formed at least by recesses 96 a, 96 b, 96 c, 96 d, in particular through holes 97, in the one component, preferably the base body 92 or the base plate 16, and the other component, in particular the insert component 112, which can be located thereon or therein and is in particular designed to contrast in color. The insert component 112 can be formed in particular by a component that can be located from a rear side 116 to the surface region 56 formed in a contrasting manner. In particular, a component that can be located or exchanged by a placement surface 76 or bottom side 118 of the base plate 16. Protuberances of the insert component 112 forming contrast surfaces 62 a, 62 b, 62 c, 62 dor contrast surfaces 62 a, 62 b, 62 c, 62 dform a clearance or transition fit with the recesses 96 a, 96 b, 96 c, 96 d. The ribs 94 a, 94 b, 94 care situated between the protuberances of the insert component 112 in the connected state.At least one rib 94, in particular a plurality of ribs 94 a, 94 b, 94 c, which divides a component, in particular of the base body 92 or of the base plate 16, in particular a rib 94 or web crossing a recess, (n) the contrast surfaces 62 a, 62 b, 62 c, 62 dof the other component, in particular of the insert component 112, in particular into individual surfaces 64.A rib width 85 a, 85 b, 85 cof a plurality of ribs 94 is substantially constant, in particular comprising deviations of +-50%. A width 84 a, 84 b, 84 c, 84 dof the contrast surfaces 62 a, 62 b, 62 c, 62 ddivided by the ribs 94 and / or a width 84 a, 84 b, 84 c, 84 dof the recesses 96 a, 96 b, 96 c, 96 d substantially varies, in particular it increases or decreases from single surface 64 to single surface 64 and / or from recess to recess 96 a, 96 b, 96 c, 96 d, in particular viewed in a longitudinal axis direction 40 of the base station.Recesses 96 a, 96 b, 96 c, 96 dare substantially rectangular or elongated hole-like, in particular having a constant transverse extension or length 80, preferably having a varying width 84 a, 84 b, 84 c, 84 d, in particular in the longitudinal axis direction 40 of the base station 10.FIG. 6 shows the service robot 12, in particular the autonomous lawn mower 14, with or on the base station 10. Studs of the drive wheels 50 engage in ribs 46 of the base plate 16 provided with gripping surfaces 100.

Claims

Base station (10) for a service robot (12), in particular for an autonomous lawnmower (14), having at least one base plate (16) for setting up and / or fixing the base station (10) on a base (18), in particular a lawn surface (20), and a charging interface (24) for the service robot (10), characterized in that the base plate (16) has surface regions (56) of contrasting design, in particular by contrast surfaces (62a, 62b, 62c, 62d) of contrasting design with a base colour of the base plate (56), in particular as a marking device of contrasting design for an optical detection device of the service robot (12).Base station (10) according to Claim 1, characterized in that surface regions (56) and / or contrast surfaces (62a, 62b, 62c, 62d) of contrasting design are systematically arranged on the base plate (16), in particular on, for example two or four, edge regions (72) or corner regions (74) of the base plate (16) and / or in a geometric recurring sequence.Base station (10) according to one of the preceding claims, characterized in that contrasting surface areas (56) are formed as a group (82) of at least two, in particular of four, contrasting surfaces (62a, 62b, 62c, 62d) contrastingly formed with respect to intermediate surfaces (61a, 61b, 61c) and / or with respect to the surrounding surface (60), in particular wherein intermediate surfaces (61a, 61b, 61c) are provided by ribs (94a, 94b, 94c), preferably by ribs (94a, 94b, 96c, 96d) dividing by recesses (96a, 96b, 96c, 96d).Base station (10) according to Claim 3, characterized in that each contrast surface (62a, 62b, 62c, 62d) of a group (82) has a different surface size and / or different width (84a, 84b, 84c, 84d), in particular width (84a, 84b, 84c, 84d) in the direction of a longitudinal axis (40) of the base plate (16), preferably a sequence of width (84a, 84b, 84c, 84d) which increases or decreases successively in a direction of the longitudinal axis (40) of the base plate (16).Base station (10) according to one of the preceding claims, characterized in that a plurality of surface regions (56) of contrasting configuration are of substantially mirror-symmetrical configuration with respect to one another, in particular substantially mirror-symmetrical configuration with respect to a longitudinal axis (40) and / or with respect to a transverse axis (48) of the base plate (16).Base station (10) according to one of the preceding claims, characterized in that the base plate (16) is provided for the purpose of being traveled on by the service robot (12), in particular wherein surface regions (56) of contrasting design are provided for the purpose of being traveled on by the service robot (12), and / or in that surface regions (56) of contrasting design are arranged in alignment with and / or in extension of a rear-end aid (98) of the base station (10), in particular in extension of a grip surface (100) of the base station (10) formed, for example, by ribs (46).Base station (10) according to one of the preceding claims, characterized in that surface regions (56) of contrasting design are arranged on both sides of a docking housing (34) for charging contacts (26), which docking housing lifts vertically from the base plate (16).Base station (10) according to one of the preceding claims, characterized in that surface regions (56) of contrasting design are arranged in, on or on a base plate plane (28), in particular a base plate plane (28) which can be traveled by the service robot (12).System comprising a service robot (12), in particular autonomous lawnmower (14), having a base station (10) according to one of the preceding claims.System according to Claim 9, characterized in that the contrasting surface regions (56) are arranged on the base plate (16) substantially at a distance of a track width (44) and / or at a distance of an axis of the service robot (12), in particular wherein the contrasting surface regions (56) are arranged with respect to one another in the direction of the transverse axis (48) substantially at a distance of a track width and / or in the direction of the longitudinal axis (40) substantially at a distance of the axis position of the service robot (12).

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