Service robots, especially robotic lawnmowers

Abstract

The invention relates to a camera-based service robot (1), in particular a robotic lawnmower (10), with a first camera module (112), in particular a front camera module (112a), preferably a stereo camera module (113). It is proposed that a second camera module (112), in particular a rear camera module (112b), preferably a stereo camera module (113), is structurally identical to the first camera module (112) and / or that the height (hv, hr) of the lenses (23a, 23b) of the camera modules (112) above a mounting or standing plane (104) of the service robot (1) is essentially the same, and / or that a camera module (112), preferably the front camera module (112a), is arranged in particular directly above a control or regulating unit (110) and / or that a camera module (112), preferably the rear camera module (112b), is arranged in particular directly above a battery pack compartment (12).

Description

State of the art Service robots, especially robotic lawnmowers, are already known. Disclosure of the invention The invention relates to a camera-based service robot, in particular a robotic lawnmower, with the features of an independent claim. Advantageous embodiments are described in the dependent claims. A camera-based service robot, in particular a robotic lawnmower, with at least two camera modules is proposed. The object of the invention is to provide an improved service robot, in particular a robotic lawnmower, which enables optimized navigation, object recognition, and environmental perception through the use of camera modules. The invention relates to a camera-based service robot, in particular a robotic lawnmower, with at least two camera modules. The object of the invention is to improve the navigation, object recognition, and environmental perception of service robots, especially robotic lawnmowers, through the strategic use and arrangement of camera modules. The invention relates to a camera-based service robot, in particular a robotic lawnmower, with a first camera module, for example a front camera module. The service robot can have a second camera module, for example a rear camera module. These camera modules are preferably stereo camera modules. It is proposed that the camera modules be of identical construction. This can include identical housings, identical mounting interfaces, identical dimensions, identical components, and / or the same sealing concept. A camera module comprises, in particular, at least one image sensor, an optical element such as a lens and / or objective lens, especially a circuit board, optionally a processor unit, a power supply and / or data transmission cable, and a housing. The housing is, in particular, sealed. The housing is intended for mounting on the housing of the robotic lawnmower. In the context of this invention, the term "service robot" includes, in particular, robots designed for specific tasks in the private sector, especially outdoors.This includes not only robotic lawnmowers but also mulching robots for the automated shredding of garden waste, leaf collection, snow removal, and sweeping robots for cleaning paths and surfaces, cleaning robots for patios, walkways, facades, and / or pools, irrigation robots for the automatic watering of gardens, surveillance robots for securing properties, and / or similar applications. Identical design can offer advantages in manufacturing, assembly, maintenance, and cost reduction, and allows for the interchangeability of modules. The camera modules can be mounted directly on the main housing or chassis of the service robot. This ensures a robust, interference-free, and / or positionally stable arrangement. Calibration can be performed at the factory or, for example, regularly during operation. Drift and / or image matching errors can be avoided. The camera modules have opposing viewing directions—especially 180° opposite—preferably along a common viewing axis. This can simplify image matching and / or facilitate navigation. It is proposed that the height of the camera module lenses above the mounting or standing plane of the service robot be essentially the same, particularly the height of the lens centers. This uniform height can simplify image processing and robot position calculation, as the cameras will have a consistent perspective of the environment. Each lens of the front and rear camera modules can be intersected by a lens axis parallel to the forward direction, in particular a field-of-view center axis. This orientation can facilitate navigation and the evaluation of camera data by creating a clear reference direction for image analysis. The camera modules can be configured as stereo camera modules with two lens axes. A lens axis plane, spanned by all lens axes of the camera modules, can run essentially parallel to the robot's mounting or standing plane. This parallel arrangement can simplify the calculation of the robot's position and orientation and improve navigation accuracy. The field of view of a camera module, particularly a stereo camera module, can have a viewing angle of 60–160°, preferably 100–130°, and particularly around 110°. Such a viewing angle can offer a good compromise between environmental perception and detail accuracy in object recognition. Adequate protection of the lenses by protruding housing components, in particular bumpers and / or camera canopies, can be provided. In stereo camera modules, the distance between the lenses can be approximately 3-8 cm, preferably 4-5 cm. This distance can ensure optimal stereoscopic image processing and depth perception. A camera module, preferably the front camera module, can be arranged directly above a control unit, which in particular comprises a main circuit board. Another camera module, preferably the rear camera module, can be positioned directly above a battery pack compartment. "Above" in this context can be understood as "above" in a vertical projection relative to the mounting or standing plane. This arrangement allows the camera module to be dehumidified by waste heat or residual heat, or prevents the lenses from fogging up. This arrangement can offer advantages with regard to heat dissipation, overall height, space utilization, weight distribution, and / or center of gravity. A camera module, particularly the front camera module, can also be arranged in a vertical projection above charging contacts. The service robot's housing can incorporate camera module mounting surfaces that lie within a camera module mounting plane and are aligned parallel to the robot's mounting or standing plane. These mounting surfaces and the defined mounting plane ensure simple, precise, and stable mounting of the camera modules. This, in turn, provides a secure hold for the camera module on the main housing, even in the event of vibrations, collisions with objects, or uneven thermal expansion of attached components. Positional accuracy is advantageous for image processing and / or allows for less frequent calibrations. Each camera module can have a sealed housing connected to a sealed interior of the robot via a common, cable-retaining sealing element, such as an overmolded sealing element. The sealed interior can house the control unit and / or wheel drive motors. This sealing prevents the ingress of dust, water, and other foreign matter, increasing the robot's reliability and service life. It also enables easy assembly and / or a robust sealing design. The camera modules, particularly the front and rear camera modules, can share a common cover housing, such as a cover panel. This cover housing can form a camera canopy for each of the two camera modules, which may be equipped with a hydro deflector, for example, an end-mounted water deflector and / or a drip edge. This design protects the camera modules from the elements. Two or more camera module covers can be accommodated by a single cover housing. The height between the camera lenses of a camera module and the mounting or standing surface can be approximately 60-100%, preferably 70-90%, and particularly approximately 80%, of the overall height of the service robot. This relative height ensures optimal visibility of the robot's work area. At the same time, it allows for sufficient detail of the work surface, particularly the recognition of blades of grass or similar features. In addition to the front and rear camera modules, the service robot can have a further camera module, in particular a stereo camera module, on each of its right and left sides. The lens axes of these cameras can lie in a common lens axis plane with the front and / or rear camera modules. These side camera modules can further improve the robot's environmental perception and navigation, especially in complex environments. The service robot comprises a locomotion unit, camera module(s) for environmental perception, and a work unit. In a robotic lawnmower, for example, the work unit is the cutting unit. The locomotion unit includes wheels, which are typically driven by individual wheel motors. For example, rear wheels. All-wheel drive, chain drive, or other drive systems are also conceivable. The service robot may be equipped with steering wheels. The individual wheel drive enables the robot's maneuverability. In the case of the cutting unit, this comprises several cutting blades attached to a cutting disc. In a mulching robot, these could be cutting blades attached to a cutting drum. In a leaf collection or sweeping robot, these could be forks or sweeping brushes, and so on.The work unit is driven by a motor, preferably housed within or attached to the robotic lawnmower's casing. For autonomous navigation and area maintenance, the service robot includes at least one camera module with at least one image sensor and optical components such as a lens and / or lenses, in particular a stereo camera module. It comprises a control unit for controlling the drive unit and the work unit. Both the camera module(s) and the control unit may include a processor. Using the camera module and the control unit, the robotic lawnmower can independently navigate its work environment and perform tasks – for example, mowing a work area, particularly a lawn. The service robot is equipped with an energy storage device, typically a battery pack, preferably a replaceable battery pack for power tools or garden equipment. The battery pack can be located in a battery pack compartment, and in particular, it can be securely fixed to a corresponding battery pack interface. The battery pack compartment can be located at the rear of the service robot. The camera module can be located at the front of the service robot. Charging contacts can be located at the front, allowing the service robot to recharge itself, for example, by approaching a docking station. Further advantages will become apparent from the following description of the drawing. The drawing illustrates an embodiment of the invention. The drawing, the description, and the claims contain numerous features in combination. A person skilled in the art will expediently consider the features individually and combine them into meaningful further combinations. Figure 1 shows the service robot in the form of a lawnmower robot in a perspective rear / side view, Figure 2 shows the service robot according to Figure 1 in a perspective front / side view, Figure 3 shows the service robot according to Figures 1 and 2 in a side view, and Figure 4 shows the service robot according to Figure 3 in a schematic side section view with some interior components partially hidden. Description of the exemplary embodiment Fig. 1 shows a perspective rear / side view of the service robot 1, which here is configured as a lawnmower robot 10. A housing 103, which combines the main housing and chassis, is visible. A rear wheel 102 of a locomotion unit 100 is visible. A cover 121 of a battery pack compartment 12 is located on a rear side 108 of the service robot 1. A camera module 112, in particular a rear camera module 112b, is configured as a rear stereo camera module 113b. Lenses 23a and 23b are spaced a distance a apart. The camera module 112 is located below a cover housing 103a of the service robot 1. It is protected by the camera canopy 115b. The cover housing 103a forms a cover panel and extends over the front and rear main housing of the service robot 1. The cover housing 103a is located on its upper side 109. At the front, it forms a camera roof 105a for a front camera module 112a (not shown here). A drainage housing 103b is also included.A drainage panel is indicated. A cutting unit 101 is provided as the working unit (not visible here). It is located on the underside 109a of the robotic lawnmower 10. A steering wheel 111 is also visible. Fig. 2 shows a perspective front / side view of the service or lawnmower robot 1, 10. The housing 103 is visible, analogous to Fig. 1. The front of the lawnmower robot 10 has a front camera module 112a, preferably a stereo camera module 113a. The lenses 23a, 23b are also spaced a apart here. The front camera module 112a is identical in construction to the rear camera module 112b. Like the rear camera module 112b, it is attached directly to the housing 103. It is protected by the camera canopy 115a, which is part of the top housing 103a. The charging contacts 14 are visible on the lower part of the front of the service robot 1. The second rear wheel 102 of the locomotion unit 100 is visible. The second steering wheel 111 is also visible. The cutting unit 101 below the housing 103 is also indicated. Fig. 3 shows a side view of the service or lawnmower robot 1, 10. This view shows the entire contour of the robot and illustrates the relative positioning of the front camera module 112a (or front stereo camera module 113a) with camera canopy 115a and the rear camera module 112b (or rear stereo camera module 113b) with camera canopy 115b. Both camera modules 112 are fixed to the top of the housing 103 and arranged below the top housing 103a. The left (viewed from the rear) rear wheel 102 and the left steering wheel 111 each obscure those on the right side. The cutting unit 101, as well as the top 109 and bottom 109a, are indicated. The arrangement of a potentially lateral camera module 112c, in particular a stereo camera module 113c, is also indicated. This could also be arranged analogously on the right side. It / She could be identical in construction to the front and / or rear camera module 112a, 112b.The viewing direction would be rotated 90° relative to the viewing direction of the front and / or rear camera module 112a, 112b. All camera modules 112a, 112b, 112c would be arranged in a common camera module mounting plane 118 and / or a plane parallel to a mounting or standing plane 104. Lens axes 119 would be arranged in a lens axis plane 119a. The forward direction 125 is indicated by an arrow. The cover 121 of the battery pack compartment 12 is indicated on the rear 108. Fig. 4 shows a schematic side-section view of the robotic lawnmower 10 with some internal components partially obscured. This illustration shows the robot's internal structure and the arrangement of key components. The control unit 110 is located inside the housing 103. It comprises a main circuit board. The camera modules 112a and 112b (or front and rear stereo camera modules 113a and 113b) are visible with their lenses 23a and 23b. They have circuit boards 116 with image sensors (not directly visible) and preferably a processor unit. Camera module housings 120 are shown. Camera canopies 115a and 115b are shown in section. A hydrodeflector 130, here in the form of a drip edge 131, is visible on the front camera canopy 115a. The camera canopies 115a and 115b protect the lenses 23a, 23b of the camera modules 112, in particular the front stereo camera module 113a and the rear stereo camera module 113b.Cables 34 for supplying power to the camera modules 112 via the control unit 110 and for data transmission to the control unit 110 pass through sealing elements 33. The sealing elements 33 seal the camera modules 112 and simultaneously ensure the sealing of the housing 103 or the housing interior 105. A cutting disc 106 with cutting blades 107 is also visible. A drive motor 98 and the drive shaft 99 of the cutting unit 101 are indicated. A battery pack 122 is arranged in the battery pack compartment 12 and fixed to a battery pack interface. The rear wheel 102 and the swivel caster 111 are visible. The mounting or standing surface 104, or a working surface 114, is shown. The field of view of each camera module 112 with a field of view angle 117 is depicted. The lens axes 119 of all cameras lie in a lens axis plane 119a. The viewing directions 119b, 119c of the front and rear camera modules 112a, 112b are opposite.The camera modules 112 are fixed in a camera module mounting plane 118. They are screwed to a flat surface of the housing 103. The overall height hg of the robotic lawnmower 10 is indicated. The height hv of the camera lenses 23a, 23b of the camera modules 112 at the front and rear is shown. The drawing illustrates the integration of the sealed camera modules 112 on the service robot, their connection to the control unit 110, and their arrangement on the housing 103. The camera module housings 120, sealed by sealing elements 33, simultaneously seal the housing interior 105 and provide a sealed cable passage between the camera module housing 120 and the housing interior 105. The charging contacts 14 are also shown. Likewise, the optional lateral camera module(s) 112c, in particular also fixed in the camera module fixing plane 118.

Claims

Camera-based service robot (1), in particular lawn mowing robot (10), with a first camera module (112), in particular front camera module (112a), preferably stereo camera module (113), characterized by a second camera module (112), in particular rear camera module (112b), preferably stereo camera module (113), wherein the camera modules (112) are of identical construction. Camera-based service robot (1), at least according to the preamble of claim 1, in particular according to claim 1, characterized by a second camera module (112), in particular a stereo camera module (113), wherein a height (hv, hr) of the lenses (23a, 23b) of the camera modules (112) above a mounting or standing plane (104) of the service robot (1) is substantially the same, in particular a height (hv, hr) of the lens centers of the camera modules (112). Camera-based service robot (1), according to claim 1 or 2, wherein a lens (23a, 23b) of the front and rear camera module (112a, 112b) are each intersected by a lens axis (119) parallel to the forward direction (125), in particular by a field of view center axis (119d). Camera-based service robot (1) according to one of the preceding claims, wherein the camera modules (112) are stereo camera modules (113) each with two lens axes (119) and a lens axis plane (119a) spanned by all lens axes (119) is formed substantially parallel to the mounting or standing plane (104). Camera-based service robot (1), at least according to the preamble of claim 1, in particular according to one of the preceding claims, wherein a field of view (117a) of a camera module (112), in particular stereo camera module (113), has a field of view angle (117) of 60-160°, in particular 90-140°, preferably 100-130°, in particular around 110°. Camera-based service robot (1), at least according to the preamble of claim 1, in particular according to one of the preceding claims, wherein a distance (a) between the lenses (23a, 23b) of a stereo camera module (113) is approximately 3-8cm, in particular 4-7cm, preferably 4-5cm. Camera-based service robot (1), at least according to the preamble of claim 1, in particular according to one of the preceding claims, wherein a camera module (112), preferably the front camera module (112a), is arranged in particular directly above a control or regulating unit (110) and / or wherein a camera module (112), preferably the rear camera module (112b), is arranged in particular directly above a battery pack compartment (12). Camera-based service robot (1), at least according to the preamble of claim 1, in particular according to one of the preceding claims, wherein the housing (103) of the service robot (1) forms camera module fixing surfaces, in particular for a front and rear camera module (112a, 112b) which are formed in a camera module fixing plane (118), in particular aligned parallel to a mounting or standing plane (104) of the service robot (1). Camera-based service robot (1), according to one of the preceding claims, wherein a camera module (112) has a sealed camera module housing (120) which is sealedly connected to a sealed housing interior (105) of a housing (103) of the service robot (1), in particular a sealed housing interior (105) accommodating the control or regulating unit (110) and / or wheel drive motors, via a common cable-accommodating sealing element (33), in particular a cable-overmolded sealing element (33). Camera-based service robot (1) according to one of the preceding claims, wherein the camera modules (112), in particular front and rear camera modules (112a, 112b), have a common cover housing (103a), in particular a cover panel, preferably forming a camera canopy (115), in particular forming a camera canopy (115a) for the front camera module (112a) and a camera canopy (115b) for the rear camera module (112b), in particular having a hydrodeflector (130), preferably having a water guide rib, in particular at the end, and / or a drip edge (131) on the camera canopy (115a). Camera-based service robot (1), at least according to the preamble of claim 1, in particular according to one of the preceding claims, wherein a height (hv, hr) between camera lenses of a camera module (112) and the installation or standing plane (104), relative to a total height (hg) of the service robot (1), is approximately 60-100%, in particular 70-90%, preferably approximately 80%. Camera-based service robot (1), at least according to the preamble of claim 1, in particular according to one of the preceding claims, further comprising on the right and / or left side of the service robot (1) a further camera module (112c), in particular a stereo camera module (113c), preferably wherein its lens axes are arranged in a common lens axis plane (119a) with front and / or rear camera module (112a, 112b).

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