robotic lawnmower

Abstract

A robotic lawnmower with at least one drive for a mowing unit and for its propulsion, wherein it is equipped with at least one camera, characterized in that the camera (4) is connected to at least one control unit (5), wherein the control unit (5) is linked to at least one database with stored small animal representations, in particular hedgehog representations, and has a comparison module for comparing the camera recordings with representations in the database, and wherein the control unit (5) is linked to at least one switching element that interrupts the drive (9) at least for the propulsion of the robotic lawnmower.

Description

The invention relates to a robotic lawnmower with at least one drive for a mowing unit and for its propulsion, wherein it is equipped with at least one camera. In addition to walk-behind lawnmowers and ride-on mowers, robotic lawnmowers have become increasingly common in gardens in recent years. These are roughly the size of a walk-behind lawnmower and use a drive system for propulsion. This drive system can be solely for propulsion, or it can simultaneously power the mower's cutting mechanism. However, the cutting mechanism may also have a separate drive system, typically powered by electric motors. A robotic lawnmower known from EP 3 223 102 B1 is already equipped with a camera. This camera serves to recognize waypoints and thus enable the robotic lawnmower to move in an orderly manner. Robotic lawnmowers are frequently used at dusk or during the night. It is precisely during these times that small animals frequent gardens. Mice, squirrels, and hedgehogs move about on lawns and hide in tall grass. If a robotic lawnmower approaches, mice and squirrels can quickly leave, but a hedgehog will curl up on the spot for protection from predators. The hedgehog can then be injured or killed by the robotic lawnmower. This also applies to other young small animals. The invention is therefore based on the objective of designing a robotic lawnmower in such a way that it does not injure or kill small animals, especially in domestic gardens. This problem is solved according to the invention in that the camera is connected to at least one control unit, wherein the control unit is linked to at least one database with stored small animal representations, in particular hedgehog representations, and has a comparison module for comparing the camera recordings with representations in the database, and wherein the control unit is linked to at least one switching element that interrupts the drive, at least for the propulsion of the robotic lawnmower. In the robotic lawnmower according to the invention, the camera is not used, or not only used, for its orientation in the domestic garden. Rather, images captured by the camera are digitally processed. For this purpose, the camera is connected to the control unit, and digital images captured by the camera are sent from the camera to the control unit. According to the invention, the control unit is linked to a database containing a large number of small animal illustrations. In the comparison module provided according to the invention, the captured image is compared with the stored animal illustrations. When the robotic lawnmower is driving through the garden and the camera only records lawns and blades of grass, the mower's movement is not restricted. Images that are not saved show only these lawns without animals. However, if, for example, a hedgehog comes into the camera's field of view, the image of the hedgehog is compared with hedgehog images in the database using the comparison module. If a match is found, the control unit, according to the invention, activates a switching element that interrupts the robotic lawnmower's movement. In the event of hedgehog detection, the robotic lawnmower's journey is interrupted, so that the hedgehog does not experience a shock and can therefore leave its place after a while. The control unit can be set to stop the robotic lawnmower for a specific period of time. Furthermore, if the robotic lawnmower restarts, the camera would again detect the presence of small animals. In addition to interrupting the robotic lawnmower's forward motion, a further development of the invention provides that the control unit is also linked to a switching element that disables the mower mechanism. When the mower mechanism is also disabled in this way, the motor noise and the noise of the rotating cutting blade are eliminated. A curled-up hedgehog, in particular, can then move away more quickly from the area in the resulting silence. Following further training, the camera will be a Raspberry Pi Camera Module 3 Noir and the control unit a Raspberry Pi 5. These components are pre-assembled electronic components that are inexpensive and easily combined. This allows them to be added to an existing robotic lawnmower, and robotic lawnmowers from different manufacturers can be equipped in this way. The database of small animal images is preferably provided by a neural network using a YOLOv8 model. This neural network can be trained using a variety of small animal images, such as hedgehog images. Even blurry images can be used to increase the recognition rate. Tests have shown that a recognition rate of approximately 98.1% can be achieved. A training process can, for example, be carried out with a data volume of over 1,300 images. Images can be converted to grayscale and artificially blurred to simulate conditions such as poor lighting and motion blur. Preferably, the control unit can query a camera image every 0.25 seconds. In this way, four images are generated per second, enabling a continuous scan of the area in front of the robotic lawnmower. A wide area in front of the robotic lawnmower can be viewed if a wide-angle camera is used. The switching element used to interrupt the forward motion of the robotic lawnmower and / or to stop the mower unit is preferably designed as a relay. This relay can be integrated into the respective power supply of the drive and mower components and is then switched by the control unit. Finally, the control unit may also have a separate power source, such as a battery. Furthermore, the control unit preferably has a data interface, particularly a wireless one, for at least one external electronic device. This external device could be, for example, a personal computer, allowing the control unit to be influenced and programmed. External devices can also be used for training the neural network. An embodiment of the invention is shown in the drawing. Figure 1 shows a perspective view of a robotic lawnmower according to the invention, and Figure 2 shows a schematic view of the electronic components of the robotic lawnmower according to Figure 1. The robotic lawnmower in Fig. 1 has a housing 1 mounted on a chassis (not shown). Wheels 2 are integrated into the chassis, enabling the robotic lawnmower to move independently. A camera 4 is inserted into a recess in the housing 1 on the front 3 of the robotic lawnmower. Fig. 2 shows that the camera 4 is part of an electronic accessory for the robotic lawnmower. This accessory includes a control unit 5, which is designed as a circuit board with components. The camera 4 is connected to the control unit 5 via a cable 6. The components of the control unit 5 include a comparison module and a database containing stored small animal images. The control unit 5 is powered by a separate power source 7. The control unit 5 acts on relays 8, which are installed in power lines for the drive 9 for the propulsion of the robotic lawnmower and for the mowing unit 10 of the robotic lawnmower. When the relays 8 are triggered, they interrupt the current flow from the power source 11 provided for these components 9 and 10. The control unit 5 can be linked to an external electronic device 13 via a data line 12. Certain states of the control unit 5, and thus of the robotic lawnmower, such as forward motion, stopping, and mower standstill, can also be displayed via display elements 14. QUOTES INCLUDED IN THE DESCRIPTION This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature EP 3 223 102 B1

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Claims

A robotic lawnmower with at least one drive for a mowing unit and for its propulsion, wherein it is equipped with at least one camera, characterized in that the camera (4) is connected to at least one control unit (5), wherein the control unit (5) is linked to at least one database with stored small animal representations, in particular hedgehog representations, and has a comparison module for comparing the camera recordings with representations in the database, and in that the control unit (5) is linked to at least one switching element that interrupts the drive (9) at least for the propulsion of the robotic lawnmower. Robotic lawnmower according to claim 1, characterized in that the control device (5) is additionally linked to a switching element that shuts down the mowing unit (10). Robotic lawnmower according to claim 1 or 2, characterized in that the camera (4) is a Raspberry Pi Camera Module 3 Noir. Robotic lawnmower according to one of the preceding claims, characterized in that a Raspberry Pi 5 is used as the control device (5). Robotic lawnmower according to one of the preceding claims, characterized in that the database with the small animal representations is provided by a neural network using a YOLOv8 model. Robotic lawnmower according to one of the preceding claims, characterized in that the control unit (5) can query a camera image every 0.25 seconds. Robotic lawnmower according to one of the preceding claims, characterized in that the switching element is designed as a relay (8). Robotic lawnmower according to one of the preceding claims, characterized in that the control unit (5) has a separate energy source (11). Robotic lawnmower according to claim 8, characterized in that the energy source (11) is a battery. Robotic lawnmower according to one of the preceding claims, characterized in that the control unit (5) has a data interface for at least one external electronic device (13).

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