Green area maintenance system, method for detecting at least one section of a boundary edge of an area to be maintained, and method for operating an autonomous mobile green area maintenance robot

Description

FIELD OF APPLICATION AND STATE OF THE ART

[0001] The invention relates to a green space cultivation system, a method for detecting at least a portion of a boundary edge of an area to be cultivated by means of a green space cultivation system, in particular such a system, and a method for operating an autonomous mobile green space cultivation robot of a green space cultivation system, in particular such a system, on an area to be cultivated having such a boundary edge.

[0002] A green area cultivation system with a brush cutter is well known.

[0003] In particular, US 2014 / 0208599 A1 discloses a work machine comprising a motor and a sensor arranged in a front unit, a motor controller arranged in a rear unit, a motor power line and a sensor signal line arranged along an operating rod, and a pair of electrical connectors. The motor power line includes first and second sub-motor power lines arranged along the first and second sub-rods, respectively. The sensor signal line includes first and second sub-sensor signal lines arranged along the first and second sub-rods, respectively.A first electrical connector has first electrical terminals, each of which is coupled to at least one corresponding one of the first sub-motor power line or the first sub-sensor signal line, and a second electrical connector has second electrical terminals, each of which is coupled to at least one corresponding one of the second sub-motor power line or the second sub-sensor signal line.

[0004] EP 2 806 325 A2 discloses a domestic robotic system comprising a robot programmed to move within a work area defined by a boundary, and having one or more boundary distance sensors enabling it to estimate the current distance from the boundary. The robot is programmed, first, to move across the work area, and second, when the boundary distance sensors indicate that the robot is a distance X from the boundary and is approaching the boundary, to begin a gradual turn. This gradual turn is such that the robot progressively changes direction as it continues to move across said work area; and the robot transitions from approaching the boundary to moving away from the boundary.The robot is also programmed to calculate a path for the gradual turn such that during the gradual turn the robot approaches the boundary to a given closest distance, E, and then moves away from the boundary.

[0005] WO 2012 / 089679 A1 relates to a method for processing a surface using a robotic vehicle. The robotic vehicle has a controller in which data regarding the outline of the surface to be processed is stored. Localization means are provided that determine the position of the robotic vehicle, in particular in relation to the surface to be processed. The method comprises the following steps: dividing the surface to be processed into individual segments, classifying each individual segment into a property class, and sequentially approaching and processing each individual segment. Each individual segment is processed using a processing strategy corresponding to its property class.

[0006] EP 3 540 552 A1 relates to an automatic work system comprising a self-moving device and a positioning device. The self-moving device comprises a motion module, a task execution module, and a drive circuit connected to the motion module and the task execution module. The drive circuit drives the motion module to allow the self-moving device to move and drives the task execution module to execute a work task. The positioning device is configured to detect a current position of the self-moving device.The automatic work system comprises: a storage unit configured to store a work area map, and: a map confirmation procedure, the map confirmation procedure comprising: providing a drive circuit instruction to move along a work area boundary and receiving a confirmation signal from a user to complete the map confirmation procedure; and a work procedure comprising providing a drive circuit instruction to move within a work area defined by the map and perform the work task; and a control module configured to monitor an output of the positioning device to execute the map confirmation procedure and execute the work procedure after the map confirmation procedure is completed. TASK AND SOLUTION

[0007] The invention is based on the object of providing a green space management system that has improved properties, in particular more functionalities. Furthermore, the invention is based on the object of providing a method for detecting at least a portion of a boundary edge of an area to be managed and a method for operating an autonomous mobile green space management robot.

[0008] The invention solves this problem by providing a green space management system having the features of claim 1. Furthermore, the problem underlying the invention is solved by a method having the features of claim 13 and / or claim 14. Advantageous developments and / or refinements of the invention are described in the dependent claims.

[0009] The green space cultivation system according to the invention can comprise a brush cutter, a scythe position-determining device, and a position-recording device. The scythe position-determining device can be configured to determine scythe position coordinates. The scythe position-determining device can be attached to the brush cutter. The position-recording device can be configured to record and / or store a sequence of scythe position coordinates, in particular of at least the portion of the boundary edge, while the brush cutter is guided together with the scythe position-determining device along, in particular, at least a portion of, a boundary edge of an area to be cultivated.

[0010] The green space management system enables a section of the area to be worked, in particular a perimeter and / or edge area, or the entire area to be worked using the brush cutter. In addition, the green space management system enables detection, in particular of at least one section, of the boundary edge of the area to be worked using the cutter position determination device and the position recording device.

[0011] Advantageously, the position recording device can be attached to the brush cutter.

[0012] The area to be worked on can be, for example, an open space, especially unsealed ground, or a green area, such as a meadow with grass. The boundary edge can be defined by a wall, a fence, or other means.

[0013] Advantageously, the brush cutter can be designed for cutting and / or mowing grass, herbaceous plants, woody undergrowth, or smaller shrubs. In particular, the brush cutter can be referred to as a brush cutter, grass trimmer, lawn trimmer, grass cutter, grass shears, and / or lawn scissors.

[0014] Advantageously, the brush cutter can have a cutting tool that can be at least partially exposed and / or open or freely accessible during operation. In other words, the cutting tool can be unprotected. In other words, the cutting tool does not need to be completely covered by a protective housing, particularly one that is open at the bottom, or it does not need to be completely arranged in a safety zone defined by the protective housing. This can enable the area to be worked right up to the boundary edge. Lawn mowers generally have protective housings that are open, particularly at the bottom, with lawn mowing tools completely arranged in the safety zones.

[0015] In particular, the brush cutter does not need to have wheels for guiding and / or moving it across the lawn. Lawn mowers usually have wheels for moving them.

[0016] Additionally or alternatively, the brush cutter may be different from a lawnmower and / or a, in particular autonomous mobile, green space management robot, in particular a robotic lawnmower.

[0017] In a further development of the invention, the brush cutter has a user carrying device. The user carrying device is designed for carrying the brush cutter by a user. Advantageously, the user carrying device can comprise a handle structure for holding, particularly if the brush cutter is relatively light, and / or a carrying strap and / or a carrying harness for hanging around the neck, particularly if the brush cutter is relatively heavy.

[0018] Additionally or alternatively, the brush cutter can have a user control unit, which can be designed for a user to operate the brush cutter or its cutting tool. Advantageously, the user control unit can be mechanically firmly, in particular rigidly, connected to the cutting tool by means of a handle or rod, in particular an extended one. In particular, the user control unit can be mechanically firmly, in particular rigidly, connected to the cutting tool by means of the user carrying device or can be mechanically firmly, in particular rigidly, arranged thereon. Being rigidly connected or arranged can mean that the control unit cannot be detached from the cutting tool without tools.

[0019] In a further development of the invention, the brush cutter has a scythe head with a cutting tool. The scythe position-determining device is attached in the region of the cutting tool. In the region of the cutting tool can mean that the scythe position-determining device can be relatively closer to the cutting tool than to the user's carrying device, if present. Advantageously, the scythe position-determining device can be attached to the scythe head. In particular, the cutting tool can comprise at least one mowing line, at least one plastic blade, at least one metal blade, and / or a metal cutting blade with at least one cutting edge and / or with at least one cutting tooth. Advantageously, the cutting tool can be designed as a rotating cutting tool and to mow the material to be mowed using the so-called free-cutting method without a counterblade, in particular to generate a cutting process through the centrifugal force of the cutting tool.If the cutting tool includes the mowing line, the scythe head can be referred to as the line head. Additionally or alternatively, the cutting tool does not need to be designed as a rotating cutting tool. In particular, the cutting tool can be designed as a linearly movable or reciprocating or translatory cutting tool. Furthermore, additionally or alternatively, the cutting tool can have a counter-blade.

[0020] In a further development of the invention, the scythe position determination device comprises a satellite positioning receiver for determining scythe position coordinates. Advantageously, the satellite positioning receiver can be configured for one or more satellite positioning systems such as NAVSTAR GPS, GLONASS, Galileo, and / or BeiDou.

[0021] In one embodiment of the invention, the scythe position determination device comprises a local positioning system device for determining scythe position coordinates. Advantageously, the local positioning system device can be based on one or more different technologies, such as distance measurements to nodes, optical signals, radio waves, magnetic fields, acoustic signals, ultra-wideband, Bluetooth, WLAN, ultrasound, and / or RFID. In particular, the local positioning system device can be a receiver and / or a transmitter. Additionally or alternatively, the local positioning system device can be an active element and / or a passive element.

[0022] In a further development of the invention, the green space management system comprises a computing and storage unit. The computing and storage unit is designed to determine and store a sequence of boundary edge coordinates, in particular of at least the portion of the boundary edge of the area to be worked, based on the recorded sequence of scythe position coordinates, in particular of at least the portion of the boundary edge. Advantageously, the computing and storage unit can be designed to determine the sequence of boundary edge coordinates by smoothing and / or filtering the sequence of scythe position coordinates. In particular, the computing and storage unit can be designed to logically distinguish between scythe position coordinates that have been determined and recorded on the boundary edge and scythe position coordinates that have been determined and recorded within the boundary edge.Advantageously, the computing and storage unit can be attached to the brush cutter.

[0023] In a further development of the invention, the green space maintenance system comprises an autonomous mobile green space maintenance robot, a robot position determination device, and a control unit. The robot position determination device is designed to determine robot position coordinates. The robot position determination device is attached to the green space maintenance robot. The control unit is designed to control a movement of the green space maintenance robot on the area to be worked as a function of the determined robot position coordinates and the recorded sequence of scythe position coordinates, in particular at least of the section of the boundary edge and / or the determined and stored sequence of boundary edge coordinates, in particular at least of the section of the boundary edge, such that the green space maintenance robot remains on the area to be worked, in particular within the boundary edge.This can enable autonomous processing of the area to be processed by means of the autonomous mobile green space management robot. Autonomous processing can mean that the autonomous mobile green space management robot and / or the control unit can be designed so that the green space management robot can move and / or act on the area to be processed independently, autonomously, autonomously, self-determinedly, self-controlled and / or independently of the user and / or can select at least one parameter, such as in particular a route parameter, and / or a turning point. Autonomous processing can additionally or alternatively mean that the green space management robot and / or the control unit can be designed so that the green space management robot can start and / or end work independently.During autonomous processing, the green space maintenance robot does not need to be controlled by the user, in particular not remotely. In other words, during autonomous processing, the green space maintenance robot can operate, in particular, without human control and / or guidance. The autonomous mobile green space maintenance robot can be referred to as a service robot and / or a service robot. Advantageously, the green space maintenance robot can have a processing tool, which can be different, in particular, from the cutting tool of the brush cutter, if present. In particular, the green space maintenance robot can include the control unit.

[0024] In a further development, the green space management system comprises a scythe transmission unit. The scythe transmission unit is designed to interact with the scythe position determination device, the position recording device, and / or the computing and storage unit, if present, and to transmit data, in particular for wireless and / or cable-free data transmission, of scythe position coordinates, the sequence of scythe position coordinates, and / or the sequence of boundary edge coordinates. Additionally or alternatively, the green space management system comprises a robot transmission unit. The robot transmission unit is designed to interact with the control unit, if present, and to transmit data, in particular for wireless and / or cable-free data transmission, of scythe position coordinates, the sequence of scythe position coordinates, and / or the sequence of boundary edge coordinates.Advantageously, the scythe transmission unit and the robot transmission unit can be configured for data transmission from the scythe transmission unit to the robot transmission unit. In particular, the scythe transmission unit can be attached to the brush cutter. In particular, the robot transmission unit can be attached to the autonomous mobile green space maintenance robot.

[0025] In a further development, the scythe position determination device is designed to be portable. In particular, the scythe position determination device can form the robot position determination device. Additionally or alternatively, the position recording device is designed to be portable. Further additionally or alternatively, the computing and storage unit, if present, can be designed to be portable. This enables easy data transfer. Advantageously, the scythe position determination device can be designed for detachable attachment to the brush cutter and / or the autonomous mobile green space maintenance robot, if present, and / or the control unit, if present. Advantageously, the position recording device can be designed for detachable attachment to the brush cutter and / or the autonomous mobile green space maintenance robot, if present, and / or the control unit, if present.Advantageously, the computing and storage unit can be designed for detachable attachment to the brush cutter and / or the autonomous mobile green space management robot, if present, and / or the control unit, if present.

[0026] In one embodiment of the invention, the autonomous mobile green space maintenance robot is designed as a lawnmower robot with a lawnmower tool. In particular, the green space maintenance robot can be designed as a mulching mower robot. The lawnmower tool can be different from the cutting tool, if present, of the brush cutter. Advantageously, the lawnmower tool can comprise at least one mowing line, at least one plastic blade, at least one metal blade and / or a metal cutting blade with at least one cutting edge and / or with at least one cutting tooth. Advantageously, the lawnmower tool can be designed as a rotating lawnmower tool and to mow the material to be mowed using the so-called free-cutting method without a counterblade, in particular to generate a cutting process through the centrifugal force of the lawnmower tool.

[0027] Furthermore, the invention can relate to a method for detecting at least the section of the boundary edge of the area to be worked, in particular by the brush cutter and / or the autonomous mobile green space management robot, if present, using the green space management system described above. The method according to the invention can comprise the steps: a) guiding the brush cutter along the section, in particular by the user, with the scythe position determining device attached to the brush cutter. b) determining scythe position coordinates using the scythe position determining device during guidance. c) recording the sequence of scythe position coordinates, in particular of at least the section, of the boundary edge using the position recording device.wherein the green space cultivation system comprises a guiding device comprising a user guiding device, wherein the user guiding device is designed for guiding the guiding device by a user, and has a fastening region arranged at a distance from the user guiding device, wherein the edge detection device is designed for releasable fastening to the guiding device in the fastening region.

[0028] The method enables a region of the surface to be worked, in particular a peripheral region and / or edge region, or the entire surface to be worked using the brush cutter. In addition, the method enables detection, in particular of the at least one section, of the boundary edge of the surface to be worked using the cutter position determination device and the position recording device. In particular, step c) can be performed simultaneously with steps a) and b) and / or chronologically after them.

[0029] In a further development of the invention, the method comprises the step: d) determining and storing the sequence of boundary edge coordinates, at least of the section of the boundary edge of the area to be machined, based on the recorded sequence of scythe position coordinates, in particular at least of the section of the boundary edge, using the computing and storage unit. In particular, step d) can be performed simultaneously with step c) and / or chronologically after it.

[0030] The green space management system according to the invention comprises one, in particular the, autonomous mobile green space management robot, one, in particular the and / or only a single, edge detection device, one, in particular the, recording device, and one, in particular the, control unit. The edge detection device is designed to detect position-related or location-related data, in particular position data, in particular of at least one, in particular the, section, of one, in particular the boundary edge of an area, in particular the, to be managed. Furthermore, the edge detection device is designed for detachable attachment to the green space management robot, in particular for re-detachable, non-destructive and / or tool-free attachment, in particular by the user.The recording device is preferably designed to record and / or store, while the edge detection device is detached from the green space treatment robot and is guided, in particular at the same time, along, in particular the section of the boundary edge, in particular by the user, a, in particular the, sequence of edge data recorded by means of the edge detection device, in particular at least the section of the boundary edge, in particular to record only when the edge detection device is detached.The control unit is designed to control, while the edge detection device is attached to the green space processing robot, in particular at the same time, a movement, in particular the movement of the green space processing robot on the area to be processed as a function of robot data, in particular recorded by means of the edge detection device, and of the recorded sequence of edge data in such a way, in particular to control only when the edge detection device is attached, that the green space processing robot remains on the area to be processed, in particular within the boundary edge.

[0031] The green space management system enables detection, in particular of the at least one section, of the boundary edge of the area to be worked by means of the edge detection device and the recording device, in particular without the green space management robot having to be guided, in particular for this purpose, along, in particular, the section of the boundary edge, in particular by the user. Thus, the green space management system can be user-friendly. Furthermore, the green space management system can enable the use of the edge detection device, in particular the only one, or the edge detection device, in particular the only one, can be sufficient. In other words, an additional edge detection device can be dispensed with. Thus, the green space management system can be cost-effective.In addition, a difference or offset regarding edge detection, which could occur particularly in the case of one edge detection device for detecting the edge data and another edge detection device for detecting the robot data, can be avoided. Thus, the green space management system, or the use of the same edge detection device for detecting both the edge data and the robot data, can enable relatively accurate edge detection, in particular relatively accurate position determination.

[0032] In particular, the green space maintenance robot can be designed entirely or partially as described above. Additionally or alternatively, the green space maintenance robot can include the control unit. Furthermore, additionally or alternatively, the green space maintenance robot can be designed to interact with the edge detection device and / or the recording device and / or the control unit.

[0033] Furthermore, or alternatively, the edge detection device can be designed wholly or partially as described above. Furthermore, or alternatively, the edge detection device can be detached from the green space maintenance robot for detecting and recording the edge data, in particular by the user. In particular, detached can be referred to as not attached or, in particular spatially separated. After detecting and recording and / or guiding, the edge detection device can be attached to the green space maintenance robot, in particular by the user. In other words: to control the movement of the green space maintenance robot, the edge detection device can be attached to the green space maintenance robot, in particular by the user. Further, or alternatively, the attachment can have a positive, non-positive and / or material-locking connection.Furthermore, or alternatively, the edge detection device, when attached to the green space maintenance robot, can be protected from water, in particular by the green space maintenance robot. Furthermore, or alternatively, the green space maintenance robot can have a fastening area, in particular a water-protected, in particular a waterproof, for releasably attaching the edge detection device. Furthermore, or alternatively, the green space maintenance robot and / or the edge detection device can be designed for oriented or aligned attachment. Furthermore, or alternatively, the edge detection device can be referred to as an edge detection device or robot edge detection device.

[0034] Furthermore, or alternatively, the recording device can be designed entirely or partially as described above. Furthermore, or alternatively, the recording device can be designed for detachable attachment to the lawn care robot and / or the control unit.

[0035] Furthermore, or alternatively, the control unit can be configured entirely or partially as described above. Furthermore, or alternatively, the control unit can be configured to compare the robot data and the edge data. Furthermore, or alternatively, the control unit can be configured to interact with the green space maintenance robot and / or the edge detection device and / or the recording device.

[0036] Furthermore, additionally or alternatively, the surface to be processed can be formed entirely or partially as described above. Additionally or alternatively, the boundary edge can be formed entirely or partially as described above.

[0037] Furthermore, or alternatively, the green space management system may comprise a computing and storage unit, in particular the computing and storage unit. The computing and storage unit may be configured to determine and store a sequence of data, in particular at least for the portion of the boundary edge of the area to be worked, based on the recorded sequence of edge data, in particular at least for the portion of the boundary edge. Furthermore, or alternatively, the computing and storage unit may be configured entirely or partially as described above.

[0038] Furthermore, or alternatively, edge data may refer to position-related data of the boundary edge, particularly while the edge detection device is detached from the green space management robot and is guided along the boundary edge.

[0039] Further additionally or alternatively, robot data, in particular while the edge detection device is attached to the green space maintenance robot, may refer to position-related data of the green space maintenance robot.

[0040] Furthermore, or alternatively, the green space management system does not need to have a brush cutter or the green space management system can be free of one, in particular the brush cutter.

[0041] The green space management system comprises a guiding device. The guiding device comprises a user guiding device. The user guiding device is designed for the user to guide the guiding device. Furthermore, the guiding device comprises a fastening area arranged at a distance from the user guiding device, in particular of at least 50 (centimeters), in particular of at least 100 cm, and / or of at most 200 cm, in particular of at most 150 cm. The edge detection device is designed for releasable attachment to the guiding device in the attachment area. The guiding device enables comfortable or convenient guidance of the edge detection device, which is in particular attached to the guiding device in the attachment area.In particular, the guiding device can enable the edge detection device, in particular detached from the green space management robot, to be guided at a height and / or a distance, in particular a lateral distance, relative to the boundary edge, wherein the height and / or the distance can be the same as a distance when attached to the green space management robot, in particular at a later time. Additionally or alternatively, the guiding device can enable the user to maintain an upright posture during guidance. In particular, the guiding device can be different from the green space management robot. In particular, the guiding device does not need to be designed to guide the green space management robot.Additionally or alternatively, the control unit can be designed to take into account an offset, in particular a spatial offset, of the attachment of the edge detection device to the guiding device and to the green space maintenance robot or of the edge data and the robot data. Further additionally or alternatively, the guiding device and / or the edge detection device can be designed for oriented or aligned attachment. Further additionally or alternatively, the recording device can be designed for detachable attachment to the guiding device. Further additionally or alternatively, the user guiding device can be designed for touching, in particular grasping, by the user, in particular by their hand. Further additionally or alternatively, the user guiding device can be a, in particular the, user carrying device. The user carrying device can be designed for the user to carry the guiding device.In particular, the user carrying device can be designed entirely or partially as described above. Furthermore, additionally or alternatively, the guiding device can be a guiding device, in particular a pole. In particular, the guiding device can be a green space management device, in particular a brush cutter and / or a grass trimmer and / or a lawn trimmer and / or a grass cutter and / or a lawn cutter and / or a grass shears and / or a lawn shears. The green space management system can enable one, in particular the, area of ​​the surface to be worked, in particular one, in particular the, border area and / or edge area, or the entire area to be worked by means of the green space management device.

[0042] In a further development of the invention, the edge detection device is designed to be portable. Additionally or alternatively, the recording device is designed to be portable. In particular, "portable" can be defined as mobile or hand-held, in particular hand-carried. "Hand-held, in particular hand-carried, device" can mean that the device can have a maximum mass of 50 kilograms (kg), in particular 20 kg, in particular 10 kg.

[0043] In a further development of the invention, the edge detection device comprises a, in particular the, position-determining device for determining position coordinates, in particular of the boundary edge of the area to be worked. The recording device is designed to record and / or store a, in particular the, sequence of edge position coordinates determined by means of the position-determining device, in particular of at least the section of the boundary edge. The control unit is designed to control the movement of the green space maintenance robot on the area to be worked as a function, in particular, of robot position coordinates determined by means of the position-determining device and of the recorded sequence of edge position coordinates, such that the green space maintenance robot remains on the area to be worked, in particular within the boundary edge.In particular, the position-determining device can be designed for detachable attachment to the green space maintenance robot. Additionally or alternatively, the position-determining device can be the previously described robot position-determining device. Further additionally or alternatively, the recording device can be the previously described position recording device. Further additionally or alternatively, edge position coordinates, in particular while the position-determining device is detached from the green space maintenance robot and is guided along the boundary edge, can designate position coordinates of the boundary edge. Further additionally or alternatively, robot position coordinates, in particular while the position-determining device is attached to the green space maintenance robot, can designate position coordinates of the green space maintenance robot.

[0044] In one embodiment of the invention, the positioning device comprises a satellite positioning receiver for determining position coordinates. Additionally or alternatively, the positioning device comprises a local positioning system device for determining position coordinates. In particular, the satellite positioning receiver can be designed entirely or partially as described above. Additionally or alternatively, the satellite positioning receiver can be referred to as a robot satellite positioning receiver. Further additionally or alternatively, the local positioning system device can be designed entirely or partially as described above. Further additionally or alternatively, the local positioning system device can be referred to as a robot local positioning system device.

[0045] In a further development of the invention, the edge detection device comprises, in particular, at least one camera for recording images, in particular of the boundary edge of the area to be worked. The recording device is designed to record and / or store a sequence of edge images recorded by the camera, in particular of at least the section of the boundary edge. The control unit is designed to control the movement of the green space maintenance robot on the area to be worked as a function, in particular, of robot images recorded by the camera and of the recorded sequence of edge images, such that the green space maintenance robot remains on the area to be worked, in particular within the boundary edge. In particular, the camera can be designed for detachable attachment to the green space maintenance robot. Additionally or alternatively, the camera can be referred to as a robot camera.Furthermore, or alternatively, the recording device can be referred to as an image recording device. Furthermore, or alternatively, edge images, particularly while the camera is detached from the green space maintenance robot and guided along the boundary edge, can refer to images of the boundary edge. Furthermore, or alternatively, robot images, particularly while the camera is attached to the green space maintenance robot, can refer to images, particularly of the boundary edge, recorded by the green space maintenance robot.

[0046] In one embodiment of the invention, the guiding device is a brush cutter. In particular, the brush cutter can be designed wholly or partially as described above. When attached to the brush cutter, the edge detection device, in particular the position determination device, can be or be referred to as a scythe edge detection device, in particular as, in particular, the scythe position determination device. Additionally or alternatively, when the edge detection device is attached to the brush cutter, the position-related data, in particular the position coordinates, can be or be referred to as scythe data, in particular as, in particular, the scythe position coordinates. Furthermore, additionally or alternatively, the attachment of the edge detection device or the attachment region can be in the region of the cutting tool, if present.

[0047] In a further development of the invention, the green space management system has a recording and / or control triggering device. The recording and / or control triggering device is designed to activate and / or deactivate the recording, in particular by means of the recording device. Additionally or alternatively, the recording and / or control triggering device is designed to activate and / or deactivate the control, in particular by means of the control unit. In particular, the recording and / or control triggering device can comprise a user-operable control element, in particular a button. Additionally or alternatively, the recording and / or control triggering device can be designed on the green space management robot, the edge detection device, the recording device, the control unit, or, in particular, spatially separate.In particular, the recording and / or control triggering device can be a smartwatch, a smartphone, a tablet, a laptop, or a computer. Furthermore, additionally or alternatively, the recording and / or control triggering device can be arranged on the guiding device, if present, in particular on its user guiding device. In particular, the guiding device, in particular the green space management device, in particular the brush cutter, if present, can have a motor, in particular a drive motor, and / or a movable tool, in particular a processing tool, in particular a cutting tool. The recording and / or control triggering device can be designed to detect an operating state of the drive motor and / or a movement of the tool and, in particular as a result thereof, to activate the recording.Additionally or alternatively, the recording and / or control triggering device can be configured to detect a non-operating state of the drive motor and / or a non-movement of the tool and, in particular as a result thereof, to deactivate the recording. Furthermore, or alternatively, the recording and / or control triggering device can be configured to interact with the recording device and / or the control unit.

[0048] In one embodiment of the invention, the recording and / or control triggering device is designed to detect a detachment of the edge detection device from the green space maintenance robot and, in particular as a result thereof, to deactivate the control. Additionally or alternatively, the recording and / or control triggering device is designed to detect a fastening of the edge detection device to the guiding device, if present, in particular in the fastening region, and, in particular as a result thereof, to activate the recording. Additionally or alternatively, the recording and / or control triggering device is designed to detect a detachment of the edge detection device from the guiding device, if present, in particular from the fastening region, and, in particular as a result thereof, to deactivate the recording.Additionally or alternatively, the recording and / or control triggering device is designed to detect the attachment of the edge detection device to the green space maintenance robot and, in particular as a result, to activate the control. This enables independent or automatic activation and / or independent or automatic deactivation, in particular without the user or without user intervention.

[0049] In one development of the invention, the green space management system has an output device, in particular a display, and an input device, in particular a user-operable one, in particular a keyboard and / or a mouse. The output device is designed to output the recorded sequence of edge data and / or a sequence of data based on the recorded sequence of edge data, in particular to the user. The input device is designed to process the recorded sequence of edge data and / or a sequence of data based on the recorded sequence of edge data, in particular by the user. In particular, the processing can comprise editing, changing, shifting and / or smoothing.Additionally or alternatively, the output device and the input device may be a combined output / input device, in particular a smartwatch or a smartphone or a tablet or a laptop or a computer, in particular with a touchscreen.

[0050] In a further development of the invention, the edge detection device comprises a detection transmission unit for transmitting, in particular for wireless or wired transmission, the detected position-related data. Additionally or alternatively, the recording device comprises a recording transmission unit for transmitting, in particular for wireless or wired transmission, the edge data detected by the edge detection device and / or the recorded sequence of edge data. Further additionally or alternatively, the control unit comprises a control transmission unit for transmitting, in particular for wireless or wired transmission, the robot data detected by the edge detection device and / or the recorded sequence of edge data and / or a sequence of data based on the recorded sequence of edge data.In particular, the detection transmission unit can be designed to interact with the recording transmission unit and / or the control transmission unit. Additionally or alternatively, the recording transmission unit can be designed to interact with the control transmission unit. Further additionally or alternatively, the output device can comprise an output transmission unit for transmitting, in particular for wireless or wired transmission, the recorded sequence of edge data and / or a sequence of data based on the recorded sequence of edge data. Further additionally or alternatively, the input device can comprise an input transmission unit for transmitting, in particular for wireless or wired transmission, the recorded sequence of edge data and / or a sequence of data based on the recorded sequence of edge data.

[0051] In a further development of the invention, the edge detection device comprises a rechargeable, in particular electrical, in particular electrochemical, energy storage device, in particular an accumulator, for supplying the detached edge detection device with operating energy, in particular electrical operating energy. In particular, the green space maintenance robot is designed for recharging, in particular for wireless, in particular inductive, and / or wired recharging, the energy storage device of the attached edge detection device.

[0052] In a further development of the invention, the autonomous mobile green space maintenance robot is designed as a, in particular, the, lawnmower robot with a, in particular, the, lawnmower tool. In particular, the lawnmower robot can be designed entirely or partially as described above. Additionally or alternatively, the lawnmower tool can be designed entirely or partially as described above.

[0053] The invention further relates to a method for detecting at least one, in particular the, section of a, in particular the, boundary edge of an area, in particular the area to be treated, in particular by the autonomous mobile green space management robot and / or the brush cutter, if present, by means of a green space management system, in particular the one described above. The green space management system comprises an, in particular the, autonomous mobile green space management robot, an, in particular the, edge detection device for detecting position-related data of the boundary edge, and a, in particular the, recording device. The edge detection device is designed for detachable attachment to the green space management robot. The recording device is designed to record a, in particular the, sequence of edge data of the boundary edge detected by means of the edge detection device.The method according to the invention comprises the steps: a) guiding the edge detection device, which is detached from the autonomous mobile green space maintenance robot, along at least the section of the boundary edge of the area to be worked, in particular by the user. b) capturing edge data using the edge detection device during guidance. c) recording the sequence of edge data, in particular at least the section of the boundary edge, using the recording device. The green space maintenance system has a, in particular the, guiding device. The guiding device has a, in particular the, user guiding device. The user guiding device is designed for guiding the guiding device by the user. Furthermore, the guiding device has a, in particular the, fastening area arranged at a, in particular the, distance from the user guiding device.The edge detection device is designed for detachable attachment to the guide device in the attachment area.

[0054] The method can provide the same advantages as the previously described green space management system. In particular, the method can have all or some of the features or properties of the green space management system. Additionally or alternatively, the green space management system can be configured entirely or partially as described above.

[0055] In particular, step c) can be performed simultaneously with steps a) and b) and / or after them. Additionally or alternatively, the edge detection device can be detached from the lawn care robot before step a). Furthermore, additionally or alternatively, the edge detection device can be attached to the lawn care robot after step c).

[0056] Furthermore, the invention relates to a method for operating a, in particular the, autonomous mobile green space maintenance robot of a, in particular the above-described, green space maintenance system on an area, in particular the area to be worked, with a, in particular the, boundary edge. The method according to the invention comprises the above-described method for detecting at least one, in particular the, section of the boundary edge. The green space maintenance system has a, in particular the, control unit.The control unit is designed to control, while the edge detection device is attached to the green space processing robot, a movement, in particular the movement, of the green space processing robot on the area to be processed as a function of robot data, in particular detected by means of the edge detection device, and of the recorded sequence of edge data in such a way that the green space processing robot remains on the area to be processed, in particular within the boundary edge.Furthermore, the method comprises the step of controlling a movement of the green space maintenance robot, in particular together with the edge detection device attached to the green space maintenance robot, on the area to be treated as a function of robot data, in particular detected by means of the edge detection device, and of the recorded sequence of edge data such that the green space maintenance robot remains on the area to be treated, in particular within the boundary edge, in particular by means of the control unit.

[0057] The method can provide the same advantages as the previously described green space management system. In particular, the method can have all or some of the features or properties of the green space management system. Additionally or alternatively, the green space management system can be configured entirely or partially as described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Further advantages and aspects of the invention emerge from the claims and from the following description of preferred embodiments of the invention, which are explained below with reference to the figures. In the figures: Fig. 1 is a schematic view of a green space processing system according to the invention, Fig. 2 is a schematic view of an autonomous mobile green space processing robot of the green space processing system according to the invention, Fig. 3 is a plan view of a green space processing system of the Fig. 1 and the green space management robot of the Fig. 2 area to be treated, Fig. 4 a flow diagram of a method according to the invention, Fig. 5 a further schematic view of the green area treatment robot of the Fig. 2 , Fig. 6a picture of a boundary edge of the surface of the Fig. 3, Fig. 7 a schematic view of a guide device in the form of a guide rod of the green space cultivation system, Fig. 8 a schematic view of a guide device in the form of a brush cutter of the green space cultivation system, and Fig. 9 a schematic view of an output and / or input device of the green space cultivation system. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0059] Fig. 1 to Fig. 3show a green space management system 10 according to the invention. The green space management system 10 comprises a brush cutter 20, a scythe position determining device 30, and a position recording device 40. The scythe position determining device 30 is designed to determine scythe position coordinates x1, y1. The scythe position determining device 30 is attached to the brush cutter 20. The position recording device 40 is designed to record a sequence of scythe position coordinates x1, y1 of the boundary edge 101 while the brush cutter 20 is guided together with the scythe position determining device 30 along at least one section 102 of a boundary edge 101 of an area 100 with lawn to be worked, as in Fig. 3 top right. In the illustrated embodiment, the position recording device 40 is attached to the brush cutter 20, as shown in Fig. 1In alternative embodiments, the position recording device can be arranged elsewhere; in particular, the position recording device does not need to be arranged on the brush cutter. The position recording device 40 is designed to interact with the cutter position determination device 30. The boundary edge 101 delimits or defines the area 100 to be worked in the form of a meadow. The brush cutter 20 of the illustrated embodiment can be referred to as a lawn trimmer.

[0060] Thus, the green space management system 10 enables the area 100 to be mown, particularly at the boundary edge 101 in the form of a lawn edge, by means of the brush cutter 20. In addition, the green space management system 10 enables the detection of at least the section 102 of the boundary edge 101 of the area 100 by means of the cutter position determination device 30 and the position recording device 40.

[0061] Fig. 4shows a method according to the invention for detecting at least the section 102 of the boundary edge 101 of the area 100 using the previously described green space processing system 10. In a step a), the brush cutter 20 is guided along the section 102, in particular by a user 200, with the scythe position determining device 30 attached to the brush cutter 20. In a step b), scythe position coordinates x1, y1 are determined using the scythe position determining device 30 during guidance. In a step c), the sequence of scythe position coordinates x1, y1 of at least the section 102 of the boundary edge 101 is recorded using the position recording device 40.

[0062] Thus, the method accordingly enables processing of the surface 100 by means of the brush cutter 20. In addition, the method accordingly enables detection of at least the portion 102 of the boundary edge 101 of the surface 100 by means of the cutter position determination device 30 and the position recording device 40.

[0063] In detail, the brush cutter 20 has a user carrying device 21. The user carrying device 21 is designed for carrying the brush cutter 20 by the user 200. In the illustrated embodiment, the user carrying device 21 includes a handle structure for holding.

[0064] Furthermore, the brush cutter 20 has a scythe head 22 with a cutting tool 23. The scythe position determination device 30 is fastened in the region of the cutting tool 23, in the illustrated embodiment on the scythe head 22. Furthermore, the position recording device 40 is fastened in the region of the cutting tool 23, in particular on the scythe head 22. In detail, the cutting tool 23 comprises a nylon mowing line. The cutting tool 23 is a rotating cutting tool and is designed to mow the area 100 or its boundary edge 101 using a free-cutting process, in particular to generate a cutting process through the centrifugal force of the cutting tool 23. The scythe head 22 of the illustrated embodiment can be referred to as a line head. Furthermore, the cutting tool 23 is exposed or unprotected.

[0065] The brush cutter 20 also has a motor 24. The motor 24 is designed to drive the brush cutter 20 or its cutting tool 23. The motor can be an internal combustion engine, in particular a gasoline engine, or an electric motor. Furthermore, the brush cutter 20 has a motor energy source 26. The motor energy source can be a fuel tank, a storage battery, and / or a fuel cell.

[0066] In addition, the brush cutter 20 has a user control unit (not shown in detail) that is designed for the user 200 to operate the brush cutter 20, in particular its motor 24 or its cutting tool 23. The user control unit is mechanically connected, in particular rigidly, to the cutting tool by means of a handle or rod, in particular an extended one.

[0067] The scythe position determination device 30 comprises, in detail, a satellite positioning receiver 31 for determining scythe position coordinates x1, y1. In the illustrated embodiment, the green space management system 10 has a further satellite positioning receiver 95. The further satellite positioning receiver 95 is arranged stationary in the area of ​​the area 100. The satellite positioning receiver 31 and the further satellite positioning receiver 95 are designed to be in signal communication with one another to enable relatively precise position determination.

[0068] In addition, the scythe position determination device 30 includes a local positioning system device 35 for determining scythe coordinates x1, y1. In the illustrated embodiment, the local positioning system device 35 is a passive element. Furthermore, the green space management system 10 includes active elements 36a, b, c, d, e, f, g, h, which are arranged in corners of the area 100. The local positioning system device 35 and the active elements 36a-h are designed to interact with each other to enable position determination. In alternative embodiments, it may be sufficient for the scythe position determination device to include only the satellite positioning receiver or only the local positioning system device.

[0069] The green space processing system 10 further comprises a computing and storage unit 50. The computing and storage unit 50 is designed to determine and store a sequence of boundary edge coordinates x2, y2 of at least the section 102 of the boundary edge 101 of the area 100 to be worked based on the recorded sequence of scythe position coordination x1, y1 of at least the section 102 of the boundary edge 101. In the illustrated embodiment, the computing and storage unit 50 is attached to the brush cutter 20, in particular to the scythe head 22. In alternative embodiments, the computing and storage unit can be arranged elsewhere; in particular, the computing and storage unit does not need to be arranged on the brush cutter. The computing and storage unit 50 is designed to interact with the position recording device 40.

[0070] Accordingly, the method comprises a step d) in which the sequence of boundary edge coordinates x2, y2 of at least the section 102 of the boundary edge 101 of the surface 100 to be machined is determined and stored by means of the computing and storage unit 50 based on the recorded sequence of scythe position coordinates x1, y1 of at least the section 102 of the boundary edge 101.

[0071] In addition, the green space management system 10 includes a scythe transmission unit 25. The scythe transmission unit 25 is configured to interact with the computing and storage unit 50 and to transmit data, in particular wirelessly, of the sequence of boundary edge coordinates x2, y2. In the illustrated embodiment, the scythe transmission unit 25 is attached to the brush cutter 20, in particular to the scythe head 22. In alternative embodiments, the scythe transmission unit can be arranged elsewhere; in particular, the scythe transmission unit need not be arranged on the brush cutter.

[0072] In the illustrated embodiment, the scythe position determination device 30, the position recording device 40, the computing and storage unit 50, and the scythe transmission unit 25 are configured as a single component. This component is designed to be portable or detachably attached to the brush cutter 20, in particular to the scythe head 22. Furthermore, the component has a button 45. The button 45 is designed to activate the scythe position determination device 30, the position recording device 40, and the computing and storage unit 50. Additionally, the button 45 is designed to deactivate the scythe position determination device 30, the position recording device 40, and the computing and storage unit 50, as well as to temporarily activate the scythe transmission unit 25.

[0073] Furthermore, the green space management system 10 comprises an autonomous mobile green space management robot 60, a robot position determination device 70 and a control unit 80, as shown in Fig. 2The robot position determination device 70 is designed to determine robot position coordinates x3, y3. The robot position determination device 70 is attached to the green space maintenance robot 60. The control unit 80 is designed to control a movement of the green space maintenance robot 60 on the area 100 to be worked as a function of the determined robot position coordinates x3, y3, and of the determined and stored sequence of boundary edge coordinates x2, y2 of at least the section 102 of the boundary edge 101 such that the green space maintenance robot 60 remains on the area 100, in particular within the boundary edge 101. In the exemplary embodiment shown, the green space maintenance robot 60 comprises the control unit 80. The control unit 80 is designed to interact with the robot position determination device 70.

[0074] Thus, the green space processing system 10 enables autonomous processing of the area 100 by means of the autonomous mobile green space processing robot 60.

[0075] In detail, the autonomous mobile green space maintenance robot 60 is designed as a lawnmower robot with a lawnmower tool 63, in particular as a mulching mower robot. The lawnmower tool 63 is different from the cutting tool 23. In the illustrated embodiment, the lawnmower tool 63 comprises a metal cutting blade with cutting teeth. The lawnmower tool 63 is designed as a rotating lawnmower tool and is designed to mow the area 100 to be worked using a free-cutting method, in particular to generate a cutting action through the centrifugal force of the lawnmower tool 63.

[0076] In addition, the autonomous mobile green space maintenance robot 60 has pivotable front wheels 61 and separately driven rear wheels 62. Thus, the autonomous mobile green space maintenance robot 60 can move and steer independently on the surface 100. Furthermore, the green space maintenance robot 60 has an electric motor (not shown) for driving the lawn mowing tool 63. In alternative embodiments, the green space maintenance robot can have an internal combustion engine, in particular a gasoline engine, for driving the lawn mowing tool 63. Furthermore, the green space maintenance robot 60 has a rechargeable battery (not shown) for supplying drive energy to the rear wheels 62 and the electric motor for driving the lawn mowing tool 63.In alternative embodiments, the green space maintenance robot may include a fuel cell or other type of drive energy source for supplying drive energy.

[0077] Furthermore, the green space processing system 10 has a base station 90 for the autonomous mobile green space processing robot 60, which is arranged here on the boundary edge 101 of the area 100, as in Fig. 3 can be seen at the top left. In the illustrated embodiment, the base station 90 is designed as a charging station for recharging, in particular automatically, the battery of the green space maintenance robot 60.

[0078] In detail, the base station 90 has the additional satellite positioning receiver 95. The robot positioning device 70 comprises a robot satellite positioning receiver 71 for determining robot position coordinates x3, y3. The robot satellite positioning receiver 71 and the additional satellite positioning receiver 95 are designed to be in signal communication with one another to enable relatively accurate position determination. In addition, the robot positioning device 70 comprises a robot local positioning system device 75 for determining robot position coordinates x3, y3. In the illustrated embodiment, the robot local positioning system device 75 is a passive element. The robot local positioning system device 75 and the active elements 36a, h are designed to interact with one another to enable position determination.In alternative embodiments, it may be sufficient for the robot positioning device to comprise only the robot satellite positioning receiver or only the robot local positioning system device.

[0079] In addition, the green space management system 10 has a robot transmission unit 65. The robot transmission unit 65 is designed to interact with the control unit 80 and to transmit data, in particular wirelessly, of the sequence of boundary edge coordinates x2, y2. The scythe transmission unit 25 and the robot transmission unit 65 are designed to transmit data from the scythe transmission unit 25 to the robot transmission unit 65. In the illustrated embodiment, the robot transmission unit 65 is attached to the green space management robot 60. In alternative embodiments, the robot transmission unit can be arranged elsewhere; in particular, the robot transmission unit does not need to be arranged on the green space management robot.

[0080] In the illustrated embodiment, the robot position determination device 70 and the robot transmission unit 65 are configured as a single component. This component is designed to be portable or detachably attached to the lawn care robot 60. In particular, this component attached to the lawn care robot 60 is structurally identical to the component attached to the brush cutter 20.

[0081] In the present case, the sequence of boundary edge coordinates x2, y2 is transmitted from the scythe transmission unit 25 to the robot transmission unit 65. In alternative embodiments, it may be sufficient for the green space management system to have only one portable component. This component can be detached from the brush cutter 20, particularly after detecting at least the section 102 of the boundary edge 101 of the area 100 to be worked, and attached to the autonomous mobile green space management robot 60. The scythe position determination device can form the robot position determination device.

[0082] Furthermore, Fig. 1 to 3 and additionally Fig. 5 and 7 to 9a, in particular, the, green space management system 10 according to the invention. The green space management system 10 comprises an, in particular, the, autonomous mobile green space management robot 60, an, in particular, the, edge detection device 30, 70, a, in particular, the, recording device 40, and a, in particular, the, control unit 80. The edge detection device 40 is designed to detect position-related data x1, y1, x3, y3, B1, B3 of at least the section 102 of the boundary edge 101 of the area 102 to be worked. Furthermore, the edge detection device 30, 70 is designed for releasable attachment to the green space management robot 60.The recording device 40 is designed to record, while the edge detection device 30, 70 is detached from the green space treatment robot 60 and is guided along at least the section 102 of the boundary edge 101, a sequence of edge data x1, y1, B1 of the boundary edge 101 detected by means of the edge detection device 30, 70, in particular the sequence of edge data x1, y1, B1 of the boundary edge 101, as shown in . Fig. 3can be seen top right. The control unit 80 is designed, while the edge detection device 30, 70 is attached to the green space processing robot 60, to control a movement, in particular the movement, of the green space processing robot 60 on the area 100 to be processed as a function of robot data x3, y3, B3, which are detected in particular by means of the edge detection device 30, 70, and of the recorded sequence of edge data x1, y1, x2, y2, B1, such that the green space processing robot 60 remains on the area 100 to be processed, in particular within the boundary edge 101. In the illustrated embodiment, the green space processing robot 60 comprises the control unit 80.

[0083] Thus, the green space treatment system 10 can make do with the, in particular single, edge detection device 30, 70 or the, in particular single, edge detection device 30, 70 can be sufficient.

[0084] Further shows Fig. 4a method, in particular the method according to the invention, for detecting at least the section 102 of the boundary edge 101 of the area 100 by means of a green space management system 10, in particular the one described above. In a step, in particular step a), the edge detection device 30, 70 detached from the green space management robot 60 is guided along at least the section 102 of the boundary edge 101 of the area 100, in particular by the user. In a step, in particular step b), edge data x1, y1, B1 are detected by the edge detection device 30, 70 during the guidance. In a step, in particular step c), the sequence of edge data x1, y1, B1 of at least the section 102 of the boundary edge 101 is recorded by the recording device 40.

[0085] In addition, a method according to the invention for operating a, in particular the, green space maintenance robot 60 on the surface 100 with the boundary edge 101 comprises the previously described method for detecting at least the section 102 of the boundary edge 101. Furthermore, the method comprises the step of controlling a, in particular the, movement of the green space maintenance robot 60 together with the edge detection device 30, 70 attached to the green space maintenance robot 60 on the surface 100 as a function of robot data x3, y3, B3 detected in particular by means of the edge detection device 30, 70 and of the recorded sequence of edge data x1, y1, x2, y2, B1 such that the green space maintenance robot remains on the surface 100, in particular by means of the control unit 80.

[0086] In detail, the edge detection device 30, 70 is designed to be portable.

[0087] In addition, the recording device 40 is designed to be portable.

[0088] Furthermore, the edge detection device 30, 70 comprises a position-determining device, in particular the robot position-determining device, for determining position coordinates x1, y1, x3, y3. The recording device 40, in particular the position-recording device, is designed to record a sequence of edge position coordinates x1, y1 of at least the section 102 of the boundary edge 101, determined by the position-determining device 30, 70. The control unit 80 is designed to control the movement of the green space processing robot 60 on the surface 100 as a function, in particular, of robot position coordinates x3, y3 determined by means of the position determining device 30, 70 and of the recorded sequence of edge position coordinates x1, y1, x2, y2 such that the green space processing robot 60 remains on the surface 100.

[0089] In detail, the positioning device 30, 70 comprises a satellite positioning receiver 31, 71, in particular the robot satellite positioning receiver, for determining position coordinates x1, y1, x3, y3. Additionally, the positioning device 30, 70 comprises a local positioning system device 35, 75, in particular the robot local positioning system device, for determining position coordinates x1, y1, x3, y3. In alternative embodiments, it may be sufficient for the positioning device to comprise only the satellite positioning receiver or only the local positioning system device.

[0090] In addition, the edge detection device 30, 70 comprises a camera 37, 77 for recording images B1, B3 of at least the section 102 of the boundary edge 101 of the surface 100, as in Figs. 5 and 6to recognize. The recording device 40 is designed to record a sequence of edge images B1 of at least the section 102 of the boundary edge 101, recorded by the camera. The control unit 80 is designed to control the movement of the green space maintenance robot 60 on the surface 100 as a function, in particular, of robot images B3 recorded by the camera and of the recorded sequence of edge images B1, such that the green space maintenance robot 60 remains on the surface 100. In alternative embodiments, it may be sufficient for the edge detection device to comprise only the position determination device or only the camera.

[0091] Furthermore, the green area treatment system 10 has, in particular at least, a guiding device 20 in which Fig. 7 a guide device in the form of a rod and in Fig. 8the brush cutter. The guiding device 20 has a user guiding device 21, in particular the user carrying device. The user guiding device 21 is designed for guiding the guiding device 20 by the user 200. Furthermore, the guiding device 20 has a fastening area 27 arranged at a distance D1 from the user guiding device 21. The edge detection device 30, 70 is designed for releasable attachment to the guiding device 20 in the fastening area 27.

[0092] In addition, the green space management system 10 has a recording and / or control triggering device 45, 46, in particular the recording and / or control triggering device 45, 46. The recording and / or control triggering device 45, 46 is designed to activate and / or deactivate the recording, in particular by means of the recording device 40, and / or the control, in particular by means of the control unit 80.

[0093] In detail, the recording triggering device comprises a, in particular the, user-operable control element, in particular a, in particular the button 45.

[0094] Furthermore, the recording and / or control triggering device 46 is designed to detect a detachment of the edge detection device 30, 70 from the green area processing robot 60 and to deactivate the control, as in Fig. 5 Additionally or alternatively, the recording and / or control triggering device 46 is designed to detect an attachment of the edge detection device 30, 70 to the guide device 20 and to activate the recording, as in Figs. 7 and 8Additionally or alternatively, the recording and / or control triggering device 46 is designed to detect a detachment of the edge detection device 30, 70 from the guide device 20 and to deactivate the recording. Additionally or alternatively, the recording and / or control triggering device 46 is designed to detect an attachment of the edge detection device 30, 70 to the green space maintenance robot 60 and to activate the control. In alternative embodiments, it may be sufficient for the recording triggering device to comprise only the user-operable control element or to be designed only for detection.

[0095] In addition, the green space processing system 10 has an output device 98 and an input device 99, as shown in Fig. 9can be seen. The output device 98 is designed to output the recorded sequence of edge data x1, y1, B1 and / or a sequence of data x2, y2 based on the recorded sequence of edge data. The input device 99 is designed to process the recorded sequence of edge data x1, y1, B1 and / or a sequence of data x2, y2 based on the recorded sequence of edge data. In alternative exemplary embodiments, it may be sufficient for the green space management system to have only the computing and storage unit or only the output device and the input device. In the exemplary embodiment shown, the output device 98 and the input device 99 are a combined output / input device, in particular a smartphone, in particular with a touchscreen.

[0096] Furthermore, the edge detection device 30, 70 comprises a detection transmission unit 39, 79 for transmitting, in particular for wireless transmission, the detected position-related data x1, y1, x3, y3, B1, B3. Additionally or alternatively, the recording device 40 comprises a recording transmission unit 49 for transmitting, in particular for wireless transmission, the edge data x1, y1, B1 detected by the edge detection device and / or the recorded sequence of edge data x1, y1, B1. Further additionally or alternatively, the control unit 80 comprises a control transmission unit 89 for transmitting, in particular for wireless transmission, the robot data x3, y3, B3 detected by the edge detection device and / or the recorded sequence of edge data x1, y1, B1 and / or a sequence of data x2, y2 based on the recorded sequence of edge data.

[0097] In addition, the edge detection device 30, 70 comprises a rechargeable energy storage device 38, 78, in particular a rechargeable battery, for supplying the detached edge detection device 30, 70 with operating energy, in particular electrical operating energy. In particular, the green space maintenance robot 60 is designed for recharging, in particular for inductive recharging, the energy storage device 38, 78 of the attached edge detection device 30, 70. In the illustrated embodiment, the green space maintenance robot 60 comprises a charging unit 68, in particular an inductive one, for recharging the energy storage device 38, 78, in particular an inductive one.

[0098] In detail, the autonomous mobile green space management robot 60 is designed as a, in particular the, lawn mower robot with a, in particular the, lawn mowing tool 63.

[0099] In the illustrated embodiment, the edge detection device 30, 70 and the recording device 40 are formed as a single component. This component is designed for detachable attachment to the green space maintenance robot 60, in particular, it is designed to be portable. Fig. 5 The edge detection device 30, 70 or the component is attached to the green space processing robot 60. In addition, this component is designed for detachable attachment to the guide device 20, in particular the guide rod and / or the brush cutter, in the attachment area 27. In Figs. 7 and 8The edge detection device 30, 70 or the component is attached to the guide device 20, in particular the guide rod or brush cutter, in the attachment area 27. Furthermore, in the illustrated embodiment, this component includes the computing and storage unit 50. Furthermore, in the illustrated embodiment, this component includes the recording and / or control triggering device 45, 46.

[0100] Additionally, in the illustrated embodiment, the green space maintenance robot 60 has a robot detection element 47, and / or the guiding device 20, or the guide rod and / or the brush cutter, has / have, particularly in the fastening area 27, a respective guiding detection element 48. In detail, the recording and / or control triggering device 46 is designed for, particularly contactless, detection of the robot detection element 47 and / or the guiding detection element 48, particularly for distinguishing between the robot detection element 47 and the guiding detection element 48. In the illustrated embodiment, the recording and / or control triggering device 46 comprises a magnetic field sensor, particularly a Hall sensor, and the respective detection element 47, 48 is a magnetic detection element, particularly a permanent magnet.In detail, a magnetic field of the robot detection element 47 is provided with a magnetic north pole in . Fig. 5 upwards and a magnetic south pole downwards. A magnetic field of the guide detection element 48 is aligned with a magnetic north pole in Figs. 7 and 8 downwards and a magnetic south pole upwards.

[0101] Furthermore, in the embodiment shown, the detection transmission unit 39, 79 is the recording transmission unit 49.

[0102] Furthermore, the recording and / or control triggering device 46 is designed to interact with the recording device 40 and / or the control unit 80, in particular by means of the detection transmission unit 39, 79, the recording transmission unit 49 and / or the control transmission unit 89.In the exemplary embodiment shown, this component or the edge detection device 30, 70 or its detection transmission unit 39, 79 or the recording device 40 or its recording transmission unit 49 is designed to transmit the detected position-related data, in particular the robot data x1, y1, x3, y3, B1, B3 and / or the recorded sequence of edge data x1, y1, B1 and / or the sequence of data x2, y2 based on the recorded sequence of edge data when attached to the green space maintenance robot 60 and thus to activate the control and not to transmit when detached from the green space maintenance robot 60 and thus to deactivate the control.The control unit 80 is designed to control upon transmission of the acquired position-related data, in particular the robot data, x1, y1, x3, y3, B1, B3 and / or the recorded sequence of edge data x1, y1, B1 and / or the sequence of data x2, y2 based on the recorded sequence of edge data, and to not control upon non-transmission.

[0103] As the embodiments shown and explained above make clear, the invention provides an advantageous green space processing system which has improved properties, in particular more functionalities, as well as a method for detecting at least a portion of a boundary edge of an area to be processed by means of a, in particular such, green space processing system and a method for operating an autonomous mobile green space processing robot of a, in particular such, green space processing system on the area.In particular, the green space management system and the method enable a region of the area to be worked, in particular a perimeter and / or edge area, or the entire area to be worked using the brush cutter, and detecting, in particular the at least one section, of the boundary edge of the area to be worked using the scythe position determination device and the position recording device. Furthermore, the green space management system and the method can enable the use of the edge detection device, in particular the sole edge detection device, or the sole edge detection device can be sufficient.

Claims

1. A green area maintenance system (10) having: - an autonomous mobile green area maintenance robot (60), - a border sensing device (30, 70) for sensing position-related data (x1, y1, x3, y3, B1, B3) of a delimiting border (101) of an area to be maintained (100), the border sensing device being designed for detachable attachment to the green area maintenance robot, - a recording device (40), the recording device being designed for the purpose of recording a series of border data (x1, y1, B1) sensed by means of the border sensing device of the delimiting border while the border sensing device is detached from the green area maintenance robot and is being guided along the delimiting border, and - a control unit (80), the control unit being designed for the purpose of controlling a movement of the green area maintenance robot on the area to be maintained in dependence on robot data (x3, y3, B3), in particular sensed by means of the border sensing device, and the recorded series of border data (x1, y1, x2, y2, B1) while the border sensing device is attached to the green area maintenance robot in such a way that the green area maintenance robot stays on the area to be maintained, characterized in - that the green area maintenance system (10) has: - a guiding device (20) having a user guiding device (21), the user guiding device being designed for the guiding of the guiding device by a user (200), and an attaching region (27) arranged at a distance (D1) from the user guiding device, - wherein the border sensing device (30, 70) is designed for detachable attachment to the guiding device in the attaching region.

2. The green area maintenance system (10) as claimed in claim 1, - wherein the border sensing device (30, 70) is of a portable design, and / or - wherein the recording device (40) is of a portable design.

3. The green area maintenance system (10) as claimed in one of the preceding claims, - wherein the border sensing device (30, 70) comprises a position determining device for determining position coordinates (x1, y1, x3, y3), - wherein the recording device (40) is designed for the purpose of recording a series of border position coordinates (x1, y1) determined by means of the position determining device of the delimiting border (101), and - wherein the control unit (80) is designed for the purpose of controlling the movement of the green area maintenance robot (60) on the area to be maintained (100) in dependence in particular on robot position coordinates (x3, y3) determined by means of the position determining device and the recorded series of border position coordinates (x1, y1, x2, y2) in such a way that the green area maintenance robot stays on the area to be maintained.

4. The green area maintenance system (10) as claimed in claim 3, - wherein the position determining device (30, 70) comprises a satellite position determining receiver (31, 71) for determining position coordinates (x1, y1, x3, y3), and / or - wherein the position determining device (30, 70) comprises a local positioning system device (35, 75) for determining position coordinates (x1, y1, x3, y3).

5. The green area maintenance system (10) as claimed in one of the preceding claims, - wherein the border sensing device (30, 70) comprises a camera (37, 77) for recording images (B1, B3) of the delimiting border (101), - wherein the recording device (40) is designed for the purpose of recording a series of border images (B1) recorded by means of the camera of the delimiting border (101) and - wherein the control unit (80) is designed for the purpose of controlling the movement of the green area maintenance robot (60) on the area to be maintained (100) in dependence on robot images (B3), in particular recorded by means of the camera, and the recorded series of border images (B1) in such a way that the green area maintenance robot stays on the area to be maintained.

6. The green area maintenance system (10) as claimed in one of the preceding claims, - wherein the guiding device (20) is a motor scythe.

7. The green area maintenance system (10) as claimed in one of the preceding claims, having: - a recording and / or control initiating device (45, 46), the recording and / or control initiating device being designed for activating and / or deactivating the recording, in particular by means of the recording device (40), and / or the control, in particular by means of the control unit (80).

8. The green area maintenance system (10) as claimed in claim 7, - wherein the recording and / or control initiating device (46) is designed for detecting a detachment of the border sensing device (30, 70) from the green area maintenance robot (60) and for deactivating the control, and / or - wherein the recording and / or control initiating device is designed for detecting an attachment of the border sensing device to the guiding device (20) and for activating the recording, and / or wherein the recording and / or control initiating device is designed for detecting a detachment of the border sensing device from the guiding device and for deactivating the recording, and / or - wherein the recording and / or control initiating device is designed for detecting an attachment of the border sensing device to the green area maintenance robot and for activating the control.

9. The green area maintenance system (10) as claimed in one of the preceding claims, having: - an output device (98), the output device being designed for outputting the recorded series of border data (x1, y1, B1) and / or a series of data (x2, y2) based on the recorded series of border data, and - an input device (99), the input device being designed for processing the recorded series of border data (x1, y1, B1) and / or a series of data (x2, y2) based on the recorded series of border data.

10. The green area maintenance system (10) as claimed in one of the preceding claims, - wherein the border sensing device (30, 70) comprises a sensing transmission unit (39, 79) for the transmission of the sensed position-related data (x1, y1, x3, y3, B1, B3), and / or - wherein the recording device (40) comprises a recording transmission unit (49) for the transmission of the border data (x1, y1, B1) sensed by means of the border sensing device and / or the recorded series of border data (x1, y1, B1), and / or - wherein the control unit (80) comprises a control transmission unit (89) for the transmission of the robot data (x3, y3, B3) sensed by means of the border sensing device and / or the recorded series of border data (x1, y1, B1) and / or a series of data (x2, y2) based on the recorded series of border data.

11. The green area maintenance system (10) as claimed in one of the preceding claims, - wherein the border sensing device (30, 70) comprises a rechargeable energy store (38, 78) for supplying the detached border sensing device with operating energy, and - wherein the green area maintenance robot (60) is designed for the recharging of the energy store of the attached border sensing device.

12. The green area maintenance system (10) as claimed in one of the preceding claims, - wherein the autonomous mobile green area maintenance robot (60) is designed as a lawnmowing robot with a lawnmowing tool (63).

13. A method for sensing at least one section (102) of a delimiting border (101) of an area to be maintained (100) by means of a green area maintenance system (10), in particular as claimed in one of the preceding claims, having an autonomous mobile green area maintenance robot (60), a border sensing device (30, 70) for sensing position-related data (x1, y1, x3, y3, B1, B3) of the delimiting border (101), the border sensing device being designed for detachable attachment to the green area maintenance robot, and a recording device (40), the recording device being designed for the purpose of recording a series of border data (x1, y1, B1) sensed by means of the border sensing device of the delimiting border, wherein the method comprises the steps of: a) guiding the border sensing device (30, 70), detached from the autonomous mobile green area maintenance robot (60), along at least the section (102) of the delimiting border (101) of the area to be maintained (100), b) sensing border data (x1, y1, B1) by means of the border sensing device during the guiding, and c) recording the series of border data of the delimiting border by means of the recording device (40), characterized in - that the green area maintenance system (10) has: - a guiding device (20) having a user guiding device (21), the user guiding device being designed for the guiding of the guiding device by a user (200), and an attaching region (27) arranged at a distance (D1) from the user guiding device, - wherein the border sensing device (30, 70) is designed for detachable attachment to the guiding device in the attaching region.

14. A method for operating an autonomous mobile green area maintenance robot (60) of a green area maintenance system (10), in particular as claimed in one of claims 1 to 12, on an area to be maintained (100) with a delimiting border (101), - wherein the method comprises a method as claimed in claim 13 for sensing at least one section (102) of the delimiting border (101), - wherein the green area maintenance system (10) has a control unit (80), the control unit being designed for the purpose of controlling a movement of the green area maintenance robot on the area to be maintained (100) in dependence on robot data (x3, y3, B3), in particular sensed by means of the border sensing device, and the recorded series of border data (x1, y1, x2, y2, B1) while the border sensing device (30, 70) is attached to the green area maintenance robot in such a way that the green area maintenance robot stays on the area to be maintained, and - wherein the method comprises the step of: controlling a movement of the green area maintenance robot (60) with the border sensing device (30, 70) attached to the green area maintenance robot on the area to be maintained (100) in dependence on robot data (x3, y3, B3), in particular sensed by means of the border sensing device, and the recorded series of border data (x1, y1, x2, y2, B1) in such a way that the green area maintenance robot stays on the area to be maintained.