ROBOT MOWERS AND ROBOT MOWER SYSTEMS

Description

[0001] The invention relates to a system consisting of a robotic lawnmower and a base station, wherein the robotic lawnmower has a mowing mechanism, a controllable chassis with a control device, a motor for driving the mowing mechanism and chassis, and a receiving and transmitting device for radio signals for generating a radio connection between the robotic lawnmower and a stationary base station of the robotic lawnmower system assigned to the robotic lawnmower. Furthermore, the invention also relates to a method for operating a robotic lawnmower or robotic lawnmower system.

[0002] Robotic lawnmowers and robotic lawnmower systems are well known. Robotic lawnmower control systems are divided into two types: one in which the robotic lawnmower essentially randomly works an area enclosed by a looped wire, usually detecting and avoiding existing obstacles. The other type is systems in which the position of the robotic lawnmower is determined using various techniques, such as cross-directional radio tracking or satellite navigation systems. Based on the robotic lawnmower's position within the area to be mowed, it performs a more or less targeted work along predefined paths and / or sections of the area.

[0003] The disadvantage of the random-based method is that, due to the robotic lawnmower's purely random movement, some areas of the area to be mowed are mown disproportionately often and others too rarely. Furthermore, the approach to the base station usually takes place along the same path along the loop wire. Overall, such systems lack efficiency.

[0004] From the publication EP 3 160 319 B1, an autonomous lawnmower or robotic lawnmower is known, which comprises a mowing mechanism, a steerable chassis with a control device, a motor for driving the mowing and chassis, and a receiving and transmitting device for radio signals for generating a radio connection between the robotic lawnmower and a stationary base station of the robotic lawnmower system assigned to the robotic lawnmower. Furthermore, this robotic lawnmower can be equipped with an ultrasound system or a UWB (ultra-wide band) radio system, which is used to determine positions using a triangulation technique based on distance measurements. In addition, this robotic lawnmower also includes a direction detection unit, which is specifically disclosed as an electronic or mechanical compass or a GPS-based device.

[0005] Furthermore, reference is made to document EP 3 575 912 A1, which was identified during the examination procedure. This document discloses a robotic lawnmower comprising a sensor device for detecting the environment and a control and / or regulating device for determining the position within its working area and for control. Furthermore, this robotic lawnmower has a communication connection between the control and / or regulating device and a user. This communication connection can be implemented as a direct wireless radio connection, a local wireless network connection, or an internet connection.The sensor device, which is used both for detecting the surroundings of the robotic lawnmower to display a 3D representation of the working area and for determining the position of the robotic lawnmower, can be formed from one or more cameras and / or one or more infrared cameras and / or one or more spectrometric sensors and / or one or more radar or lidar sensors and / or one or more acceleration or yaw rate sensors and / or one or more sensors for receiving signals from a satellite-based navigation system and / or one or more geomagnetic or gravimetric sensors.

[0006] Furthermore, reference is made to the document US 2016 / 0377688 A1, which was identified during the examination procedure. This document describes a mobile robot with a body that orients itself in artificially generated magnetic fields using magnetic sensors. The body is movable across a surface within an environment, has a calibration coil worn on the body and configured to generate a calibration magnetic field, a sensor circuit worn on the body and responsive to the calibration magnetic field, and a controller worn on the body and in communication with the sensor circuit. The sensor circuit is configured to generate calibration signals based on the calibration magnetic field.The controller is configured to calibrate the sensor circuit as a function of the calibration signals, resulting in a calibrated sensor circuit configured to detect a transmitter magnetic field within the environment and generate detection signals based on the transmitter magnetic field. The controller is configured to estimate a pose of the mobile robot as a function of the detection signals.

[0007] The disadvantage of these known position-based systems is essentially that either the necessary infrastructure, such as multiple beacons for triangulation, is relatively complex, or satellite navigation systems are expensive and too inaccurate without additional measures, such as differential GPS. Systems based on magnetic fields are also susceptible to interference in changing environmental conditions.

[0008] It is therefore an object of the invention to develop an improved robotic lawnmower or an improved robotic lawnmower system which is, on the one hand, cost-effective and, on the other hand, has a high level of efficiency in processing the area to be mowed.

[0009] This problem is solved by the features of the independent patent claims. Advantageous developments of the invention are the subject of subordinate claims.

[0010] The inventors have recognized that optimized and efficient control of a robotic lawnmower requires that the area to be worked and both the position and the orientation of the robotic lawnmower in the area to be worked, i.e. the two- or three-dimensionally defined location at which the robotic lawnmower is currently located on the area and its two- or three-dimensional orientation relative to the area, must be known.

[0011] Furthermore, the inventors have recognized that it is possible to equip the robotic lawnmower in a cost-effective manner in such a way that the position and orientation of the robotic lawnmower relative to a base station can be determined with the aid of at least one antenna array and the application of two direction determinations and one distance determination, so that the known position and orientation of the robotic lawnmower can be used to guide the robotic lawnmower.

[0012] When determining direction using an array with multiple antennas, the phase difference of a radio signal of a specific frequency that the waves of the radio signal exhibit at the same time at the spatially separated antennas of the array is observed, and the angle of arrival of the radio signal is calculated from this. This method is generally referred to as the AoA method (AoA = Angle of Arrival). Conversely, a signal coming from an array of spatially dislocated antennas can also be received via a single antenna. The signal can be analyzed with regard to the phase shifts present in it with respect to a frequency that varies depending on the direction of radiation, thus determining the direction of radiation. This method is generally referred to as the AoD method (AoD = Angle of Departure).These basic methods of determining direction based on the phase relationships of transmitted and received signals of a specific frequency between two stations with at least one antenna array are well known and are described in detail, for example, at https: / / www.bluetooth.com / wpcontent / uploads / Files / developer / RDF_Technical_Overview.pdf. However, this requires that the exchanged signals are based on a single frequency and not on a wide frequency band, as used, for example, in so-called UWB (ultra wide band) systems.

[0013] This makes it possible to precisely control paths and positions and to follow or process predefined paths and patterns. Knowing the robotic lawnmower's orientation is important because only with this knowledge is it possible to have the robotic lawnmower start moving in a predefined direction. Furthermore, the robotic lawnmower can then empirically determine the area to be worked, which is usually delimited by a loop wire, display it on a map, and transmit this to a robotic lawnmower user, for example, on their smartphone. It can be very helpful here to also transmit location-related parameters, which may also have been previously determined empirically, to the user.Accordingly, the user can then enter predefined driving patterns, logos to be followed, or other location-related parameters such as mowing frequency, prohibited zones, specific lanes for passing through narrow spaces or other specifications into the map and transmit them back to the robotic lawnmower, or more precisely to the processor connected to it that controls it.

[0014] According to a further aspect of the invention, which also applies to other robotic lawnmowers that are operated with position control, the robotic lawnmower can also be equipped with an additional unit, for example in the form of an attachment on the robotic lawnmower or even equipped with wheels as a trailer. This additional unit is then designed to transport a payload and, if desired, to set it down in a targeted manner. Accordingly, a functional connection can be established between the robotic lawnmower and the additional unit, through mechanical power transmissions and / or electrical connections, so that the robotic lawnmower's control system can also control the additional unit.For example, the additional unit can carry fertilizer, grass seed or water as a payload, which is controlled by the robotic lawnmower and dosed by a corresponding discharge device at specified positions and areas, if necessary also according to specified parameters of the mapping of the area to be worked.

[0015] Accordingly, a system consisting of a robotic lawnmower and a base station is proposed, wherein the robotic lawnmower comprises: at least one mower, a steerable chassis with a control device, at least one motor for driving the mower and chassis, a receiving and transmitting device for radio signals for generating a radio connection between the robotic lawnmower and a stationary base station assigned to the robotic lawnmower, a means for determining the orientation of the robotic lawnmower in the sense of a two- or three-dimensional orientation, the receiving and transmitting device of the robotic lawnmower has an antenna for radio communication, wherein the base station has an antenna for radio communication, the robotic lawnmower and the base station are connected to at least one processor system with program and data memory including program code for processing robotic lawnmower-related data and signals,at least one of the two antennas for radio communication between the base station and the robotic lawnmower is designed as an antenna array for detecting phase differences in incoming radio signals of a specific frequency, wherein the program code of a processor system is designed such that: -- using at least one antenna array, -- using two direction determinations -- and using a distance determination -- the position and orientation of the robotic lawnmower relative to a base station is determined, -- in at least one of the two direction determinations, the phase relationships of the exchanged radio signals between an antenna for radio communication and an antenna array for detecting phase differences in incoming radio signals of a specific frequency are evaluated, -- and in the distance determination, the intensity of the received radio signals is evaluated,-- to use the known position and orientation of the robotic lawnmower to guide the robotic lawnmower.

[0016] In one embodiment, it is proposed to equip the robotic lawnmower with a simple antenna and a means for determining orientation, whereby this has a radio connection to a base station with an antenna array.

[0017] This variant therefore concerns a robotic lawnmower, which is known - at least one mower, - a controllable chassis with a control device, - at least one motor for driving the mower and chassis, - a receiving and transmitting device for radio signals, for generating a radio connection between the robotic lawnmower and a stationary base station assigned to the robotic lawnmower, has.

[0018] According to the invention, this embodiment is characterized in that the robotic lawnmower has a means for determining orientation, the receiving and transmitting device of the robotic lawnmower has a simple antenna via which the signals from an antenna array of a stationary base station are received, the robotic lawnmower and the base station are connected to at least one processor system with program and data memory including program code for processing robotic lawnmower-related data and signals, wherein the program code of a processor system is designed such that: -- the direction of the robotic lawnmower relative to the base station is determined from the phase relationships of the radio signals exchanged between the antenna of the robotic lawnmower and the antenna array of the base station, -- the distance between the base station and the robotic lawnmower is determined from the intensity of the received radio signals, i.e. from the signal level or the signal amplitude,-- so that the relative position of the robotic lawnmower to the base station and its two- and / or three-dimensional orientation of the robotic lawnmower are known, - and the determined position and orientation of the robotic lawnmower is used to guide the robotic lawnmower.

[0019] For example, the orientation of the robotic lawnmower can be determined directly by reading a direction sensor. Accordingly, the means for determining the orientation of the robotic lawnmower is generally a magnetic field sensor, in particular a fluxgate sensor, which is particularly well suited for determining orientation in the Earth's magnetic field.

[0020] Another alternative for determining the orientation of the robotic lawnmower is to infer the orientation of the robotic lawnmower by determining the movement vector and a given movement of the robotic lawnmower. Accordingly, it is also proposed that the means for determining the orientation of the robotic lawnmower be a program present in the processor system, which is designed to determine the orientation of the robotic lawnmower based on the movement of the robotic lawnmower and the associated position determinations.

[0021] Another embodiment of the robotic lawnmower according to the invention provides for the robotic lawnmower itself to be equipped with a direction sensor and an antenna array, with only a simple antenna for radio communication being provided for the base station. The direction sensor determines the orientation of the robotic lawnmower, and the antenna array radio-determines the direction and distance to the base station. Since the base station is stationary and has a known position, this also determines the position of the robotic lawnmower.

[0022] Accordingly, the inventors propose a robotic lawnmower comprising: - at least one mower, - a controllable chassis with a control device, - at least one motor for driving the mower and chassis, - a receiving and transmitting device for radio signals, for generating a radio connection between the robotic lawnmower and a stationary base station assigned to the robotic lawnmower, to modify it so that - the robotic lawnmower has a direction sensor for determining the orientation, preferably a magnetic field sensor, preferably a fluxgate sensor, - the receiving and transmitting device of the robotic lawnmower has an antenna array that communicates with the base station via radio signals, - the base station has a simple antenna, - the robotic lawnmower and the base station are connected to at least one processor system with program and data memory including program code for processing robotic lawnmower-related data and signals, - wherein the program code of a processor system is designed such that: -- the orientation of the robotic lawnmower relative to the prevailing magnetic field is determined from the magnetic field sensor data, -- the orientation of the robotic lawnmower relative to the base station is determined from the radio signals received in the antenna array of the base station and their phase relationships,-- the distance between the base station and the robotic lawnmower is determined from the intensity of the received radio signal, -- from which the position and two- and / or three-dimensional orientation of the robotic lawnmower is determined, - and the determined position and orientation of the robotic lawnmower is used to guide the robotic lawnmower.

[0023] A further embodiment of the robotic lawnmower according to the invention provides that both the robotic lawnmower and the base station are equipped with an antenna array. This makes it possible to determine not only the distance between the robotic lawnmower and the base station, but also the orientation of both the robotic lawnmower and the base station. This data can be used to determine the position and orientation of the robotic lawnmower relative to the stationary base station.

[0024] In a further embodiment, a robotic lawnmower is proposed, comprising: - at least one mower, - a steerable chassis with a control device, - at least one motor for driving the mower and chassis, - a receiving and transmitting device for radio signals, for generating a radio connection between the robotic lawnmower and a stationary base station assigned to the robotic lawnmower, wherein the latter is modified according to the invention such that: - the robotic lawnmower has an antenna array for determining its orientation relative to a base station, - a stationary base station is assigned to the robotic lawnmower, which has an antenna array for determining the direction of the robotic lawnmower relative to the base station, - the robotic lawnmower and the base station are connected to at least one processor system with program and data memory including program code for processing robotic lawnmower-related data and signals, - wherein the program code of the at least one processor system is designed such that:that: -- the direction of the robotic lawnmower relative to the base station is determined from the radio signals of the base station received in the antenna array of the base station and their phase relationships, -- the orientation of the robotic lawnmower is determined from the radio signals of the base station received in the antenna array of the base station and their phase relationships, -- and the distance between the base station and the robotic lawnmower is determined from the intensity of the received radio signals (signal level, signal amplitude), -- from which the position and two- and / or three-dimensional orientation of the robotic lawnmower is determined, - and the determined position and orientation of the robotic lawnmower is used to guide the robotic lawnmower.

[0025] Although in the embodiments described above, direction determination using an antenna array is fundamentally possible at any radio frequency, it is particularly advantageous if the radio connection between the robotic lawnmower and the base station is configured as a Bluetooth connection. In particular, the principles of the Bluetooth 5.1 standard can also be used here, although these are intended for indoor use. It is also within the scope of the invention to transfer the principles and methods underlying this Bluetooth standard for position and orientation determination via radio connections using antenna arrays to other frequencies, in particular to frequencies known for their better range.

[0026] It is also advantageous if the robotic lawnmower has a data connection to the internet via the base station, especially to an internet cloud, especially to a cloud of the manufacturer or distributor. This makes it possible to provide computing and storage power, if needed, using powerful computers and mass storage devices available in the cloud.

[0027] For example, at least one processor system for determining position and orientation can be arranged in the robotic lawnmower.

[0028] Advantageously, the at least one processor system for position and orientation determination can be located in the base station, with the radio connection between the robotic lawnmower and the base station being designed to transmit the information necessary for position and orientation determination to the base station. Since the base station is usually directly connected to a mains power supply, this results in fewer performance issues and the processor system does not need to be designed to be as energy-efficient.

[0029] Finally, however, the at least one processor system for position and orientation determination can also be arranged in the Internet cloud, preferably on a computer under the control of the manufacturer or distributor, wherein the radio connection between the robotic lawnmower and the base station is designed to transmit the information necessary for position and orientation determination to the base station and the base station is designed to forward the received information for position and orientation determination to the cloud.

[0030] Furthermore, the robotic lawnmower and the processor system for position and orientation determination outside the robotic lawnmower can be equipped to transmit the determined positions and orientations of the robotic lawnmower to the robotic lawnmower via the radio connection between the base station and the robotic lawnmower.

[0031] In this context, it's worth mentioning that, in relation to data transmission between the lawn mower and the base station via Bluetooth, on the one hand, and between the base station and an internet access point, it's advantageous to establish the latter connection either via a 5GHz Wi-Fi connection or, even better, via a wired Powerline connection. This circumvents the problem that both Bluetooth frequencies and the most commonly used Wi-Fi frequencies are located around 2.4 GHz. In particular, the wired Powerline connection (Ethernet via a 220V power line) prevents any interference with the wireless connection between the base station and the lawn mower at any frequency.

[0032] According to a further advantageous embodiment, it is also proposed to configure at least one processor system connected to the robotic lawnmower to create and store a map of an area to be mown based on a large number of previously determined position information from the robotic lawnmower. To create this map, the lawnmower can, for example, move along a boundary line, such as a looped wire or a mechanical boundary, or can be manually guided along the area to be mown, while its position data is continuously determined and stored in a map. Once the outer boundaries are known, the inner area can then be additionally scanned for obstacles using predefined search patterns or randomly and mapped accordingly.If at least the outer boundaries are known, appropriate software can be used to overlay the area to be mowed with a work pattern or path pattern, along which the robotic lawnmower can then move in a targeted manner.

[0033] It is also advantageous if the map created of the area to be worked contains location-dependent parameters that define at least one location-dependent condition value for the area. In particular, data regarding growth, number of over-mows, slope, fertilization, grass seed, and moisture can be collected from direct measurements, from inferences from engine and performance data or control data, or from mowing resistance data, so that a status picture of the area to be worked emerges over time. Based on such parameters, further optimization of the mowing process, particularly with regard to its location-specific frequency, can then be achieved.

[0034] Accordingly, it is also particularly advantageous if a processor system connected to the robotic lawnmower is designed to automatically create an optimized driving pattern for the area to be worked on the basis of previously determined maps and to store it in a memory, preferably in the robotic lawnmower, which is available to the robotic lawnmower in order to process it as needed.

[0035] A further advantageous embodiment consists in that a processor system connected to the robotic lawnmower is designed to determine bottlenecks, e.g. boundaries with distances smaller than the specified distance to the next boundary, or narrow passages, i.e. bottlenecks over a longer section, on the basis of previously determined maps of the area to be worked and to automatically determine an optimized route for driving through and processing the bottlenecks and passages and to make this available to the robotic lawnmower.

[0036] Furthermore, a processor system connected to the robotic lawnmower can also be designed to integrate a predetermined pattern or a predetermined image of a logo into the driving pattern as a partial pattern.

[0037] It is also advantageous if a processor system connected to the robotic lawnmower is designed to correct deviations such as drifting and slippage by constantly comparing the path to be controlled with the path actually traveled.

[0038] If corresponding location-specific parameter entries are already present in the map of the area to be worked, the corresponding correction can be made in advance, so that the path followed by the robotic lawnmower is more targeted overall and requires fewer subsequent corrections. Accordingly, it is also proposed that a processor system connected to the robotic lawnmower be configured to store location-dependent correction values and, when re-approaching known positions, proactively incorporate these correction values into the control system.

[0039] A further advantageous embodiment of the robotic lawnmower provides that the control device of the robotic lawnmower has program code that, based on a map of the area to be worked, proactively avoids obstacles and / or asymptotically approaches boundaries. Thus, boundaries or obstacles are no longer approached bluntly, but rather, based on knowledge of an obstacle or boundary, the robotic lawnmower proactively approaches them at a shallow angle, thereby making the robotic lawnmower's overall operation more fluid and efficient.

[0040] Furthermore, a processor system connected to the robotic lawnmower can advantageously also be designed to temporarily enter obstacles into the map of the area to be worked, whereby these obstacles are deleted again after a predetermined time.

[0041] It is advantageous if the robotic lawnmower is equipped with at least one sensor for detecting an area boundary, in particular for detecting a grinding wire used as an area boundary, and a processor system connected to the robotic lawnmower is designed to interpret the position of this area boundary, in particular of the grinding wire, as the outermost boundary of an area to be worked on.

[0042] Furthermore, it is advantageous if a processor system connected to the robotic lawnmower is designed to communicate a stored map of an area to be worked with a user, i.e. to transmit the stored map to a user and / or to receive such a map from the user, wherein the map is transmitted back in a modified form or with supplemented data by appropriate modification.

[0043] Advantageously, the map communicated between the processor system and the user can contain at least further location-related information on the area to be processed from at least one type of the following list: - planned path of the robotic lawnmower; - obstacles; - drift parameters; - slippage parameters; - position, size and orientation of a pattern / logo to be driven; - growth speed; - mowing resistance; - fertilizer load; - soil moisture; - mowings carried out; - special mowing events found, e.g. power spikes, getting stuck, occurrence of error events; All data in the aforementioned list can optionally be provided with a timestamp and / or an expiration period and / or an expiration date.

[0044] According to a further aspect of the invention, which is also generally applicable to a robotic lawnmower according to the preamble of claim 1 or one of the embodiments described above, it is proposed that the robotic lawnmower be supplemented by an additional mobile additional unit placed on the robotic lawnmower or attached to the robotic lawnmower, i.e. by an attachment or a trailer, which is designed to transport a payload and to deposit it in whole or in part or in a metered manner at predetermined or calculated positions or areas under the control of a processor system.

[0045] It is particularly advantageous if the additional unit is designed not only for transporting payloads, but also for their controlled deployment. Accordingly, it is proposed that the additional unit have a data connection, preferably a Bluetooth data connection or an NFC connection, to the robotic lawnmower, which is designed to control the function of the additional unit. This primarily, but not exclusively, relates to position-dependent and possibly metered deployment of the payload, whereby automatically controlled loading and / or unloading, for example, at the base station or a charging station specially set up for this purpose, is also within the scope of the invention.

[0046] In principle, it is possible to mechanically couple such an additional unit with a drive already present in the robotic lawnmower, but it seems more variable if the additional unit is equipped with its own drive.

[0047] The add-on unit can either be equipped with its own power source to avoid placing additional strain on the robotic lawnmower's battery. Alternatively or additionally, it may be advantageous to equip the add-on unit with at least one electrical power and / or data connection to the robotic lawnmower, thus allowing the add-on unit's functions to be controlled via the robotic lawnmower.

[0048] In addition, a sensor can be arranged on the robotic lawnmower, which detects a connection between the robotic lawnmower and the additional unit and forwards a status signal to a connected processor system.

[0049] For example, the payload of the additional unit can be something like the following list: - Fertilizers; - Grass seeds; - Water; - Pesticides; - Marking agents (paint); wherein the additional unit has an application device adapted to the payload, for example in the form of a discharge roller, a rotary distributor or a spray device.

[0050] Within the scope of the invention, a robotic lawnmower system is also proposed, comprising: - a robotic lawnmower according to one of the preceding claims, - a base station equipped for transmitting and receiving radio signals between the robotic lawnmower and the base station, - the base station with a connection to the Internet, in particular to a cloud, in particular to a cloud of a manufacturer or distributor.

[0051] According to the invention, such a robotic lawnmower system can also be supplemented with a data terminal or a user station - for example a smartphone, a tablet, a laptop or a PC - of a user, which is equipped to communicate with the robotic lawnmower via the base station in order to receive data from the robotic lawnmower and vice versa.

[0052] Furthermore, as part of the robotic lawnmower system, the data terminal can also be designed by means of contained program code to display a map of an area to be worked, generated by a processor system of the robotic lawnmower system, to draw desired routes or special areas, such as areas not to be worked - for example, in order to avoid certain flower areas when mowing or areas that are to be particularly fertilized or supplied with flower or grass seeds - and to transmit these to the processor system of the robotic lawnmower system for the corresponding processing.

[0053] Finally, the inventors also propose a method for operating a robotic lawnmower or robotic lawnmower system, which comprises the following method steps: - Determination of the orientation of the robotic lawnmower from movement data or with a direction sensor arranged on the robotic lawnmower, - Determination of the direction of the robotic lawnmower relative to a base station from the radio signals of the base station received in the antenna array of the robotic lawnmower and their phase relationships, - Determination of the distance between the base station and the robotic lawnmower from the intensity of the received radio signals, - Determination of the position and the two- and / or three-dimensional orientation of the robotic lawnmower from the orientation, direction and distance to the base station, - and the determined position and orientation of the robotic lawnmower is used to guide the robotic lawnmower.

[0054] It should also be noted that the lawn mower used here can take on a wide variety of known mechanical designs. This particularly applies to the mowing system, which can consist of one or more individually or separately driven mowers. Furthermore, it applies to the number of motors driving the mower and the chassis, which can include a shared motor with power distribution, individual motors for each rotating part, or a combination of both. Furthermore, it particularly applies to the steerable chassis, which is implemented, for example, by an articulated chassis or directionally controllable individual wheels or pairs of wheels. In particular, this also includes chassis control via wheels driven individually or in pairs at different speeds and, if applicable, in different directions, similar to the control of a tracked chassis.

[0055] The scope of the invention also includes additions to the method described above from method steps that are readily apparent to a person skilled in the art based on the description of the robotic lawnmower, the robotic lawnmower system and its mode of operation, both in the preceding text and in the following description of the figures, including the graphic disclosure of the figures.

[0056] The invention is described in more detail below using preferred embodiments with the aid of the figures, in which only the features necessary for understanding the invention are shown. They show in detail: FIG 1: Illustration of a position determination of a lawnmower by an antenna array in a base station and orientation determination of the lawnmower with a direction sensor; FIG 2: Illustration of a position determination of a lawnmower by an antenna array in a base station and orientation determination of the lawnmower based on the movement of the lawnmower; FIG 3: Illustration of a position and orientation determination of a lawnmower with a direction sensor using an antenna array in the lawnmower; FIG 4: Illustration of a position and orientation determination of a lawnmower with one antenna array each in the lawnmower and a base station; FIG 5: Illustration of an exemplary automatic design of a driving pattern for a lawnmower with integrated position and orientation determination; FIG 6: Illustration of an exemplary embodiment of a robotic mower system with a connection to a manufacturer's cloud with a processor system installed there via the Internet..

[0057] In the Figures 1 to 4 It is shown how the position and orientation of a lawnmower (robot mower) on an area to be worked on can be determined in different ways by determining the direction of exchanged signals between an antenna array and a simple antenna, measuring distances using the measured signal strength of the exchanged signals and further determining the orientation of the lawnmower.

[0058] The Figure 1shows a first embodiment in which a base station B is positioned stationary and oriented north on an area to be mowed or generally worked. The alignment can be achieved either by actual physical alignment or by a corresponding direction sensor determining the existing alignment of the base station, so that the alignment of the base station is subsequently carried out virtually. The base station itself has an antenna array by which the direction or angle α from which an incoming radio signal from a distant transmitter, in this case a lawnmower, is received can be determined. The underlying method, in which the relative direction of the incoming signal is determined from the phase differences of the incoming signal at the individual antennas of the antenna array, is generally known and is used, for example, in the Bluetooth 5.0 standard.1. Alternatively, this direction can also be evaluated and determined by a signal emitted by the antennas of the antenna array and their different phase shift at the simple receiving antenna.

[0059] The signal strength of the communicated radio signals can also be used to determine or estimate with a good degree of accuracy the distance d between the lawnmower and the base station. Based on the known angle α and the known distance d, the position of the lawnmower R relative to the base station B can be determined. However, for targeted control of the lawnmower the orientation of the lawnmower is also essential, as this is the only way to directly control predetermined positions and / or predetermined areas. The direction in which the lawnmower travels as soon as it moves forward must therefore be known. In this first embodiment this information can be determined with the aid of a direction sensor, for example a magnetic sensor, in particular a fluxgate sensor. This means that not only the position of the lawnmower but also its orientation is known, enabling targeted control.

[0060] Another embodiment is in the Figure 2 which are basically the Figure 1 However, the lawnmower does not have a direction sensor and the base station is not necessarily oriented to the north or cannot determine the north direction.

[0061] The antenna array can be used to determine the relative direction or angle α of the lawnmower's signal, and the signal strength can be used to determine the distance d between the lawnmower and the base station, and thus the relative position of the lawnmower to the base station. Furthermore, the orientation of the lawnmower relative to the base station can be determined by moving the lawnmower and determining the positions at different times R(t=1) and R(t=2) two or more times, and thus the motion vector r of the lawnmower. If the lawnmower has been moved in its forward direction, the motion vector corresponds to the orientation of the lawnmower. This means that in this embodiment, both the position and the orientation of the lawnmower relative to the base station are known.

[0062] Another embodiment is as in the Figure 3It is shown that the lawnmower R is equipped with an antenna array and a direction sensor, while the stationary base station only has a simple antenna. Using the antenna array, the direction or angle γ from the lawnmower to the base station can be determined. The distance between the base station and the lawnmower can be determined from the measured signal strength. However, this does not yet allow for a position determination, as there are any number of positions on a circle of equal distance around the base station - shown as an example in dashed lines - at which the aforementioned measurements apply.However, if the lawnmower is equipped with a direction sensor S, which can be used to determine the lawnmower's orientation relative to north, i.e., the angle β, and the base station is also oriented northward or its orientation relative to north—or some other common orientation—is known, the lawnmower's position on the distance circle becomes unambiguous. The position and orientation of the lawnmower are thus clearly defined for targeted control.

[0063] Another embodiment of the lawn mower and the lawn mower system is shown in the Figure 4shown. Here, both lawnmower R and base station B have an antenna array and can thus each determine their own orientation to the respective remote station, i.e., the angles α and γ. In addition, the distance between the two transmitters and receivers, i.e., between the base station and lawnmower or between the lawnmower and base station, can be determined by measuring the signal strengths of the received radio signals from the respective remote station. Thus, the position of lawnmower R relative to base station B and, at the same time, the orientation of lawnmower R are known without the need for an additional direction sensor.

[0064] It should also be noted that the accuracy and dimension of the directional determination of incoming or transmitted signals via an antenna array fundamentally depends on the number and arrangement of the antennas within the antenna array. Accordingly, depending on the design of the antenna array, the orientation of the antenna array can be determined two- or three-dimensionally relative to the received radio signal, and thus also the position of the connected device.

[0065] If the position and orientation or location of the lawnmower can be determined using the antenna systems described above and any directional sensors present, the lawnmower can now first explore and map an area to be worked on and then automatically work on it using a predetermined driving style or a predetermined route, taking existing obstacles into account and, if necessary, also specifically approach certain positions or partial areas.

[0066] To initially define and save the outer boundaries of an area to be worked, the lawnmower can first be manually guided along this outer boundary, with the positions of the lawnmower being simultaneously recorded and saved accordingly. Alternatively, a loop wire L can be used, which has been placed at the boundary of the area F to be worked. With a corresponding sensor, the lawnmower detects this loop wire, moves along it, and thus maps the outer boundary of the area F to be worked. Figure 5 Such a situation is shown schematically. Starting from base station B, a loop wire runs along the outer boundary of area F, so that the lawnmower first drives around area F along the dashed path, thus entering the area to be mowed on an electronic map.

[0067] To process a given driving pattern, as shown in dash-dotted lines in the Figure 5is entered, the lawnmower can first begin the route from the base station along the boundary of area F until it reaches a first intersection point with the driving pattern to be driven. There the lawnmower turns onto the specified driving pattern and drives to the next intersection point. There it looks for the nearest and not yet driven on intersection point between the outer boundary and the driving pattern, drives along the outer boundary to this intersection point and then along the driving pattern until the area has been mown. If obstacles H1 and H2 occur in the area F to be mown, the lawnmower can either drive around them as required, whereby due to the previously known driving pattern to be processed and the known orientation of the lawnmower the obstacle can be automatically scanned in a targeted manner in order to rejoin the path of the driving pattern that it initially left behind behind the obstacle.Once the contours of the obstacles are known and mapped, they can then be avoided in a targeted manner.

[0068] It is pointed out that, within the scope of the invention, the generation of an optimized driving pattern on the basis of the recognized outer boundaries and, if applicable, recognized or predetermined obstacles and / or areas not to be processed can be carried out with the aid of a software-based AI (=artificial intelligence).

[0069] In the Figure 6 It is schematically shown how the lawnmower R according to the invention, or rather the entire lawnmower system, is connected to each other and to a manufacturer's cloud on the Internet. A Bluetooth connection is preferably used between the lawnmower and the base station, whereby one of the embodiments of the Figures 1 to 4can be used. The base station should preferably be connected to an access point or an internet router via an Ethernet powerline connection or a 5 GHz WLAN connection so that a data connection to the manufacturer's internet cloud can be established. Within the scope of the invention, the processor system PS, which carries out the position calculations for the lawnmower, can be arranged at any location reached by this connection, primarily this can be the lawnmower itself, the base station or also the cloud of the manufacturer or distributor. However, if the processor system is not installed in the lawnmower or the base station, the signal data must be forwarded accordingly via the data connection to the external processor system and the determined position data must be immediately transmitted to the base station and / or the lawnmower.

[0070] Although the invention has been illustrated and described in detail by the preferred embodiment, the invention is not limited by the disclosed examples and other variations can be derived therefrom by those skilled in the art without departing from the scope of protection of the invention. In particular, the invention is not limited to the specified combinations of features, but other combinations and sub-combinations that are obvious to those skilled in the art can also be formed from the disclosed features. Thus, embodiments are also to be regarded as encompassed and disclosed by the invention that are not explicitly shown or explained in the figures, but which arise from and can be produced by separate combinations of features from the explained embodiments. It is also within the scope of the invention to bring about a mechanical reversal of the functions of the individual mechanical elements of the invention. List of reference symbols

[0071] AAntenna array BBase station ESingle antenna dDistance from base station to lawnmower H1, H2Obstacles LSweeping wire NNorth or reference direction of the base station RLaw mower (robot lawnmower) R(t=1)Lawn mower at time t=1 R(t=2)Lawn mower at time t=1 rDirection of movement ~ Orientation of the lawnmower TTravel path αAngle between north and bearing to the lawnmower βAngle between north and orientation of the lawnmower γAngle between the orientation of the lawnmower and the bearing from the base station to the lawnmower

Claims

1. System consisting of a mowing robot (R) and a base station (B), the mowing robot (R) comprising: 1.

1. at least one cutting mechanism, 1.

2. a controllable running gear having a control apparatus, 1.

3. at least one motor for driving the cutting mechanism and running gear, 1.

4. a receiving and transmitting device for radio signals, to produce a radio connection between the mowing robot (R) and a stationary base station (B) associated with the mowing robot (R), 1.

5. a means for determining the orientation of the mowing robot (R) for the purposes of two- or three-dimensional alignment, 1.

6. the receiving and transmitting device of the mowing robot (R) has an antenna for radio communication (A, E), 1.

7. wherein the base station (B) has an antenna for radio communication (A, E), 1.

8. the mowing robot (R) and the base station (B) are connected to at least one processor system having program and data memory, including program code for processing mowing-robot-related data and signals, 1.

9. at least one of the two antennas for radio communication of the base station (B) and the mowing robot (R) is in the form of an antenna array (A) for detecting phase differences in incoming radio signals of a determined frequency, 1.

10. wherein the program code of a processor system is in a form such that: - use of at least one antenna array (A), - applying two determinations of direction - and applying one determination of distance, - identifies the position and orientation of the mowing robot (R) relative to a base station (B), - at least one of the two determinations of direction results in the phase relationships of the exchanged radio signals between an antenna for radio communication (E, A) and an antenna array for detecting phase differences in incoming radio signals of a determined frequency (A) being evaluated, - and the determination of distance results in the intensity of the received radio signals being evaluated, - in order to use the known position and orientation of the mowing robot (R) to guide the mowing robot (R).

2. System according to preceding Claim 1, characterized in that: 2.1 the receiving and transmitting device of the mowing robot (R) has a single antenna for radio communication (E) that is used to receive the signals from an antenna array (A) of a stationary base station (B), 2.

2. the program code of the processor system is in a form such that: - the phase relationships of the radio signals exchanged between the antenna for radio communication (E) of the mowing robot (R) and the antenna array (A) of the base station (B) are used to determine the direction of the mowing robot (R) relative to the base station, - the intensity of the received radio signals is used to determine the distance between the base station (B) and the mowing robot (R), - and so the relative position of the mowing robot (R) in relation to the base station (B) and the two- and / or three-dimensional orientation of the mowing robot (R) is known overall.

3. System according to preceding Claim 1, characterized in that: 3.

1. the mowing robot (R) has a direction sensor for determining the orientation, preferably a magnetic field sensor (fluxgate sensor), 3.

2. the receiving and transmitting device of the mowing robot (R) has an antenna array for radio communication (A) that uses radio signals to communicate with the base station (B), 3.

3. the base station (B) has a single antenna for radio communication (E), 3.

4. the program code of the processor system is in a form such that: - the magnetic field sensor data are used to determine the orientation of the mowing robot (R) in relation to the prevailing magnetic field, - the radio signals received in the antenna array (A) of the base station and the phase relationships of said radio signals are used to determine the alignment of the mowing robot (R) in relation to the base station (B), - this being used to determine the position and two- and / or three-dimensional orientation of the mowing robot (R) overall.

4. System according to preceding Claim 1, characterized in that: 4.

1. the mowing robot (R) has an antenna array for radio communication (A) to determine its orientation relative to a base station (B), 4.

2. the mowing robot (R) has an associated stationary base station that has an antenna array for radio communication (A) to determine the direction of the mowing robot (R) relative to the base station (B), 4.

3. the program code of the processor system is in a form such that: - the radio signals of the mowing robot (R) that are received in the antenna array (A) of the base station (B) and the phase relationships of said radio signals are used to determine the direction of the mowing robot (R) relative to the base station (B), - the radio signals of the base station (B) that are received in the antenna array (A) of the mowing robot (R) and the phase relationships of said radio signals are used to determine the orientation of the mowing robot (R), - and the intensity of the received radio signals are used to determine the distance between the base station (B) and the mowing robot (R), - this being used to determine the position and two- and / or three-dimensional orientation of the mowing robot (R).

5. System according to one of preceding Claims 1 to 4, characterized in that the processor system, for position and bearing determination, is arranged in the base station (B), the radio connection between the mowing robot (R) and the base station (B) being designed to relay the information needed for position and bearing determination to the base station.

6. System according to one of preceding Claims 1 to 5, characterized in that: 6.

1. the processor system, for position and bearing determination, is arranged in the cloud, preferably on a computer that is under the control of the manufacturer or distributor, 6.

2. wherein the radio connection between the mowing robot (R) and the base station (B) is designed to relay the information needed for position and bearing determination to the base station, and the base station is designed to forward the received information about position and bearing determination to the cloud.

7. System according to one of preceding Claims 1 to 6, characterized in that the mowing robot (R) and the processor system, for position and bearing determination outside the mowing robot (R), are equipped to relay the identified positions and bearings of the mowing robot (R) to the mowing robot via the radio connection between the base station (B) and the mowing robot (R).

8. System according to one of preceding Claims 1 to 7, characterized in that a processor system connected to the mowing robot (R) is designed to take a previously identified map as a basis for automatically generating an optimized running pattern for the area to be worked on and storing said running pattern in a memory, preferably in the mowing robot (R), which running pattern is available to the mowing robot (R) for execution as needed.

9. System according to one of preceding Claims 1 to 8, characterized in that a processor system connected to the mowing robot (R) is designed to take a previously identified map of the area to be worked on as a basis for identifying bottlenecks (e.g. boundaries at distances shorter than default from the next boundary) or narrow passageways and automatically determining an optimized route to pass through and work on the bottlenecks and passageways and providing said route for the mowing robot.

10. System according to one of preceding Claims 1 to 9, characterized in that a processor system connected to the mowing robot (R) is designed to integrate a predefined pattern or an image of a logo into the running pattern as a partial pattern.

11. System according to one of preceding Claims 1 to 10, characterized in that the map communicated between the processor system and the user has at least further location-related information about the area to be worked on from at least one type on the following list: - planned route of the mowing robot (R); - obstacles (H1, H2); - drift parameters; - slippage parameters; - position, size and orientation of a pattern / logo to be used; - growth rate; - mowing resistance; - fertilizer burden; - soil moisture; - mows performed; - special mowing events encountered, in particular power spikes, getting stuck, occurrence of fault events, all of the data on the aforementioned list optionally also being provided with a timestamp and a running time or an expiry date.

12. System according to one of preceding Claims 1 to 11, characterized in that the mowing robot (R) is complemented by an additional running supplementary unit that is mounted on the mowing robot (R) or hitched to the mowing robot and designed to transport a payload and, under the control of a processor system, to deposit all or some or metered quantities of said payload at or on predefined or calculated positions or areas.

13. System according to preceding Claim 12, characterized in that the additional unit has a data connection, preferably a Bluetooth data connection or an NFC connection, to the mowing robot (R) that is designed to control the function of the supplementary unit.

14. System according to either of preceding Claims 12 to 13, characterized in that the supplementary unit has at least one electric power and / or data connection to the mowing robot (R).

15. System according to one of preceding Claims 12 to 14, characterized in that there is provision for a sensor that detects a coupling between the mowing robot (R) and the supplementary unit and forwards a status signal to a connected processor system.

16. System according to one of preceding Claims 12 to 15, characterized in that the payload of the supplementary unit is of a type on the following list: - fertilizer; - lawn seed; - water - pesticide; - marking agent; the supplementary unit having an application apparatus customized for the load.

17. System according to one of the preceding claims, characterized in that the base station (B) with a connection to the Internet, in particular to an Internet cloud, in particular to a cloud of a manufacturer or distributor.

18. System according to preceding Claim 17, characterized in that part of the system is also a data terminal or a subscriber station, in particular a smartphone, a tablet, a laptop or a PC, of a user that is equipped to communicate with the mowing robot (R) via the base station (B) in order to receive data of the mowing robot (R) and conversely transmit data to said mowing robot.

19. System according to preceding Claim 18, characterized in that the data terminal, as part of the system, is also designed, by way of included program code, to display a map of an area to be worked on that is generated by a processor system of the mowing robot system (R, B), to mark in desired running routes or special regions and to transmit said desired running routes or special regions to the processor system of the mowing robot system (R, B).

20. Method for operating a system consisting of the mowing robot (R) and the base station (B), comprising the following method steps: 20.

1. determining the orientation of the mowing robot (R) from motion data or by using a direction sensor arranged on the mowing robot (R), 20.

2. determining the direction of the mowing robot (R) relative to a base station (B) from the radio signals of the base station that are received in an antenna array for radio communication (A) of the mowing robot (R) and the phase relationships of said radio signals, 20.

3. determining the distance between the base station (B) and the mowing robot (R) from the intensity of the received radio signals, 20.

4. determining the position and the two- and / or three-dimensional orientation of the mowing robot (R) from the orientation, the direction and the distance from the base station (B), 20.

5. and using the identified position and orientation of the mowing robot (R) to guide the mowing robot (R).