DE202013101894U1 - Base station for and mowing system with several robotic lawnmowers - Google Patents

Abstract

Base station (6-10) for service support of robotic lawnmowers with a service area (26) for receiving a robotic lawnmower (2-5), wherein a plurality of robotic lawnmower (2-5) along a guide line (11) for entering the service area (26) are conductive , characterized in that the base station (6-10) comprises a blocking means (16) adapted to prevent the entry of a robotic lawnmower (2-5) into the service area (26).

Description

The invention relates to a base station for service support of robotic lawnmowers and a mowing system for automated mowing of a processing area with the features in the respective preamble of the independent claims.

From the DE 38 16 622 A1 is known an automatically moving single lawn mower, which is controlled by several floor cables, are fed into the alternating currents with different frequencies. A parking lot of the lawn mower is arranged in a garage. A garage door of this garage can be opened and closed via a remote control signal device on the lawn mower when the lawnmower is to enter the garage. The garage door is not part of the base station.

The DE 698 29 411 T2 discloses an electronic search system for a robotic lawnmower, in which a boundary wire is laid as a guide line on the ground. There is also disclosed a docking system for multiple docking directions where two robots are rechargeable at the same time. If a robot is at the docking station, it may collide with and be pushed out by a second robotic lawnmower.

From the US 5,220,263 A , of the US 5,959,423 A and the EP 0 229 669 A2 are known leadership systems for working robots, cleaning robots and automatic transport vehicles.

The previously known base stations and mowing systems are not optimally designed for operation with several robotic lawnmowers. It is an object of the present invention to provide an improved base station and an improved mowing system. The invention solves this problem with the features in the characterizing part of the independent claims.

The base station according to the invention is suitable for providing service support, in particular resource support, for two or more robotic robots. As a result, a base station can optionally record several robotic lawnmowers alternately and provide the service support. The base station has at least one service place at which a robotic lawnmower is placed during a service operation. It also has a blocking means, which is designed to prevent the entry of a robotic lawnmower in the base station, in particular in the service area. The blocking means is preferably activated when the base station is busy, i. H. if another robotic lawnmower is already in the base station and especially in the service area. It is correspondingly preferred that the base station has a recognition device for detecting the presence of a robotic lawnmower.

The blocking means may have a pure blocking function, in particular a mechanical blocking function, and / or be a diverting means. A redirection means effects an informational blocking function and is designed to cause a robotic lawnmower to drive past the base station. The redirection means may preferably be activated when the base station is busy, i. H. when a first robotic lawnmower in the base station, especially in the service area, is present. The activation may be triggered by the recognition device.

By Blockademittel a second robotic lawnmower is prevented from retracting into an occupied service area and thereby divide a first located in the service area robotic lawn out. When pushing out a service process could be interrupted at the first robotic lawnmower in the service area. The blocking means avoids such disruption and ensures successful completion of service support. By means of a diverting means it is additionally possible to prevent a second robotic lawnmower from idling in front of an occupied base station or in front of an occupied service station.

The diverting of a robotic lawnmower at the base station can be advantageously used in different ways. On the one hand, it may mean that a robotic lawnmower, which still has enough remaining capacity to carry out another mowing cycle, again starts mowing the processing area. This redirected robotic lawnmower can return to the base station at a later time and enter it again if it is released again. If the base station is still busy, the robotic lawnmower can either be redirected again or - if he no longer has sufficient residual capacity - remain in the base station before entering the base station until it is free again. In this way, a particularly efficient use of a base station by a plurality of robotic lawnmowers and / or an increase in efficiency for the utilization of the residual capacities is made possible. By providing a blocking agent and in particular a diverting means, it is further prevented that a second robotic robot pushes out a first robotic lawnmower in the base station before the operations for its service support have been completed. This means that it can be avoided that a robotic lawnmower leaves a service support before restoring its total capacity. It is thus prevented that the multiple robotic lawnmower at a base station hinder or mutually interrupt a designated stay in the base station.

The invention also relates to a mowing system for automated mowing of a processing area with at least two robotic lawnmowers and a base station. The base station is preferably designed according to the above-mentioned type. It is also preferably suitable for the alternate service support of the two or more robotic lawnmowers.

Alternatively, a mowing system may have two or more base stations. The base stations can preferably be arranged along a common guide line, wherein the guide line spans a common processing area for the two or more robotic lawnmowers. Such a mowing system is particularly suitable for mowing larger processing areas, such as football fields, parks or sports areas. By using two or more robotic lawnmowers, a particularly fast execution of a mowing process can be achieved. It is not necessary to divide the processing area into different segments, each with its own management line. This is advantageous because the guide line can be arranged so completely outside the working surface. Damage to the guide lines, which could otherwise result from the use of the working surface, for example during a sporting use, especially in case of damage to the lawn surface with football boots or sports equipment, can be avoided. It also ensures that the entire lawn area can be covered by the processing area. On the required for the installation of separate guide lines for separate processing surfaces spacing of the lines while leaving each of an intermediate strip can be advantageously dispensed with.

The robotic lawnmowers may perform any method of traversing and processing the processing area. For example, you can start a randomly selected machining course. Alternatively, they can use a predefined course that can be followed by an internal navigational tool. In such a case, the management line can be used for the exact determination of the edge area and possibly for the specification of waypoints on the processing area. The robotic lawnmowers can each work autonomously or in coordination with one another.

In the dependent claims further advantageous embodiments of the invention are given.

The invention is illustrated by way of example and schematically in the drawings. Show it:

1 a mowing system in an embodiment with four robotic lawnmowers and four base stations at a processing area covering a soccer field;

2 to 3 Embodiments of a base station with a blocking means with a mechanical blocking function;

4 and 5 Embodiments of a base station with a blocking means with diversion function.

The invention relates to a base station ( 6 - 10 ) for service support of robotic lawnmowers ( 2 - 5 ), along a leader ( 11 ) for entry into the base station ( 6 - 10 ) are conductive. The management ( 11 ) can be used to delimit a processing area ( 12 Be used and this preferably outside span. A robotic lawnmower can control the working area ( 12 ) within the guideline ( 11 ) to execute a mowing operation. The robotic lawnmower ( 2 - 5 ) has for this purpose a mowing tool and a chassis. The chassis can be designed as desired. It can, for example, have drivable and steerable wheels or wheel groups, in particular two separately drivable and drivable with different speeds driving wheels and one or more freely rotatable support wheels. The robotic lawnmower ( 2 - 5 ) furthermore has an energy store, in particular an electric accumulator, and, if necessary, a clippings store. The energy store and / or the cuttings store can be designed as replaceable units which are connected to a base station (FIG. 6 - 10 ) are individually or jointly changeable. The replacement of a memory can preferably be automated. Alternatively and preferably, an energy store at a base station ( 6 - 10 ) to be charged. The base station may accordingly preferably be a charging station.

A base station ( 6 - 10 ) and the two or more robotic lawnmowers ( 2 - 5 ) are preferably a common mowing system ( 1 ). In 1 is a mowing system ( 1 ), which has four robotic mowers ( 2 to 5 ) and four base stations ( 6A to 6D ). The mowing system ( 1 ) has a common leadership ( 11 ), which covers the entire processing area ( 12 ) spanned on the outside. The editing area ( 12 ) comprises in the illustrated example a football field and an edge strip arranged around it. The management ( 11 ) can be configured arbitrarily. It is preferably designed as a floor line, in particular as a bottom loop. It may for example be formed by an electrical wire which is buried in a certain and preferably uniform depth relative to the surface. The depth can be for example 5 or 10 cm. Alternatively, a Guide line laid on the surface or above the surface of the machining area. So a leader ( 11 ) be incorporated, for example, in a boundary marking of a sports field, in particular in a made of a durable textile or plastic material and applied to the floor field line.

A base station ( 6 - 10 ) can be a power supply ( 25 ) for the management ( 11 ). Alternatively or additionally, a power supply ( 25 ) as a separate element in a mowing system ( 1 ), as in 1 shown. By the energy supply ( 25 ) can be a predetermined loop signal (S) in the leadership ( 11 ) are fed. The loop signal (S) may preferably include pulsating currents, in particular an alternating current signal. The currents cause a 11 ) propagating alternating magnetic field generated. At each robotic lawnmower ( 2 - 5 ) are preferably arranged sensors with which this magnetic field can be detected. The magnetic field can be measured by the robotic lawnmower ( 2 - 5 ) to determine whether the robotic lawnmower ( 2 - 5 ) inside or outside the management ( 11 ) and thus inside or outside the processing area ( 12 ) is located.

The management ( 11 ) can (as in 1 shown) preferably as a simple loop and as a delimitation around the processing area ( 12 ). Alternatively, the leadership ( 11 ) at certain points in micro loops with two or more windings. Through the formation of micro-loops, the magnetic field generated by the guide line ( 11 ), are bundled at certain points so as to enable the robotic lawnmowers ( 2 - 5 ) to set identifiable waypoints. Such waypoints can be used, for example, for navigation and / or coordination of the mowing operations between the robotic lawnmowers ( 2 - 5 ) be used.

The robotic lawnmower ( 2 - 5 ) may each have a means for detecting the existing residual capacity for the mowing work. Such a means may for example be a means for detecting the residual capacity of an energy store and / or a means for detecting the residual capacity of a cuttings store. A robotic lawnmower can autonomously decide on the basis of the determined residual capacity when it has to go to a base station ( 6 - 10 ) will return for the use of operating support. Alternatively, a robotic lawnmower ( 2 - 5 ) in another form, in particular via a communication link and here for example via a specific coding in the loop signal (S), be informed that it has a base station ( 6 - 10 ) should start.

In the example of 1 corresponds to the number of robotic mowers ( 2 - 5 ) the number of base stations ( 6A - 6D ). In such a constellation, it is always ensured that for each robotic lawnmower ( 2 - 5 ) a free base station ( 6A - 6D ) is available. Accordingly, it makes sense for a robotic lawnmower to almost completely exhaust its residual capacity before it reaches a base station ( 6A - 6D ) returns. Accordingly, mowing efficiency can be maximized by fully utilizing the capacities.

If the number of base stations ( 6 - 10 ) is less than the number of mowing robots ( 2 - 5 ), it may happen that for a robotic lawnmower ( 2 - 5 ) just no free base station ( 6 - 10 ) is available. Accordingly, it may make sense for a robotic lawnmower ( 2 - 5 ) for some time before its capacity is exhausted, ie for example when the residual capacity is still 20% to 30% of the total capacity, to a base station ( 6A to 6D ) returns. In this way, unnecessary standstill times of a robotic lawnmower can be reduced by the robotic lawnmower executing another mowing cycle before starting the attempt again, to a base station (FIG. 6 - 10 ) to return.

A base station ( 6 - 10 ) has a blocking agent ( 16 ), which is adapted to prevent the entry of a robotic lawnmower into the base station. Such a blocking agent ( 16 ) can be configured arbitrarily. It is designed, in particular, to mechanically prevent the entry of a second robotic lawnmower into the base station if a first robotic lawnmower is already present in the base station.

A base station ( 6 - 10 ) preferably has a recognition device ( 14 ) for detecting the presence of a robotic lawnmower ( 2 - 5 ) in the base station. The recognition device ( 14 ) can be configured arbitrarily. It may be formed, for example, by an electrical contact, which when charging an energy storage of the robotic lawnmower ( 2 - 5 ) is activated. Alternatively or additionally, a recognition device ( 14 ) may be formed by a switch which, when driving in a robotic lawnmower ( 2 - 5 ) in the base station ( 6 - 10 ) is activated. In addition, any other embodiments of a recognition device ( 14 ) possible. The recognition device ( 14 ) can be used for any positioning of a robotic lawnmower ( 2 - 5 ) in the base station. Alternatively and preferably, the recognition device ( 14 ) is activated only when a robotic lawnmower ( 2 - 5 ) in the service area ( 26 ) is located.

The recognition device ( 14 ) the blocking agent ( 16 ) when the presence of a first robotic lawnmower has been detected in the base station. In this case, the blocking agent ( 16 ) each have a second robotic lawnmower ( 3 - 5 ) prevent it from entering the base station ( 6 - 10 ) retract. Holding a second robotic lawnmower ( 3 - 5 ) can done in any way. It can be done by the second robotic lawnmower ( 3 - 5 ) to a stop or stay in front of the entrance to the base station ( 6 - 10 ). Alternatively or additionally, the stoppage can be effected by causing the robotic lawnmower to drive around the base station or to restart the mowing work.

The blockage agent ( 16 ) can work on its own. It can be used, for example, as a mechanical blocking agent, in particular as a barrier ( 17 ), be formed as in 2 shown. The closets ( 17 ) may preferably be located at an entrance area of a base station ( 7 ), in particular at an entrance area to a service location ( 26 ), and in the closed state block this entrance area. Alternatively, a blocking means may be configured to include a first one in the base station ( 6 - 10 ) to hold the robotic lawnmower. This can be effected for example by a holding, fixing or gripping device. In such a case, the first robotic lawnmower in the base station ( 2 ) itself as a blockade for a subsequent second robotic lawnmower ( 3 - 5 ) and prevents it from entering the base station.

Again alternatively, a blocking agent ( 16 ) with a robotic lawnmower ( 2 - 5 ) interact informationally. In 3 is a blockage agent ( 16 ) in the form of a means of communication ( 18 ). The communication means is adapted to a second robotic lawnmower ( 3 - 5 ) by means of a control instruction for omitting the entry into the base station ( 8th ). The means of communication ( 18 ) can be configured arbitrarily. It may for example be designed as a radio module and with a separate radio receiver on a robotic lawnmower ( 2 - 5 ) communicate. Alternatively, the communication means ( 18 ) have a magnetic field emitter located near the guide line ( 11 ) and in front of the entry area of a base station ( 8th ) is arranged as in 3 shown. In such a case, the radio module ( 18 ) emit a signal that is transmitted via the existing sensor of a robotic lawnmower ( 2 to 5 ) for the recognition of the management line ( 11 ) can be detected with. Alternatively, a robotic lawnmower may have a separate sensor for this signal. Again, alternatively, the communication means ( 18 ) a specific instruction about the management ( 11 ), which a second robotic lawnmower ( 3 - 5 ) can evaluate and implement. For example, the instruction may cause a robotic lawnmower at a particular waypoint prior to entering the occupied base station (FIG. 6 - 10 ) to stand still.

Alternatively, a robotic lawnmower ( 2 to 5 ) via a means of communication ( 18 ) are only informed that the respective base station ( 8th ) is currently busy. Then a robotic lawnmower ( 2 - 5 ) if necessary, decide for yourself which further procedure is to be selected, ie, for example, whether the robotic lawnmower should wait in front of the base station, bypass the base station or resume the mowing work.

A blocking agent ( 16 ) can preferably be used as a diversion agent ( 19 ) and a robotic lawnmower to pass the base station ( 6 - 10 ). The provision of a diverting agent ( 19 ) is particularly useful when two or more base stations ( 6 - 10 ) arranged by a larger number of robotic lawnmowers ( 2 - 5 ) are started alternately.

A redirection means ( 19 ) can be configured arbitrarily. In a preferred embodiment according to 4 is a diverting agent ( 19 ) as a switch ( 20 ) educated. The soft ( 20 ) may be, for example, an electrical switch. She can be part of the management ( 11 ) between a bypass strand ( 22 ) to the base station ( 9 ) and a main strand ( 21 ) for entry into the base station ( 9 ) switch over. A bypass strand ( 22 ) may be a part of the management ( 11 ), which is close to the base station ( 9 ) runs. The soft ( 20 ) may be formed by a relay or other electrically activatable switch. The switch can be controlled by a recognition device ( 14 ) while the presence of a first robotic lawnmower ( 2 ) in the base station ( 9 ), especially in the service area ( 26 ) was detected. In such a state, the loop signal (S) through the bypass strand ( 22 ), while the hyupt strand ( 21 ) is without energization.

This condition is in 1 at the base station ( 6a ) shown on the top right. While a first robotic lawnmower ( 2 ) in the base station ( 6a ) is present, is a bypass strand ( 22 ) is energized by the loop signal (S). A following robotic lawnmower ( 3 ), the management ( 11 ) to a base station ( 6A to 6D ), as a result, at the base station ( 6A ) along the bypass strand ( 22 ) pass by. In the further course, the robotic lawnmower ( 3 ) to the base station ( 6B ) reach. This is free in the illustrated example, ie there is no robotic lawnmower in the base station ( 6B ), especially not in the local service place ( 26 ). As a result, the switch arranged there ( 19 ) are switched so that the loop signal (S) via the main strand ( 21 ) to be led. The bypass strand ( 21 ) in the area of the base station ( 6B ) is meanwhile energized. The following robotic lawnmower ( 3 ), when the loop signal (S) is followed directly to the nearest free base station (FIG. 6B ) and can there in a free service space ( 26 ) retract.

When the base stations ( 6A - 6D ) approximately evenly along the course of a management line ( 11 ) can be advantageously achieved that each robotic lawnmower ( 2 - 5 ) in the follow-up of the management ( 11 ) to the nearest free base station ( 6A - 6D ), without the robotic lawnmower having to stop in between. It is thus a particularly efficient use of the capacity of the robotic lawnmower and the base stations ( 6A - 6D ) guaranteed.

5 shows an alternative embodiment of a diversion agent ( 19 ) in the form of a secondary line ( 23 ) for the temporary provision of a guide into the entrance of the base station ( 10 ). The secondary line ( 23 ) can be configured arbitrarily. It may preferably be formed as a separate line into which a loop signal is fed. Accordingly, a secondary line ( 23 ) have a separate power supply. The secondary line ( 23 ) may preferably (piecewise) in an overlap area ( 24 ) parallel to the management line ( 11 ). In the overlap area ( 24 ), the loop signal in the secondary line ( 23 ) and the loop signal (S) in the guide line ( 11 overlay). The two loop signals are preferably designed such that a robotic lawnmower ( 2 - 5 ) the loop signal for entering the base station ( 10 ) and can follow this. Behind a base station ( 10 ), the secondary line ( 23 ) again in another overlapping area ( 24 ' ) parallel to the management line ( 11 ) to drive a robotic lawnmower ( 2 - 5 ) to the editing area ( 12 ) to lead back.

An energization of the secondary line ( 23 ) is preferably interruptible when the base station ( 10 ) is busy. This also ensures that a second robotic lawnmower ( 3 - 5 ) around a base station ( 10 ) when passing through a first robotic lawnmower ( 2 ) is busy.

A mowing system ( 1 ) for automated mowing of a processing area ( 12 ) comprises according to a first preferred embodiment, at least two robotic lawnmower ( 2 - 5 ) and a base station ( 6 - 10 ), wherein the base station for the alternate service support of the robotic lawnmower ( 2 - 5 ) is trained. If exactly one base station ( 6 - 10 ), the base station preferably has a blocking agent ( 16 ), a second robotic lawnmower ( 3 - 5 ) from the entrance to the base station ( 6 - 10 ), if these are from a first robotic lawnmower ( 2 ) is busy. It is also possible that the blocking agent ( 16 ) as diversion means ( 19 ) is designed to guide a robotic lawnmower, which still has a free residual capacity, past the base station in order to let it carry out another operation. A mowing system ( 1 ) may comprise two or more base stations according to an alternative embodiment. In such a case, a base station ( 6 - 10 ) preferably with a blocking agent ( 16 ) in the form of a diversion agent ( 19 ) educated.

A blocking agent ( 16 ) and in particular a redirection means ( 19 ) can be controlled with a robotic lawnmower ( 2 - 5 ) interact. A robotic lawnmower ( 2 - 5 ) may, for example, have an obstacle detection. The obstacle detection can be designed such that a robotic lawnmower ( 2 - 5 ) stops when it encounters an obstacle on the course of a leadership ( 11 ) recognizes. The robotic lawnmower ( 2 - 5 ) can, if necessary, repeatedly check whether the obstacle is still present and the departure of the management line ( 11 ) as soon as the obstacle has been removed. Such obstacle detection is useful, for example, if a base station ( 6 - 10 ) a blocking agent ( 16 ) in the form of a barrier ( 17 ) or an aforementioned means of communication ( 18 ) or if a base station ( 6 - 10 ) Holds another mower located in the base station to mechanically block the entrance to the base station. The above-described obstacle recognition ensures that a second robotic lawnmower ( 3 - 5 ) at the entrance to a base station ( 6 - 10 ) stops when a first robotic lawnmower is in the base station.

Alternatively or additionally, a robotic lawnmower ( 2 - 5 ) be designed to detect an obstacle in the area of the guide line ( 11 ) to avoid this obstacle. The route to the bypass may preferably be chosen such that it can be used by the management ( 11 ) and over part of the editing area ( 12 ). It may be, for example, arcuately away from the guide line, back over a part of the processing area and then back to the guide line. Such obstacle detection is useful, for example, when a robotic lawnmower ( 2 - 5 ) at an occupied base station ( 6 - 10 ) arrives and still has a residual capacity to perform another mowing cycle. In such a case, the robotic lawnmower ( 2 - 5 ) decide whether to use the occupied base station ( 6 - 10 ) would like to drive around to find another base station, if available, if available, or continue mowing.

Modifications of the invention are possible in various ways. The features described and illustrated with respect to the individual embodiments can be combined with one another in any desired manner, replaced with one another, supplemented or omitted. A base station ( 6 - 10 ) can be performed arbitrarily. It preferably has a charging device ( 13 ) and optionally via a charge exchange device ( 15 ). The loading device ( 13 ) can be used for charging, in particular for the electrical charging of a Energy storage of a robotic lawnmower ( 2 - 5 ) be formed. It may, for example, have electrical contacts which are connected to corresponding contacts on a robotic lawnmower ( 2 - 5 ) is brought into contact, when it is in the base station, to a charging current to an energy storage of the robotic lawnmower ( 2 - 5 ) to dine. Alternatively, a charging device ( 13 ) an instrument for exchanging an energy store of a robotic lawnmower ( 2 - 5 ) exhibit.

A charge exchange device ( 15 ) is preferably adapted to a cuttings storage of a robotic lawnmower ( 2 - 5 ) to empty. It may alternatively be configured to change a cuttings store, ie to replace a full cuttings store by an empty cuttings store. For example, a container system is suitable for this purpose.

A base station ( 6 - 10 ), which is designed for exchanging an energy store and / or a cuttings store, can be used with particular preference when, in a mowing system (in 1 ) the number of robotic lawnmowers ( 2 - 5 ) is greater than the number of base stations ( 6 - 10 ), especially if only one base station ( 6 - 10 ) is available.

Alternatively, a base station can provide any other service support. It can supply or replace resources of the robotic lawnmower. Service support can also be provided by programming or performing diagnostics.

LIST OF REFERENCE NUMBERS

1

Cutting system

2, 3, 4, 5

Lawn Mower

6A-6D

base station

7, 8, 9, 10

base station

11

conduit

12

editing area

13

loader

14

recognizer

15

Cargo changer

16

blocking means

17

Cabinets

18

means of communication

19

redirection means

20

Soft / switch

21

Main strand

22

Bypass strand

23

secondary line

24

overlap area

25

power supply

26

service area

S

Loop signal (with coding)

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 3816622 A1 [0002]
• DE 69829411 T2 [0003]
• US 5220263 A [0004]
• US 5959423 A [0004]
• EP 0229669 A2 [0004]

Claims (25)

Base station ( 6 - 10 ) for service support of robotic lawnmowers with a service station ( 26 ) for receiving a robotic lawnmower ( 2 - 5 ), wherein several robotic lawnmower ( 2 - 5 ) along a guide line ( 11 ) to enter the service area ( 26 ) are conductive, characterized in that the base station ( 6 - 10 ) a blocking agent ( 16 ), which is adapted to the entrance of a robotic lawnmower ( 2 - 5 ) in the service area ( 26 ) to prevent. Base station according to claim 1, characterized in that the base station ( 6 - 10 ) a recognition device ( 14 ) for detecting the presence of a robotic lawnmower ( 2 - 5 ) in the base station ( 6 - 10 ), especially in the service area ( 26 ), having. Base station according to at least one of claims 1 or 2, characterized in that a recognition device ( 14 ) is designed to block the blocking agent ( 16 ) when the presence of a first robotic lawnmower ( 2 ) in the base station ( 6 - 10 ), especially in the service area ( 26 ) was detected. Base station according to at least one of claims 1, 2 or 3, characterized in that the blocking means ( 16 ) is designed as a mechanical blocking means that a drive-in area to the service area ( 26 ) to blocked. Base station according to one of the preceding claims, characterized in that a mechanical blocking means ( 16 ) on a base plate of the base station ( 6 - 10 ) is attached. Base station according to one of the preceding claims, characterized in that the blocking means ( 16 ) as a barrier ( 17 ) is trained. Base station according to one of the preceding claims, characterized in that a blocking means ( 16 ) is designed as an actuatable fixation, the one in the base station ( 6 - 10 ) located first robotic lawnmower ( 2 ) holds. Base station according to one of the preceding claims, characterized in that the blocking means ( 16 ) is designed as an informational blocking means for a second robotic lawnmower ( 3 - 5 ) to refrain from entering the service area ( 26 ). Base station according to one of the preceding claims, characterized in that the blocking means ( 16 ) a communication means ( 18 ), which is adapted to a second robotic lawnmower ( 3 - 5 ) to refrain from entering the base station ( 6 - 10 ). Base station according to one of the preceding claims, characterized in that the blocking means ( 16 ) a redirection means ( 19 ), which is adapted to a second robotic lawnmower ( 3 - 5 ) about driving past the base station ( 6 - 10 ). Base station according to one of the preceding claims, characterized in that a diversion means ( 19 ) as a switch ( 20 ) is trained. Base station according to one of the preceding claims, characterized in that the diverting means ( 19 ), in particular a switch ( 20 ), on a base plate of the base station ( 6 - 10 ) is arranged. Base station according to one of the preceding claims, characterized in that a switch ( 20 ) is designed to make part of the management ( 11 ) between a bypass strand ( 22 ) to the base station ( 6 - 10 ) and a main strand ( 21 ) for entry into the base station ( 6 - 10 ) switch. Base station according to one of the preceding claims, characterized in that a diversion means ( 19 ) a secondary line ( 23 ) for the temporary provision of a secondary guidance in the entrance of the base station ( 6 - 10 ) having. Base station according to one of the preceding claims, characterized in that a secondary line ( 23 ) has a separate power supply and in an overlap area ( 24 ) parallel to the management line ( 11 ), the signal of the secondary line ( 23 ) the loop signal of the guide line ( 11 ) in the overlapping area ( 24 ) superimposed. Base station according to one of the preceding claims, characterized in that an energization of the secondary line ( 23 ) is interruptible when the base station ( 6 - 10 ) is busy. Mowing system for automated mowing of a processing area ( 12 ), the mowing system ( 1 ) at least two robotic mowers ( 2 - 5 ) and a base station ( 6 - 10 ), characterized in that the base station ( 6 - 10 ) for the alternate service support of the two or more robotic robots ( 2 - 5 ) and according to at least one of claims 1 to 16 is formed. Milling system according to claim 17, characterized in that the mowing system comprises two or more base stations ( 6 - 10 ) having. Mowing system according to at least one of claims 17 to 18, characterized in that the mowing system comprises a guide line ( 11 ), which covers the area to be mowed ( 12 ). Mowing system according to at least one of claims 17 to 19, characterized in that the mowing system ( 1 ) an energy supply ( 25 ) for feeding a loop signal (S) into the guide line ( 11 ) having. Mowing system according to at least one of claims 17 to 20, characterized in that the loop signal (S) is coded. Mowing system according to at least one of claims 17 to 21, characterized in that a robotic lawnmower ( 2 - 5 ) has an obstacle detection. Mowing system according to at least one of claims 17 to 22, characterized in that a robotic lawnmower ( 2 - 5 ) is designed to detect an obstacle in the area of the guide line ( 11 ) to persist. Mowing system according to at least one of claims 17 to 23, characterized in that a robotic lawnmower ( 2 - 5 ) is designed to detect a recognized obstacle in the area of the management line ( 11 ), in particular a blocked service location ( 26 ), to avoid. Mowing system according to at least one of claims 17 to 24, characterized in that the travel path for bypassing an obstacle from the guide line ( 11 ) away and over part of a processing area ( 12 ).

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