CN112512299A

CN112512299A - Autonomous working implement

Info

Publication number: CN112512299A
Application number: CN201980049570.0A
Authority: CN
Inventors: C·库特; R·施泰因; P·阿博特; N·克洛茨
Original assignee: Robert Bosch GmbH
Current assignee: Robert Bosch GmbH
Priority date: 2018-07-25
Filing date: 2019-07-11
Publication date: 2021-03-16
Also published as: WO2020020652A1; DE102018212412A1; EP3826450A1

Abstract

The starting point of the invention is an autonomous working appliance, in particular an autonomous lawnmower, having at least one drive unit (12), at least one sensor unit (14) for detecting the approach of at least one object (16), in particular by evaluating a change in capacitance, and at least one control and/or regulating unit (18) for controlling and/or regulating the drive unit (12), wherein the control and/or regulating unit (18) is configured to take into account signals received by the sensor unit (14) when controlling and/or regulating the drive unit (18). It is proposed that the sensor unit (14) is configured for detecting a force characteristic variable of an object (16) acting on a sensor surface (20, 22, 24, 26) of the sensor unit (14), in particular by evaluating a change in capacitance, resistance or voltage, wherein the force characteristic variable can be taken into account by the control and/or regulating unit (18) at least for controlling and/or regulating the drive unit (12).

Description

Autonomous working implement

Background

From CN205320575U, an autonomous working appliance, in particular an autonomous lawn mower, is already known, comprising at least one drive unit, at least one sensor unit at least for detecting the approach of at least one object, in particular by means of analyzing changes in the handling capacitance, and at least one control and/or regulation unit for controlling and/or regulating the drive unit, wherein the control and/or regulation unit is configured for taking into account signals received by the sensor unit when controlling and/or regulating the drive unit.

Disclosure of Invention

The starting point of the invention is an autonomous working appliance, in particular an autonomous lawnmower, having at least one drive unit, at least one sensor unit for detecting the approach of at least one object, in particular by evaluating a change in capacitance, and at least one control and/or regulating unit for controlling and/or regulating the drive unit, wherein the control and/or regulating unit is configured to take into account signals received by the sensor unit when controlling and/or regulating the drive unit.

It is proposed that the sensor unit is configured for detecting a force characteristic variable of an object acting on a sensor surface of the sensor unit, in particular by evaluating a change in capacitance, resistance or voltage, wherein the force characteristic variable can be taken into account by the control and/or regulating unit at least for controlling and/or regulating the drive unit. The sensor unit preferably comprises a grid-like or grid-like arrangement of conductive elements and an elastomer layer covering or shielding the grid-like or grid-like arrangement of conductive elements. The electrically conductive element of the sensor unit is preferably electrically connected to the control and/or regulating unit. The configuration of the sensor unit is known to the person skilled in the art, for example, from DE102010034717a1, so that reference is made in particular to DE102010034717a1 with regard to further features of the sensor unit. However, other configurations of the sensor unit are also conceivable, which are considered to be expedient by the person skilled in the art for the detection of the approach and force characteristic parameters by the sensor surface. Preferably, the sensor unit is configured to be elastically deformable. The sensor unit is preferably designed such that elastic deformation of the sensor unit enables the force characteristic variable to be detected. The detection of the approach of the object to the sensor surface of the sensor unit is preferably carried out by evaluating the change in capacitance by means of a control and/or regulating unit. The detection of the force characteristic variable of the object acting on the sensor surface of the sensor unit is preferably carried out by evaluating a change in capacitance, resistance or voltage. The sensor unit is preferably constructed in the form of a film. The sensor unit preferably has a maximum material thickness of in particular less than 20mm, preferably less than 10mm and particularly preferably less than 5 mm. The maximum material thickness of the sensor unit is preferably formed by the maximum dimension, in particular the maximum diameter, of the conductive element of the sensor unit together with the maximum dimension, in particular the maximum material thickness, of the elastomer layer of the sensor unit, in particular in the state in which the conductive element and the elastomer layer are connected to one another.

An "autonomous working implement" is to be understood to mean, in particular, an implement which automatically advances, orients or navigates in a region and/or in an environment and, in particular, automatically processes a working region, in particular, automatically advances and/or orients and, in particular, automatically processes a working region in a region and/or in an environment according to a training process. The expression "automatically advance and/or orient" shall in particular define that the work implement is advanced in motion, oriented and/or navigated, in particular according to a training process, without human intervention. Preferably, the autonomous working implement is automatically advanced or oriented in a region and/or in an environment according to a training process performed by an operator with the autonomous working implement. The autonomous working implement can be configured as an autonomous mower, an autonomous cleaner, an autonomous sweeper, an autonomous transport vehicle, an autonomous flying implement, an autonomous agricultural implement, or the like. Preferably, the autonomous working apparatus is designed as an autonomous mower, which is provided for walking over and/or working a work surface designed as a lawn area and/or a working environment designed as a garden environment.

Preferably, the autonomous working implement comprises at least one position-finding unit, wherein the control and/or regulating unit is configured for evaluating, in particular in addition to the signals received by the sensor unit, position-finding characteristic parameters detected by means of the position-finding unit for controlling and/or regulating the drive unit. The expression "orientation-determining unit" is intended to define, in particular, a unit configured to determine an orientation, in particular a global orientation, of the autonomous working implement on the basis of the detection of the at least one characteristic parameter. Particularly preferably, the azimuth positioning unit is configured as a satellite navigation positioning unit, in particular as a GPS receiver or as a galileo receiver. However, it is also conceivable for the azimuth-locating unit to be constructed as a magnetic compass, a distance-measuring unit and/or a polarizing filter compass or the like.

The autonomous working appliance preferably has a processing unit configured as a mowing mechanism. The processing unit can be driven by a drive unit which is provided at least for driving the running or crawler unit of the autonomous working implement or by a separate mowing mechanism drive unit which is configured separately from the drive unit for driving the running or crawler unit. The processing unit configured as a mowing mechanism preferably has a configuration already known to the person skilled in the art. The processing unit configured as a mowing mechanism comprises in particular at least one cutting element, at least one mowing mechanism drive unit and/or at least one moat collecting unit. "provided" is to be understood in particular to mean specially configured, specially designed, specially equipped and/or specially programmed. An "element and/or a unit is provided or configured for a specific function" is to be understood in particular to mean that the element and/or the unit fulfills and/or carries out the specific function in at least one application state and/or operating state.

The autonomous working apparatus preferably comprises at least one communication unit which is configured to communicate with at least one external unit which is designed as a base station or as another autonomous working apparatus, in particular as another autonomous lawn mower, for the purpose of at least transmitting electronic data from and/or to the control and/or regulating unit. The communication unit is preferably designed as a wireless communication unit. The communication unit can be configured as a WLAN communication unit, a bluetooth communication unit, a radio communication unit, an RFID communication unit, an NFC unit, an infrared communication unit, a mobile radio network communication unit, or the like. Particularly preferably, the communication unit is provided for bidirectional data transmission. In an alternative embodiment, the communication unit is designed as a wired communication unit, for example as a LAN communication unit, a USB communication unit, a wired communication unit (einfassungdrahtkommikationseinit), or the like. In particular, it is preferred that electronic data are transmittable by means of the communication unit, which enable a control strategy for autonomous advancement of the autonomous working implement and/or autonomous machining of the working surface.

A "control and/or regulating unit" is to be understood to mean, in particular, a unit having at least one control electronics. The term "control electronics" is to be understood to mean, in particular, a unit having a processor unit and a memory unit, as well as a unit having an operating program stored in the memory unit. The operating program is preferably provided for controlling and/or regulating, in particular at least the drive unit and/or the processing unit, as a function of signals transmitted by the sensor unit to the control and/or regulating unit.

The configuration according to the invention of the autonomous working implement advantageously enables an optimized control and/or regulation of the autonomous working implement. Advantageously, the sensor unit can be used simply to detect various scenarios that can occur during the working process of the autonomous working implement. Advantageously, a reliable and secure control strategy can be implemented on the basis of the analysis of the sensor data of the sensor units. Advantageously, a compact and flexibly usable sensor unit for autonomous operation of an autonomous working implement can be achieved.

It is furthermore proposed that the sensor unit is configured for detecting an action position of an object approaching the sensor surface of the sensor unit or of an object exerting a force on the sensor surface of the sensor unit, wherein the action position of the approaching object or of the object exerting a force can be taken into account by the control and/or adjustment unit at least for controlling and/or adjusting the drive unit. The term "active position on the sensor surface" is to be understood in particular to mean a position on the sensor surface at which a characteristic variable of the sensor unit changes in a measurable manner as a result of the approach of an object to the sensor surface and/or as a result of a force of the object on the sensor surface caused by contact. Preferably, the position of the object on the sensing surface of the sensor unit, which is close to the sensing surface of the sensor unit or which exerts a force on the sensing surface of the sensor unit, can be detected on the basis of a grid-like or grid-like arrangement of the conductive elements of the sensor unit. Advantageously, with the configuration according to the invention, a reliable and safe control strategy can be implemented on the basis of evaluating the sensor data of the sensor unit. Advantageously, it can be detected from which direction an object is approaching or at which position the object acts on the sensor surface in order to calculate an advantageous avoidance maneuver for the autonomous working implement, for example by means of the control and/or regulating unit.

It is furthermore proposed that the autonomous working apparatus have at least one housing and/or chassis unit for at least partially covering, receiving or supporting the control and/or regulating unit and/or the drive unit, wherein the sensor unit is at least partially arranged on or at least partially forms an outer surface of the housing and/or chassis unit. It is conceivable that the autonomous working implement for the solution according to the invention is designed in an alternative configuration independently of the sensor unit for detecting the force characteristic variable. Preferably, the autonomous working apparatus comprises in an alternative configuration, in particular in a configuration which is configured independently of a sensor unit for detecting a force characteristic parameter, at least the drive unit, at least the sensor unit for detecting an approach of at least one object, at least the control and/or adjustment unit for controlling and/or adjusting the drive unit, at least the control and/or adjustment unit for at least partially covering, receiving or supporting the control and/or adjustment unit and/or the drive unit, in particular by evaluating a change in capacitance, and at least the housing and/or chassis unit, wherein the control and/or adjustment unit is configured for taking into account signals received by the sensor unit at least when controlling and/or adjusting the drive unit, wherein the sensor unit is at least partially arranged on or at least partially forms an outer surface of the housing and/or the chassis unit. The outer surface of the housing and/or chassis unit preferably faces away from the inner side of the housing and/or chassis unit facing the control and/or regulating unit and/or the drive unit. Preferably, the sensor unit faces the surroundings surrounding the autonomous working implement on the basis of being arranged on the outer surface or on the basis of at least partially forming the outer surface. Preferably, the sensor unit at least partially forms a housing of the chassis unit and/or the housing. The sensor unit can be formed integrally with the housing and/or chassis unit, in particular by a multicomponent injection method or the like, or the sensor unit can be arranged, in particular fixed, on an outer surface of the housing and/or chassis unit by means of a force-fitting, form-fitting and/or material-fitting connection. It is also conceivable for the sensor unit to be arranged spatially between the outer surface of the housing and/or chassis unit and an elastically deformable element of the autonomous working implement, for example a crash protector, an additional housing element or the like, or to be integrated in an elastically deformable element of the autonomous working implement, for example a crash protector, an additional housing element or the like. The sensor unit can be constructed in multiple layers. For example, it is conceivable for at least one sensor surface of the sensor unit to be integrated or protected by a further housing element of the housing and/or chassis unit. With the configuration according to the invention, a reliable and safe control strategy can advantageously be implemented on the basis of evaluating the sensor data of the sensor unit. Advantageously, a large sensor surface for detecting different characteristic variables can be realized, which enables a reliable and secure control strategy.

Furthermore, it is proposed that the autonomous working apparatus have at least one, in particular the aforementioned, housing and/or chassis unit for at least partially covering, receiving or supporting the control and/or regulating unit and/or the drive unit, wherein the sensor unit is arranged at least partially on a front side of the housing and/or chassis unit, which is oriented in the main movement direction. Preferably, the front side of the housing and/or chassis unit is the side of the housing and/or chassis unit facing away from the drive wheel of the walking or crawler unit. The term "main movement direction" is to be understood to mean, in particular, a direction in which the autonomous working implement is moved during the performance of a working process, in particular a mowing process, primarily. The housing and/or chassis unit comprises in particular at least one housing element which is detachably arranged on the housing and/or chassis of the chassis unit. The housing and/or the chassis of the chassis unit are preferably arranged to receive and/or support the control and/or regulating unit and the drive unit. The housing element is in particular designed as a cover which is arranged detachably on the chassis in a manner known to the person skilled in the art. The front side of the housing and/or chassis unit is preferably formed by a housing element. Alternatively, however, it is also conceivable for the front side to be formed by the chassis alone or by the housing element and the chassis together. The front side of the housing and/or chassis unit preferably faces away from the rear side of the housing and/or chassis unit. Preferably, the front and rear sides of the housing and/or chassis unit are connected to each other by side walls of the housing and/or chassis unit. The rear side and the side wall sides are preferably formed by housing elements. Alternatively, it is also conceivable for the rear side and the side wall sides to be formed by the chassis or by the housing element and the chassis together. The sensor unit can extend from the front side partially into the side wall side. Alternatively or additionally, it is conceivable for the sensor unit, in particular the sensor surface of the sensor unit, to be arranged at least partially on the rear side and/or the side wall side. In the case of sensor units arranged on the front side, the rear side and the side walls, it is conceivable that: the sensor unit has a single, continuous sensing surface extending over the front side, the rear side and the side walls; alternatively, the sensor unit has a plurality of sensor surfaces which are electrically connected to one another and are arranged, in particular spaced apart from one another, distributed over the front side, the rear side and the side wall. With the configuration according to the invention, a reliable and safe control strategy can advantageously be implemented on the basis of evaluating the sensor data of the sensor unit. Advantageously, a large sensing surface for detecting different characteristic parameters, which enables a reliable and secure control strategy, can be achieved. Advantageously, the approach of the object can be reliably detected. Advantageously, in the case of an autonomous working implement configured as an autonomous mower, the presence or absence of vegetation to be processed can be detected, in particular because grass blades or the like can be reliably detected on the basis of approaching or contacting a sensor surface arranged on the front side.

It is furthermore proposed that the autonomous working apparatus have at least one, in particular the aforementioned, housing and/or chassis unit for at least partially covering, receiving or supporting the control and/or regulating unit and/or the drive unit, wherein the sensor unit covers or forms at least a substantial part of an outer surface of the housing and/or chassis unit. The outer surface of the housing and/or the chassis unit preferably faces the surroundings surrounding the autonomous working implement. The inner surface of the housing and/or the chassis unit preferably faces away from the surroundings surrounding the autonomous working implement, in particular the control and/or regulating unit and/or the drive unit. "largely" is to be understood to mean, in particular, a proportion of more than 30%, preferably more than 50% and particularly preferably more than 70% of the total value, in particular of the entire outer surface of the housing and/or chassis unit. Preferably, the sensor surface of the sensor unit covers or forms more than 30%, preferably more than 50% and particularly preferably more than 70% of the entire outer surface of the housing and/or chassis unit, in particular of the entire outer surface of the housing element of the housing and/or chassis unit and/or of the entire outer surface of the chassis. It is also conceivable that the sensing surface of the sensor unit covers or forms 100% of the entire outer surface of the housing element and/or the chassis. Preferably, the entire outer surface of the housing element and the entire outer surface of the chassis together form the entire outer surface of the housing and/or chassis unit. With the configuration according to the invention, a reliable and safe control strategy can advantageously be implemented on the basis of evaluating the sensor data of the sensor unit. Advantageously, a large sensing surface for detecting different characteristic parameters, which enables a reliable and secure control strategy, can be achieved. Advantageously, the approach of an object or, for example, an object on the housing element, for example, a limb or the like, or a person/animal contacting the housing element can be reliably detected.

It is furthermore proposed that the autonomous working apparatus comprises at least one, in particular the aforementioned, processing unit, in particular a mowing mechanism, and at least one, in particular the aforementioned, housing and/or chassis unit for at least partially covering, receiving or supporting the control and/or regulating unit and/or the drive unit, wherein the sensor unit is arranged at least partially on the housing and/or chassis unit in the vicinity of the processing unit. "vicinity" is to be understood to mean, in particular, a region which has a distance of less than 20mm, preferably less than 10mm and particularly preferably less than 5mm from an element or a unit. Preferably, the sensor unit, in particular at least one sensor surface of the sensor unit, is arranged on a side of the housing and/or the chassis unit facing the processing unit, in particular on the underside. Preferably, the sensor unit, in particular at least one sensor surface of the sensor unit, has a distance relative to the processing unit, in particular due to the arrangement on the lower side of the housing and/or the chassis unit, which is less than 20mm, preferably less than 10mm and particularly preferably less than 5 mm. Preferably, the sensor unit, in particular at least one sensor surface of the sensor unit, at least substantially completely surrounds the machining unit, in particular as viewed in a plane extending at least substantially perpendicularly to a machining axis, in particular a rotational axis, of the machining unit. Alternatively or additionally, the sensor unit, in particular at least one sensor surface of the sensor unit, is arranged on the machining element, in particular the cutting element, for example a cutting tool or the like, or on a cutting element receptacle of the machining unit. It is conceivable for the sensor unit, in particular at least one sensor surface of the sensor unit, to extend from the front side, the rear side and/or at least one of the side walls into the vicinity of the processing unit, or for the sensor unit to have a single sensor surface or a plurality of sensor surfaces arranged at a distance from one another, which are arranged in the vicinity of the processing unit. Preferably, the sensor surfaces of the sensor unit, which are arranged at different positions on the housing and/or the chassis unit, are at least electrically connected to one another or are at least connected to the control and/or regulating unit for signal transmission. With the configuration according to the invention, a reliable and safe control strategy can advantageously be implemented on the basis of evaluating the sensor data of the sensor unit. Advantageously, it is possible, for example, to monitor the danger area of the processing unit, in order to avoid injury to humans or animals, in particular. It is advantageously possible to monitor, for example, the reliable execution of a work step, in particular the cutting of grass.

Furthermore, it is proposed that the autonomous working apparatus have at least one housing and/or chassis unit, in particular the aforementioned housing and/or chassis unit, for at least partially covering, receiving or supporting the control and/or regulating unit and/or the drive unit, wherein the sensor unit is arranged at least partially along the entire circumferential extension of the housing and/or chassis unit on the housing and/or chassis unit, in particular on an outer surface of the housing and/or chassis unit. Preferably, the sensor unit, in particular at least one sensing surface of the sensor unit, extends along the entire circumferential extension of the housing and/or chassis unit along a path which is longer than 30%, preferably 50% and particularly preferably 70% of the entire circumferential extension of the housing and/or chassis unit. The entire circumferential extension of the housing and/or the chassis unit preferably extends in a plane at least substantially perpendicular to the machining axis, in particular the rotational axis, of the machining unit. It is conceivable for the sensor unit to have a single continuous sensing surface which extends at least partially over the housing and/or chassis unit along the entire circumferential extension of the housing and/or chassis unit, or for the sensor unit to have a plurality of sensing surfaces which are spaced apart from one another and which extend at least partially over the housing and/or chassis unit along the entire circumferential extension of the housing and/or chassis unit. With the configuration according to the invention, a reliable and safe control strategy can advantageously be implemented on the basis of evaluating the sensor data of the sensor unit. Advantageously, a large sensing surface for detecting different characteristic parameters, which enables a reliable and secure control strategy, can be achieved. Advantageously, the approach of the object can be detected reliably, for example.

It is also proposed that the autonomous working apparatus comprise at least one running or crawler unit, in particular the aforementioned, which can be driven by means of the drive unit, wherein the sensor unit is arranged at least partially on the running or crawler unit. The running or crawler unit can preferably be driven by means of at least one motor, in particular an electric motor, of the drive unit, in particular for advancing the autonomous working implement. The running or crawler unit preferably comprises at least one drive wheel, in particular at least two drive wheels which can be driven independently of one another, or at least one drive chain, in particular at least two drive chains which can be driven independently of one another. Preferably, a single motor of the drive unit is associated with each drive wheel of the running or crawler unit. Preferably, the sensor unit, in particular at least one sensor surface of the sensor unit, is arranged on an outer surface or an outer circumference of the at least one drive wheel or of the at least one drive chain. Alternatively or additionally, it is conceivable for the sensor unit, in particular at least one sensing surface of the sensor unit, to be arranged on a hub element of the running or crawler unit, on an outer side of a rim element of the running or crawler unit facing away from the housing and/or the chassis unit, or the like. With the configuration according to the invention, a reliable and safe control strategy can advantageously be implemented on the basis of evaluating the sensor data of the sensor unit. Advantageously, a large sensing surface for detecting different characteristic parameters, which enables a reliable and secure control strategy, can be achieved. It is advantageously possible to detect walking or a reliable contact of the crawler unit with the ground. Advantageously, a force acting on the ground by the autonomous working implement can be detected, by means of which force the traction of the autonomous working implement can advantageously be inferred. Advantageously, the type of the ground can be inferred, preferably by evaluating the characteristic variables detected by means of the sensor unit by means of the control and/or regulating unit.

It is furthermore proposed that the autonomous working appliance comprises at least one input unit for manual input of an operator command, which can be taken into account by the control and/or regulating unit at least for controlling and/or regulating the drive unit, wherein the sensor unit is at least partially formed integrally with the input unit. The manual input unit is preferably provided for manually inputting an operator command, wherein the control and/or regulating unit is provided to take into account at least one manually input operator command when controlling and/or regulating the drive unit. The manual input unit can be configured as a touch-sensitive display, a keyboard, a selection switch, and the like. The manual operator command that can be input by means of the manual input unit can be configured, for example, as a date, a time, an operating frequency, in particular a mowing frequency, an operating interval setpoint, in particular a mowing interval setpoint, an activation command (on/off command), etc. The term "sensor unit is at least partially formed integrally with the input unit" is to be understood in particular to mean: the sensor unit and the input unit comprise at least one common element. Preferably, the at least one sensor surface of the sensor unit forms at least one input element of the input unit, by means of which an operator can manually input operator commands. Preferably, at least one sensor surface of the sensor unit, which sensor surface forms at least one input element of the input unit, is arranged on a side, in particular an upper side, of the housing and/or the chassis unit, in particular of the housing element, facing away from the processing unit. With the configuration according to the invention, a reliable and safe control strategy can advantageously be implemented on the basis of evaluating the sensor data of the sensor unit. Advantageously, an additional utilization of the sensor unit can be generated in a structurally simple manner. Advantageously, a separate input unit can be omitted as much as possible. Advantageously, costs and assembly expenditure can be saved. Advantageously, the operator's wishes can be implemented with at least substantially automatic control and/or adjustment of the autonomous working implement.

The starting point of the invention is furthermore a method for automatically controlling and/or regulating an autonomous working implement according to the invention, in particular an autonomous lawn mower according to the invention. It is proposed that, in at least one method step, the control and/or regulating unit takes into account a force characteristic variable of the object detected by means of the sensor unit in the vicinity of the object and/or of the object acting on the sensor surface of the sensor unit, said force characteristic variable being detected by means of the sensor unit, at least for controlling and/or regulating the drive unit. By means of the configuration of the autonomous working apparatus according to the invention, an optimized control and/or regulation of the autonomous working apparatus can advantageously be achieved. Advantageously, different scenes that can occur during the working process of the autonomous working implement can be detected simply by means of the sensor unit. Advantageously, a reliable and secure control strategy can be implemented on the basis of the analysis of the sensor data of the sensor units.

Furthermore, it is proposed that, in at least one method step, the control and/or regulating unit controls and/or regulates a processing unit of the autonomous working implement, in particular a mowing mechanism and/or a walking or crawler unit, as a function of the signals received by the sensor unit. With the configuration according to the invention, a reliable and safe control strategy can advantageously be implemented on the basis of evaluating the sensor data of the sensor unit. Advantageously, for example, the shut-down of the processing unit can be carried out when, on the basis of the evaluation of the sensor data of the sensor unit, it is recognized that a body part of a person or an animal is present in the hazardous area.

It is further proposed that, in at least one method step, the control and/or regulating unit determines a mobility characteristic variable as a function of the signals received by the sensor unit. A "mobility characteristic" is to be understood to mean, in particular, a characteristic that allows conclusions to be drawn about the traction of a walking or crawler unit or the like and/or that defines the force exerted by the autonomous working implement on the ground. Advantageously, the mobility characteristic parameters can be taken into account in the calculation of the control strategy.

It is further proposed that, in at least one method step, the control and/or regulating unit determines a ground characteristic variable as a function of the signals received by the sensor unit. "ground characteristic parameter" is to be understood to mean, in particular, a characteristic parameter which defines the type of ground, for example sand, concrete, stone, grass, meadow, etc., or a property such as the moisture content of the ground. Advantageously, the ground characteristic parameters can be taken into account when calculating the control strategy.

Furthermore, it is proposed that, in at least one method step, the control and/or regulating unit determines a soiling characteristic variable of the autonomous working implement as a function of the signals received by the sensor unit. A "soiling characteristic parameter" is to be understood to mean, in particular, a characteristic parameter which defines a degree of soiling, in particular if the housing and/or the chassis unit and/or the sensor unit is/are covered with dirt, for example dust, cut grass, dirt or the like. Advantageously, warning messages can be output to the operator early in order to eliminate soiling before compromising the safe control strategy.

Furthermore, it is proposed that, in at least one method step, the control and/or regulating unit determines tissue characteristic parameters of an object close to or exerting a force on the sensor surface of the sensor unit as a function of the signals received by the sensor unit. A "tissue characteristic parameter" is to be understood to mean, in particular, a characteristic parameter which defines the type of tissue, for example human tissue, animal tissue and/or plant tissue. The object differentiation can advantageously be carried out by means of the configuration according to the invention, in particular in order to ensure as far as possible that no animal or human body parts are present at least in the vicinity of the processing unit during the working process of the autonomous working apparatus. A safe control strategy of the autonomous working implement is advantageously enabled.

The autonomous working implement according to the invention and/or the method according to the invention should not be limited to the above-described applications and embodiments. The autonomous working implement according to the invention and/or the method according to the invention can have a different number of individual elements, components and units and method steps than those mentioned, in particular in order to satisfy the working pattern described here. In respect of the value ranges given in the publication, the values within the mentioned boundaries should also be regarded as disclosed and may be used arbitrarily.

Drawings

Other advantages result from the following description of the figures. An embodiment of the invention is presented in the drawings. The figures, description and claims contain many combinations of features. The person skilled in the art can also appropriately consider these features individually and combine them into meaningful further combinations.

The figures show:

figure 1 shows in a schematic view an autonomous working implement according to the invention, in particular an autonomous lawn mower,

figure 2 shows in a schematic view a side view of an autonomous working implement according to the invention during working of a working surface,

figure 3 shows in a schematic view another side view of the autonomous working implement according to the invention during working of a working surface,

fig. 4 shows a schematic representation of a top view of an autonomous working implement according to the invention, an

Fig. 5 shows a schematic flow of the method according to the invention for automatically controlling and/or regulating an autonomous working implement according to the invention.

Detailed Description

Fig. 1 shows an autonomous working implement 10 comprising at least one drive unit 12, at least one energy supply unit 44 at least for supplying energy to the drive unit 12, and at least one control and/or regulating unit 18 at least for controlling and/or regulating the drive unit 12. Furthermore, the autonomous working apparatus 10 comprises at least one sensor unit 14 at least for detecting the approach of at least one object 16 (see fig. 2 and 3), in particular by evaluating a change in capacitance. The control and/or regulating unit 18 is configured to take into account the signals received by the sensor unit 14 at least when controlling and/or regulating the drive unit 18. The drive unit 12 is preferably designed as an electric motor unit. However, other configurations of the drive unit 12 are also conceivable, which are considered to be expedient by the person skilled in the art, for example as an internal combustion engine unit, a hybrid motor unit or the like. The energy supply unit 44 is preferably provided in addition to the supply of energy to the drive unit 12 for supplying energy to other components of the autonomous working apparatus 10, for example the sensor unit 14 or the like. The energy supply unit 44 is preferably designed as a battery unit. However, it is also conceivable for the energy supply unit 44 to have other configurations which are considered to be expedient by the person skilled in the art, for example a wired grid component unit, a fuel cell, a fuel storage unit, etc. The autonomous working appliance 10 comprises in particular at least one housing and/or chassis unit 28 for at least partially covering, receiving or supporting the control and/or regulating unit 18 and/or the drive unit 12. The energy supply unit 44 is preferably arranged on or in the housing and/or the chassis unit 28. The autonomous working implement 10 preferably includes at least one walking or crawler unit 38 that can be driven by the drive unit 12. The running or crawler unit 38 has in particular a configuration which is known to the person skilled in the art. In the exemplary embodiment represented in fig. 1 to 4, the running or crawler unit 38 is designed as a wheel unit, which comprises at least one drivable driving wheel, in particular at least two driving wheels, which can be driven independently of one another. The walking or track-gear unit 38 can include steerable and/or non-steerable wheels configured to be drivable or undriven. The running or crawler unit 38, in particular at least one drive wheel of the running or crawler unit 38, can be driven by means of the drive unit 12 in a manner known to the person skilled in the art. The autonomous working implement 10 preferably comprises at least one position-determining unit 46, which is provided to determine the position of the autonomous working implement 10 in the working area, in particular on the working surface. The azimuth positioning unit 46 can be arranged on or in the housing and/or the chassis unit 28. The position-finding unit 46 is preferably designed as a GPS unit. However, it is also conceivable for the azimuth positioning unit 46 to have other configurations which are deemed appropriate by the person skilled in the art.

The autonomous working apparatus 10 is configured in the exemplary embodiment represented in fig. 1 to 4 as an autonomous mower, which is provided to autonomously advance within a working area or working environment, in particular after a training process, and autonomously machine a working surface, in particular grass, arranged in the working area or working environment. However, it is also conceivable for the autonomous working implement 10 to have other configurations which are considered to be of interest to the person skilled in the art, for example as an autonomous vacuum cleaner, an autonomous transport implement, an autonomous agricultural implement for working agricultural fields, an autonomous flying implement, etc. For machining the working surface, the autonomous working apparatus 10 has a machining unit 36 configured as a mowing mechanism. The processing unit 36 has a configuration known to those skilled in the art. Preferably, the processing unit 36 configured as a mowing mechanism can have at least one cutting element, at least one mowing mechanism drive unit, and/or at least one moat collection unit. In a particularly advantageous embodiment of the autonomous working apparatus 10, the processing unit 36, which is designed as a mowing mechanism, can be driven by means of the drive unit 12. The processing unit 36 configured as a mowing mechanism can be turned on or off as required by the driving of the drive unit 12. Preferably, in one operating mode of the autonomous working implement 10, the drive unit 12 is configured to drive only the traveling or crawler unit 38 to advance the autonomous working implement 10. In at least one further operating mode of the autonomous working apparatus 10, the drive unit 12 is preferably provided to drive a walking or crawler unit 38 and a processing unit 36 configured as a mowing mechanism. Other operating modes for the drive unit 12 for driving the running or crawler unit 38 and/or the machining unit 36 in the form of a mowing mechanism, which are considered to be expedient by the person skilled in the art, are likewise conceivable.

For the navigation and/or orientation of the autonomous working tool 10 on the work surface to be processed, the autonomous working tool 10 comprises at least one navigation and/or orientation unit (not shown in detail here), which is already known to the person skilled in the art and is connected to the control and/or regulating unit 18 in a data-technical manner. The navigation and/or orientation unit has in particular a configuration which is already known to the person skilled in the art, for example as a voice-assisted navigation and/or orientation unit, an optical-assisted navigation and/or orientation unit or the like. The autonomous working apparatus 10 is at least provided to be automatically oriented and/or navigated in a working area or working environment by means of the navigation and/or orientation unit, in particular in addition to the data of the position-finding unit 46, in order to carry out a working process, in particular a mowing process, in particular after a training process. The work area or work environment is preferably designed as a garden area or garden environment.

In particular, in addition to detecting the approach of at least one object 16, the sensor unit 14 is also configured to detect a force characteristic variable of the object 16 acting on the sensor surfaces 20, 22, 24, 26 of the sensor unit 14, in particular by evaluating a change in capacitance, resistance or voltage, wherein the force characteristic variable can be taken into account by the control and/or regulating unit 18 at least for controlling and/or regulating the drive unit 12. The sensor unit 14 preferably comprises a grid-like or grid-like arrangement of conductive elements (not shown in detail here) and an elastomer layer (not shown in detail here) which encases or covers the grid-like or grid-like arrangement of conductive elements. The electrically conductive elements of the sensor unit 14 are preferably electrically connected to the control and/or regulating unit 18. The configuration of the sensor unit 14 is known to the person skilled in the art, for example, from DE102010034717a1, so that reference is made in particular to DE102010034717a1 with regard to further features of the sensor unit 14. However, it is also conceivable for the sensor unit 14 to have other configurations which are considered appropriate by the person skilled in the art and which enable the approach and force characteristic parameters to be detected by the sensor surfaces 20, 22, 24, 26. Preferably, the sensor unit 14 is configured to be elastically deformable. The sensor unit 14 is preferably designed such that an elastic deformation of the sensor unit 14 allows a detection of the force characteristic variable. The detection of the approach of an object to the sensor surfaces 20, 22, 24, 26 of the sensor unit 14 is preferably carried out by evaluating the change in capacitance by means of the control and/or regulating unit 18. The detection of the force-characteristic variable of the object 16 acting on the sensor surfaces 20, 22, 24, 26 of the sensor unit 14 is preferably carried out by evaluating the change in capacitance, resistance or voltage by means of the control and/or regulating unit 18. The sensor unit 14 is preferably of film-like design.

In particular, on the basis of the detection of force characteristic variables of the object 16 acting on the sensor surfaces 20, 22, 24, 26 of the sensor unit 14, in particular by evaluating changes in capacitance, resistance or voltage, it can be determined by means of the control and/or regulating unit 18 whether the autonomous working apparatus 10 is moved toward the object 16 as a result of the drive force or whether the object 16 itself exerts a force on the autonomous working apparatus 10, for example an animal or a person presses against the autonomous working apparatus 10 or the like. The control and/or regulating unit 18 is preferably able to determine mobility characteristic parameters. For example, if it is recognized that the object 16, such as an animal or a person, exerts a force on the autonomous working appliance 10, the control and/or regulating unit 18 can calculate, for example, a control strategy which results in: the autonomous working implement 10 is moved rapidly away from the object applying force to the autonomous working implement 10 and/or the activation of the processing unit 36 is stopped, in particular in order to avoid injury or damage to the object 16. In particular, the type of object 16 can be inferred by evaluating the capacitance change or the capacitance. The control and/or regulating unit 18 determines the tissue characteristic parameter preferably from the sensor data of the sensor unit 14.

Furthermore, the sensor unit 14 is configured, in particular in addition to detecting the approach of at least one object 16 and detecting a force characteristic variable of the object 16 acting on the sensor surfaces 20, 22, 24, 26 of the sensor unit 14, for detecting an action position of the object 16 approaching the sensor surfaces 20, 22, 24, 26 of the sensor unit 14 or of the object 16 exerting a force on the sensor surfaces 20, 22, 24, 26 of the sensor unit 14, wherein the action position of the approaching object 16 or of the object 16 exerting a force can be taken into account by the control and/or regulating unit 18 at least for controlling and/or regulating the drive unit 12.

Advantageously, the autonomous working appliance 10 comprises at least a housing and/or chassis unit 28 for at least partially covering, receiving or supporting the control and/or regulating unit 18 and/or the drive unit 12, wherein the sensor unit 14 is at least partially arranged on an

outer surface

30, 32 of the housing and/or chassis unit 28 or at least partially forms an

outer surface

30, 32 of the housing and/or chassis unit 28. The

outer surfaces

30, 32 of the housing and/or chassis unit 28 preferably face away from the inner side of the housing and/or chassis unit 28 facing the control and/or regulating unit 18 and/or the drive unit 12. Preferably, the sensor unit 14 faces the surroundings surrounding the autonomous working implement 10 due to being arranged on the

outer surface

30, 32 or due to at least partially forming the

outer surface

30, 32. Preferably, the sensor unit 14 at least partially forms a housing and/or an outer shell of the chassis unit 28. The sensor unit 14, in particular at least one

sensing surface

20, 22, 24 of the sensor unit 14, can be arranged, for example, at least partially on an outer surface 30 of a housing and/or chassis unit 28, in particular a housing element designed as a cover, or at least partially form an outer surface 30 of a housing and/or chassis unit 28, in particular a housing element designed as a cover. The sensor unit 14, in particular the at least one sensor surface 26 of the sensor unit 14, can be arranged, for example, at least partially on an outer surface 32 of the housing and/or of the chassis unit 28, or at least partially form an outer surface 32 of the housing and/or of the chassis unit 28. Alternatively or additionally, it is conceivable for the sensor unit 14, in particular at least one sensing surface (not shown in detail here) of the sensor unit 14, to be arranged in the housing and/or the chassis unit 28, in particular on an inner side of the housing and/or the chassis unit 28. Advantageously, the housing and/or the chassis unit 28 can be provided as a protection for the sensor unit 14. It is also conceivable for the autonomous working apparatus 10 to have a protective unit, for example a flexible protective layer, which is arranged on the sensor unit 14 and covers the sensor unit 14, in particular to protect the sensor unit 14 from weather influences, etc.

Preferably, the sensor unit 14, in particular at least one sensing surface or a plurality of sensing surfaces 20, 22, 24, 26 of the sensor unit 14, covers or forms at least a substantial part of an

outer surface

30, 32 of the housing and/or chassis unit 28. Preferably, the sensor unit 14, in particular at least one sensing surface or a plurality of sensing surfaces 20, 22, 24, 26 of the sensor unit 14, covers or forms more than 10%, in particular more than 30%, preferably more than 50% and particularly preferably more than 70% of the entire outer surface of the housing and/or chassis unit 28, in particular of the entire outer surface of the housing element of the housing and/or chassis unit 28 and/or of the entire outer surface of the chassis. It is also conceivable for the sensor unit 14, in particular for at least one sensing surface or a plurality of sensing surfaces 20, 22, 24, 26 of the sensor unit 14, to cover or form 100% of the entire outer surface of the housing element and/or the chassis.

In particular, contact of the main work apparatus 10 with persons, objects and/or animals can be detected by the control and/or regulating unit 18 on the basis of the sensor unit 14 being arranged at least partially on an

outer surface

30, 32 of the housing and/or chassis unit 28, in particular on a large part of the outer surface of the housing and/or chassis unit 28, and on the basis of the evaluation of the capacitance by means of the control and/or regulating unit 18. The control and/or regulating unit 18 determines the tissue characteristic parameter preferably from the sensor data of the sensor unit 14. If, for example, contact with a person and/or an animal is recognized, the control and/or regulating unit 18 can deactivate the drive unit 18 and/or the processing unit 36 in order to avoid injury. In particular, it can be detected, for example, whether a child is sitting on or resting on the autonomous working apparatus 10, in particular, wherein an emergency stop can be executed or the activatability of the autonomous working apparatus 10 can be disabled in the event of such a detection.

In particular, based on the arrangement of the sensor unit 14 at least partially on the outer surface 30 of the housing and/or chassis unit 28, in particular on the outer surface of the housing and/or chassis unit 28 facing away from the processing unit 36, in particular on the outer surface of a housing element of the housing and/or chassis unit 28 designed as a cover, it can be concluded by means of the control and/or regulating unit 18 that raindrops impinge on the housing and/or chassis unit 28 and/or that fog is present and/or wind is present (wind detection) based on the evaluation capacitance and/or based on the detection force characteristic variable. The control and/or regulating unit 18 can, for example, interrupt the working process or delay the start of the working process in the event of rain and/or the presence of fog and/or the presence of wind. Advantageously, it is possible to draw conclusions about the weather actually present in the work area, which weather can advantageously be taken into account in the case of a computational control strategy. Furthermore, objects on the outer surface 30, such as branches or leaves, can be detected, and an alarm can be sent to a user of the autonomous working implement 10 from time to time and/or operation of the autonomous working implement 10 can be at least temporarily disabled.

Preferably, the detection of soiling of the autonomous working appliance 10 can be carried out by means of the control and/or regulating unit 18 on the basis of the sensor unit 14 being arranged at least partially on an

outer surface

30, 32 of the housing and/or chassis unit 28, in particular on a large part of the outer surface of the housing and/or chassis unit 28, and on the basis of the evaluation capacitance. The control and/or regulating unit 18 can instruct the operator on the basis of recognizing soiling coming out of the main working appliance 10, it will be relevant to clean the main working appliance 10. Preferably, a soiling characteristic variable of the autonomous working machine 10 is determined by means of the control and/or regulating unit 18.

In particular, based on the arrangement of the sensor unit 14 at least partially on the

outer surface

30, 32 of the housing and/or chassis unit 28 and based on the detection of the force characteristic variable, a vibration characteristic variable during operation of the autonomous working appliance 10, which, for example, can lead to conclusions about impending component defects, can be evaluated by means of the control and/or regulating unit 18. Furthermore, the ground characteristics (uphill, downhill, etc.) can sometimes also be detected at least indirectly by detecting force characteristic parameters, in particular by the gravitational force and/or the acceleration acting on the sensor unit 14 during operational operation and/or standstill.

Preferably, on the basis of the arrangement of the sensor unit 14 at least partially on the

outer surface

30, 32 of the housing and/or chassis unit 28, on the basis of the detection of the approach and/or the detection of the force characteristic variable, a proper approach or a proper docking to a base station for charging the energy supply unit 44 can be detected by means of the control and/or regulating unit 18. For example, in a defined docking state of the autonomous working apparatus 10, a defined part of the base station rests on a specific partial region of the housing and/or chassis unit 28. If, for example, an offset between this part of the base station and the part region of the autonomous working apparatus 10 is detected, the control and/or regulating unit 18 can introduce a correction of the position of the re-approach to the base station or the autonomous working apparatus 10. Furthermore, the desired contact between the base stations, which can be detected by means of the sensor unit 14, can be used to "slide" the autonomous working implement 10 into the base stations.

Preferably, the sensor unit 14, in particular at least one sensor surface 20 of the sensor unit 14, is arranged at least partially on a front side 34 of the housing and/or chassis unit 28 oriented in the main movement direction 42 (see fig. 2 and 3). Preferably, the sensor unit 14, in particular at least one sensing surface 20 of the sensor unit 14, forms an outer surface of the front side 34. The front side 34 of the housing and/or chassis unit 28 is preferably formed by a housing element of the housing and/or chassis unit 28, which is in particular designed as a cover. Alternatively, however, it is also conceivable for the front side 34 to be formed by the chassis alone or by the housing element and the chassis together. The sensor unit 14 can have a single sensor surface 20 arranged on the front side 34 or a plurality of sensor surfaces 20 arranged spaced apart from one another on the front side 34.

Preferably, the sensor unit 14, in particular at least one

sensor surface

20, 26 of the sensor unit 14, is arranged at least partially on the housing and/or the chassis unit 28 in the vicinity of the processing unit 36 (see fig. 2 and 3). Preferably, the sensor unit 14, in particular at least one

sensor surface

20, 26 of the sensor unit 14, is arranged at least partially on a side, in particular a lower side, of the housing and/or the chassis unit 28 facing the processing unit 36, in particular on the lower side of the chassis. Preferably, the sensor unit 14, in particular at least one sensor surface 26 of the sensor unit 14, at least substantially completely surrounds the machining unit 36, in particular as viewed in a plane extending at least substantially perpendicularly to the machining axis 48, in particular the rotational axis, of the machining unit 36. Alternatively or additionally, the sensor unit 14, in particular at least one sensing surface of the sensor unit 14, is arranged on a machining element, in particular a cutting element, such as a cutting tool or the like, or on a cutting element receptacle of the machining unit 48. It is conceivable for the sensor unit 14, in particular at least one sensing surface 20 of the sensor unit 14, to extend from the front side 34 into the vicinity of the processing unit 36 on the underside of the housing and/or chassis unit 28, or for the sensor unit 14 to have at least two sensing

surfaces

20, 26 lying against one another or spaced apart from one another, wherein one of the sensing surfaces 20, 26 is arranged on the front side 34 and the other of the sensing surfaces 20, 26 is arranged on the underside. It is also conceivable for the sensor surface 20 of the sensor unit 14 arranged on the front side 34 to additionally extend at least partially along a side wall of the housing and/or the chassis unit 28. Alternatively or additionally, it is also conceivable for the sensor unit 14 to have additional sensor surfaces 22, 24, which are arranged on the side walls of the housing and/or the chassis unit 28.

In particular, the presence of green plants to be cut, for example grass, can be detected on the basis of the arrangement of the sensor unit 14 at least partially on the front side 34 and/or in the vicinity of the processing unit 36. In particular, the green plants to be cut approach or come into contact with the front side 34 of the machining unit 36 and/or the vicinity during the movement of the autonomous working apparatus 10 along the main movement direction 42, wherein the approach or the force of the green plants to be cut can be detected by the sensor unit 14, in particular on the basis of a change in capacitance in the sensor unit 14. Based on the detection of the position of action of the green plants to be cut on the sensing surfaces 20, 26, the control and/or regulating unit 18 is preferably able to determine: how long green plants are to be cut and, for example, the speed of cutting and/or movement of the autonomous working implement 10 can be adjusted. Furthermore, it is preferably possible to deduce, based on the capacitance variation: whether the green plants to be cut are present at all. Preferably, the detected data can be used by the control and/or regulating unit 18, in particular after an evaluation for a longer period of time, to adapt the frequency of the work processes, in particular to change the number of work processes per week/month/year, etc.

Advantageously, the presence of green vegetation to be cut, in particular grass, can be detected after the mowing process on the basis of the arrangement of the sensor unit 14 at least partially in the vicinity of the machining unit 36, in particular in the case of the arrangement of the sensor unit 14 in front of and behind the machining unit 36 on the underside of the housing and/or chassis unit 28, as viewed in the main movement direction 42. Preferably, it can be concluded that: whether the green plants to be cut have been cut as intended or whether it is necessary to move back through the working area or to replace or regrind the cutting elements of the machining unit 14. The operator can be made aware, for example, by means of an output unit (not shown in detail here) of the autonomous working apparatus 10: it may be necessary to replace or regrind the cutting elements of the processing unit 14.

In particular, it is possible to detect whether an object 16, for example a body part of a ball, a person or an animal, etc., is present in the vicinity of the processing unit 36, based on the arrangement of the sensor unit 14 at least partially in the vicinity of the processing unit 36, in particular in the case of an arrangement of the sensor unit 14 in front of and behind the processing unit 36, as viewed in the main movement direction 42, on the lower side of the housing and/or chassis unit 28. If, for example, based on evaluating the capacitance: if the object 16, for example a ball, a body part of a person or an animal, etc., is located in the vicinity of the processing unit 36, the control and/or regulating unit 18 can, for example, deactivate the drive unit 12 and/or the processing unit 36, in order to avoid injury or damage to the object 16, among other things. Furthermore, based on the sensor unit 14 being arranged at least partially in the vicinity of the processing unit 36 and based on the detection of the position of action of the object 16, it can preferably be determined that: where the object 16 is located under the autonomous working implement 10 and/or how far the object 16 is from the hazardous area of the processing unit 36. If, for example, by evaluating the sensor data of the sensor unit 14 by means of the control and/or regulating unit 18, it is recognized that: if the body part of the person or animal is moved towards the danger zone of the processing unit 36, the control and/or regulating unit 18 can, for example, deactivate the drive unit 12 and/or the processing unit 36, in order in particular to avoid injuring the body part of the person or animal.

Preferably, the detection of the type of ground can be carried out by means of the control and/or regulating unit 18, on the basis of the sensor unit 14 being arranged at least partially on the underside of the housing and/or chassis unit 28 and on the basis of the evaluation of the change in capacitance of the sensor unit 14. For example, it is possible to detect: whether the autonomous working implement 10 is to be advanced on a wet ground, a ground with long grass, a ground made of concrete, pure soil, or the like. If, for example, based on evaluating the capacitance: if the autonomous working apparatus 10 with the activated working unit 36 is moved on a ground made of concrete or stone, the control and/or regulating unit 18 can, for example, deactivate the working unit 36, in order to save energy of the energy supply unit 44, etc. Preferably, the control and/or regulating unit 18 determines the ground characteristic parameter from the sensor data of the sensor unit 14.

In particular, the presence of a water obstacle, for example a puddle or the like, can be detected by means of the control and/or regulating unit 18 on the basis of the sensor unit 14 being arranged at least partially on the underside of the housing and/or chassis unit 28 and on the basis of the evaluation of a change in the capacitance of the sensor unit 14. If, for example, it is recognized that the autonomous working implement 10 is approaching a water obstacle, the control and/or regulating unit 18 can calculate a control strategy which effects a bypassing of the water obstacle or the like.

Preferably, based on the sensor unit 14 being arranged at least partially on the underside of the housing and/or chassis unit 28 and on the evaluation of the change in capacitance of the sensor unit 14, sudden height level changes, such as pits, steps or the like, can be detected by means of the control and/or regulating unit 18. If for example: a sudden change in the height level, such as a pit, a step or the like, can be inferred if the capacitance change suddenly occurs above the average level, wherein the control and/or regulating unit 18 can, for example, stop activating the drive unit 12.

Preferably, the detection of the immersion of the autonomous working apparatus 10 into the ground can be carried out by means of the control and/or regulating unit 18 on the basis of the sensor unit 14 being arranged at least partially on the underside of the housing and/or chassis unit 28 and on the basis of the detection force characteristic parameter. If the autonomous working apparatus 10 is moved, for example, on sandy or soft ground and if forces are detected from the underside, the control and/or regulating unit 18 can, for example, conclude that: the autonomous working apparatus 10 is already stuck in or is already stuck in a soft ground. The control and/or regulating unit 18 can, for example, deactivate the drive unit 12 and/or the processing unit 36 in order to avoid damage, in particular, on the autonomous working appliance 10 and/or the ground. Preferably, the control and/or regulating unit 18 determines the ground characteristic parameter and the mobility characteristic parameter from the sensor data of the sensor unit 14. The control and/or regulating unit 18 can additionally take into account other characteristic parameters, such as the speed obtained by the distance measuring data or the azimuth locating unit 46, the ground height obtained by the map data, etc.

Preferably, the movement vector of autonomous working implement 10 can be calculated by means of control and/or regulating unit 18, based on sensor unit 14 being arranged at least partially on the underside of housing and/or chassis unit 28 and based on the evaluation approach. Preferably, the calculated motion vectors can be used for comparison with ranging data and/or data of the position location unit 46, in particular in order to correctly determine the position of the autonomous working implement 10 within the work area.

Preferably, the sensor unit 14, in particular at least one sensing surface 20 or a plurality of sensing surfaces 20, 22, 24 of the sensor unit 14, is arranged on the housing and/or chassis unit 28, in particular on an

outer surface

30, 32 of the housing and/or chassis unit 28, at least partially along the entire circumferential extension of the housing and/or chassis unit 28 (see fig. 4). It is conceivable for the sensor unit 14 to have a single continuous sensing surface 20 which extends at least partially over the housing and/or chassis unit 28 along the entire circumferential extension of the housing and/or chassis unit 28, or for the sensor unit 14 to have a plurality of sensing surfaces 20, 22, 24 which are spaced apart from one another and extend at least partially over the housing and/or chassis unit 28 along the entire circumferential extension of the housing and/or chassis unit 28.

Advantageously, based on the arrangement of the sensor unit 14 at least partially along the entire circumferential extension of the housing and/or chassis unit 28 and in particular based on the position of the test object 16 acting on at least one

sensing surface

20, 22, 24 of the sensor unit 14, it can be determined by means of the control and/or regulating unit 18: from which direction the object 16 makes contact with the autonomous working implement 10 and/or the firmness or softness of the object 16. Hard objects 16 such as tree trunks or the like are more likely to act pointwise on the sensor unit 14, wherein soft objects 16 such as bushes or the like are more likely to act planarly on the sensor unit 14. Preferably, the control and/or regulating unit 18 is adapted to be able to deduce the material of the object 16 on the basis of analyzing changes in the processing capacitance, in order to be able to distinguish different objects 16, for example concrete or stone walls from grass or wood. The control and/or regulating unit 18 is preferably able to calculate, on the basis of the sensor data, a control strategy which enables, for example, sliding along the object 16 in the case of yieldable bushes or which requires an evasive or reversing action in order to bypass the object 16. The detected sensor data and the control strategy derived therefrom can be used by the control and/or regulating unit 18 preferably for adapting a previously performed mapping of the working area.

The autonomous working implement 10 preferably comprises at least one walking or crawler unit 38 which can be driven by means of the drive unit 12, wherein the sensor unit 14 is arranged at least partially on the walking or crawler unit 38 (see fig. 1 to 4). Preferably, the sensor unit 14, in particular at least one sensor surface 50 of the sensor unit 14, is arranged on the outer surface or outer circumference of at least one drive wheel. Alternatively or additionally, it is conceivable for the sensor unit 14, in particular at least one sensor surface 52 of the sensor unit 14, to be arranged on a hub element of the running or crawler unit 38, on an outer side of a rim element of the running or crawler unit 38 facing away from the housing and/or the chassis unit 28, etc.

Preferably, the force acting on the ground by the autonomous working implement 10 can be detected by means of the control and/or regulating unit 18 on the basis of the sensor unit 14 being arranged at least partially on the running or crawler unit 38, in particular on the outer surface or outer circumference of at least one drive wheel of the running or crawler unit 38, and on the basis of the detected force characteristic parameter. If, for example, it is recognized that the force exerted by the autonomous working implement 10 on the ground is less than the limit values stored in the memory unit of the control and/or regulating unit 18, it can be concluded, for example: the autonomous working implement 10 or at least one drive wheel is lifted and loses contact with the ground. Furthermore, the travel speed of the autonomous working implement 10 can be detected on the basis of evaluating the sensor data of the sensor unit 14 arranged on the travel or crawler unit 38. The control and/or regulating unit 18 is preferably able to determine mobility characteristic parameters.

Preferably, the control and/or regulating unit 18 can be used to detect a person lifting the autonomous working apparatus 10, based on the sensor unit 14 being arranged at least partially on the walking or crawler unit 38, in particular on the outer surface or outer circumference of at least one drive wheel of the walking or crawler unit 38, and based on the detection of the force characteristic variable and/or the evaluation of the capacitance. It is also conceivable that autonomous working implement 10 has at least one handle on which sensor unit 14 is arranged at least partially in order to analyze whether a treatment person holds and/or carries autonomous working implement 10 by means of the handle. It is also conceivable that, on the basis of the sensor unit 14 being arranged at least partially on the

outer surface

30, 32 of the housing and/or chassis unit 28, on the basis of detecting a change in capacitance and on the basis of detecting a force characteristic parameter, it can be concluded by means of the control and/or regulating unit 18 that a person is gripping the housing and/or chassis unit 28. In addition, other sensor data, for example sensor data of the sensor unit 14 arranged at least partially on the walking or crawler unit 38, data of the azimuth locating unit 46, etc., can be evaluated in order to, for example, enable a reliable detection of an elevation. The control and/or regulating unit 18 can, for example, stop the activation of the drive unit 12 and/or the processing unit 36 and/or output an alarm signal if a lift-off is detected, since the autonomous working appliance 10 has been lifted off, for example, in the case of unauthorized use, etc.

In particular, the detection of the contact of the autonomous working implement 10 with the object 16 can be carried out by means of the control and/or regulating unit 18 on the basis of the sensor unit 14 being arranged at least partially on the running or crawler unit 38, in particular on the outer side of the rim element of the running or crawler unit 38 facing away from the housing and/or the chassis unit 28, and on the basis of the detected force characteristic variable and/or the evaluation capacitance. Preferably, the outer side of the rim element of the walking or crawler unit 38 facing away from the housing and/or chassis unit 28 forms the outermost surface of the autonomous working implement 10. Advantageously, contact or possible contact can be identified in advance based on the detection of the approach of the object 16. Advantageously, the autonomous working implement is capable of navigating to bypass the object in the vicinity.

Furthermore, the autonomous working appliance 10 comprises at least one input unit 40 for manual input of operator commands which can be taken into account by the control and/or regulating unit 18 at least for controlling and/or regulating the drive unit 12, wherein the sensor unit 14 is at least partially formed integrally with the input unit 40. Preferably, at least one sensor surface 54 of the sensor unit 14 forms at least one input element of the input unit 40, by means of which an operator can manually input operator commands. Preferably, at least one sensor surface 54 of the sensor unit 14, which forms at least one input element of the input unit 40, is arranged on a side, in particular an upper side, of the housing and/or chassis unit 28, in particular a housing element designed as a cover, which faces away from the processing unit 36.

Preferably, the emergency stop function can be performed based on the configuration of the sensor unit 14 at least partially integral with the input unit 40. If, for example, contact with a person and/or an animal is detected, the activation of the drive unit 12 and the processing unit 36 is deactivated by means of the control and/or regulating unit 18. Preferably, due to the at least partially integral design of the sensor unit 14 with the input unit 40, a large-area operating surface can be realized, wherein gestures, touches, etc. of the person can be evaluated by means of the control and/or regulating unit 18 for controlling and/or regulating the autonomous working apparatus 10.

Fig. 5 shows a schematic flow of a method for automatically controlling and/or regulating the autonomous working implement 10 taking into account sensor data of the sensor unit 14. The method for automatically controlling and/or regulating the autonomous working implement 10 preferably comprises at least one method step 56, in which the control and/or regulating unit 18 takes into account the approach of the object 16 detected by means of the sensor unit 14 and/or the force characteristic parameters of the object 16 acting on the sensor surfaces 20, 22, 24, 26 of the sensor unit 14 detected by means of the sensor unit 14, at least for controlling and/or regulating the drive unit 12. In at least one method step 58 of the method, the control and/or regulating unit 18 controls and/or regulates the processing unit 36 of the autonomous working appliance, in particular the mowing mechanism and/or the walking or crawler unit 38, as a function of the signals received by the sensor unit 14. In at least one method step 60 of the method, the control and/or regulating unit 18 determines a mobility characteristic variable from the signals received by the sensor unit 14. In at least one method step 62 of the method, the control and/or regulating unit 18 determines a ground characteristic parameter from the signals received by the sensor unit 14. In at least one method step 64 of the method, control and/or regulating unit 18 determines a soiling characteristic variable of autonomous working implement 10 from the signals received by sensor unit 14. In at least one method step 66 of the method, the control and/or regulating unit 18 determines tissue characteristic parameters of the object 16 close to the sensor surfaces 20, 22, 24, 26 of the sensor unit 14 or of the object 16 exerting a force on the sensor surfaces 20, 22, 24, 26 of the sensor unit 14 from the signals received by the sensor unit 14.

In respect of the further method steps of the method, reference is made to the description of the autonomous working implement 10 in fig. 1 to 4, which description is likewise applicable to the method, so that all features relating to the autonomous working implement 10 are to be regarded as being disclosed for use in the method.

Claims

1. Autonomous working appliance, in particular autonomous lawn mower, having at least one drive unit (12), at least one sensor unit (14) for detecting at least the approach of at least one object (16), in particular by evaluating a change in capacitance, and at least one control and/or regulating unit (18) for controlling and/or regulating the drive unit (12), wherein the control and/or regulating unit (18) is configured to take into account signals received by the sensor unit (14) at least when controlling and/or regulating the drive unit (18), characterized in that the sensor unit (14) is configured to detect a signal acting on a sensor surface (20, 20) of the sensor unit (14), 22. 24, 26), in particular by evaluating changes in capacitance, resistance or voltage, wherein the force characteristic variable can be taken into account by the control and/or regulating unit (18) at least for controlling and/or regulating the drive unit (12).

2. The autonomous working implement according to claim 1, characterized in that the sensor unit (14) is configured for detecting an action position of an object (16) approaching the sensing face (20, 22, 24, 26) of the sensor unit (14) or of an object (16) exerting a force on the sensing face (20, 22, 24, 26) of the sensor unit (14), wherein the action position of an approaching object (16) or of an object exerting a force (16) can be taken into account by the control and/or adjustment unit (18) at least for controlling and/or adjusting the drive unit (12).

3. The autonomous working apparatus according to the preamble of claim 1, in particular according to claim 1 or 2, characterized in that at least one housing and/or chassis unit (28) is provided for at least partially covering, receiving or supporting the control and/or regulating unit (18) and/or the drive unit (12), wherein the sensor unit (14) is at least partially arranged on an outer surface (30, 32) of the housing and/or chassis unit (28) or at least partially forms an outer surface (30, 32) of the housing and/or chassis unit (28).

4. The autonomous working appliance according to any of the preceding claims, characterized in that at least one housing and/or chassis unit (28) is provided for at least partially covering, receiving or supporting the control and/or adjustment unit (18) and/or the drive unit (12), wherein the sensor unit (14) is at least partially arranged on a front side (34) of the housing and/or chassis unit (28) which is oriented in a main movement direction (42).

5. The autonomous working appliance according to any of the preceding claims, characterized in that at least one housing and/or chassis unit (28) is provided for at least partially covering, receiving or supporting the control and/or adjustment unit (18) and/or the drive unit (12), wherein the sensor unit (14) covers or constitutes at least a major part of an outer surface (30, 32) of the housing and/or chassis unit (28).

6. The autonomous working appliance according to any of the preceding claims, characterized in that at least one processing unit (36), in particular a mowing mechanism, and at least one housing and/or chassis unit (28) for at least partially covering, receiving or supporting the control and/or regulating unit (18) and/or the drive unit (12) are provided, wherein the sensor unit (14) is arranged at least partially on the housing and/or chassis unit (28) in the vicinity of the processing unit (36).

7. The autonomous working appliance according to any of the preceding claims, characterized in that at least one housing and/or chassis unit (28) is provided for at least partially covering, receiving or supporting the control and/or adjustment unit (18) and/or the drive unit (12), wherein the sensor unit (14) is arranged at least partially along the entire circumferential extension of the housing and/or chassis unit (28) on the housing and/or chassis unit (28), in particular on an outer surface (30, 32) of the housing and/or chassis unit (28).

8. The autonomous working implement according to any of the preceding claims, characterized in that at least one walking or crawler unit (38) is provided which can be driven by means of the drive unit (12), wherein the sensor unit (14) is at least partially arranged on the walking or crawler unit (38).

9. The autonomous working appliance according to any of the preceding claims, characterized in that at least one input unit (40) is provided for manual input of operator commands which can be taken into account by the control and/or adjustment unit (18) at least for controlling and/or adjusting the drive unit (12), wherein the sensor unit (14) is at least partially constructed in one piece with the input unit (40).

10. Method for automatically controlling and/or regulating an autonomous working implement, in particular an autonomous lawn mower, according to one of claims 1 to 9, characterized in that in at least one method step the control and/or regulating unit (18) takes into account a force characteristic parameter of an object (16) detected by means of the sensor unit (14) in proximity to and/or acting on a sensing surface (20, 22, 24, 26) of the sensor unit (14) for at least controlling and/or regulating the drive unit (12).

11. Method according to claim 10, characterized in that in at least one method step the control and/or regulating unit (18) controls and/or regulates a processing unit (36), in particular a mowing mechanism, of the autonomous working implement and/or a walking or crawler-unit (38) as a function of the signals received by the sensor unit (14).

12. Method according to claim 10 or 11, characterized in that in at least one method step the control and/or regulating unit (18) determines a mobility characteristic parameter from the signals received by the sensor unit (14).

13. Method according to any one of claims 10 to 12, characterized in that, in at least one method step, the control and/or regulating unit (18) determines a ground characteristic parameter from the signals received by the sensor unit (14).

14. Method according to any one of claims 10 to 12, characterized in that, in at least one method step, the control and/or regulating unit (18) determines a soiling characteristic parameter of the autonomous working implement from the signals received by the sensor unit (14).

15. Method according to one of claims 10 to 12, characterized in that, in at least one method step, the control and/or regulating unit (18) determines tissue characteristic parameters of the object (16) close to the sensing surface (20, 22, 24, 26) of the sensor unit (14) or of the object (16) exerting a force on the sensing surface (20, 22, 24, 26) of the sensor unit (14) from the signals received by the sensor unit (14).