DE102013203712A1 - Autonomous travel base station equipment - Google Patents

Autonomous travel base station equipment

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Publication number
DE102013203712A1
DE102013203712A1 DE102013203712.0A DE102013203712A DE102013203712A1 DE 102013203712 A1 DE102013203712 A1 DE 102013203712A1 DE 102013203712 A DE102013203712 A DE 102013203712A DE 102013203712 A1 DE102013203712 A1 DE 102013203712A1
Authority
DE
Germany
Prior art keywords
autonomous
unit
housing unit
element
base station
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
DE102013203712.0A
Other languages
German (de)
Inventor
Peter Biber
Christoph Koch
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Priority to DE102013203712.0A priority Critical patent/DE102013203712A1/en
Publication of DE102013203712A1 publication Critical patent/DE102013203712A1/en
Application status is Pending legal-status Critical

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Classifications

    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01DHARVESTING; MOWING
    • A01D34/00Mowers; Mowing apparatus of harvesters
    • A01D34/006Control or measuring arrangements
    • A01D34/008Control or measuring arrangements for automated or remotely controlled operation
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0244Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using reflecting strips
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2201/00Application
    • G05D2201/02Control of position of land vehicles
    • G05D2201/0208Lawn mower

Abstract

The invention relates to an autonomous traveling device base station for an autonomous locomotion device (12), in particular for an autonomous lawnmower, comprising at least one housing unit (14) and at least one reflector unit (16) which at least one locating facility by the autonomous locomotion device (12) on the housing unit (14) arranged reflector element (18).
It is proposed that the reflector element (18), viewed along a circumferential course of the housing unit (14), has a total extension which is greater than 30% of a total circumferential extent of the housing unit (14).

Description

  • State of the art
  • There are already known autonomous traveling equipment base stations for autonomous locomotion devices, in particular for autonomous lawnmowers, which comprise a housing unit and a reflector unit, wherein the reflector unit comprises a reflector element arranged on the housing unit for locating by the autonomous locomotion device.
  • Disclosure of the invention
  • The invention is based on an autonomous traveling device base station for an autonomous locomotion device, in particular for an autonomous lawnmower, with at least one housing unit and with at least one reflector unit, which comprises at least one reflector element arranged on the housing unit for locating by the autonomous locomotion device.
  • It is proposed that the reflector element, viewed along a circumferential course of the housing unit, has a total extension that is greater than 30% of a total circumferential extent of the housing unit. In particular, the reflector element, viewed along the circumferential course, has a total extension which is greater than 50% of a total circumferential extent of the housing unit, preferably greater than 70% of a total circumferential extent of the housing unit and particularly preferably greater than 90% of a total circumferential extent of the housing unit. The total circumferential extent of the housing unit preferably runs along the circumferential course. The term "circumferential course" should in particular define a course of a route along an overall contour of an element and / or a unit. The circumferential profile preferably extends in a plane extending at least substantially perpendicular to a direction extending at least substantially perpendicular to a base contact surface of the housing unit. The underground contact surface of the housing unit is preferably in direct contact with the substrate when properly handled or when the housing unit is properly parked on a substrate. The term "substantially perpendicular" is intended here to define, in particular, an orientation of a direction relative to a reference direction, the direction and the reference direction, in particular in one plane, including an angle of 90 ° and the angle a maximum deviation of, in particular, less than 8 °, advantageously less than 5 ° and particularly advantageously less than 2 °.
  • An "autonomous locomotion device" is to be understood here as meaning, in particular, a device which automatically moves or orientates or navigates in an area or in an environment, in particular moves itself automatically in an area or in an environment after a learning process oriented. The term "automatically move or orient or navigate" should in particular define a locomotion or an orientation or navigation of the locomotion device, in particular after a learning process, without human intervention. Preferably, the autonomous locomotion device automatically moves in an area or in an environment according to a learning process carried out by an operator with the autonomous locomotion device, or automatically orientates itself in an area or in an environment. The locomotion device can hereby be designed as an autonomous lawnmower, as an autonomous vacuum cleaner, as an autonomous sweeper, as an autonomous transport vehicle, as an autonomous aircraft, as an autonomous agricultural implement, etc. Preferably, the autonomous locomotion device is designed as an autonomous lawnmower, which is intended to run or designed as a lawn trained working area or designed as a lawn area working environment. For this purpose, the autonomous locomotion device particularly preferably has a work surface processing unit designed as a mower unit.
  • The housing unit of the autonomous traveling device base station is preferably provided to receive electrical and / or mechanical components of the autonomous traveling device base station and / or to support bearing forces of the electrical and / or mechanical components. Preferably, the housing unit encloses the electrical and / or mechanical components at least for the most part. Thus, the electrical and / or mechanical components are arranged in particular within the housing unit. The term "intended" is intended in particular to define specially designed and / or specially equipped. The autonomous traveling device base station particularly preferably forms a fixed reference point within a working environment or within a working area which preferably makes the autonomous travel device into an orientation and / or to an orientation Use navigation within the work environment or within the workspace. For this purpose, it is conceivable that the autonomous traveling equipment base station comprises, in addition to the reflector unit, a locating unit which is intended to communicate with the autonomous locomotion device in order to orient and / or navigate the autonomous locomotion device during an automatic movement within the working environment or within the working area to transmit to a navigation within the working environment or within the workspace.
  • The reflector unit is preferably intended to reflect electromagnetic waves emanating from the autonomous locomotion base station by the autonomous locomotion device from a transmitter and / or receiver unit of the autonomous locomotion device largely in the direction of the transmitter and / or receiver unit. In this case, the reflector unit is preferably designed as an optical reflector unit. The reflector element can hereby be designed as a cat's eye, as a mirror (planar mirror, triple prism, triple mirror, etc.) and / or as another element that appears meaningful to a person skilled in the art and largely reflects electromagnetic waves in the direction of a light source. By means of the configuration of the autonomous traveling device base station according to the invention, advantageously a reliable localization of the autonomous traveling device base station by the autonomous transport device from different positions of the autonomous transport device relative to the autonomous traveling device base station within the working environment or within the working area can be made possible. Thus, advantageously, a secure location of the autonomous traveling device base station by the autonomous locomotion device can be made possible to enable a reliable start of the autonomous traveling device base station.
  • In a preferred embodiment of the autonomous traveling device base station according to the invention, it is proposed that the reflector element, viewed along the circumferential course, extend at least substantially completely around the housing unit. The term "at least substantially completely extending around the housing unit" is to be understood here in particular as meaning an overall extension of the reflector element, viewed along the circumferential course, which corresponds to at least 90% of the total circumferential extent of the housing unit. Particularly preferably, the reflector element, viewed along the circumferential course, extends completely around the housing unit. By means of the embodiment of the autonomous traveling device base station according to the invention, advantageously, a localization of the autonomous traveling device base station by the autonomous locomotion device can be achieved from almost any direction in a horizontal plane. Thus, advantageously, a safe finding of the autonomous traveling device base station by the autonomous traveling device can be ensured. Thus, advantageously, it is possible to advantageously prevent random travel of the autonomous transportation device within the working environment or within the work area from finding the autonomous traveling device base station.
  • Furthermore, it is proposed that the reflector element has at least one direction-pointing area which is provided to enable localization of a position of a loading element arranged on the housing unit as a function of a position of the autonomous locomotion device relative to the reflector element by the autonomous locomotion device. In this case, the direction-pointing region preferably has a coverage pattern which is provided to change a reflection behavior of the reflector element in the direction-pointing region in comparison to a reflection behavior of the reflector element of at least one region of the reflector element that is designed differently from the direction-pointing region. Preferably, the coverage pattern of the direction-indicating area is provided to depict or indicate a fault position characteristic, such as an angular deviation of the autonomous locomotion device relative to the loading element, a distance of the autonomous locomotion device relative to the loading element, etc., as a function of a variable, in particular an extension. Thus, for example, a 50% coverage of the reflector element with a reflector surface in the direction-indicating area may represent a positional deviation of the autonomous locomotion device from the position of the loading element, with 100% coverage of the reflector element with a reflector surface outside the direction-pointing area an optimal position of the autonomous locomotion device represents relative to the charging element. Overall, the reflector element may have a different direction of direction from a Richtungsweisungsbereich number of direction. Depending on the field of application of the autonomous traveling device base station, a person skilled in the art will select a meaningful number of directional areas of the reflector element. By means of the embodiment according to the invention, a precise localization of the charging element can advantageously be made possible. Thus, it can be advantageously ensured that the autonomous locomotion device finds the charging element reliably.
  • It is further proposed that the autonomous traveling device base station comprises at least one charging unit which is provided to supply an energy storage unit of an autonomous transportation device with electrical energy at least in a state of charge. The energy storage unit of the autonomous locomotion device is preferably designed as a rechargeable accumulator unit. Moreover, in at least one embodiment, the autonomous traveling device base station may be a solar cell unit for production of electrical energy, which can be used advantageously to charge the energy storage unit in a state of charge. By means of the embodiment according to the invention can be advantageously made possible by a user largely independent charging of the energy storage unit.
  • In addition, it is proposed that the charging unit comprises at least the charging element arranged on the housing unit, which viewed along the circumferential course has a total extension which is greater than 30% of a total circumferential extent of the housing unit. In particular, the loading element, viewed along the circumferential course, has a total extension which is greater than 50% of a total circumferential extent of the housing unit, preferably greater than 70% of a total circumferential extent of the housing unit and particularly preferably greater than 90% of a total circumferential extent of the housing unit. The charging element of the charging unit can in this case be designed as a contact charging element, such as a pole, a plug, etc., or as an induction charging element. Preferably, the housing unit has an insertion element in the region of the loading element, which is provided to enable secure contacting when approaching a counter-contact element of the autonomous locomotion device. For this purpose, the insertion element is in particular conical. The insertion element can thus be designed as a conical insertion region of a recess made in a housing wall of the housing element, in which the loading element is arranged. Further, a person skilled in the appear reasonable embodiments of the insertion are also conceivable. Preferably, the loading unit further comprises a further loading element which has a configuration analogous to the loading element. Thus, in particular, the charging element forms a "plus contact" and the further charging element forms a "minus contact" of the charging unit. By means of the embodiment of the autonomous traveling device base station according to the invention, it is advantageously possible to charge the energy storage unit of the autonomous transportation device in a plurality of positions of the autonomous transportation device relative to the housing unit.
  • In a preferred embodiment of the autonomous traveling device base station, the loading element extends completely around the housing unit as viewed along the circumferential course. Preferably, the further charging element also extends, as viewed along the circumferential course, completely around the housing unit. Thus, it may be advantageous to charge the energy storage unit of the autonomous transportation device in any position of the autonomous transportation device at the autonomous traveling device base station. It can thus be made possible a comfortable charging of the energy storage unit of the autonomous locomotion device, which is advantageously independent of a journey direction of the autonomous locomotion device. Charging in any position of the autonomous locomotion device at the autonomous traveling device base station can be particularly advantageous in an embodiment of the charging element as an induction charging element, since the autonomous locomotion device thus only has to stop in the vicinity of the charging contact element without directly contacting the charging contact element.
  • Furthermore, it is proposed that the housing unit is cylindrical. The term "cylindrical" is to be understood here in particular as a geometric configuration of the housing unit, which is bounded by two parallel, flat surfaces and a lateral surface which is formed by parallel straight lines. By means of the embodiment of the housing unit according to the invention can advantageously be realized a compact housing unit.
  • It is also proposed that the housing unit is rotationally symmetrical about at least one axis. The axis about which the housing unit is rotationally symmetrical preferably extends at least substantially perpendicular to the underground contact surface of the housing unit. Thus, the housing unit is preferably formed circular cylindrical. By means of the embodiment according to the invention can advantageously be made possible at least design-related free accessibility of the charging element of any running in a horizontal plane directions. It can thus be made possible a comfortable start of the charging element.
  • In addition, it is proposed that the reflector element is designed to be retroreflective. Thus, advantageously, a precise localization of the autonomous traveling device base station can be realized by the autonomous transportation device. In addition, a reliable differentiation of the autonomous traveling device base station from other objects within the working environment or within the working area can advantageously be made possible.
  • Furthermore, the invention is based on an autonomous traveling device system having at least one autonomous locomotion device base station according to the invention and at least one autonomous locomotion device, in particular with an autonomous lawnmower. The autonomous locomotion device preferably comprises at least one arithmetic unit and a transmitter and / or receiver unit for autonomous locomotion. In particular, a unit with an information input, a Information processing and an information output. Advantageously, the arithmetic unit has at least one processor, an evaluation unit, input and output means, further electrical components, an operating program, control routines, control routines and / or calculation routines. The arithmetic unit and the transmitter and / or receiver unit are connected to a data exchange, in particular to a transmission of electronic data, electrically and / or electronically in a manner already known to a person skilled in the art. In this case, the arithmetic unit and / or the control unit can be wired together, such as by means of a fiber optic cable, by means of a copper line, etc., and / or by means of a wireless data line, such as by means of a WLAN data line, by means of a Bluetooth data line, etc.
  • In addition, the autonomous locomotion device may comprise at least one data interface unit, by means of which an operator sends electronic data, in particular additional environmental data or additional control data, from an external device, such as a PC, a tablet, a smartphone, etc., to the autonomous locomotion device and / or the autonomous locomotion device can transmit to an external device to a programming of the autonomous locomotion device. Preferably, the transmitter and / or receiver unit has at least one receiver element which is provided to receive electromagnetic waves emitted by a transmitter element of the transmitter and / or receiver unit and which are reflected by at least the reflector element. Particularly preferably, the autonomous locomotion device comprises at least one location locating unit, which is provided for a position determination. Particularly preferably, the location location unit is designed as an odometry and / or GPS unit, which is provided for a position determination. However, it is also conceivable that the location location unit has another configuration that appears appropriate to a person skilled in the art, such as a configuration as a compass unit, as a gyroscope unit, as a laser scanner unit, as an inertial sensor unit, as an ultrasound unit, as an image acquisition unit, etc., which is suitable for determining a position ,
  • The autonomous traveling device base station according to the present invention and / or the autonomous traveling device system according to the present invention are not intended to be limited to the above-described application and embodiment. In particular, the autonomous traveling device base station according to the invention and / or the autonomous traveling device system according to the invention may have a number deviating from a number of individual elements, components and units and method steps referred to herein in order to fulfill a mode of operation described herein.
  • drawing
  • Further advantages emerge from the following description of the drawing. In the drawing, an embodiment of the invention is shown. The drawing, the description and the claims contain numerous features in combination. The person skilled in the art will expediently also consider the features individually and combine them into meaningful further combinations.
  • Show it:
  • 1 an autonomous traveling device system according to the invention with an autonomous locomotion device base station according to the invention and with an autonomous locomotion device in a schematic representation,
  • 2 a detailed view of the autonomous traveling device base station according to the invention in a schematic representation and
  • 3 a detailed view of a Untergrundauflageeinheit the Autonomfortbewegungsgerätebasisstation invention in a schematic representation.
  • Description of the embodiment
  • 1 shows an autonomous traveling device system 32 , which is an autonomous traveling equipment base station 10 and an autonomous locomotion device 12 includes. The autonomous locomotion device 12 includes at least one motion strategy processing and / or navigation device 34 , The motion strategy processing and / or navigation device 34 of the autonomous locomotion device 12 has at least one arithmetic unit 36 and at least one transmitter and / or receiver unit 38 to a collection of environmental data for a development of a movement strategy of the autonomous locomotion device 12 within a workspace by means of the arithmetic unit 36 and / or to a determination of a position of the autonomous transportation device 12 within a workspace by means of the arithmetic unit 36 on. The transmitter and / or receiver unit 38 in this case has at least one transmitter element 40 to a transmission of electromagnetic waves. The transmitter element 40 is designed here as an LED. However, it is also conceivable that the transmitter element 40 as a laser diode or as another, a skilled worker appear useful element for emitting electromagnetic waves, such as an ultraviolet light, as Halogen light element, etc., is formed, which can emit electromagnetic waves in the visible and / or in the non-visible area. The transmitter element 40 sends out the electromagnetic waves in this case pulsed. Furthermore, the transmitter and / or receiver unit comprises 38 at least one receiver element 42 provided for by the transmitter element 40 the transmitter and / or receiver unit 38 to receive emitted and reflected electromagnetic waves. The receiver element 42 is designed as a photodiode. However, it is also conceivable that the receiver element 42 another embodiment which appears expedient to a person skilled in the art, such as, for example, a camera element, etc. The receiver element 42 is synchronized to that of the transmitter element 40 pulsed electromagnetic waves. The transmitter and / or receiver unit 38 can also be one of a transmitter element 40 and / or from a receiver element 42 different number of transmitter elements 40 and / or receiver elements 42 exhibit.
  • Furthermore, the motion strategy processing and / or navigation device includes 34 at least one location location unit 48 , which lead to a position determination of the autonomous locomotion device 12 is provided within a workspace. The location tracking unit 48 is designed as a GPS unit. However, it is also conceivable that the location tracking unit 48 another, a professional appears to be useful embodiment. The location tracking unit 48 is on and / or in the housing and / or frame unit 46 arranged. Thus, the arithmetic unit 36 , the transmitter and / or receiver unit 38 and the location tracking unit 48 in and / or on the housing and / or frame unit 46 of the autonomous locomotion device 12 arranged. In addition, the arithmetic unit 36 , the transmitter and / or receiver unit 38 and the location tracking unit 48 by means of data lines of the motion strategy processing and / or navigation device 34 connected to an exchange of data. The autonomous locomotion device 12 is designed as an autonomous lawn mower, which is intended to move independently after a learning process within a workspace or a working environment and a work area arranged in the work area or working environment 62 to work automatically. The autonomous locomotion device designed as an autonomous lawnmower 12 is intended, designed as a lawn work surface 62 to automatically work or drive to mow grass. For editing the work surface 62 has the autonomous locomotion device 12 a work surface processing unit designed as a mowing unit 60 on. However, it is also conceivable that the autonomous locomotion device 12 another embodiment that appears expedient to a person skilled in the art, such as, for example, an embodiment as an autonomous vacuum cleaner, as an autonomous transport device, as an autonomous agricultural device for processing agricultural areas, as an autonomous aircraft, etc.
  • The locomotion includes the autonomous locomotion device 12 a drive unit already known to a person skilled in the art 44 , which is not discussed in this description. The autonomous locomotion device 12 further comprises at least one housing and / or frame unit 46 at which the transmitter and / or receiver unit 38 is arranged. In this case, the transmitter and / or receiver unit 38 movable relative to the housing and / or frame unit 46 be arranged, such as by means of a pivoting arm, etc. The transmitter and / or receiver unit 38 is at a direction of travel oriented front of the housing and / or frame unit 46 arranged. An arrangement of the transmitter and / or receiver unit 38 at another, to a professional appear appropriate position on the housing and / or frame unit 46 is also possible. A navigation or an autonomous locomotion of the autonomous locomotion device 12 Within the working environment or within the workspace is done in a manner already known to a person skilled in the art. To a power supply of the drive unit 44 and / or the motion strategy processing and / or navigation device 34 includes the autonomous locomotion device 12 at least one energy storage unit 28 , The energy storage unit 28 is here designed as a rechargeable accumulator. To recharge the energy storage unit 28 drives the autonomous locomotion device 12 the autonomous traveling equipment base station 10 at.
  • The autonomous traveling device base station 10 for the autonomous locomotion device 12 includes at least one housing unit 14 and at least one reflector unit 16 leading to a localization possibility by the autonomous locomotion device 12 at least one on the housing unit 14 arranged reflector element 18 includes. The reflector element 18 has, viewed along a circumferential course of the housing unit 14 , a total extension greater than 30% of a total circumferential extent of the housing unit 14 , Here is the reflector element 18 trained retro-reflective. Thus, a reflection of electromagnetic waves largely in the direction back to the radiation source, here the transmitter element 40 , allows. Here, the reflection is largely independent of an orientation of the reflector element 18 , The housing unit 14 is cylindrical. Here is the housing unit 14 rotationally symmetrical about at least one axis 30 educated ( 2 ). The axis 30 extends at least substantially perpendicular to a ground contact surface 50 the housing unit 14 , Thus, the housing unit 14 a circular cylindrical configuration.
  • The reflector element 18 is on an outer surface and / or in an outer wall of the housing unit 14 arranged. In this case, the reflector element 18 , viewed along the circumferential course of the housing unit 14 , a total extension greater than 70% of the total circumferential extent of the housing unit 14 , Thus, the reflector element surrounds 18 the housing unit 14 , viewed along the circumferential course of the housing unit 14 , at least for the most part. It is also conceivable that the reflector element 18 comprises a plurality of mutually separately formed partial reflector regions, along the total circumferential extent of the housing unit 14 relatively spaced from each other on the outer surface and / or in the outer wall of the housing unit 14 are arranged to the housing unit 14 along the circumferential course of the housing unit 14 to surround mostly. In a particularly preferred embodiment, the reflector element extends 18 , viewed along the circumferential course, at least substantially completely around the housing unit 14 , In this case, the reflector element extends 18 , viewed along one in at least substantially perpendicular to the axis 30 extending plane extending circumferential direction 52 ( 2 ), completely around the housing unit 14 ,
  • The reflector element 18 is designed as a retroreflector tape, which is the housing unit 14 along the circumferential direction 52 at least for the most part, in particular completely surrounds. Here, the reflector element 18 be formed as an elastic band, which on the outer surface and / or in the outer wall of the housing unit 14 is arranged. Here, the reflector element 18 by means of a non-positive, by means of a positive and / or by means of a material connection to the outer surface and / or in the outer wall of the housing unit 14 be arranged. However, it is also conceivable that the reflector unit 16 alternatively or in addition to the reflective element formed as a reflector strip 18 has further reflector elements, which are formed as cat's eyes, along the total circumferential extent of the housing unit 14 , viewed along the circumferential direction 52 , distributed to the housing unit 14 are arranged. Here, the reflector elements formed as a cat's eyes along the circumferential direction 52 evenly or unevenly distributed on the housing unit 14 be arranged.
  • Furthermore, the autonomous traveling device base station includes 10 at least one loading unit 26 , which is intended to the energy storage unit 28 of the autonomous locomotion device 12 to supply at least in a state of charge with electrical energy. The loading unit 26 includes at least one on the housing unit 14 arranged charging element 22 which, viewed along the circumferential course, has a total extension which is greater than 30% of a total circumferential extent of the housing unit 14 , The charging element 22 is designed as a copper band. Here is the charging element 22 at least substantially parallel to the reflector element 18 aligned. Thus, the charging element extends 22 , viewed along the circumferential course, completely around the housing unit 14 , Furthermore, the charging unit includes 26 another charging element 24 , which, viewed along the circumferential course, has a total extension that is greater than 30% of a total circumferential extent of the housing unit 14 , In this case, the further charging element extends 24 , viewed along the circumferential course, also completely around the housing unit 14 , The further charging element 24 is also designed as a copper band. Thus, this is the other charging element 24 also at least substantially parallel to the reflector element 18 aligned. However, it is also conceivable that the charging element 22 and the other charging element 24 another, a skilled person appear appropriate design, such as gold band, etc. The charging element 22 is designed as a "plus pole" and the other charging element 24 is designed as a "minus pole". To a contact of the charging element 22 and further charging element 24 has the autonomous locomotion device 12 a contact unit 54 on that to the charging element 22 and the further charging element 24 correspondingly formed contact elements (not shown here). The charging element 22 and the other charging element 24 are here on the outer surface and / or in the outer wall of the housing unit 14 arranged.
  • The housing unit 14 can in an arrangement of the charging element 22 and further charging element 24 in an annular recess (not shown here) of the housing unit 14 at least one insertion element (not shown here in detail), which is intended, when approaching the autonomous locomotion device 12 to the loading unit 26 a guided contacting of the charging element 22 and further charging element 24 to enable with the contact elements. For this purpose, the insertion element is formed as a Einführschrägfläche, by means of which the contact elements targeted to the charging element 22 and the further charging element 24 are feasible.
  • Furthermore, the reflector element 18 in an embodiment of the loading unit 26 in which is the charging element 22 and the other charging element 24 , viewed along the circumferential course of the housing unit 14 less than 100% of a total circumferential extent of the housing unit 14 over a portion of the total circumferential extent of the housing unit 14 extend, a directional area 20 (in 2 shown in dashed lines). In this case, the reflector element 18 at least one directional area 20 arranged to locate a position of the housing unit 14 arranged charging element 22 and / or the further charging element 24 depending on a position of the autonomous locomotion device 12 relative to the reflector element 18 by the autonomous locomotion device 12 to enable.
  • Further, the autonomous traveling device base station includes 10 in the embodiment of the loading unit 26 in which is the charging element 22 and the other charging element 24 , viewed along the circumferential course of the housing unit 14 less than 100% of a total circumferential extent of the housing unit 14 over a portion of the total circumferential extent of the housing unit 14 extend, at least one bottom plate 56 ( 3 ), on the at least one further reflector element 58 the reflector unit 16 is arranged. The further reflector element 58 This is intended to be a lane to the charging element 22 and the further charging element 24 display. Thus, for the autonomous locomotion device 12 a location of a position of the loading element 22 and further charging element 24 on the housing unit 14 allows, with a contact path for contacting the contact elements with the charging element 22 and the further charging element 24 through the further reflector element 58 is specified. Here, the contact path by means of an interaction of the transmitter and / or receiver unit 38 , the computing unit 36 and the reflector unit 16 recognizable and to a precise approach of the loading unit 26 evaluable.

Claims (10)

  1. Autonomous mobility base station for an autonomous transportation device ( 12 ), in particular for an autonomous lawnmower, with at least one housing unit ( 14 ) and with at least one reflector unit ( 16 ), which can be localized by the autonomous locomotion device ( 12 ) at least one on the housing unit ( 14 ) arranged reflector element ( 18 ), characterized in that the reflector element ( 18 ), viewed along a circumferential course of the housing unit ( 14 ) has a total extension greater than 30% of a total circumferential extent of the housing unit ( 14 ).
  2. Autonomous mobility base station according to claim 1, characterized in that the reflector element ( 18 ), viewed along the circumferential course, at least substantially completely around the housing unit ( 14 ).
  3. Autonomous mobility base station according to one of the preceding claims, characterized in that the reflector element ( 18 ) at least one directional area ( 20 ), which is intended to localize a position of a on the housing unit ( 14 ) arranged charging element ( 22 . 24 ) depending on a position of the autonomous locomotion device ( 12 ) relative to the reflector element ( 18 ) by the autonomous locomotion device ( 12 ).
  4. Autonomous mobility device base station according to one of the preceding claims, characterized by at least one charging unit ( 26 ), which is intended to provide an energy storage unit ( 28 ) of the autonomous locomotion device ( 12 ) to supply at least in a state of charge with electrical energy.
  5. Autonomous mobility base station according to claim 4, characterized in that the loading unit ( 26 ) at least one on the housing unit ( 14 ) arranged charging element ( 22 . 24 ), which, viewed along the circumferential course, has a total extension which is greater than 30% of a total circumferential extent of the housing unit (FIG. 14 ).
  6. Autonomous mobility base station according to claim 4 or 5, characterized in that the charging element ( 22 . 24 ), viewed along the circumferential course, completely around the housing unit ( 14 ).
  7. Autonomous mobility device base station according to one of the preceding claims, characterized in that the housing unit ( 14 ) is cylindrical.
  8. Autonomous mobility device base station according to claim 7, characterized in that the housing unit ( 14 ) rotationally symmetrical about at least one axis ( 30 ) is trained.
  9. Autonomous mobility base station according to one of the preceding claims, characterized in that the reflector element ( 18 ) is formed retroreflektiv.
  10. An autonomous traveling device system having at least one autonomous traveling device base station according to any one of the preceding claims and having at least one autonomous Locomotion device ( 12 ), especially with an autonomous lawnmower.
DE102013203712.0A 2013-03-05 2013-03-05 Autonomous travel base station equipment Pending DE102013203712A1 (en)

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Publication number Priority date Publication date Assignee Title
DE102015221658A1 (en) 2015-11-04 2017-05-04 Robert Bosch Gmbh Garden sensor device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015221658A1 (en) 2015-11-04 2017-05-04 Robert Bosch Gmbh Garden sensor device
EP3165075A1 (en) 2015-11-04 2017-05-10 Robert Bosch Gmbh Garden sensor device

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