WO2009071379A1 - Dispositif à fonctionnement autonome - Google Patents

Dispositif à fonctionnement autonome Download PDF

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Publication number
WO2009071379A1
WO2009071379A1 PCT/EP2008/063868 EP2008063868W WO2009071379A1 WO 2009071379 A1 WO2009071379 A1 WO 2009071379A1 EP 2008063868 W EP2008063868 W EP 2008063868W WO 2009071379 A1 WO2009071379 A1 WO 2009071379A1
Authority
WO
WIPO (PCT)
Prior art keywords
electric field
unit
sensor unit
changes
lawnmower
Prior art date
Application number
PCT/EP2008/063868
Other languages
German (de)
English (en)
Inventor
Joachim Platzer
Amos Albert
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
Publication of WO2009071379A1 publication Critical patent/WO2009071379A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G25/00—Watering gardens, fields, sports grounds or the like
    • A01G25/09—Watering arrangements making use of movable installations on wheels or the like
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means

Definitions

  • the present invention relates to an autonomously operating device comprising a drive unit for moving the device, at least one sensor unit and an evaluation unit.
  • autonomously operating devices are referred to in the present case such devices that can perform work independently, especially house and garden work.
  • autonomous lawnmowers leaf collectors, weed cutters, irrigation devices, vacuum cleaners and the like are known in various designs.
  • reference will only be made to autonomous lawnmowers for the sake of simplicity, but such a lawnmower serves only as an example of autonomously operating devices and is in no way to be understood as limiting.
  • autonomous lawn mowers are in addition to the most efficient operation, such as a complete area coverage when mowing, avoiding the multiple crossing of lawns or the like, a safe operation in which neither the lawnmower nor other objects or people come to harm, and a minimal reworking of Meaning, such as the trimming of the lawn edges after mowing.
  • known autonomous lawnmowers include various types of sensor units that can detect conditions of the working environment of the device.
  • the of the Sensor units detected states are then forwarded in the form of an output signal to an evaluation that evaluates the output signals and based on the evaluation result generates control commands to control components of the lawnmower, such as a drive unit of the lawnmower to avoid using a sensor unit detected obstacles.
  • DE 101 52 726 A1 describes an autonomous lawnmower in which a current-carrying border wire is used, which is laid in advance in the area to be mowed or optionally buried.
  • the lawnmower has one or more sensor units that detect the signal of the current-carrying surround wire.
  • the detected signals are forwarded to an evaluation unit, which based on these generates control commands for a drive unit to ensure that the lawnmower does not leave the working area defined by the trim wire.
  • tactile sensor units that detect objects representing an obstacle only when a collision has already occurred. After a collision has occurred, corresponding control commands are normally generated, which drive the lawnmower's drive unit. cause her to take another path.
  • a problem with the use of such tactile sensor units is that in a collision with an object, the article and also the lawnmower itself can be damaged.
  • tactile sensor units may not recognize flat objects, such as a hand in the grass, so that the lawnmower simply overruns them, which can cause great damage.
  • DE 103 02 908 A1 describes an autonomous lawnmower which has a sensor unit which records the transit time of ultrasonic waves from an ultrasound transmitter to an ultrasound receiver for determining the distance of a sound-reflecting boundary of a lawn area or possible obstacles within the lawn area and enters an evaluation unit.
  • This evaluation unit then processes the corresponding data and generates, based on the evaluation result, control commands for the drive unit of the lawnmower, which cause it to take a different path.
  • this sensor unit in contrast to the previously described tactile sensor units, it is possible to detect objects from an impending collision.
  • a disadvantage of these sensor units is that their correct function only works from a minimum distance and that objects on the ground, such as a child's hand in the grass or the like, can not be reliably detected.
  • optical sensor units which emit light and detect obstacles on the basis of the reflected light of an object of the emitted light.
  • the present invention provides an autonomously operating device, in particular an autonomous lawnmower, comprising a drive unit for moving the device, at least one sensor unit and an evaluation unit.
  • the at least one sensor unit is designed and set up in such a way that it generates an electric field, and that the change in this electric field caused by changes in the surface condition and / or by objects entering the electric field is detected by the evaluation unit be evaluated.
  • an electric field is generated which extends into the environment of the device.
  • Objects as well as changes to the ground, such as a falling edge, change the electric field.
  • Such changes in the electric field are detected by measurement, whereupon objects or changes in the background can be deduced. Then appropriate measures can be taken.
  • control commands can be generated, which drive the drive unit in such a way that the device evades the obstacle.
  • An essential advantage of this detection method compared with the aforementioned sound sensors and optical sensors is that objects and changes to the ground can be detected not only in an area around the device but also below the device. In this way, the danger potential emanating from the device can be further reduced.
  • Another advantage of the detection method according to the invention is that the detection of objects and changes to the ground is non-contact. Furthermore, the sensor unit with the structure described above is not susceptible to interference. Although the absolute value of the measurement made depends strongly on the environmental conditions. For example, a damp lawn affects the capacity of the arrangement. However, since the detection is based on changes in the electric field, the external influences can be easily compensated.
  • the sensor unit according to the invention can be produced very inexpensively. There are no reflection problems and the sensor unit does not need to include moving parts. Accordingly, a solid construction can be realized.
  • the at least one sensor unit has at least one transmitter electrode and at least one receiver electrode which have a mutually different potential, wherein an alternating voltage is applied to the at least one transmitter electrode for generating the electric field between the electrodes becomes.
  • an operational amplifier circuit can be provided, which is set up in such a way that it holds the at least one receiver electrode at zero potential.
  • the evaluation unit can, for example, measure the current flowing through the at least one receiver electrode, wherein a change in the electric field can be deduced when a current change occurs.
  • the at least one sensor unit has at least one shield which is designed and / or supplied with a potential in such a way that it reduces or completely eliminates influences of the electric field by other components of the device. In this way measurement errors can be reduced.
  • the device according to the invention preferably comprises a plurality of sensor units which are arranged such that areas in front of and / or behind and / or next to and / or below and / or above the lawnmower are monitored by means of the electric fields generated by them. In this way, a monitoring of the environment around the lawnmower can be realized. In particular, monitoring of the area below the lawnmower can not be realized with the hitherto known sensor units of autonomous devices.
  • the evaluation unit is preferably set up in such a way that control commands for activating the drive unit are generated on the basis of changes in an electric field generated by a sensor unit, which are detected by the latter.
  • the drive unit is controlled in such a way that the lawnmower evades obstacles that have been detected by the sensor unit.
  • the evaluation unit is preferably set up in such a way that, based on changes in an electric field generated by a sensor unit, control commands for activating at least one further unit of the apparatus are generated.
  • This further unit may be, for example, a motor that drives the blade of a lawnmower. If, for example, an object in the immediate vicinity of the lawnmower is detected with the aid of the sensor unit, which the lawnmower can no longer avoid, then for example the speed of the motor can be reduced or the motor can be lowered immediately turned off. In this way, for example, damage to an object can be prevented when the lawnmower passes over it. Likewise, of course, damage to the cutting blade in a collision with a hard object can be prevented.
  • FIGS. 1a and 1b are schematic views explaining the principle of operation of a sensor unit according to the present invention.
  • Fig. 2 is a schematic view showing an autonomous lawn mower having a plurality of such sensor units.
  • FIGS. 1a and 1b are schematic views showing the basic principle of a sensor unit 10 according to the present invention.
  • the sensor unit 10 includes a transmitter electrode 12 and a receiver electrode 14 having a potential different from each other.
  • the receiver electrode 14 is held in the present case by an operational amplifier circuit, not shown, to zero potential and thus represents a virtual ground.
  • an AC power 16 At the transmitter electrode is by means of an AC power 16 an alternating current is applied so that between the transmitter electrode 12 and the receiver Electrode 14 is an electric field is generated, which is indicated in Fig. Ia by field lines 18.
  • a current I which is detected by an evaluation unit 20, flows at the receiver electrode 14.
  • FIG. 2 shows an autonomous lawnmower 30 according to an embodiment of the present invention.
  • the lawnmower comprises a housing 32, on which movable wheels 34 are arranged, which are driven by means of a drive unit, not shown.
  • a plurality of sensor units 10 are provided which operate according to the measuring principle explained with reference to FIGS. 1a and 1b. More specifically, around the circumference of the upper portion of the housing 32, a band-shaped shield 36a extends, on which a plurality of receiver electrodes 14a are juxtaposed.
  • the shield 36a serves to shield the sensor units 10 from influences of other lawnmower components disposed inside the housing 32.
  • a wire-shaped transmitter electrode 12a around the circumference of the upper portion of the housing 32.
  • This wire-shaped transmitter electrode 12a is connected to an AC power source 16 (not shown in FIG an electric field is generated between the wire-shaped transmitter electrode 12a and the individual receiver electrodes 14a due to the potential difference existing between the electrodes, which area extends outward from the housing 32 of the lawnmower 30.
  • a band-shaped shield 36b is provided at the lower portion of the housing 32 of the lawn mower 30, on which also individual receiver electrodes 14b are arranged side by side, above which extends a wire-shaped transmitter electrode 12b.
  • an electrical field is generated between the wire-shaped transmitter electrode 12b and the individual receiver electrodes 14b extending downwardly from the housing 32 of the lawnmower 30, so that the subsurface is scanned accordingly.
  • each receiver electrode 14a, 14b may be assigned a transmitter electrode.
  • the transmitter electrode may also be meander-shaped or formed in a shape different from a wire.
  • the evaluation unit 20 first generates a control command which initially drives the drive unit of the lawnmower 30 in such a way that the speed of the mower 30 is throttled. Accordingly, the lawnmower 30 can slowly approach the lawn edge 40.
  • a control command is generated which drives the drive unit such that the lawnmower 30 moves in the opposite direction and thus moves away from the lawn edge 40 to prevent a crash of the lawnmower 30 at the lawn edge 40.
  • the sensor units 10 and the evaluation unit 20 can be set up such that, for example, the motor which drives the cutting blade of the lawnmower 30 is stopped as soon as the sensor units 10 detect an obstacle in the lower region of the housing 32 of the lawnmower 30. In this way, damage to the cutting blade or the object can be prevented.
  • the invention relates to autonomous apparatus in general and is not limited to autonomous lawn mowers.
  • the invention can also be implemented in autonomous leaf collectors, weed killers, irrigation devices, vacuum cleaners and the like.
  • the invention is based on the generation of an electric field, wherein changes in the catchment area of the electric field, such as changes caused by objects, living beings or changes to the ground, lead to distortions of the electric field, which can be detected by measurement.
  • the detection takes place without contact according to the measuring principle according to the invention. There is thus the possibility of implementing security functions, in particular the avoidance of injuries to humans and animals. Furthermore, alternative strategies can be implemented in the event that the lawnmower is in collision with stationary or mobile objects. This serves to prevent destruction of the lawnmower and the objects.
  • the absolute value of the measurement depends largely on the environmental conditions, such as the weather. For example, a damp lawn affects the capacity of the arrangement. But since the detection is based on changes in the electric field, the external influences can be easily compensated. Accordingly, the detection always works reliably. Not least, the invention is characterized by the fact that the sensor unit can be built very inexpensively. There are no reflection problems, and the sensor contains no moving parts.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Electromagnetism (AREA)
  • Water Supply & Treatment (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Guiding Agricultural Machines (AREA)

Abstract

Dispositif (30) à fonctionnement autonome, en particulier tondeuse à gazon autonome, comprenant une unité d'entraînement pour mouvoir le dispositif (30), au moins une unité de détection (10), et une unité d'évaluation (20). La ou les unités de détection (10) sont conçues et installées de telle sorte qu'elles produisent un champ électrique, et que des modifications de ce champ électrique qui sont produites par des modifications de la nature du sol et/ou par des objets (22) survenant dans le champ électrique sont enregistrées et évaluées par l'unité d'évaluation (20).
PCT/EP2008/063868 2007-12-07 2008-10-15 Dispositif à fonctionnement autonome WO2009071379A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007059118.9 2007-12-07
DE102007059118A DE102007059118A1 (de) 2007-12-07 2007-12-07 Autonom arbeitende Vorrichtung

Publications (1)

Publication Number Publication Date
WO2009071379A1 true WO2009071379A1 (fr) 2009-06-11

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2008/063868 WO2009071379A1 (fr) 2007-12-07 2008-10-15 Dispositif à fonctionnement autonome

Country Status (2)

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DE (1) DE102007059118A1 (fr)
WO (1) WO2009071379A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9820433B2 (en) 2012-12-28 2017-11-21 Positec Power Tools (Suzhou Co., Ltd.) Auto mowing system
EP3461313A1 (fr) * 2017-09-28 2019-04-03 CLAAS E-Systems KGaA mbH & Co KG Engin agricole
SE2150299A1 (en) * 2021-03-17 2022-09-18 Husqvarna Ab Robotic garden tool

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013107492A1 (de) 2013-07-15 2015-01-15 Koubachi AG System zur Überwachung und Steuerung von Aktivitäten zumindest eines Gartengeräts innerhalb zumindest eines Aktivitätsgebiets
US11172605B2 (en) * 2016-06-30 2021-11-16 Tti (Macao Commercial Offshore) Limited Autonomous lawn mower and a system for navigating thereof
US11172607B2 (en) 2016-06-30 2021-11-16 Tti (Macao Commercial Offshore) Limited Autonomous lawn mower and a system for navigating thereof
US11172608B2 (en) 2016-06-30 2021-11-16 Tti (Macao Commercial Offshore) Limited Autonomous lawn mower and a system for navigating thereof
DE102020202740A1 (de) 2020-03-04 2021-09-09 Robert Bosch Gesellschaft mit beschränkter Haftung Autonomes Arbeitsgerät

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4887415A (en) * 1988-06-10 1989-12-19 Martin Robert L Automated lawn mower or floor polisher
GB2295304A (en) * 1994-11-25 1996-05-29 Black & Decker Inc Steering control of lawn mowers
GB2315005A (en) * 1996-07-09 1998-01-21 Electrolux Outdoor Prod Ltd Automatic steering of agricultural vehicles
US20030025472A1 (en) * 2001-06-12 2003-02-06 Jones Joseph L. Method and system for multi-mode coverage for an autonomous robot
WO2004013966A1 (fr) * 2002-08-02 2004-02-12 Edo Lang Dispositif de detection capacitif et installations munies d'un tel dispositif de detection
US20060196003A1 (en) * 2005-03-07 2006-09-07 Samsung Gwangju Electronics Co., Ltd. Mobile robot having body sensor

Family Cites Families (2)

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Publication number Priority date Publication date Assignee Title
DE10152726A1 (de) 2001-10-25 2003-05-08 Klaus J Enzmann Automatischer Rasenmäher
DE10302908A1 (de) 2003-01-24 2004-08-05 Trolliet, Patrick, Dipl.-Ing. Automatische Rasenmäher-Vorrichtung

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4887415A (en) * 1988-06-10 1989-12-19 Martin Robert L Automated lawn mower or floor polisher
GB2295304A (en) * 1994-11-25 1996-05-29 Black & Decker Inc Steering control of lawn mowers
GB2315005A (en) * 1996-07-09 1998-01-21 Electrolux Outdoor Prod Ltd Automatic steering of agricultural vehicles
US20030025472A1 (en) * 2001-06-12 2003-02-06 Jones Joseph L. Method and system for multi-mode coverage for an autonomous robot
WO2004013966A1 (fr) * 2002-08-02 2004-02-12 Edo Lang Dispositif de detection capacitif et installations munies d'un tel dispositif de detection
US20060196003A1 (en) * 2005-03-07 2006-09-07 Samsung Gwangju Electronics Co., Ltd. Mobile robot having body sensor

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9820433B2 (en) 2012-12-28 2017-11-21 Positec Power Tools (Suzhou Co., Ltd.) Auto mowing system
US10555456B2 (en) 2012-12-28 2020-02-11 Positec Power Tools (Suzhou) Co., Ltd. Auto mowing system
EP3461313A1 (fr) * 2017-09-28 2019-04-03 CLAAS E-Systems KGaA mbH & Co KG Engin agricole
SE2150299A1 (en) * 2021-03-17 2022-09-18 Husqvarna Ab Robotic garden tool
SE545146C2 (en) * 2021-03-17 2023-04-18 Husqvarna Ab Puddle avoiding robotic garden tool

Also Published As

Publication number Publication date
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