WO2020020652A1

WO2020020652A1 - Autonomous work device

Info

Publication number: WO2020020652A1
Application number: PCT/EP2019/068686
Authority: WO
Inventors: Chris COOTE; Ralf Stein; Paul Abbott; Nicolas Klotz
Original assignee: Robert Bosch Gmbh
Priority date: 2018-07-25
Filing date: 2019-07-11
Publication date: 2020-01-30
Also published as: EP3826450A1; CN112512299A; DE102018212412A1

Abstract

The invention relates to an autonomous work device, in particular an autonomous lawnmower, comprising at least one drive unit (12), at least one sensor unit (14) at least for detecting the approach of at least one object (16), in particular by analyzing a change in a capacitance, and at least one control and/or regulating unit (18) for controlling and/or regulating the drive unit (12), said control and/or regulating unit (18) being designed to take signals received by the sensor unit (14) into consideration at least when controlling and/or regulating the drive unit (18). The sensor unit (14) is designed to detect a force characteristic of the object (16) acting on a sensor surface (20, 22, 24, 26) of the sensor unit (14), in particular by analyzing a change in a capacitance, a resistance, or a voltage, wherein the force characteristic of the control and/or regulating unit (18) is taken to consideration at least in order to control and/or regulate the drive unit (12).

Description

Description Autonomous work tool

State of the art

From CN 205320575 U an autonomous working device, in particular an autonomous lawn mower, is already known, which has at least one drive unit, at least one sensor unit at least for detecting an approach of at least one object, in particular by evaluating a change in capacity, and at least one control unit. and / or regulating unit for controlling and / or regulating the drive unit, the control and / or regulating unit being set up to take into account signals received from the sensor unit at least when controlling and / or regulating the drive unit.

Disclosure of the invention

The invention is based on an autonomous implement, in particular an autonomous lawn mower, with at least one drive unit, with at least one sensor unit, at least for detecting an approach to at least one object, in particular by evaluating a change in capacity, and with at least one control - And / or regulating unit for a control and / or regulation of the drive unit, the control and / or regulating unit being set up to take into account signals received from the sensor unit at least when controlling and / or regulating the drive unit. It is proposed that the sensor unit be set up to detect a force characteristic of the object acting on a sensor surface of the sensor unit, in particular by evaluating a change in a capacitance, a resistance or a voltage, the force characteristic being determined by the control and / or Control unit can be taken into account at least to control and / or regulate the drive unit. Preferably, the sensor unit comprises a grid-like or grid-like arrangement of electrically conductive elements and the grid-like or grid-like arranged, covering or covering electrically conductive elements covering or covering elastomer layers. The conductive elements of the sensor unit are preferably electrically connected to the control and / or regulating unit. An embodiment of the sensor unit is already known to a person skilled in the art, for example from DE 10 2010 034 717 A1, so that reference is made in particular to DE 10 2010 034 717 A1 with regard to further features of the sensor unit. However, it is also conceivable that the sensor unit has a different design that appears to be useful to a person skilled in the art, which enables detection of an approximation and a force characteristic by a sensor surface. The sensor unit is preferably designed to be elastically deformable. The sensor unit is preferably designed in such a way that an elastic deformation of the sensor unit enables a force parameter to be recorded. An approach of an object to the sensor surface of the sensor unit is preferably detected by means of an evaluation of a change in capacitance by the control and / or regulating unit. A force parameter is preferably detected by an object acting on the sensor surface of the sensor unit by means of an evaluation of a change in a capacitance, a resistance or a voltage. Before preferably the sensor unit is formed like a film. The sensor unit preferably has a maximum material thickness of in particular less than 20 mm, preferably less than 10 mm and particularly preferably less than 5 mm. The maximum material thickness of the sensor unit is preferably formed by a maximum dimension, in particular a maximum diameter, of the electrically conductive elements of the sensor unit, together with a maximum dimension, in particular a maximum material thickness, of the elastomer layers of the sensor unit, in particular in a connected state the electrically conductive elements and the elastomer layers. An “autonomous working device” is to be understood in particular to mean a device that automatically moves, orientates or navigates in an area and / or in an environment, and in particular independently processes a working area, in particular automatically in an area after a training process and / or moving around in an environment and / or orientated and in particular working independently on a work area. The expression “move and / or orient independently” is intended in particular to define a movement, an orientation and / or navigation of the implement, in particular after a training process, without human intervention. Preferably, the autonomous implement moves automatically in an area and / or in an environment or is oriented automatically in an area and / or in an environment after a training process carried out by an operator with the autonomous implement. The autonomous implement can be designed as an autonomous lawn mower, as an autonomous vacuum cleaner, as an autonomous sweeper, as an autonomous transport vehicle, as an autonomous aircraft, as an autonomous agricultural implement or the like. Preferably, the autonomous implement is designed as an autonomous lawn mower, which is intended to drive and / or edit a working surface designed as a lawn surface and / or a working environment designed as a garden environment.

Preferably, the autonomous working device comprises at least one location locating unit, the control and / or regulating unit being set up to evaluate, in particular in addition to the signals received from the sensor unit, a location locating parameter determined by means of the location locating unit in order to control and / or regulate the drive unit. The expression “location-locating unit” is intended in particular to define a unit which is designed to determine a location, in particular a global location, of the autonomous implement as a result of a detection of at least one parameter. The location location unit is particularly preferably designed as a satellite navigation location unit, in particular as a GPS receiver or as a Galileo receiver. However, it is also conceivable that the location-locating unit is designed as a magnetic compass, as an odometry unit and / or as a polarization filter compass or the like. The autonomous implement preferably has a processing unit designed as a mower. The processing unit can be driven by means of the drive unit, which is provided at least for driving a drive or chain drive unit of the autonomous working device, or by means of a separate mower drive unit, which is separate from the drive unit for driving the drive or chain drive unit. The processing unit designed as a mower preferably has a configuration which is already known to a person skilled in the art. In particular, the processing unit designed as a mower comprises at least one cutting element, at least one mower drive unit and / or at least one crop collecting unit. “Provided” is to be understood to mean, in particular, specially designed, specially designed, specially equipped and / or specially programmed. The fact that an element and / or a unit is provided or set up for a specific function should in particular be understood to mean that the element and / or the unit fulfill / fulfill and / or execute this specific function in at least one application and / or operating state / executing.

The autonomous working device preferably comprises at least one communication unit which is set up to transmit electronic data at least from and / or at least to the control and / or regulating unit with at least one as a base station or as a further autonomous working device, in particular as another autonomous lawn mower to communicate with trained external unit. The communication unit is preferably designed as a wireless communication unit. The communication unit can be designed as a WLAN communication unit, as a Bluetooth communication unit, as a radio communication unit, as an RFID communication unit, as an NFC unit, as an infrared communication unit, as a mobile radio network communication unit or the like. The communication unit is particularly preferably 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, as a USB communication unit, as a border wire communication unit or the like. Particularly preferred are electronic data which can be used to transmit a control strategy for autonomous advancement of the control unit enable autonomous work equipment and / or for autonomous processing of a work surface.

A “control and / or regulating unit” is to be understood in particular as a unit with at least one control electronics. “Control electronics” is to be understood in particular to mean a unit with a processor unit and with a storage unit and with an operating program stored in the storage unit. The operating program is preferably provided to control and / or regulate in particular at least the drive unit and / or the processing unit as a function of signals which are transmitted from the sensor unit to the control and / or regulating unit.

By means of the inventive configuration of the autonomous implement, optimized control and / or regulation of the autonomous implement can advantageously be made possible. Different scenarios that can occur during a working process of the autonomous working device can advantageously be easily detected with the sensor unit. A reliable and secure control strategy can advantageously be made possible as a result of an evaluation of sensor data from the sensor unit. A compact and flexible sensor unit for autonomous operation of the autonomous implement can advantageously be implemented.

Furthermore, it is proposed that the sensor unit be set up to detect an action position on the sensor surface of the sensor unit of the object approaching the sensor surface of the sensor unit or of the object exerting force on the sensor surface of the sensor unit, the action position of the approaching object or the force exerting Object can be taken into account by the control and / or regulating unit at least for a control and / or regulation of the drive unit. An “action position on the sensor surface” should in particular be understood to mean a position on the sensor surface at which a characteristic of the sensor unit changes measurably as a result of an object approaching and / or being brought into contact with the sensor surface. The action position on the sensor surface of the sensor unit of the object approaching the sensor surface of the sensor unit or on the sensor surface of the sensor is preferably sensor unit force-exerting object as a result of the grid-like or grid-like arrangement of the electrically conductive elements of the sensor unit can be detected. By means of the configuration according to the invention, a reliable and safe control strategy can advantageously be made possible as a result of evaluating sensor data from the sensor unit. It can advantageously be recognized from which direction an object is approaching or at which position the object is acting on the sensor surface, for example in order to calculate an advantageous avoidance strategy for the autonomous implement by means of the control and / or regulating unit.

It is further proposed that the autonomous working device has at least one housing and / or chassis unit for at least partial coverage, reception or storage of the control and / or regulating unit and / or the drive unit, the sensor unit at least partially on an outer surface che of the housing and / or chassis unit is arranged or at least partially forms the outer surface of the housing and / or chassis unit. It is conceivable that the autonomous implement for solving the task according to the invention in an alternative embodiment is designed to detect a force parameter independently of the sensor unit. In the alternative embodiment, in particular in the embodiment designed independently of the sensor unit for detecting a force parameter, the autonomous working device preferably comprises at least the drive unit, at least the sensor unit at least for detecting an approach of at least one object, in particular by means of an evaluation a change in capacity, at least the control and / or regulating unit for controlling and / or regulating the drive unit, the control and / or regulating unit being set up to receive signals received from the sensor unit at least in the case of a control and / or regulation of the Drive unit to be taken into account, and at least the housing and / or chassis unit to at least partially cover, receive or store the control and / or regulating unit and / or the drive unit, the sensor unit at least partially on an outer surface of the housing and / or chassis unit is is arranged or at least partially forms the outer surface of the housing and / or chassis unit. The outer surface of the housing and / or chassis unit is preferably one of the control and / or control unit and / or the drive unit facing the inside of the housing and / or facing away from the chassis unit. The sensor unit preferably faces the environment surrounding the autonomous implement as a result of an arrangement on the outer surface or as a result of at least partial formation of the outer surface. The sensor unit preferably forms at least partially an outer skin of the housing and / or chassis unit. The sensor unit can be formed in one piece with the housing and / or chassis unit, in particular by means of a multi-component spraying method or the like, or the sensor unit can be connected to the outer surface of the housing and by means of a non-positive, positive and / or material connection / or chassis unit arranged, in particular fi xed. It is also conceivable that the sensor unit is arranged spatially between the outer surface of the housing and / or chassis unit and an elastically deformable element, such as a collision protection, an additional housing element or the like, of the autonomous implement or in an elastically deformable element , such as a collision protection, an additional housing element or the like, the autonomous implement is integrated. The sensor unit can also be constructed in multiple layers. For example, it is conceivable that at least one sensor surface of the sensor unit is protected on the inside or by a further housing element of the housing and / or chassis unit. By means of the configuration according to the invention, a reliable and safe control strategy can advantageously be made possible following an evaluation of sensor data of the sensor unit. A large sensor area can advantageously be realized for recording different parameters, which enable a reliable and safe control strategy.

In addition, it is proposed that the autonomous implement have at least one, in particular the aforementioned, housing and / or chassis unit for at least partially covering, receiving or storing the control and / or regulating unit and / or the drive unit, with the sensor unit at least is partially arranged on a front side of the housing and / or chassis unit oriented in a main direction of movement. The front side of the housing and / or chassis unit is preferably a side of the housing and / or chassis unit that faces away from drive wheels of the drive or chain drive unit. A “main direction of movement” is to be understood in particular as a direction in which the autonomous working device moves during the execution of a working process, in particular a mowing process. mainly moved. In particular, the housing and / or chassis unit comprises at least one housing element which is removably arranged on a chassis of the housing and / or chassis unit. The chassis of the housing and / or chassis unit is preferably provided for receiving and / or mounting the control and / or regulating unit and the drive unit. The Ge housing element is in particular designed as a cover, which is arranged in a manner known to a person skilled in the art to be detachably attached to the chassis. The front of the housing and / or chassis unit is preferably formed by the housing element. However, it is also alternatively conceivable that the front side is 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 a rear side of the housing and / or chassis unit. The front side and the rear side of the housing and / or chassis unit are preferably connected to one another via flank sides of the housing and / or chassis unit. The rear side and the flank sides are preferably formed by the housing element. Alternatively, it is also conceivable that the rear side and the flank sides are formed by the chassis or are formed together by the housing element and the chassis. The sensor unit can extend partially from the front into the flank sides. Alternatively or additionally, it is conceivable that the sensor unit, in particular a sensor surface of the sensor unit, is at least partially arranged on the rear side and / or on the flank sides. In the case of an arrangement of the sensor unit on the front side, the rear side and the flank sides, it is conceivable that the sensor unit has a single contiguous sensor surface which extends over the front side, the rear side and the flank sides or that the sensor unit has a large number of electrical components miteinan of the connected sensor surfaces, which are arranged, in particular spaced apart from one another, distributed over the front side, the rear side and the flank sides. By means of the configuration according to the invention, a reliable and safe control strategy can advantageously be made possible as a result of evaluating sensor data of the sensor unit. A large sensor area can advantageously be realized for recording different parameters, which enable a reliable and safe control strategy. For example, an object approaching can be reliably detected. In an embodiment of the autonomous implement as an tonomer lawn mower a presence of a plant to be processed vegetation can be detected, especially since blades of grass or the like can be reliably detected due to an approach or touching the sensor surface arranged on the front.

Furthermore, it is proposed that the autonomous working device comprises at least one, in particular the aforementioned, housing and / or chassis unit for at least partially covering, receiving or storing the control and / or regulating unit and / or the drive unit, the sensor unit covers or forms at least a large part of an outer surface of the housing and / or chassis unit. The outer surface of the housing and / or chassis unit preferably faces an environment surrounding the autonomous working device. An inner surface of the housing and / or chassis unit preferably faces away from an environment surrounding the autonomous working device, in particular toward the control and / or regulating unit and / or the drive unit. A “large part” should in particular be understood to mean a share of more than 30%, preferably more than 50% and particularly preferably more than 70% of a total value, in particular a total outer surface of the housing and / or chassis unit. Before preferably covers or forms the sensor surface of the sensor unit more than 30%, preferably more than 50% and particularly preferably more than 70% of a total outer surface of the housing and / or chassis unit, in particular a total outer surface of the housing element and / or a total outer surface of the chassis Housing and / or chassis unit. It is also conceivable that the sensor surface of the sensor unit covers or forms 100% of a total outer surface of the housing element and / or the chassis. Preferably, the total outer surface of the housing element and the total outer surface of the chassis together form the total outer surface of the housing and / or chassis unit. By means of the configuration according to the invention, a reliable and safe control strategy can advantageously be made possible as a result of evaluating sensor data from the sensor unit. A large sensor area can advantageously be realized for recording different parameters, which enable a reliable and safe control strategy. It can be advantageous, for example, to hit an object or, for example, an object lying on the housing element, such as a branch or the like, or a person / animal touching the housing element can be reliably detected.

It is further proposed that the autonomous implement at least one, in particular the aforementioned, processing unit, in particular the mower, and at least one, in particular the aforementioned, housing and / or chassis unit for at least partial coverage, reception or storage of the tax - And / or control unit and / or the drive unit, wherein the sensor unit is at least partially arranged in a vicinity of the machining unit on the housing and / or chassis unit. A “close range” is to be understood in particular to mean an area which is at a distance of less than 20 mm, preferably less than 10 mm and particularly preferably less than 5 mm from an element or a unit. The sensor unit, in particular at least one sensor surface of the sensor unit, is preferably arranged on a side facing the processing unit, in particular on an underside, of the housing and / or chassis unit. Preferably, the sensor unit, in particular at least one sensor surface of the sensor unit, in particular as a result of an arrangement on the underside of the housing and / or chassis unit, is at a distance from the processing unit that is less than 20 mm, preferably less than 10 mm, and particularly is preferably less than 5 mm. The sensor unit, in particular at least one sensor surface of the sensor unit, preferably surrounds the processing unit, at least essentially completely, in a plane that extends at least substantially perpendicular to a processing axis, in particular a axis of rotation, of the processing unit. Alternatively or additionally, the sensor unit, in particular at least one sensor surface of the sensor unit, is arranged on a processing element, in particular on a cutting element, such as a cutting knife or the like, or on a cutting element receptacle of the processing unit. It is conceivable that the sensor unit, in particular at least one sensor surface of the sensor unit, extends from the front side, the rear side and / or at least one of the flank sides into the vicinity of the processing unit, or that the sensor unit has a single sensor surface or one Has a plurality of spaced-apart sensor surfaces which is / are arranged in the vicinity of the processing unit. Sensor surfaces of the sensor unit, which are arranged at different positions of the housing and / or chassis unit, are preferably at least electrically connected to one another or at least connected to the control and / or regulating unit for a transmission of signals. By means of the design according to the invention, a reliable and safe control strategy can advantageously be made possible as a result of an evaluation of sensor data from the sensor unit. For example, monitoring of a dangerous area of the processing unit can advantageously be implemented, in particular to largely avoid that people or animals are injured. It can be monitored before geous, for example, a reliable execution of a work step, in particular cutting grass.

In addition, it is proposed that the autonomous implement have at least one, in particular the aforementioned, housing and / or chassis unit for at least partially covering, receiving or storing the control and / or regulating unit and / or the drive unit, with the sensor unit at least is arranged partially along an overall circumferential extent 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. The sensor unit, in particular at least one sensor surface of the sensor unit, preferably extends along the total circumferential extent of the housing and / or chassis unit along a distance which is in particular longer than 30%, preferably longer than 50% and particularly preferably longer than 70%. the total extent of the housing and / or chassis unit. The total circumferential extent of the housing and / or chassis unit preferably extends in a plane running at least substantially perpendicular to a machining axis, in particular a rotational axis, of the machining unit. It is conceivable that the sensor unit has a single, continuous sensor surface that extends at least partially along a total circumferential extent of the housing and / or chassis unit on the housing and / or chassis unit, or that the sensor unit has a large number of sensor surfaces that are spaced apart from one another which extend at least partially along an overall circumferential extent of the housing and / or chassis unit on the housing and / or chassis unit. By means of the configuration according to the invention, it can be advantageous as a result of an evaluation of Sensor data of the sensor unit a reliable and safe control strategy are made possible. A large sensor area can advantageously be implemented to record different parameters, which enable a reliable and safe control strategy. For example, an object approaching can be reliably detected.

Furthermore, it is proposed that the autonomous implement comprise at least one, in particular the aforementioned, drive or chain drive unit which can be driven by the drive unit, the sensor unit being at least partially arranged on the drive or chain drive unit. The drive or chain drive unit is preferably driven by at least one motor, in particular an electric motor, the drive unit, in particular for locomotion of the autonomous implement. The travel or chain drive 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. Each drive wheel of the drive or chain drive unit is preferably assigned a single motor of the drive unit. The sensor unit, in particular at least one sensor surface of the sensor unit, is preferably arranged on an outer surface or an outer circumference of the at least one drive wheel or the at least one drive chain. Alternatively or additionally, it is conceivable that the sensor unit, in particular at least one sensor surface of the sensor unit, on a hub element of the drive or chain drive unit, on an outer side of a rim element of the drive or chain drive unit or the like facing away from the housing and / or chassis unit. is arranged. By means of the configuration according to the invention, a reliable and safe control strategy can advantageously be made possible as a result of evaluating sensor data from the sensor unit. A large sensor area can advantageously be realized for recording different parameters, which enable a reliable and safe control strategy. Reliable contact of the drive or chain drive unit with a surface can advantageously be detected. A force acting on the surface by the autonomous implement can advantageously be detected, by means of which it is advantageously possible to draw conclusions about traction of the autonomous implement. It can be advantageous to draw a conclusion about a type of underground can be drawn by preferably carrying out an evaluation of the parameters detected by means of the sensor unit by the control and / or regulating unit.

It is further proposed that the autonomous implement comprises at least one input unit for manual input of operator commands that can be taken into account by the control and / or regulating unit at least for control and / or regulation of the drive unit, the sensor unit being at least partially in one piece is formed with the input unit. The manual input unit is preferably provided for a manual input of operator commands, the control and / or regulating unit being provided to take into account the at least one manually entered operator commands when controlling and / or regulating the drive unit. The manual input unit can be designed as a touch-sensitive display, as a keypad, as a selector switch or the like. The manual operator commands, which can be entered by means of the manual input unit, can be designed, for example, as a date, as a time, as a work process frequency, in particular as a mowing frequency, as a work process interval specification, in particular as a mowing interval specification, as an activation command (on / off command) or the like , By the fact that the “sensor unit is at least partially formed in one piece with the input unit” is to be understood in particular to mean that the sensor unit and the input unit comprise at least one shared element. At least one sensor surface of the sensor unit preferably forms at least one input element of the input unit, by means of which an operator can manually enter operator commands. The at least one sensor surface of the sensor unit, which forms at least one input element of the input unit, is preferably arranged on a side facing away from the processing unit, in particular an upper side, of the housing and / or chassis unit, in particular of the housing element. By means of the configuration according to the invention, a reliable and safe control strategy can advantageously be made possible as a result of evaluating sensor data of the sensor unit. An additional benefit of the sensor unit can advantageously be generated in a structurally simple manner. A separate input unit can advantageously be largely dispensed with. Costs and assembly effort can advantageously be saved. An operator request can advantageously be made possible in the case of an at least substantially automatic control and / or regulation of the autonomous implement. In addition, the invention is based on a method for an automatic control and / or regulation of the autonomous implement according to the invention, in particular the autonomous lawnmower according to the invention. It is suggested that in at least one method step, an approach of the object detected by the sensor unit and / or a force characteristic of the object that acts on the sensor surface of the sensor unit, at least for controlling and / or regulating the drive unit of the Control and / or regulating unit are / will be taken into account. By means of the configuration of the autonomous implement according to the invention, optimized control and / or regulation of the autonomous implement can be advantageously made possible. Different scenarios that can occur during a working process of the autonomous working device can advantageously be easily detected with the sensor unit. A reliable and safe control strategy can advantageously be made possible as a result of evaluating sensor data from the sensor unit.

Furthermore, it is proposed that in at least one method step the control and / or regulating unit controls and / or regulates a processing unit, in particular a mower, and / or a drive or chain drive unit of the autonomous working device as a function of a signal received by the sensor unit. By means of the configuration according to the invention, a reliable and safe control strategy can be made possible partly due to an evaluation of sensor data of the sensor unit. For example, the processing unit can advantageously be switched off when a presence of a human body part or an animal is detected in the driving area as a result of an evaluation of sensor data from the sensor unit.

It is also proposed that in at least one method step the control and / or regulating unit determines a mobility parameter as a function of a signal received by the sensor unit. A “mobility parameter” is to be understood in particular as a parameter that allows conclusions to be drawn about traction of the drive or chain drive unit or the like and / or that a force acting on the ground by the autonomous working device Are defined. A mobility parameter can advantageously be taken into account when calculating a control strategy.

It is further proposed that in at least one method step the control and / or regulating unit determines a background parameter as a function of a signal received by the sensor unit. An “underground parameter” is to be understood in particular as a parameter which is a type, such as, for example, sandy floor, concrete floor, stone floor, grass, meadow or the like, or a property, such as, for example, the moisture of a substrate or the like, of a substrate Are defined. A background parameter can advantageously be taken into account when calculating a control strategy.

In addition, it is proposed that in at least one method step the control and / or regulating unit determines a contamination characteristic of the autonomous implement as a function of a signal received by the sensor unit. A “contamination parameter” is to be understood in particular as a parameter that defines a degree of contamination, in particular an overlap of the housing and / or chassis unit and / or the sensor unit with dirt, such as dust, cut grass, earth or the like. A warning message can advantageously be issued to an operator at an early stage in order to remedy the contamination before a safe control strategy is impaired.

Furthermore, it is proposed that in at least one method step the control and / or regulating unit determines a tissue parameter of the object approaching the sensor surface of the sensor unit or the object exerting force on the sensor surface of the sensor unit as a function of a signal received by the sensor unit. A “tissue parameter” is to be understood in particular as a parameter that defines a type of tissue, such as a human tissue, an animal tissue and / or a vegetable tissue. By means of the embodiment according to the invention, a differentiation of objects can advantageously be carried out, in particular in order to ensure as far as possible that no animal or human body parts are present during a work process of the autonomous working device, at least in a vicinity of the processing unit. A safe control strategy of the autonomous implement can advantageously be implemented.

The autonomous working device according to the invention and / or the method according to the invention should / should not be limited to the application and embodiment described above. In particular, the autonomous working device according to the invention and / or the method according to the invention for fulfilling a function described herein can have a number that differs from a number of individual elements, components and units and method steps mentioned here. In addition, in the value ranges specified in this disclosure, values lying within the stated limits are also to be regarded as disclosed and to be used as desired.

drawing

Further advantages result 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 useful further combinations.

Show it:

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

2 is a side view of the autonomous Ar beitsgeräts during machining a work surface in a schematic representation,

Fig. 3 shows a further side view of the autonomous invention

Working device while processing a work surface in a schematic representation,

Fig. 4 is a plan view of the autonomous Arbeitsge device according to the invention in a schematic representation and Fig. 5 is a schematic flow of a method according to the invention for an automatic control and / or regulation of the autonomous implement according to the invention.

Description of the embodiment

FIG. 1 shows an autonomous working device 10, which comprises 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 , The autonomous working device 10 further comprises at least one sensor unit 14 at least for the detection of an approach of at least one object 16 (cf. FIGS. 2 and 3), in particular by means of an evaluation of a change in capacity. The control and / or regulating unit 18 is set up to take into account 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, it is also conceivable that the drive unit 12 has a different configuration which appears to be useful to a person skilled in the art, such as, for example, a configuration as an internal combustion engine unit, a hybrid motor unit or the like. The energy supply unit 44 is preferably in addition to an energy supply for the drive unit 12 Energy supply of further components of the autonomous working device 10 is provided, such as the sensor unit 14 or the like. The energy supply unit 44 is preferably designed as a battery unit. However, it is also conceivable that the energy supply unit 44 has a different configuration that appears to be useful to a person skilled in the art, such as, for example, a configuration as a wired power supply unit, as a fuel cell, as a fuel supply unit or the like. The autonomous working device 10 in particular comprises at least one housing - And / or Chas siseinheit 28 to at least partially cover, receiving or storing the control and / or regulating unit 18 and / or the drive unit 12. Preferably, the power supply unit 44 is arranged on or in the housing and / or chassis unit 28. The autonomous implement preferably comprises 10 at least one drive or chain drive unit 38 which can be driven by means of the drive unit 12. The drive or chain drive unit 38 has in particular a configuration which is already known to a person skilled in the art. In the exemplary embodiment shown in FIGS. 1 to 1, the drive or chain drive unit 38 is designed as a wheel drive unit, which comprises at least one drivable drive wheel, in particular at least two drive wheels which can be driven independently of one another. The drive or chain drive unit 38 can comprise steerable and / or non-steerable wheels which are drivable or drive-free. The drive or chain drive unit 38, in particular at least one drive wheel of the drive or chain drive unit 38, can be driven by means of the drive unit 12 in a manner already known to a person skilled in the art. The autonomous implement 10 preferably comprises at least one location-locating unit 46, which is provided for determining the position of the autonomous implement 10 within a work area, in particular on a work surface. The location locating unit 46 can be arranged on or in the housing and / or chassis unit 28. The location-locating unit 46 is preferably designed as a GPS unit. However, it is also conceivable that the location-locating unit 46 has a different configuration that appears reasonable to a person skilled in the art.

The autonomous implement 10 is designed in the exemplary embodiment shown in FIGS. 1 to 4 as an autonomous lawn mower, which is intended to move independently within a work area or a work environment, in particular after a training process, and to move one in the work area or . work area arranged in the working area, in particular a grass area, to work independently. However, it is also conceivable that the autonomous implement 10 has a different configuration that appears to be useful to a person skilled in the art, such as, for example, a configuration as an autonomous vacuum cleaner, as an autonomous transport device, as an autonomous agricultural device for processing agricultural areas, as an autonomous aircraft or The like. For processing the working surface, the autonomous working device 10 has a processing unit 36 designed as a mower. The processing unit 36 has a configuration which is already known to a person skilled in the art. The processing unit 36 designed as a mower can preferably have at least one cutting element, at least one mower attachment. Drive unit and / or have at least one crop collecting unit. In a particularly advantageous embodiment of the autonomous implement 10, the processing unit 36 designed as a mower can be driven by the drive unit 12. A drive of the processing unit 36 designed as a mower by means of the drive unit 12 can be switched on or off as required. Vorzugswei se, the drive unit 12 in an operating mode of the autonomous Arbeitsge device 10 is provided to drive only the drive or chain drive unit 38 for locomotion of the autonomous working device 10. In at least one further operating mode of the autonomous implement 10, the drive unit 12 is preferably provided to drive the drive or chain drive unit 38 and the processing unit 36 designed as a mower. Other operating modes that appear to be useful to a person skilled in the art for driving the travel or chain drive unit 38 and / or the processing unit 36 designed as a mower are also conceivable by means of the drive unit 12.

For navigation and / or orientation of the autonomous implement 10 on the work surface to be machined, the autonomous implement 10 comprises at least one navigation and / or orientation unit (not shown in more detail here) which is known to a person skilled in the art and which is connected to the control and / or control unit 18 is connected in terms of data technology. The navigation and / or orientation unit has, in particular, a design that is already known to a person skilled in the art, such as, for example, a configuration as a sound-supported navigation and / or orientation unit, as an optics-based navigation and / or orientation unit or the like. The autonomous working device 10 is at least intended to use the navigation and / or orientation unit in a work area or in a work environment, in particular after a learning process, to independently orient and / or navigate, in particular additionally, to carry out a work process, in particular a mowing process for taking into account data from the location locating unit 46. The work area or the work environment is preferably designed as a garden area or as a garden environment.

The sensor unit 14 is, in particular in addition to detecting an approach of at least one object 16, for detecting a force parameter of the object acting on a sensor surface 20, 22, 24, 26 of the sensor unit 14. Project 16 set up, in particular by means of an evaluation of a change in a capacitance, a resistance or a voltage, wherein the force characteristic can be taken into account by the control and / or regulating unit 18 at least for a control and / or regulation of the drive unit 12. The sensor unit 14 preferably comprises a grid-like or grid-like arrangement of electrically conductive elements (not shown in more detail here) and the elastomer layers which cover or cover the grid-like or grid-like arrangement of the electrically conductive elements (not shown here). The conductive elements of the sensor unit 14 are preferably electrically connected to the control and / or regulating unit 18. An embodiment of the sensor unit 14 is already known to a person skilled in the art, for example from DE 10 2010 034 717 Al, so that reference is made in particular to DE 10 2010 034 717 Al with regard to further features of the sensor unit 14. However, it is also conceivable that the sensor unit 14 has a different configuration that appears to be useful to a person skilled in the art, which enables detection of an approach and a force parameter by means of a sensor surface 20, 22, 24, 26. Before preferably the sensor unit 14 is elastically deformable. The sensor unit 14 is preferably designed such that an elastic deformation of the sensor unit 14 enables a force parameter to be recorded. A detection of an approach of an object to the sensor surface 20, 22, 24, 26 of the sensor unit 14 is preferably carried out by means of an evaluation of a change in capacitance by the control and / or regulating unit 18. A force parameter is recorded by a sensor surface 20, 22, 24, 26 of the object 16 acting on the sensor unit 14 is preferably carried out by means of an evaluation of a change in a capacitance, a resistance or a voltage by the control and / or regulating unit 18. The sensor unit 14 is preferably designed to be film-like.

In particular, as a result of a detection of a force parameter of the sensor 16 acting on a sensor surface 20, 22, 24, 26 of the sensor unit 14, in particular by means of an evaluation of a change in a capacitance, a resistance or a voltage, by means of the control and / or Control unit 18 be tunable whether the autonomous working device 10 drives due to a driving force against an object 16 or whether an object 16 itself exerts a force on the autonomous working device 10, such as an animal or a human being against it autonomous implement 10 presses or the like. The control and / or regulating unit 18 can preferably determine a mobility parameter. If, for example, it is recognized that an object 16, such as an animal or a human being, exerts a force on the autonomous working device 10, the control and / or regulating unit 18 can calculate a control strategy, for example, which causes the autonomous working device 10 to move itself quickly moved away from the force-exerting object on the autonomous machine 10 and / or deactivate the processing unit 36, in particular to avoid injuries or damage to the object 16. In particular, an analysis of a change in capacity or a capacity can be used to infer a type of object 16. The control and / or regulating unit 18 preferably determines a tissue parameter as a function of sensor data of the sensor unit 14.

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

Advantageously, the autonomous implement 10 comprises at least the housing and / or chassis unit 28 to at least partially cover, record or store the control and / or regulating unit 18 and / or the drive unit 12, the sensor unit 14 being at least partially attached to one The outer surface 30, 32 of the housing and / or chassis unit 28 is arranged or the outer surface 30, 32 of the housing and / or chassis unit 28 forms at least partially. The outer surface 30, 32 of the housing and / or chassis unit 28 is preferably facing away from one of the control and / or regulating unit 18 and / or the drive unit 12 facing the inside of the housing and / or chassis unit 28. Preferably, the sensor unit 14 is due to an arrangement on the outer surface 30, 32 or due to an at least partial formation of the outer surface. Outer surface 30, 32 facing the environment surrounding the autonomous implement 10. The sensor unit 14 preferably forms at least partially an outer skin of the housing and / or chassis unit 28. The sensor unit 14, in particular at least one sensor surface 20, 22, 24 of the sensor unit 14, can, for example, at least partially on an outer surface 30 of one, in particular as a cover , Housing element of the housing and / or chassis unit 28 may be arranged or at least partially form the outer surface 30 of the housing element of the housing and / or chassis unit 28, in particular designed as a cover. The sensor unit 14, in particular 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 a chassis of the housing and / or chassis unit 28 or the outer surface 32 of the chassis of the housing and / or chassis unit 28 at least partially form. Alternatively or additionally, it is conceivable that the sensor unit 14, in particular at least one sensor surface (not shown here in more detail) of the sensor unit 14 within the housing and / or chassis unit 28, in particular on an inside of the housing and / or chassis unit 28 , is arranged. The housing and / or chassis unit 28 can advantageously be provided to protect the sensor unit 14. It is also conceivable that the autonomous working device 10 has a protective unit, such as a flexible protective layer which is arranged on the sensor unit 14 and covers the sensor unit 14, in particular protects the sensor unit 14 against weather or the like.

The sensor unit 14 preferably covers or forms, in particular at least one or more sensor surfaces 20, 22, 24, 26 of the sensor unit 14, at least a large part of an outer surface 30, 32 of the housing and / or chassis unit 28. The sensor unit 14 preferably covers or forms , in particular at least one sensor surface or a plurality of sensor surfaces 20, 22, 24, 26 of the sensor unit 14, more than 10%, in particular more than 30%, preferably more than 50% and particularly preferably more than 70% of a total outer surface of the housing and / or chassis unit 28, in particular a total outer surface of the housing element and / or a total outer surface of the chassis of the housing and / or chassis unit 28. It is also conceivable that the sensor unit 14, in particular at least one sensor surface or a plurality of sensors sor surfaces 20, 22, 24, 26 of the sensor unit 14, 100% of a total outer surface of the housing element and / or of the chassis covers / forms.

In particular, due to an at least partial arrangement of the sensor unit 14 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 an evaluation of a capacity by means of the tax and / or control unit 18, a contact of the autonomous working device 10 with a person, with an object and / or with an animal by means of the control and / or control unit 18. The control and / or regulating unit 18 preferably determines a tissue parameter as a function of sensor data from the sensor unit 14. If, for example, contact with a human and / or an animal is detected, the control and / or regulating unit 18 can deactivate the drive unit 18 and / or the processing unit 36 in order to avoid injuries. It can be seen in particular whether, for example, a child is sitting on or supporting himself on the autonomous working device 10, in particular where an emergency stop can be carried out in the case of such a detection or an activation of the autonomous working device 10 can be prevented.

In particular, as a result of an at least partial arrangement of the sensor unit 14 on an outer surface 30 of the housing and / or chassis unit 28, in particular on an outer surface of the machining unit 36 facing away from the housing and / or chassis unit 28, in particular on an outer surface of the cover hood Housing element of the housing and / or chassis unit 28, as a result of an evaluation of a capacity and / or as a result of a measurement of a force parameter by means of the control and / or regulating unit 18 upon an impact of raindrops on the housing and / or chassis unit 28 and / or the presence of fog and / or the presence of wind (wind detection). The control and / or regulating unit 18 can interrupt a work process or delay a start of the work process, for example, if rain is detected and / or fog is present and / or wind is present. It is possible to draw a conclusion about a weather actually present in the work area, which can advantageously be taken into account when calculating a control strategy. In addition, lying on the outer surface 30 objects, such as branches or branches, are detected and sometimes a warning is sent to a user of the autonomous implement 10 and / or an operation of the autonomous implement 10 is at least temporarily blocked.

Preferably, due to an at least partial arrangement of the sensor unit 14 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 an evaluation of a capacity by means of the tax - And / or control unit 18 detection of contamination of the autonomous Arbeitsge device 10 feasible. The control and / or regulating unit 18 can, as a result of a detection of contamination of the autonomous implement 10, inform an operator that a cleaning of the autonomous implement 10 would make sense. A contamination parameter of the autonomous implement 10 is preferably determined by means of the control and / or regulating unit 18.

In particular, due to an at least partial arrangement of the sensor unit 14 on an outer surface 30, 32 of the housing and / or chassis unit 28 and due to the detection of a force parameter by means of the control and / or control unit 18, a vibration parameter can be evaluated during operation of the autonomous implement 10 which, for example, allows conclusions to be drawn regarding impending component defects. Furthermore, by detecting a force parameter, the condition of the surface (bumps, incline, inclination, etc.) can also be detected, at least indirectly, in particular by the gravity and / or acceleration acting on the sensor unit 14 during work and / or a standstill.

Is preferred due to an at least partial arrangement of the sensor unit 14 on an outer surface 30, 32 of the housing and / or chassis unit 28, due to detection of an approach and / or detection of a force parameter by means of the control and / or regulating unit 18 a proper Approach or a proper docking to a base station for charging the energy supply unit 44 can be recognized. For example, a defined part of the base station is in a properly docked state of the autonomous working device 10 on a specific part of the housing. and / or chassis unit 28. If, for example, an offset between the part of the base station and the partial area of the autonomous working device 10 is known, the control and / or regulating unit 18 can initiate a new approach to the base station or correct a position of the autonomous working device 10. In addition, a desired one Contact between the base station, which can be detected by means of the sensor unit 14, can be used to “slide” the autonomous working device 10 into the base station.

The sensor unit 14, in particular at least one sensor surface 20 of the sensor unit 14, is preferably arranged at least partially on a front side 34 of the housing and / or chassis unit 28 oriented in a main movement direction 42 (see FIGS. 2 and 3). The sensor unit 14 preferably forms, in particular at least one sensor surface 20 of the sensor unit 14, an outer surface of the front side 34. The front side 34 of the housing and / or chassis unit 28 is preferably made of the housing element of the housing and, in particular, formed as a cover / or chassis unit 28 formed. However, it is also alternatively conceivable that the front side 34 is formed solely by the chassis or by the housing element and the chassis together. The sensor unit 14 can have a single sensor surface 20 which is arranged on the front side 34 or a plurality of sensor surfaces 20 which are 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 at least partially arranged in a vicinity of the processing unit 36 on the housing and / or chassis unit 28 (see FIGS. 2 and 3). Preferably, the sensor unit 14, in particular at least one sensor surface 20, 26 of the sensor unit 14, is arranged on a side facing the processing unit 36, in particular on an underside, of the housing and / or chassis unit 28, in particular on an underside of the chassis. Preferably, the sensor unit 14, in particular at least one sensor surface 26 of the sensor unit 14, surrounds the processing unit 36, in particular viewed in a particular manner, at least substantially completely, in a plane running at least substantially perpendicular to a processing axis 48, in particular an axis of rotation, of the processing unit 36. Alternatively or additionally, the sensor unit 14, in particular at least one sensor surface, is surface of the sensor unit 14, on a processing element, in particular on a cutting element, such as a cutting knife or the like, or on a cutting element receptacle of the processing unit 48. It is conceivable that the sensor unit 14, in particular at least one sensor surface 20 of the sensor unit 14, extends from the front side 34 into a vicinity of the processing unit 36 on an underside of the housing and / or chassis unit 28 or that the sensor unit 14 has at least two Sensor surfaces 20, 26 which abut one another or are spaced apart, one of the sensor surfaces 20, 26 being arranged on the front side 34 and one of the sensor surfaces 20, 26 being arranged on the underside. It is also conceivable that the sensor surface 20 of the sensor unit 14 arranged on the front side 34 additionally extends at least partially along flank sides of the housing and / or chassis unit 28. Alternatively or additionally, it is also conceivable that the sensor unit 14 has additional sensor surfaces 22, 24 which are arranged on the flank sides of the housing and / or chassis unit 28.

In particular, as a result of an at least partial arrangement of the sensor unit 14 on the front side 34 and / or in the vicinity of the processing unit 36, it is possible to detect the presence of green material to be cut, in particular grass. In particular, the green material to be cut approaches or touches during a movement of the autonomous implement 10 along the main direction of movement 42 of the front 34 and / or the near region of the processing unit 36, whereby an approximation or a force effect of the base material to be cut by the sensor unit 14, in particular as a result of a change in a capacitance in the sensor unit 14. The control and / or regulating unit 18 can preferably as a function of the detection of an active position of the cutting base material than on the sensor surface 20, 26 preferably determine how long the green material to be cut and can, for example, a cutting and / or driving speed of the autonomous Set implement 10. Furthermore, as a result of an evaluation of a change in capacity, it can preferably be concluded that green material to be cut is present at all. Preferably, the acquired data, in particular after an evaluation over a longer period, can go from the control and / or regulating unit 18 to one Adjustment of a work process frequency can be used, in particular to change a number of work processes per week / month / year or the like.

Advantageously, due to an at least partial arrangement of the sensor unit 14 in the vicinity of the processing unit 36, in particular with an arrangement of the sensor unit 14 along the main direction of movement 42, viewed in front of and behind the processing unit 36 on the underside of the housing and / or chassis unit 28, a Detection of the presence of green material to be cut, in particular grass, possible after a mowing process. It can preferably be concluded whether the green material to be cut has been properly cut or whether it is necessary to drive over the work area again or to replace or regrind the cutting element of the processing unit 14. An operator can be made aware, for example, by means of an output unit (not shown here) of the autonomous working device 10 that an exchange or regrinding of the cutting element of the processing unit 14 may be necessary.

In particular, as a result of an at least partial arrangement of the sensor unit 14 in the vicinity of the processing unit 36, in particular when the sensor unit 14 is arranged along the main movement direction 42, a presence is detected in front of and behind the processing unit 36 on the underside of the housing and / or chassis unit 28 of an object 16, such as a ball, a human or animal body part or the like, is possible in the vicinity of the processing unit 36. If, for example, as a result of an evaluation of a capacity, it is recognized that an object 16, such as a ball, a human or animal body part or the like, is located in the vicinity of the processing unit 36, the control and / or regulating unit can 18, for example, deactivate the drive unit 12 and / or the processing unit 36, in particular to avoid injuries or damage to the object 16. It is furthermore preferably ascertainable, as a result of an at least partial arrangement of the sensor unit 14 in the vicinity of the processing unit 36 and detection of an active position of the object 16, at which point an object 16 is located under the autonomous working device 10 and / or how far an object 16 is from a danger area of the processing unit 36. If, for example, the control and / or regulating unit 18 detects, by means of an evaluation of sensor data from the sensor unit 14, that a human or animal body part is moving towards the hazardous area of the processing unit 36, the control and / or regulating unit 18 can, for example, the drive unit 12 and / or deactivate the processing unit 36, in particular to avoid injuries to the human or animal body part.

As a result of an at least partial arrangement of the sensor unit 14 on the underside of the housing and / or chassis unit 28 and as a result of an evaluation of a change in the capacitance of the sensor unit 14 by means of the control and / or regulating unit 18, it is possible to detect a type of underground. For example, it can be ascertained whether the autonomous working device 10 is moving on a wet surface, on a surface with long grass, on a concrete surface, on pure soil or the like. If, for example, as a result of an evaluation of a capacity, it is recognized that the autonomous working device 10 with an activated processing unit 36 is moving on a surface made of concrete or stone, the control and / or regulating unit 18 can, for example, deactivate the processing unit 36 in order to supply energy to the energy supply unit 44 to save or the like. The control and / or regulating unit 18 preferably determines a background parameter as a function of sensor data of the sensor unit 14.

In particular, as a result of an at least partial arrangement of the sensor unit 14 on the underside of the housing and / or chassis unit 28 and as a result of an evaluation of a change in the capacitance of the sensor unit 14 by means of the control and / or regulating unit 18, detection of the presence of water hazards, for example Puddles or the like, feasible. If, for example, it is recognized that the autonomous working device 10 is about to enter the water hazard, the control and / or regulating unit 18 can calculate a control strategy that makes it possible to drive around the water hazard or the like. As a result of an at least partial arrangement of the sensor unit 14 on the underside of the housing and / or chassis unit 28 and as a result of an evaluation of a change in the capacitance of the sensor unit 14 by means of the control and / or regulating unit 18, an abrupt change in level, such as for example, is preferred an abyss, a step or the like, feasible. If, for example, it is recognized that an above-average change in capacity occurs suddenly, an abrupt change in level, such as an abyss, a step or the like, can be concluded, with the control and / or regulating unit 18 being able to deactivate the drive unit 12, for example.

Preferably, as a result of an at least partial arrangement of the sensor unit 14 on the underside of the housing and / or chassis unit 28 and as a result of the detection of a force parameter by means of the control and / or regulating unit 18, the autonomous implement 10 can be buried in an underground. If the autonomous implement 10 moves, for example, on a sandy or soft ground and a force is detected from the underside, the control and / or regulating unit 18 can conclude, for example, that the autonomous implement 10 has got stuck in the soft ground buried in the 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 in particular to avoid damage to the autonomous implement 10 and / or to the ground. The control and / or regulating unit 18 preferably determines a background parameter and a mobility parameter as a function of sensor data from the sensor unit 14. The control and / or regulating unit 18 can also take into account further parameters, such as a speed by odometry data or by the location locating unit 46, an altitude above ground as a result of map data or the like.

Preferably, due to an at least partial arrangement of the sensor unit 14 on the underside of the housing and / or chassis unit 28 and due to an evaluation of an approximation, it is possible to use the control and / or regulating unit 18 to calculate movement vectors of the autonomous working device 10. Preferably, the calculated motion vector can be compared with odo metric data and / or with data from the location locating unit 46 are used, in particular in order to enable a correct position determination of the autonomous implement 10 within the work area.

The sensor unit 14 is preferred, in particular at least one sensor surface 20 or a plurality of sensor surfaces 20, 22, 24 of the sensor unit 14, at least in part along an overall circumferential extent of the housing and / or chassis unit 28 on the housing and / or chassis unit 28, in particular arranged on the outer surface 30, 32 of the housing and / or chassis unit 28 (cf. FIG. 4). It is conceivable that the sensor unit 14 has a single continuous sensor surface 20 which extends at least partially along a total circumferential extent of the housing and / or chassis unit 28 on the Ge housing and / or chassis unit 28, or that the sensor unit 14 has one Has a plurality of spaced-apart sensor surfaces 20, 22, 24, which extend at least partially along an entire circumferential extent of the housing and / or chassis unit 28 on the housing and / or chassis unit 28.

Advantageously, as a result of an at least partial arrangement of the sensor unit 14 along the entire circumferential extent of the housing and / or chassis unit 28 and in particular as a result of an exposure position of the object 16 on at least one sensor surface 20, 22, 24 of the sensor unit 14 by means of the control and / or control unit 18 can determine the direction from which an object 16 comes into contact with the autonomous implement 10 and / or how hard or soft the object 16 is. A hard object 16, such as a tree trunk or the like, acts more point-wise on the sensor unit 14, whereas a soft object 16, such as a bush or the like, acts more flat on the sensor unit 14. As a result of an evaluation of a change in a capacity, the control and / or regulating unit 18 is preferably suitable for being able to infer a material of the object 16 in order to be able to differentiate between different objects 16, such as, for example, concrete or stone walls of grass or wood. The control and / or regulating unit 18 can preferably use the sensor data to calculate a control strategy that either allows the object 16 to slide along, such as bushes that yield itself, or that requires an evasive or reversing maneuver in order to do this To bypass object 16. The acquired sensor data and the control strategy derived therefrom can preferably be used by the control and / or regulating unit 18 to adapt a previously mapped working area.

The autonomous working device 10 preferably comprises the at least one drive or chain drive unit 38 which can be driven by means of the drive unit 12, the sensor unit 14 being at least partially arranged on the drive or chain drive unit 38 (cf. FIGS. 1 to 4). The sensor unit 14, in particular at least one sensor surface 50 of the sensor unit 14, is preferably arranged on an outer surface or an outer circumference of the at least one drive wheel. Alternatively or additionally, it is conceivable that the sensor unit 14, in particular at least one sensor surface 52 of the sensor unit 14, on a hub element of the drive or chain drive unit 38, on an outside of a rim element of the drive or chain drive unit facing away from the housing and / or chassis unit 28 38 or the like is arranged.

Preferably, as a result of an at least partial arrangement of the sensor unit 14 on the drive or chain drive unit 38, in particular on an outer surface or an outer circumference of the at least one drive wheel of the drive or chain drive unit 38, and as a result of a force parameter being determined by means of the control and / or control unit 18 a detection of a force acting on the surface by the autonomous working device 10 can be achieved. If, for example, it is recognized that a force acting on the surface by the autonomous working device 10 is smaller than a limit value stored in a storage unit of the control and / or regulating unit 18, it can be concluded, for example, that the autonomous working device 10 or at least one An drive wheel is raised and loses contact with the ground. In addition, a detection of a driving speed of the autonomous implement 10 can take place as a result of an evaluation of sensor data of the sensor unit 14 arranged on the drive or chain drive unit 38. The control and / or regulating unit 18 can preferably determine a mobility parameter.

Preferably, as a result of an at least partial arrangement of the sensor unit 14 on the drive or chain drive unit 38, in particular on an outer surface. che or an outer circumference of the at least one drive wheel of the drive or chain drive unit 38, and as a result of detection of a force parameter and / or evaluation of a capacity by means of the control and / or control unit 18, detection of a lifting of the autonomous implement 10 can be achieved by a person , It is also conceivable that the autonomous working device 10 has at least one handle on which the sensor unit 14 is at least partially arranged in order to evaluate whether a person is holding and / or carrying the autonomous working device 10 on the handle. It is also conceivable that as a result of an at least partial arrangement of the sensor unit 14 on an outer surface 30, 32 of the housing and / or chassis unit 28, as a result of a detection of a change in capacity and as a result of a detection of a force parameter by means of the control and / or regulating unit 18 can be closed by a person gripping the housing and / or chassis unit 28. Additional sensor data can also be evaluated, for example to enable reliable detection of a lifting, such as sensor data of the sensor unit 14 arranged at least partially on the drive or chain drive unit 38, data of the location locating unit 46 or the like. The control and / or the like Gel unit 18 can deactivate the drive unit 12 and / or the processing unit 36 and / or emit an alarm signal, for example when a lift is detected, since the autonomous implement 10 has been raised, for example, without authorization or the like.

In particular, as a result of an at least partial arrangement of the sensor unit 14 on the drive or chain drive unit 38, in particular on an outer side of a rim element facing away from the housing and / or chassis unit 28, the drive or chain drive unit 38, and as a result of detection of a force parameter and / or an evaluation of a capacity by means of the control and / or regulating unit 18, a detection of a contact of the autonomous working device 10 with an object 16 can be realized. Preferably, the outer side of a rim element of the drive or chain drive unit 38 facing away from the housing and / or chassis unit 28 forms an outermost surface of the autonomous working machine 10. It can be advantageous for an early detection of a contact or a possible contact as a result of detection of an approach of objects 16 take place. The autonomous implement 10 can advantageously navigate close to objects past. Furthermore, the autonomous working device 10 comprises at least one input unit 40 for manual input of operator commands that 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 being at least partially in one piece is formed with the input unit 40. At least one sensor surface 54 of the sensor unit 14 preferably forms at least one input element of the input unit 40, by means of which an operator can manually enter operator commands. The at least one sensor surface 54 of the sensor unit 14, which forms at least one input element of the input unit 40, is preferably arranged on a side facing away from the processing unit 36, in particular an upper side, of the housing and / or chassis unit 28, in particular of the housing element designed as a cover.

An emergency stop function can preferably be carried out as a result of an at least partially one-piece design of the sensor unit 14 with the input unit 40. If, for example, contact with a person and / or an animal is recognized, the control unit and / or control unit 18 deactivates the drive unit 12 and the processing unit 36. As a result of an at least partially one-piece design of the sensor unit 14 with the input unit 40, a large-area control surface can be realized, gestures, touches or the like of a human being by means of the control and / or regulating unit 18 to control and / or regulate the autonomous working device 10 can be evaluated.

FIG. 5 shows a schematic sequence of a method for an automatic control and / or regulation of the autonomous working device 10 taking into account sensor data of the sensor unit 14. The method for an automatic control and / or regulation of the autonomous working device 10 preferably comprises at least one method step 56 , in which an approximation of the object 16 detected by the sensor unit 14 and / or a force characteristic of the object 16 acting on the sensor surface 20, 22, 24, 26 of the sensor unit 14, detected by means of the sensor unit 14, at least for a control and / or regulation of the drive unit 12 are taken into account by the control and / or regulating unit 18. In at least one method step 58 of the method, the control and / or regulating unit 18 controls and / or regulates as a function of of a signal received by the sensor unit 14, the processing unit 36, in particular a mower, and / or the travel or chain drive unit 38 of the autonomous implement 10. In at least one method step 60 of the method, the control and / or regulating unit 18 determines In dependence on a signal received by the sensor unit 14, a mobility characteristic. In at least one method step 62 of the method, the control and / or regulating unit 18 determines a background parameter as a function of a signal received by the sensor unit 14. In at least one method step 64 of the method, the control and / or regulating unit 18 determines a pollution characteristic of the autonomous implement 10 as a function of a signal received by the sensor unit 14. In at least one method step 66 of the method, the control and / or regulating unit determines 18 as a function of a signal received by the sensor unit 14, a tissue parameter of the object 16 approaching the sensor surface 20, 22, 24, 26 of the sensor unit 14 or the object 16 exerting force on the sensor surface 20, 22, 24, 26 of the sensor unit 14 ,

With regard to further procedural steps of the method, reference is made to the description of the autonomous implement 10 in FIGS. 1 to 4, which is to be read analogously to the method, so that all features relating to the autonomous implement 10 are also disclosed in relation to the procedure must be viewed.

Claims

Expectations

1. Autonomous working device, in particular autonomous lawn mower, with at least one drive unit (12), with at least one sensor unit (14) at least for detecting an approach of at least one object (16), in particular by means of an evaluation of a change in capacity, and with at least one control and / or regulating unit (18) for controlling and / or regulating the drive unit (12), the control and / or regulating unit (18) being set up to receive signals from the sensor unit (14) at least in one To take control and / or regulation of the drive unit (18) into account, characterized in that the sensor unit (14) for detecting a force parameter of the object (16) acting on a sensor surface (20, 22, 24, 26) of the sensor unit (14) is set up, in particular by means of an evaluation of a change in a capacitance, a resistance or a voltage, the force parameter being determined by the open-loop and / or closed-loop control unit (18) can at least be used to control and / or regulate the drive unit (12).

2. Autonomous working device according to claim 1, characterized in that the sensor unit (14) for detecting an action position on the sensor surface (20, 22, 24, 26) of the sensor unit (14) of the sensor surface (20, 22, 24 , 26) of the sensor unit (14) approaching object (16) or of the object (16) exerting force on the sensor surface (20, 22, 24, 26) of the sensor unit (14), the action position of the approaching object (16) or the force-exerting object (16) can be taken into account by the control and / or regulating unit (18) at least to control and / or regulate the drive unit (12).

3. Autonomous implement according to the preamble of claim 1, in particular special according to claim 1 or 2, characterized by at least one Housing and / or chassis unit (28) for at least partially covering, receiving or storing the control and / or regulating unit (18) and / or the drive unit (12), the sensor unit (14) at least partially on an outer surface ( 30, 32) of the housing and / or chassis unit (28) is arranged or at least partially forms the outer surface (30, 32) of the housing and / or chassis unit (28).

4. Autonomous working device according to one of the preceding claims, characterized by at least one housing and / or chassis unit (28) for at least partially covering, receiving or storing the control and / or regulating unit (18) and / or the drive unit (12) , The sensor unit (14) being arranged at least partially on a front side (34) of the housing and / or chassis unit (28) oriented in a main direction of movement (42).

5. Autonomous working device according to one of the preceding claims, characterized by at least one housing and / or chassis unit (28) for at least partially covering, receiving or storing the control and / or regulating unit (18) and / or the drive unit (12) , wherein the sensor unit (14) covers or forms at least a large part of an outer surface (30, 32) of the housing and / or chassis unit (28).

6. Autonomous working device according to one of the preceding claims, characterized by at least one processing unit (36), in particular a mower, and at least one housing and / or chassis unit (28) for at least partially covering, receiving or storing the control and / or control unit (18) and / or the drive unit (12), wherein the sensor unit (14) is at least partially arranged in a vicinity of the processing unit (36) on the housing and / or chassis unit (28).

7. Autonomous working device according to one of the preceding claims, characterized by at least one housing and / or chassis unit (28) for an at least partial covering, reception or storage the control and / or regulating unit (18) and / or the drive unit (12), the sensor unit (14) at least partially along a total extent 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. Autonomous implement according to one of the preceding claims, characterized by at least one drive or chain drive unit (38) which can be driven by means of the drive unit (12), the sensor unit (14) being at least partially arranged on the drive or chain drive unit (38) is.

9. Autonomous working device according to one of the preceding claims, characterized by at least one input unit (40) for manual input of operator commands issued by the control and / or regulating unit (18) at least for control and / or regulation of the drive unit (12) can be taken into account, the sensor unit (14) being at least partially in one piece with the input unit (40).

10. A method for automatic control and / or regulation of an autonomous working device, in particular an autonomous lawnmower, according to one of the preceding claims, characterized in that in at least one method step, an approach of the object (16) detected by means of the sensor unit (14) and / or a force characteristic of the object (16) acting on the sensor surface (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) are taken into account by the control and / or regulating unit (18).

11. The method according to claim 10, characterized in that in at least one method step, the control and / or regulating unit (18) in dependence on a signal received from the sensor unit (14) a processing unit (36), in particular a mower, and / or controls and / or regulates a driving or chain drive unit (38) of the autonomous implement.

12. The 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 parameter as a function of a signal received by the sensor unit (14).

13. The 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 background parameter as a function of a signal received by the sensor unit (14).

14. The 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 pollution characteristic of the autonomous implement in dependence on a signal received by the sensor unit (14) ,

15. The 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), depending on a signal received by the sensor unit (14), receives a tissue characteristic of the sensor surface (20, 22, 24, 26) of the object (16) approaching the sensor unit (14) or of the object (16) exerting force on the sensor surface (20, 22, 24, 26) of the sensor unit (14).