WO2024069479A1 - Lawnmower robot and charging station assembly - Google Patents

Lawnmower robot and charging station assembly Download PDF

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Publication number
WO2024069479A1
WO2024069479A1 PCT/IB2023/059621 IB2023059621W WO2024069479A1 WO 2024069479 A1 WO2024069479 A1 WO 2024069479A1 IB 2023059621 W IB2023059621 W IB 2023059621W WO 2024069479 A1 WO2024069479 A1 WO 2024069479A1
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WO
WIPO (PCT)
Prior art keywords
robot
station
contact
connecting portion
assembly
Prior art date
Application number
PCT/IB2023/059621
Other languages
French (fr)
Inventor
Silvio REVELLI
Original Assignee
Volta Robots S.R.L.
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 Volta Robots S.R.L. filed Critical Volta Robots S.R.L.
Publication of WO2024069479A1 publication Critical patent/WO2024069479A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/14—Conductive energy transfer
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/14—Conductive energy transfer
    • B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/36—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/32—Auto pilot mode
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
    • H01R13/02—Contact members
    • H01R13/22—Contacts for co-operating by abutting

Definitions

  • the present invention relates to an assembly including a lawnmower robot, of the autonomous mobile type, and a charging station, as well as to a lawnmower robot, as well as a charging station.
  • Lawnmower robots comprising at least one electric motor powered by a battery, which are configured to move in a space to carry out at least one activity and are configured to autonomously reach a charging station to charge the battery.
  • Such lawnmower robots and the charging stations of the known type comprise a socket and a plug, respectively, or vice versa, provided with respective contacts to allow, once the plug and the socket are connected, an electric connection of the battery with an electric power source connected to the charging station.
  • the charging station is provided with a plug comprising one or more elongated male elements which project along a horizontal direction, substantially parallel to the ground on which the charging station rests
  • the lawnmower robot is provided with a socket comprising one or more female elements, such as shaped cavities arranged inside the shell of the lawnmower robot, for example, also mainly extending horizontally and substantially parallel to the ground, and adapted to accommodate one or more of the respective male elements of the plug of the charging station.
  • the lawnmower robot is provided with a plug comprising one or more elongated male elements which mainly extend along a horizontal direction, substantially parallel to the ground on which the robot moves, and the charging station is provided with a socket comprising one or more female elements, such as a seat or cavity, for example, adapted to accommodate one or more of the respective male elements of the robot plug and substantially extending along the horizontal direction.
  • the lawnmower robot must be capable of identifying the socket or plug of the charging station and approach it in the space with specific attachment orientations (roll, pitch and yaw) and/or attachment heights.
  • such solutions include cumbersome charging stations comprising horizontally protruding elements, such as large platforms on which the lawnmower robot entirely rests and/or rooves for protecting the contacts of the socket/plug charging station and/or male plug elements, for example, or they include complex mechanisms for moving the contacts of the charging station socket, making the lawnmower robot and charging station assembly very cumbersome and expensive.
  • the socket or plug of the robot is in a position or orientation with respect to the wheels or tracks which prevents a connection with the plug or socket of the charging station, and thus prevents the autonomous mobile robot from being charged and the activities of the autonomous mobile robot from being carried out, requiring an operator intervention.
  • FIG. 1 shows an axonometric view of a lawnmower robot and a charging station in a separate configuration, according to the present invention
  • FIG. 2 shows an axonometric view of the lawnmower robot and the charging station in Figure 1, in a coupled charging configuration
  • FIG. 3 shows a side view of the lawnmower robot and the charging station in Figure 2;
  • FIG. 4 shows an axonometric view of the charging station according to the present invention, in which the pair of partially exposed contacts with a cylindrical extension can be seen;
  • FIG. 5 shows a front view of the charging station in Figure 4.
  • FIG. 6 shows an axonometric view of the lawnmower robot according to the present invention, in which a video camera, a lighting LED and at least a pair of horizontal contacts, e.g., metal blades, can be seen, the two horizontal contacts of the pair of contacts being arranged horizontally spaced apart from each other;
  • FIG. 7 shows an axonometric front view of a front part of the lawnmower robot in Figure 6;
  • - Figure 8 shows a partially sectioned axonometric view of the assembly in Figure 2 with respect to a cross-section plane parallel to and passing through the axis A of the first station contact and through at least one robot contact, in which the intimate contact between the robot contact and the station contact, for example having a cylindrical shape, can be seen;
  • - Figure 9 shows a partially sectioned axonometric view of the assembly in Figure 3 with respect to a cross-section plane parallel to and passing through the axis A of the first station contact and through at least one robot contact;
  • FIG. 10 shows the assembly in Figure 2, in a top plan view partially sectioned with respect to a plane perpendicular to the axis A of the first station contact and to the axis A' of the second station contact and passing through a first robot contact and a second robot contact, in which the intimate contact between the robot contacts and the station contacts can be seen.
  • a lawnmower robot and charging station assembly is indicated by reference numeral 1.
  • the lawnmower robot and charging station assembly 1 comprises a charging station 2 and a lawnmower robot 3, preferably of the autonomous mobile type.
  • the charging station 2 comprises a station column 4 adapted to rest on the ground and mainly extending along a vertical direction Y-Y substantially perpendicular to the ground.
  • the charging station 2 comprises a pair of station contact elements 5, 6 supported by the station column 4.
  • the pair of station contact elements 5, 6 can be connected to an electric power cable 34 connectable to an electric line.
  • the pair of station contact elements 5, 6 comprises a first station contact 5 and a second station contact 6.
  • the first station contact 5 and the second station contact 6 are arranged spaced apart from each other so that a projection along the vertical direction Y-Y of the first station contact 5 does not intersect the second station contact 6, or vice versa.
  • the lawnmower robot 3 comprises a robot shell 7, and at least a first pair of robot contacts 8, 9, 10, 11.
  • the first pair of robot contacts 8, 9, 10, 11 is connected to the robot shell 7.
  • the first pair of robot contacts 8, 9, 10, 11 comprises a first robot contact 8, 10 and a second robot contact 9, 11 arranged spaced apart from each other so that a projection along the vertical direction Y- Y of the first robot contact 8, 10 does not intersect the second robot contact 9, 11, or vice versa.
  • Each station contact 8, 9 comprises a respective station contact surface 12, 13, or a first station contact surface 12 and a second station contact surface 13, and each robot contact 8, 9, 10, 11 comprises a respective robot contact surface.
  • Each robot contact surface is adapted to abut in mutual contact with a respective station contact surface 12, 13 in at least one respective electric contact point in a charging configuration of the assembly 1 to charge the lawnmower robot 3.
  • each station contact surface 12, 13 and/or each robot contact surface is a curved surface which extends about a respective contact axis A, A', or first contact axis A and second contact axis A', mainly extending in the vertical direction Y-Y, where each contact axis A, A' is substantially parallel to the vertical Y-Y direction.
  • the station contacts With a mainly vertical extension, spaced apart from each another horizontally, with a curved exposed contact surface, it is possible to ensure a correct contact with the robot contacts in a plurality of heights of the lawnmower robot and in a plurality of orientations of the lawnmower robot in terms of yaw, pitch and roll.
  • the curved surface is at least a cylindrical surface portion.
  • first station contact 5 and the second station contact 6 have a cylindrical shape and extend about the respective contact axis A, A', parallel to the vertical direction Y-Y.
  • first station contact 5 and the second station contact 6 are a pair of vertical cylinders, made of electrically conductive material, preferably metal material.
  • each station contact surface 12, 13 has a length L along the vertical direction Y-Y between 4 cm and 10 cm .
  • the first station contact 5 and the second station contact 6 are arranged in an angled position from each other with respect to a perpendicular circumference passing through the first contact axis A and the second contact axis A' of a station angle C from 30° to 90°.
  • the perpendicular circumference passing through the first contact axis A and the second contact axis A' has a radius equal to at least the diameter of the station contacts.
  • the station column 4 comprises a station connecting portion 14 and said robot shell 7 comprises a robot connecting portion 15.
  • the station connecting portion 14 and the robot connecting portion 15 are mutually shaped so as to accommodate, for example at least partially by positive coupling, the station connecting portion 14 in the robot connecting portion 15, or vice versa, during an approach of the lawnmower robot 3 to the charging station 2 to achieve the charging configuration.
  • the first station contact 5 and the second station contact 6 are arranged in an angled position from each other in the front part of the station connecting portion 14, thus avoiding contact with each other.
  • each station contact surface 12, 13 is partially in relief with respect to the surface of the station connecting portion 14 at least partially protruding along a horizontal direction X-X perpendicular and/or incident to the vertical direction Y-Y from the station connecting portion (14).
  • each robot contact 8, 9, 10, 11 is partially in relief with respect to the surface of the robot connecting portion 15 at least partially protruding along a direction parallel to the horizontal direction X-X from the robot connecting portion 15.
  • the robot connecting portion 15 is a concave portion of the robot shell 7 delimiting a recess without walls along the vertical direction Y-Y and/or a laterally funnel- shaped seat, without walls, closing it along the vertical direction Y-Y.
  • the station connecting portion 14 is a convex portion of the station column 4 adapted to be accommodated in the concave robot connecting portion 15.
  • the concave robot connecting portion 15 is adapted to invite the convex station connecting portion 14 to facilitate a coupling between the two connecting portions 15, 14 to achieve the charging configuration.
  • the station connecting portion 14 has a station symmetry plane B substantially parallel to the vertical direction Y-Y and substantially perpendicular to the horizontal direction X-X which divides the station connecting portion 14 into a first lateral station part 16 and a second lateral station part 17. Said first station contact 5 and said second station contact 6 are connected to the first lateral station part 16 and second later station part 17, respectively.
  • the robot connecting portion 15 has a robot symmetry plane B' substantially parallel to the vertical direction Y-Y and substantially perpendicular to the horizontal direction X-X which divides the robot connecting portion 15 into a first lateral robot part 18 and a second lateral robot part 19.
  • the first robot contact 8 and the second robot contact 9 are connected to the first lateral robot part 18 and to the second lateral robot part 19, respectively.
  • the first lateral robot part 18 and the second lateral robot part 19 are symmetric to each other, with respect to a robot symmetry plane B'.
  • first lateral station part 16 and the second lateral station part 17 are symmetric to each other, with respect to a station symmetry plane B.
  • the station connecting portion 14 comprises a lower station portion 20 and an upper station portion 21, where the upper station portion 21 is arranged at a greater distance from the ground than the lower station portion 20.
  • the robot connecting portion 15 comprises a lower robot portion 22 and an upper robot portion 23, where the upper robot portion 23 is arranged at a greater distance from the ground than the lower robot portion 22,
  • each station contact 5, 6 is connected to the upper station portion 21.
  • each robot contact 8, 9, 10, 11 is connected only to the upper robot portion 23.
  • the upper robot portion 23 comprises a through seat, or through eyelets, for each robot contact 8, 9, 10, 11 so as to allow at least one contact portion of the respective robot contact to project in a cantilevered manner outside the robot shell 7.
  • each station contact surface 12, 13 is partially in relief with respect to the surface of the upper station portion 21 at least partially protruding along the horizontal direction X-X from the upper station portion 21 leaving the lower station portion 20 free to abut against the lower robot portion 22, preferably counter-shaped with respect to each other for mutually positively coupling. In an embodiment, each station contact surface 12, 13, does not protrude from the lower station portion 20.
  • the lawnmower robot 3 comprises the first pair of robot contacts 8, 9 and a second pair of robot contacts 10, 11 connected to the robot shell 7.
  • the second pair of robot contacts 10, 11 comprises a third robot contact 10 and a fourth robot contact 11.
  • the third robot contact 10 and the fourth robot contact 11 are arranged spaced apart from each other so that a projection along the vertical direction Y-Y of the third robot contact 10 does not intersect the fourth robot contact 11, or vice versa.
  • the third robot contact 10 and the fourth robot contact 11 are arranged spaced apart along the vertical direction Y-Y from the first robot contact 8 and from the second robot contact 9, respectively.
  • the vertical distance, along the direction Y-Y or directions parallel thereto, between the first pair of robot contacts and the second pair of robot contacts is less than the length L of the station contacts, preferably not greater than 1/4 of the length L of the station contacts, preferably it is less than 1/2 of the length L of the station contacts.
  • said third robot contact 10 and said fourth robot contact 11 are connected to the first lateral robot part 18 and to the second lateral robot part 19, respectively.
  • each robot contact 8, 9, 10, 11 is constantly elastically biased into a configuration at least partially protruding with respect to the robot shell 7, so that in the charging configuration each robot contact 8, 9, 10, 11 is constantly biased in the direction of the respective station contact 5, 6.
  • each robot contact 8, 9, 10, 11 is a metal blade.
  • the first robot contact 8 and the third robot contact 10 are formed by a first U-bent lamella, so that the ends of the first U-bent lamella form robot contacts spaced apart from each other and connected to a first pole of the robot battery.
  • the second robot contact 9 and the fourth robot contact 11 are formed by a second U-bent lamella, so that the ends of the second U-bent lamella form robot contacts spaced apart from each other and connected to a second pole of the robot battery.
  • said lawnmower robot 3 comprises a control head 24 comprising a control unit 25, position detection means 26, such as a video camera to detect the position of the charging station 2, for example.
  • the control head 24 comprises a lighting device 27, such as at least one light- emitting diode, for example.
  • the control head 24 comprises a data processing unit.
  • control head 24 is housed in a respective housing obtained in the robot shell 7.
  • the position detection means 26 are centered with respect to the first pair of robot contacts 8, 9 and/or the second pair of robot contacts 10, 11. In an embodiment, the position detection means 26 are arranged on the robot symmetry plane B'.
  • the position detection means 26 are configured to detect images of a field of vision and to transfer the detected images to the data processing unit.
  • the data processing unit is configured to process the detected images so as to determine a relative distance of the position detection means 26, for example of the video camera, and/or of the robot contacts 8, 9 , 10, 11, with respect to the charging station 2.
  • the control unit is configured to process the detected images so as to determine a relative orientation (roll and/or yaw and/or pitch) of the relative detection means of the position detection means 26, for example of the video camera, or of the robot contacts 8, 9 , 10, 11, with respect to the charging station 2.
  • the robot contacts 8, 9, 10, 11 being arranged in a predefined position with respect to the position detection means 26.
  • the control unit receives from the processing unit the distance and orientation of the position detection means 26 and/or of the robot contacts and therefore it plans a charging (docking) trajectory for the lawnmower robot to follow so as to reach the charging station and enter into the charging configuration with the robot and station contacts in mutual electric contact.
  • the assembly 1 is tolerant to orientation errors of the robot shell with respect to the charging station, and the lawnmower robot invites the base to insert itself with orientation play in a concave connection portion of the robot so as to allow an electric connection between the robot and the charging station in a plurality of relative height and relative orientation configurations between the lawnmower robot and the charging station.
  • control head 24 is connected to the robot shell 7 so as to stand above each robot contact 8, 9, 10, 11 and so as to orient the position detection means 26 and the lighting device 27 to cause each station contact 5, 6 enter in a field of vision of the position detection means 26 during an approach of the lawnmower robot 3 to the charging station 2 to achieve the charging configuration.
  • said lawnmower robot 3 comprises a covering portion 28 which extends projecting in a cantilevered manner and/or protruding from said robot shell 7 standing above the control head 24 so as to protect the control head 24 from rain and/or sun and/or possible impacts.
  • the covering portion 28 stands above each robot contact 8, 9, 10, 11 and/or the robot connecting portion so as to protect it from rain and/or sun.
  • the covering portion 28 is made in one piece with the robot shell 7.
  • the lawnmower robot 3 comprises a frame 29, two or more wheels 30 connected to the frame. In an embodiment, the lawnmower robot 3 comprises three wheels, two of which motorized. In an embodiment, the lawnmower robot 3 comprises at least one cutting tool 31 adapted to cut a turf and supported by the frame 29, an electric motor 32 and a battery 33 to power the electric motor and the at least one cutting tool to allow a movement of the lawnmower robot 3 and a cut of the turf. In an embodiment, the at least one cutting tool 31 floats towards and away from the ground, adapting to any roughness in the ground. In an embodiment, each robot contact 8, 9, 10, 11 is electrically connected to the battery 33 and/or supported by the frame 29. In an embodiment, said robot shell 7 is supported by the frame 29.
  • the present invention also relates to a charging station 2 comprising a station column 4 adapted to rest on the ground and mainly extending along a vertical direction Y-Y substantially perpendicular to the ground.
  • the charging station 2 comprises a pair of station contact elements 5, 6 supported by the station column 4.
  • the pair of station contact elements 5, 6 can be connected to an electric power cable 34 connectable to an electric line.
  • the pair of station contact elements 5, 6 comprises a first station contact 5 and a second station contact 6.
  • the first station contact 5 and the second station contact 6 are arranged spaced apart from each other so that a projection along the vertical direction Y-Y of the first station contact 5 does not intersect the second station contact 6, or vice versa.
  • Each station contact 8, 9 comprises a respective station contact surface 12, 13, or a first station contact surface 12 and a second station contact surface 13.
  • Each station contact surface 12, 13 is adapted to abut in mutual contact with a respective robot contact surface of a robot contact 8, 9, 10, 11 of a lawnmower robot 3 for charging the lawnmower robot 3 in a charging configuration with the charging station 2.
  • each station contact surface 12, 13 and/or each robot contact surface is a curved surface which extends about a respective contact axis A, A', or first contact axis A and second contact axis A', mainly extending in the vertical direction Y-Y, where each contact axis A, A' is substantially parallel to the vertical Y-Y direction.
  • the charging station 2 is a charging station for an assembly 1 according to one or more of the embodiments described above.
  • the present invention also relates to a lawnmower robot 3 comprising a robot shell 7, and at least a first pair of robot contacts 8, 9, 10, 11.
  • the first pair of robot contacts 8, 9, 10, 11 is connected to the robot shell 7.
  • the first pair of robot contacts 8, 9, 10, 11 comprises a first robot contact 8, 10 and a second robot contact 9, 11 arranged spaced apart from each other so that a projection along the vertical direction Y-Y of the first robot contact 8, 10 does not intersect the second robot contact 9, 11, or vice versa.
  • Each robot contact 8, 9, 10, 11 comprises a respective robot contact surface.
  • Each robot contact surface is adapted to abut in mutual contact with a respective station contact surface 12, 13 of a station contact 5, 6 of a charging station 2 in at least one respective electric contact point for charging the lawnmower robot 3 in a charging configuration with the charging station 2.
  • the lawnmower robot is a lawnmower robot for an assembly 1 according to one or more of the embodiments described above.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Manipulator (AREA)

Abstract

The present invention relates to a lawnmower robot and charging station assembly (1), comprising a charging station (2) comprising a station column (4) adapted to rest on the ground and mainly extending along a vertical direction (Y-Y) substantially perpendicular to the ground, and a pair of station contact elements (5, 6) supported by said station column (4), wherein the pair of station contact elements (5, 6) comprises a first station contact (5) and a second station contact (6) arranged spaced apart from each other so that a projection along the vertical direction (Y-Y) of the first station contact (5) does not intersect the second station contact (6), or vice versa, a lawnmower robot (3) comprising a robot shell (7), and at least a first pair of robot contacts (8, 9, 10, 11) connected to the robot shell (7), wherein the first pair of robot contacts (8, 9, 10, 11) comprises a first robot contact (8, 10) and a second robot contact (9, 11) arranged spaced apart from each other so that a projection along the vertical direction (Y-Y) of the first robot contact (8, 10) does not intersect the second robot contact (9, 11), or vice versa, wherein each station contact (8, 9) comprises a respective station contact surface (12, 13) and each robot contact (8, 9, 10, 11) comprises a respective robot contact surface adapted to abut into mutual contact with a respective station contact surface (12, 13) in at least one respective electric contact point in a charging configuration of the assembly (1) for charging the autonomous mobile lawnmower robot (3), each station contact surface (12, 13) is a curved surface which extends about a respective contact axis (A, A') mainly extending in the vertical direction (Y-Y), wherein each contact axis (A, A') is substantially parallel to said vertical direction (Y-Y).

Description

Lawnmower robot and charging station assembly DESCRIPTION
[0001]. Field of the invention
[0002]. The present invention relates to an assembly including a lawnmower robot, of the autonomous mobile type, and a charging station, as well as to a lawnmower robot, as well as a charging station.
[0003]. Background art
[0004]. Lawnmower robots are known, comprising at least one electric motor powered by a battery, which are configured to move in a space to carry out at least one activity and are configured to autonomously reach a charging station to charge the battery. Such lawnmower robots and the charging stations of the known type comprise a socket and a plug, respectively, or vice versa, provided with respective contacts to allow, once the plug and the socket are connected, an electric connection of the battery with an electric power source connected to the charging station.
[0005]. In order to allow charging the robot battery, it is necessary that the socket contacts and the plug contacts come into intimate contact with one another, by means of a correct connection of the socket with the plug, and therefore that the lawnmower robot is capable of aligning the socket or plug thereof to the respective plug or socket of the charging station in a highly precise manner.
[0006]. In some known cases, the charging station is provided with a plug comprising one or more elongated male elements which project along a horizontal direction, substantially parallel to the ground on which the charging station rests, and the lawnmower robot is provided with a socket comprising one or more female elements, such as shaped cavities arranged inside the shell of the lawnmower robot, for example, also mainly extending horizontally and substantially parallel to the ground, and adapted to accommodate one or more of the respective male elements of the plug of the charging station.
[0007]. In other known cases, the lawnmower robot is provided with a plug comprising one or more elongated male elements which mainly extend along a horizontal direction, substantially parallel to the ground on which the robot moves, and the charging station is provided with a socket comprising one or more female elements, such as a seat or cavity, for example, adapted to accommodate one or more of the respective male elements of the robot plug and substantially extending along the horizontal direction.
[0008]. In both known charging configurations mentioned above, the lawnmower robot must be capable of identifying the socket or plug of the charging station and approach it in the space with specific attachment orientations (roll, pitch and yaw) and/or attachment heights.
[0009]. Although the known solutions are satisfactory under many aspects, such solutions include cumbersome charging stations comprising horizontally protruding elements, such as large platforms on which the lawnmower robot entirely rests and/or rooves for protecting the contacts of the socket/plug charging station and/or male plug elements, for example, or they include complex mechanisms for moving the contacts of the charging station socket, making the lawnmower robot and charging station assembly very cumbersome and expensive.
[0010]. Additionally, in the known solutions, if the wheels or tracks of the robot are particularly worn, even differently from one another, for example, or if the wheels or tracks of the robot are dirty or loaded, for example, with earth or other debris, differently from one another, for example, it can be the case that the socket or plug of the robot is in a position or orientation with respect to the wheels or tracks which prevents a connection with the plug or socket of the charging station, and thus prevents the autonomous mobile robot from being charged and the activities of the autonomous mobile robot from being carried out, requiring an operator intervention.
[0011]. Therefore, in the industry a need is felt to provide a lawnmower robot, in particular of the lawnmower type, and a charging station which allow a high-efficiency, electric charging coupling, with greater attachment orientation and/or attachment height tolerances between socket and plug, and with a limited number of elements as compared to the prior art.
[0012]. Solution
[0013]. It is the object of the present invention to provide a lawnmower robot and charging station assembly allowing, in a simplified manner, an easy and efficient electric charging coupling, irrespective of the conditions of wear or dirt associated with the wheels or tracks of the robot.
[0014]. This and other objects and advantages are achieved by an assembly including a lawnmower robot and a charging station according to claim 1.
[0015]. Some advantageous embodiments are the subject of the dependent claims.
[0016]. By virtue of the suggested solutions, it is possible to allow an electric connection between a lawnmower robot and a charging station in a mechanically simplified manner, ensuring a high contact effectiveness with a high height tolerance of the lawnmower robot compared to the charging station.
[0017]. Additionally, by virtue of the suggested solutions, it is possible to allow a reliable electric connection with a high pitch, roll and yaw tolerance of the lawnmower robot.
[0018]. Additionally, by virtue of the geometries of the assembly, it is possible to facilitate the electric charging contact between the lawnmower robot and the charging station by virtue of a selfcentering coupling between a portion of the robot and a portion of the charging station.
[0019]. Additionally, by virtue of the geometries of the assembly, it is possible to reduce the size of the charging station and reduce shipping costs.
[0020]. Drawings
[0021]. Further features and advantages of the assembly including a lawnmower robot and a charging station will become apparent from the following description of preferred embodiments thereof, given by way of non-limiting indication, with reference to the accompanying drawings, in which: [0022]. - Figure 1 shows an axonometric view of a lawnmower robot and a charging station in a separate configuration, according to the present invention,
[0023]. - Figure 2 shows an axonometric view of the lawnmower robot and the charging station in Figure 1, in a coupled charging configuration;
[0024]. - Figure 3 shows a side view of the lawnmower robot and the charging station in Figure 2;
[0025]. - Figure 4 shows an axonometric view of the charging station according to the present invention, in which the pair of partially exposed contacts with a cylindrical extension can be seen;
[0026]. - Figure 5 shows a front view of the charging station in Figure 4;
[0027]. - Figure 6 shows an axonometric view of the lawnmower robot according to the present invention, in which a video camera, a lighting LED and at least a pair of horizontal contacts, e.g., metal blades, can be seen, the two horizontal contacts of the pair of contacts being arranged horizontally spaced apart from each other;
[0028]. - Figure 7 shows an axonometric front view of a front part of the lawnmower robot in Figure 6;
[0029]. - Figure 8 shows a partially sectioned axonometric view of the assembly in Figure 2 with respect to a cross-section plane parallel to and passing through the axis A of the first station contact and through at least one robot contact, in which the intimate contact between the robot contact and the station contact, for example having a cylindrical shape, can be seen; [0030]. - Figure 9 shows a partially sectioned axonometric view of the assembly in Figure 3 with respect to a cross-section plane parallel to and passing through the axis A of the first station contact and through at least one robot contact;
[0031]. - Figure 10 shows the assembly in Figure 2, in a top plan view partially sectioned with respect to a plane perpendicular to the axis A of the first station contact and to the axis A' of the second station contact and passing through a first robot contact and a second robot contact, in which the intimate contact between the robot contacts and the station contacts can be seen.
[0032]. Description of some preferred embodiments
[0033]. In accordance with a general embodiment, a lawnmower robot and charging station assembly is indicated by reference numeral 1.
[0034]. The lawnmower robot and charging station assembly 1 comprises a charging station 2 and a lawnmower robot 3, preferably of the autonomous mobile type.
[0035]. The charging station 2 comprises a station column 4 adapted to rest on the ground and mainly extending along a vertical direction Y-Y substantially perpendicular to the ground. The charging station 2 comprises a pair of station contact elements 5, 6 supported by the station column 4. The pair of station contact elements 5, 6 can be connected to an electric power cable 34 connectable to an electric line. The pair of station contact elements 5, 6 comprises a first station contact 5 and a second station contact 6. The first station contact 5 and the second station contact 6 are arranged spaced apart from each other so that a projection along the vertical direction Y-Y of the first station contact 5 does not intersect the second station contact 6, or vice versa.
[0036]. The lawnmower robot 3 comprises a robot shell 7, and at least a first pair of robot contacts 8, 9, 10, 11. The first pair of robot contacts 8, 9, 10, 11 is connected to the robot shell 7. The first pair of robot contacts 8, 9, 10, 11 comprises a first robot contact 8, 10 and a second robot contact 9, 11 arranged spaced apart from each other so that a projection along the vertical direction Y- Y of the first robot contact 8, 10 does not intersect the second robot contact 9, 11, or vice versa.
[0037]. Each station contact 8, 9 comprises a respective station contact surface 12, 13, or a first station contact surface 12 and a second station contact surface 13, and each robot contact 8, 9, 10, 11 comprises a respective robot contact surface. Each robot contact surface is adapted to abut in mutual contact with a respective station contact surface 12, 13 in at least one respective electric contact point in a charging configuration of the assembly 1 to charge the lawnmower robot 3.
[0038]. Advantageously, each station contact surface 12, 13 and/or each robot contact surface is a curved surface which extends about a respective contact axis A, A', or first contact axis A and second contact axis A', mainly extending in the vertical direction Y-Y, where each contact axis A, A' is substantially parallel to the vertical Y-Y direction.
[0039]. By virtue of the arrangement of the station contacts with a mainly vertical extension, horizontally spaced apart from each other, it is possible to prevent a trickle of water from electrically connecting the two station contacts.
[0040]. By virtue of the provision of the station contacts with a mainly vertical extension, spaced apart from each another horizontally, with a curved exposed contact surface, it is possible to ensure a correct contact with the robot contacts in a plurality of heights of the lawnmower robot and in a plurality of orientations of the lawnmower robot in terms of yaw, pitch and roll.
[0041]. In an embodiment, the curved surface is at least a cylindrical surface portion.
[0042]. In an embodiment, the first station contact 5 and the second station contact 6 have a cylindrical shape and extend about the respective contact axis A, A', parallel to the vertical direction Y-Y. In an embodiment, the first station contact 5 and the second station contact 6 are a pair of vertical cylinders, made of electrically conductive material, preferably metal material.
[0043]. In an embodiment, each station contact surface 12, 13 has a length L along the vertical direction Y-Y between 4 cm and 10 cm .
[0044]. In accordance with an embodiment, the first station contact 5 and the second station contact 6 are arranged in an angled position from each other with respect to a perpendicular circumference passing through the first contact axis A and the second contact axis A' of a station angle C from 30° to 90°. In accordance with an embodiment, the perpendicular circumference passing through the first contact axis A and the second contact axis A' has a radius equal to at least the diameter of the station contacts.
[0045]. In an embodiment, the station column 4 comprises a station connecting portion 14 and said robot shell 7 comprises a robot connecting portion 15. The station connecting portion 14 and the robot connecting portion 15 are mutually shaped so as to accommodate, for example at least partially by positive coupling, the station connecting portion 14 in the robot connecting portion 15, or vice versa, during an approach of the lawnmower robot 3 to the charging station 2 to achieve the charging configuration. In accordance with an embodiment, the first station contact 5 and the second station contact 6 are arranged in an angled position from each other in the front part of the station connecting portion 14, thus avoiding contact with each other.
[0046]. In an embodiment, each station contact surface 12, 13 is partially in relief with respect to the surface of the station connecting portion 14 at least partially protruding along a horizontal direction X-X perpendicular and/or incident to the vertical direction Y-Y from the station connecting portion (14). In an embodiment, each robot contact 8, 9, 10, 11 is partially in relief with respect to the surface of the robot connecting portion 15 at least partially protruding along a direction parallel to the horizontal direction X-X from the robot connecting portion 15.
[0047]. In an embodiment, the robot connecting portion 15 is a concave portion of the robot shell 7 delimiting a recess without walls along the vertical direction Y-Y and/or a laterally funnel- shaped seat, without walls, closing it along the vertical direction Y-Y.
[0048]. In an embodiment, the station connecting portion 14 is a convex portion of the station column 4 adapted to be accommodated in the concave robot connecting portion 15. In an embodiment, the concave robot connecting portion 15 is adapted to invite the convex station connecting portion 14 to facilitate a coupling between the two connecting portions 15, 14 to achieve the charging configuration.
[0049]. In an embodiment, the station connecting portion 14 has a station symmetry plane B substantially parallel to the vertical direction Y-Y and substantially perpendicular to the horizontal direction X-X which divides the station connecting portion 14 into a first lateral station part 16 and a second lateral station part 17. Said first station contact 5 and said second station contact 6 are connected to the first lateral station part 16 and second later station part 17, respectively.
[0050]. In an embodiment, the robot connecting portion 15 has a robot symmetry plane B' substantially parallel to the vertical direction Y-Y and substantially perpendicular to the horizontal direction X-X which divides the robot connecting portion 15 into a first lateral robot part 18 and a second lateral robot part 19. The first robot contact 8 and the second robot contact 9 are connected to the first lateral robot part 18 and to the second lateral robot part 19, respectively. [0051]. In an embodiment, the first lateral robot part 18 and the second lateral robot part 19 are symmetric to each other, with respect to a robot symmetry plane B'.
[0052]. In an embodiment, the first lateral station part 16 and the second lateral station part 17 are symmetric to each other, with respect to a station symmetry plane B.
[0053]. In an embodiment, the station connecting portion 14 comprises a lower station portion 20 and an upper station portion 21, where the upper station portion 21 is arranged at a greater distance from the ground than the lower station portion 20.
[0054]. In an embodiment, the robot connecting portion 15 comprises a lower robot portion 22 and an upper robot portion 23, where the upper robot portion 23 is arranged at a greater distance from the ground than the lower robot portion 22,
[0055]. where each station contact 5, 6 is connected to the upper station portion 21.
[0056]. In an embodiment, each robot contact 8, 9, 10, 11 is connected only to the upper robot portion 23. In an embodiment, the upper robot portion 23 comprises a through seat, or through eyelets, for each robot contact 8, 9, 10, 11 so as to allow at least one contact portion of the respective robot contact to project in a cantilevered manner outside the robot shell 7.
[0057]. In an embodiment, each station contact surface 12, 13 is partially in relief with respect to the surface of the upper station portion 21 at least partially protruding along the horizontal direction X-X from the upper station portion 21 leaving the lower station portion 20 free to abut against the lower robot portion 22, preferably counter-shaped with respect to each other for mutually positively coupling. In an embodiment, each station contact surface 12, 13, does not protrude from the lower station portion 20.
[0058]. In an embodiment, the lawnmower robot 3 comprises the first pair of robot contacts 8, 9 and a second pair of robot contacts 10, 11 connected to the robot shell 7. In an embodiment, the second pair of robot contacts 10, 11 comprises a third robot contact 10 and a fourth robot contact 11. In an embodiment, the third robot contact 10 and the fourth robot contact 11 are arranged spaced apart from each other so that a projection along the vertical direction Y-Y of the third robot contact 10 does not intersect the fourth robot contact 11, or vice versa. In an embodiment, the third robot contact 10 and the fourth robot contact 11 are arranged spaced apart along the vertical direction Y-Y from the first robot contact 8 and from the second robot contact 9, respectively. In an embodiment, the vertical distance, along the direction Y-Y or directions parallel thereto, between the first pair of robot contacts and the second pair of robot contacts, is less than the length L of the station contacts, preferably not greater than 1/4 of the length L of the station contacts, preferably it is less than 1/2 of the length L of the station contacts.
[0059]. By providing two pairs of robot contacts having robot contact surfaces which are substantially horizontally oriented and vertically spaced apart from each other, it is possible to obtain a large intimate contact tolerance with the two vertical station contacts, in different configurations of roll, yaw of the lawnmower robot, for example due to a differentiated wear of the wheels or tracks supporting it in the movement, or due to wheels or tracks loaded with earth or other materials in a differentiated manner.
[0060]. In an embodiment, even if the first robot contact 8 and the third robot contact 10, and/or the second robot contact 9 and the fourth robot contact 11, are one below the other, and vice versa, along the vertical direction, being the two contacts of the different pairs both positive or both negative, risks of electric connections due to trickles of water accidentally flowing vertically on the shell of the lawnmower robot are excluded.
[0061]. In an embodiment, said third robot contact 10 and said fourth robot contact 11 are connected to the first lateral robot part 18 and to the second lateral robot part 19, respectively.
[0062]. In an embodiment, each robot contact 8, 9, 10, 11 is constantly elastically biased into a configuration at least partially protruding with respect to the robot shell 7, so that in the charging configuration each robot contact 8, 9, 10, 11 is constantly biased in the direction of the respective station contact 5, 6.
[0063]. In an embodiment, each robot contact 8, 9, 10, 11 is a metal blade. In an embodiment, the first robot contact 8 and the third robot contact 10 are formed by a first U-bent lamella, so that the ends of the first U-bent lamella form robot contacts spaced apart from each other and connected to a first pole of the robot battery. In an embodiment, the second robot contact 9 and the fourth robot contact 11 are formed by a second U-bent lamella, so that the ends of the second U-bent lamella form robot contacts spaced apart from each other and connected to a second pole of the robot battery.
[0064]. In an embodiment, said lawnmower robot 3 comprises a control head 24 comprising a control unit 25, position detection means 26, such as a video camera to detect the position of the charging station 2, for example. In an embodiment, the control head 24 comprises a lighting device 27, such as at least one light- emitting diode, for example. In an embodiment, the control head 24 comprises a data processing unit.
[0065]. In an embodiment, the control head 24 is housed in a respective housing obtained in the robot shell 7.
[0066]. In an embodiment, the position detection means 26 are centered with respect to the first pair of robot contacts 8, 9 and/or the second pair of robot contacts 10, 11. In an embodiment, the position detection means 26 are arranged on the robot symmetry plane B'.
[0067]. In an embodiment, the position detection means 26 are configured to detect images of a field of vision and to transfer the detected images to the data processing unit. In an embodiment, the data processing unit is configured to process the detected images so as to determine a relative distance of the position detection means 26, for example of the video camera, and/or of the robot contacts 8, 9 , 10, 11, with respect to the charging station 2. In an embodiment, the control unit is configured to process the detected images so as to determine a relative orientation (roll and/or yaw and/or pitch) of the relative detection means of the position detection means 26, for example of the video camera, or of the robot contacts 8, 9 , 10, 11, with respect to the charging station 2. In an embodiment, the robot contacts 8, 9, 10, 11 being arranged in a predefined position with respect to the position detection means 26. In an embodiment, the control unit receives from the processing unit the distance and orientation of the position detection means 26 and/or of the robot contacts and therefore it plans a charging (docking) trajectory for the lawnmower robot to follow so as to reach the charging station and enter into the charging configuration with the robot and station contacts in mutual electric contact. By virtue of the shape and mechanical structure of the charging station and of the lawnmower robot, the assembly 1 is tolerant to orientation errors of the robot shell with respect to the charging station, and the lawnmower robot invites the base to insert itself with orientation play in a concave connection portion of the robot so as to allow an electric connection between the robot and the charging station in a plurality of relative height and relative orientation configurations between the lawnmower robot and the charging station.
[0068]. In an embodiment, the control head 24 is connected to the robot shell 7 so as to stand above each robot contact 8, 9, 10, 11 and so as to orient the position detection means 26 and the lighting device 27 to cause each station contact 5, 6 enter in a field of vision of the position detection means 26 during an approach of the lawnmower robot 3 to the charging station 2 to achieve the charging configuration.
[0069]. In an embodiment, said lawnmower robot 3 comprises a covering portion 28 which extends projecting in a cantilevered manner and/or protruding from said robot shell 7 standing above the control head 24 so as to protect the control head 24 from rain and/or sun and/or possible impacts.
[0070]. In an embodiment, the covering portion 28 stands above each robot contact 8, 9, 10, 11 and/or the robot connecting portion so as to protect it from rain and/or sun.
[0071]. In an embodiment, the covering portion 28 is made in one piece with the robot shell 7.
[0072]. In an embodiment, the lawnmower robot 3 comprises a frame 29, two or more wheels 30 connected to the frame. In an embodiment, the lawnmower robot 3 comprises three wheels, two of which motorized. In an embodiment, the lawnmower robot 3 comprises at least one cutting tool 31 adapted to cut a turf and supported by the frame 29, an electric motor 32 and a battery 33 to power the electric motor and the at least one cutting tool to allow a movement of the lawnmower robot 3 and a cut of the turf. In an embodiment, the at least one cutting tool 31 floats towards and away from the ground, adapting to any roughness in the ground. In an embodiment, each robot contact 8, 9, 10, 11 is electrically connected to the battery 33 and/or supported by the frame 29. In an embodiment, said robot shell 7 is supported by the frame 29.
[0073]. The present invention also relates to a charging station 2 comprising a station column 4 adapted to rest on the ground and mainly extending along a vertical direction Y-Y substantially perpendicular to the ground. The charging station 2 comprises a pair of station contact elements 5, 6 supported by the station column 4. The pair of station contact elements 5, 6 can be connected to an electric power cable 34 connectable to an electric line. The pair of station contact elements 5, 6 comprises a first station contact 5 and a second station contact 6. The first station contact 5 and the second station contact 6 are arranged spaced apart from each other so that a projection along the vertical direction Y-Y of the first station contact 5 does not intersect the second station contact 6, or vice versa. Each station contact 8, 9 comprises a respective station contact surface 12, 13, or a first station contact surface 12 and a second station contact surface 13. Each station contact surface 12, 13 is adapted to abut in mutual contact with a respective robot contact surface of a robot contact 8, 9, 10, 11 of a lawnmower robot 3 for charging the lawnmower robot 3 in a charging configuration with the charging station 2.
[0074]. Advantageously, each station contact surface 12, 13 and/or each robot contact surface is a curved surface which extends about a respective contact axis A, A', or first contact axis A and second contact axis A', mainly extending in the vertical direction Y-Y, where each contact axis A, A' is substantially parallel to the vertical Y-Y direction.
[0075]. In an embodiment, the charging station 2 is a charging station for an assembly 1 according to one or more of the embodiments described above. [0076]. The present invention also relates to a lawnmower robot 3 comprising a robot shell 7, and at least a first pair of robot contacts 8, 9, 10, 11. The first pair of robot contacts 8, 9, 10, 11 is connected to the robot shell 7. The first pair of robot contacts 8, 9, 10, 11 comprises a first robot contact 8, 10 and a second robot contact 9, 11 arranged spaced apart from each other so that a projection along the vertical direction Y-Y of the first robot contact 8, 10 does not intersect the second robot contact 9, 11, or vice versa. Each robot contact 8, 9, 10, 11 comprises a respective robot contact surface. Each robot contact surface is adapted to abut in mutual contact with a respective station contact surface 12, 13 of a station contact 5, 6 of a charging station 2 in at least one respective electric contact point for charging the lawnmower robot 3 in a charging configuration with the charging station 2.
[0077]. In an embodiment, the lawnmower robot is a lawnmower robot for an assembly 1 according to one or more of the embodiments described above.
[0078]. Those skilled in the art may make changes and adaptations to the embodiments of the assembly 1, the charging station 2, and the lawnmower robot described above, or can replace elements with others which are functionally equivalent in order to meet contingent needs without departing from the scope of the following claims. Each of the features described above as belonging to one possible embodiment can be implemented irrespective of the other embodiments described. LIST OF REFERENCE SIGNS
I. Lawnmower robot and charging station assembly
2. Charging station
3. Lawnmower robot
4. Station column
5. First station contact
6. Second station contact
7. Robot shell
8. First robot contact
9. Second robot contact
10. Third robot contact
II. Fourth robot contact
12. First station contact surface
13. Second station contact surface
14. Station connecting portion
15. Robot connecting portion
16. First lateral station part
17. Second lateral station part
18. First lateral robot part
19. Second lateral robot part
20. Lower station portion
21. Upper station portion
22. Lower robot portion
23. Upper robot portion
24. Control head
25. Control unit
26. Position detection means
27. Lighting device
28. Covering portion
29. Robot frame
30. Wheels
31. Cutting tool
32. Electric motor
33. Battery
34. Power cable
A first contact axis
A' second contact axis
B station symmetry plane
B' robot symmetry plane

Claims

1. A lawnmower robot and charging station assembly (1), comprising
- a charging station (2) comprising a station column (4) adapted to rest on the ground and mainly extending along a vertical direction (Y-Y) substantially perpendicular to the ground, and a pair of station contact elements (5, 6) supported by said station column (4), wherein the pair of station contact elements (5, 6) comprises a first station contact (5) and a second station contact (6) arranged spaced apart from each other so that a projection along the vertical direction (Y-Y) of the first station contact (5) does not intersect the second station contact (6), or vice versa,
- a lawnmower robot (3) comprising a robot shell (7), and at least a first pair of robot contacts (8, 9, 10, 11) connected to the robot shell (7), wherein the first pair of robot contacts (8, 9, 10, 11) comprises a first robot contact (8, 10) and a second robot contact (9, 11) arranged spaced apart from each other so that a projection along the vertical direction (Y-Y) of the first robot contact (8, 10) does not intersect the second robot contact (9, 11), or vice versa, wherein each station contact (8, 9) comprises a respective station contact surface (12, 13) and each robot contact (8, 9, 10, 11) comprises a respective robot contact surface adapted to abut into mutual contact with a respective station contact surface (12, 13) in at least one respective electric contact point in a charging configuration of the assembly (1) for charging the autonomous mobile lawnmower robot (3), characterized in that each station contact surface (12, 13) is a curved surface which extends about a respective contact axis (A, A') mainly extending in the vertical direction (Y-Y), wherein each contact axis (A, A') is substantially parallel to said vertical direction (Y-Y).
2. An assembly (1) according to the preceding claim, wherein the curved surface is at least a cylindrical surface portion, and/or wherein the first station contact (5) and the second station contact (6) have a cylindrical shape and extend about the respective contact axis (A, A') comprising a first contact axis (A) and a second contact axis (A'), respectively, parallel to said vertical direction (Y-Y).
3. An assembly (1) according to any one of the preceding claims, wherein each station contact surface (12, 13) has a length (L) along said vertical direction (Y-Y) between 4 cm and 10 cm.
4. An assembly (1) according to any one of the preceding claims, wherein said station column (4) comprises a station connecting portion (14) and said robot shell (7) comprises a robot connecting portion (15), wherein said station connecting portion (14) and said robot connecting portion (15) are mutually shaped so as to accommodate, for example at least partially by positive coupling, the station connecting portion (14) in the robot connecting portion (15), or vice versa, during an approach of the lawnmower robot (3) to the charging station (2) to achieve the charging configuration, wherein each station contact surface (12, 13) is partially in relief with respect to the surface of the station connecting portion (14) at least partially protruding along a horizontal direction (X-X) perpendicular and/or incident to the vertical direction (Y-Y) from the station connecting portion (14), wherein each robot contact (8, 9, 10, 11) is partially in relief with respect to the surface of the robot connecting portion (15) at least partially protruding along a direction parallel to said horizontal direction (X-X) from the robot connecting portion (15).
5. An assembly (1) according to the preceding claim, wherein said robot connecting portion (15) is a concave portion of the robot shell (7) delimiting a recess and/or a laterally funnel- shaped seat; and wherein the station connecting portion (14) is a convex portion of the station column (4) adapted to be accommodated in said concave robot connecting portion (15).
6. An assembly (1) according to any one of claims 4 to 5, wherein said station connecting portion (14) has a station symmetry plane (B) substantially parallel to the vertical direction (Y-Y) and substantially perpendicular to the horizontal direction (X-X) which divides said station connecting portion (14) into a first lateral station part (16) and a second lateral station part (17), wherein said first station contact (5) and wherein said second station contact (6) are connected to the first lateral station part (16) and second later station part (17), respectively, wherein said robot connecting portion (15) has a robot symmetry plane (B') substantially parallel to the vertical direction (Y-Y) and substantially perpendicular to the horizontal direction (X-X) which divides said robot connecting portion (15) into a first lateral robot part (18) and a second lateral robot part (19), wherein said first robot contact (8) and wherein said second robot contact (9) are connected to the first lateral robot part (18) and second later robot part (19), respectively.
7. An assembly (1) according to the preceding claim, wherein the first lateral robot part (18) and the second lateral robot part (19) are symmetric to each other, and/or wherein the first lateral station part (16) and the second lateral station part (17) are symmetric to each other.
8. An assembly (1) according to any one of claims 4 to 7, wherein said station connecting portion (14) comprises a lower station portion (20) and an upper station portion (21), wherein the upper station portion (21) is arranged at a greater distance from the ground than the lower station portion (20), wherein said robot connecting portion (15) comprises a lower robot portion (22) and an upper robot portion (23), wherein the upper robot portion (23) is arranged at a greater distance from the ground than the lower robot portion (22), wherein each station contact (5, 6) is connected to the upper station portion (21), wherein each robot contact (8, 9, 10, 11) is connected only to the upper robot portion (23), wherein each station contact surface (12, 13) is partially in relief with respect to the surface of the upper station portion (21) at least partially protruding along the horizontal direction (X-X) from the upper station portion (21) leaving the lower station portion (20) free to abut against the lower robot portion (22), preferably counter-shaped with respect to each other for mutually positively coupling.
9. An assembly (1) according to any one of the preceding claims, wherein the lawnmower robot (3) comprises said first pair of robot contacts (8, 9) and a second pair of robot contacts (10, 11) connected to the robot shell (7), the second pair of robot contacts (10, 11) comprises a third robot contact (10) and a fourth robot contact (11), the third robot contact (10) and the fourth robot contact (11) are arranged spaced apart from each other so that a projection along the vertical direction (Y-Y) of the third robot contact (10) does not intersect the fourth robot contact (11), or vice versa.
10. An assembly (1) according to the preceding claim, wherein said third robot contact (10) and wherein said fourth robot contact (11) are connected to the first lateral robot part (18) and second lateral robot part (19), respectively.
11 An assembly (1) according to any one of the preceding claims, wherein each robot contact (8, 9, 10, 11) is constantly elastically biased into a configuration protruding with respect to the robot shell (7), so that in the charging configuration each robot contact (8, 9, 10, 11) is constantly biased in the direction of the respective station contact (5, 6).
12. An assembly (1) according to any one of the preceding claims, wherein said lawnmower robot (3) comprises a control head (24) comprising a control unit (25), position detection means (26), such as a video camera for detecting the position of the charging station (2) , for example, and a lighting device (27), such as at least one light-emitting diode, for example, wherein the control head is housed in a respective housing obtained in the robot shell (7), wherein the control head is connected to the robot shell (7) so as to stand above each robot contact (8, 9, 10, 11) and so as to orient the position detection means (26) and the lighting device (27) to cause each station contact (5, 6) enter in a field of vision of the position detection means (26) during an approach of the lawnmower robot (3) to the charging station (2) to achieve the charging configuration.
13. An assembly (1) according to the preceding claim, wherein said lawnmower robot (3) comprises a covering portion (28) which extends projecting in a cantilevered manner and/or protruding from said robot shell (7) standing above said control head (24) so as to protect the control head (24) from rain and/or sun and/or possible impacts,
14. An assembly (1) according to the preceding claim, wherein the covering portion (28) stands above each robot contact (8, 9, 10, 11) and/or the robot connecting portion (15) so as to protect it from rain and/or sun, and/or wherein the covering portion (28) is made in one piece with the robot shell (7).
15. An assembly (1) according to any one of the preceding claims, wherein the lawnmower robot (3) comprises a frame (29), two or more wheels (30) connected to the frame, preferably three wheels, two of which motorized, at least one cutting tool (31) adapted to cut a turf and supported by the frame (29), an electric motor (32) and a battery (33) to power the electric motor and the at least one cutting tool to allow a movement of the lawnmower robot (3) and a cut of the turf.
PCT/IB2023/059621 2022-09-30 2023-09-27 Lawnmower robot and charging station assembly WO2024069479A1 (en)

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