Method and System for Operating an Autonomous Mobile Green Space Processing Robot

Abstract

A method for operating an autonomous mobile green space processing robot, wherein the green space processing robot includes a drive system for propulsion of the green space processing robot. The method includes: a) monitoring whether a sticking presumption criterion is met, wherein the sticking presumption criterion is characteristic of suspected sticking of the green space processing robot; b) if the sticking presumption criterion is met, operating the drive system for a movement change of the green space processing robot and monitoring whether a sticking confirmation criterion is met, wherein the sticking confirmation criterion is that the movement change does not occur; and c) if the sticking confirmation criterion is met, initiating a sticking countermeasure of the green space processing robot.

Claims

1. A method for operating an autonomous mobile green space processing robot, wherein the green space processing robot includes a drive system for propulsion of the green space processing robot, the method comprising the steps of: a) monitoring whether a sticking presumption criterion is met, wherein the sticking presumption criterion is characteristic of suspected sticking of the green space processing robot; b) when the sticking presumption criterion is met, operating the drive system for a movement change of the green space processing robot and monitoring whether a sticking confirmation criterion is met, wherein the sticking confirmation criterion is that the movement change does not occur; and c) when the sticking confirmation criterion is met, initiating a sticking countermeasure of the green space processing robot.

2. The method according to claim 1, wherein the green space processing robot is a lawnmowing robot having a lawnmowing tool.

3. The method according to claim 1, wherein the green space processing robot is a drivable green space processing robot, and/or the drive system comprises a traction drive system, wherein the traction drive system is designed for a driving movement of the green space processing robot.

4. The method according to claim 1, wherein step a) includes: operating the drive system for the propulsion of the green space processing robot, and step b) includes: changing operation of the drive system.

5. The method according to claim 1, wherein the sticking presumption criterion is that, within a specified period of time: a bumper of the green space processing robot does not bump. and/or a distance, a position, a route, and/or an inclination of the green space processing robot does/do not change, and/or the green space processing robot does not experience a rotation rate and/or an acceleration.

6. The method according to claim 1, wherein the sticking presumption criterion is that a propulsion of the green space processing robot cannot be inferred.

7. The method according to claim 5, wherein the monitoring of step a) and/or step b) is executed by one or more of: a bumper sensor, a distance sensor, an ultrasonic sensor, a magnetic field sensor, a position sensor, a global and/or local position sensor, an odometry sensor, a visual odometry sensor, an inclination sensor, a rotation rate sensor, or an acceleration sensor, of the green space processing robot.

8. The method according to claim 1, wherein the operation of the drive system for the movement change is executed using a negative stroke of a target velocity, and using a target braking ramp.

9. The method according to claim 8, wherein the negative stroke of the target velocity is at most ?0.6 m/s or at most ?0.3 m/s; and the target breaking ramp is at most ?4 m/s.sup.2or at most ?2 m/s.sup.2.

10. The method according to claim 1, wherein the operation of the drive system for the movement change and the sticking countermeasure are different.

11. The method according to claim 1, wherein one or more of: (i) the green space processing robot includes a processing tool, wherein a processing height of the processing tool is adjustable, wherein the sticking countermeasure includes: increasing the processing height, (ii) the sticking countermeasure includes, chronologically after increasing the processing height: operating the drive system for a greater movement change of the green space processing robot in a modified propulsion direction, or (iii) the sticking countermeasure includes, chronologically after operating the drive system for the greater movement change: outputting and/or transmitting user-perceptible sticking information.

12. The method according to claim 11, wherein the greater movement change is at least twice as great, and the modified propulsion direction is an opposite direction.

13. The method according to claim 11, wherein the green space processing robot includes a propulsion framework and/or a cover hood, and the processing height is adjustable in relation to the propulsion framework and/or the cover hood.

14. The method according to claim 1, further comprising the step of: when the sticking presumption criterion and/or the sticking confirmation criterion is/are not met, operating the drive system for the propulsion of the green space processing robot and/or not initiating and/or ending the sticking countermeasure.

15. A system, comprising: an autonomous mobile green space processing robot comprising a drive system, wherein the drive system is designed for propulsion of the green space processing robot; a monitoring and operating device, wherein the monitoring and operating device is configured to: monitor whether a sticking presumption criterion is met, wherein the sticking presumption criterion is characteristic of suspected sticking of the green space processing robot, when the sticking presumption criterion is met, operate the drive system for a movement change of the green space processing robot and monitor whether a sticking confirmation criterion is met, wherein the sticking confirmation criterion is that the movement change does not occur, and when the sticking confirmation criterion is met, initiate a sticking countermeasure of the green space processing robot, wherein the green space processing robot includes the monitoring and operating device.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0052] FIG. 1 shows a perspective view of a system according to an embodiment of the invention including an autonomous mobile green space processing robot.

[0053] FIG. 2 shows a side view in section of the system of FIG. 1 and a method according to an embodiment of the invention for operating the autonomous mobile green space processing robot.

[0054] FIG. 3 shows a side view in section of the system of FIG. 1 and the method of FIG. 2 upon monitoring of suspected sticking of the green space processing robot.

[0055] FIG. 4 shows a side view in section of the system of FIG. 1 and the method of FIG. 2 upon confirmation of the suspected sticking.

[0056] FIG. 5 shows a side view in section of the system of FIG. 1 and the method of FIG. 2 upon initiation of a sticking countermeasure including increasing a processing height of a processing tool of the green space processing robot.

[0057] FIG. 6 shows a top view of the system of FIG. 1 and the method of FIG. 2 upon initiation of the sticking countermeasure including operating a drive system of the green space processing robot for a greater movement change in a modified propulsion direction of the green space processing robot.

[0058] FIG. 7 shows a side view in section of the system of FIG. 1 and the method of FIG. 2 upon ending of the sticking countermeasure, in particular reducing the processing height.

[0059] FIG. 8 shows, for the confirmation of the suspected sticking, operation of the drive system for a movement change of the green space processing robot using a negative stroke of a target velocity and having a target braking ramp.

DETAILED DESCRIPTION OF THE DRAWINGS

[0060] FIGS. 1 to 7 show a system 20 and a method for operating an autonomous mobile green space processing robot 1.

[0061] The green space processing robot 1 includes a drive system 2. The drive system 2 is designed for propulsion of the green space processing robot 1, in particular propels it.

[0062] The system 20 includes a monitoring and operating device 21, and in particular the green space processing robot 1. In particular, the green space processing robot 1 includes the monitoring and operating device 21. The monitoring and operating device 21 is designed to monitor whether a sticking presumption criterion FVK is met, in particular it monitors this, as shown in FIG. 2. The sticking presumption criterion FVK is characteristic of suspected sticking of the green space processing robot 1, as shown in FIG. 3. Furthermore, the monitoring and operating device 21 is designed, if the sticking presumption criterion FVK is met, to operate the drive system 2 for a movement change BA of the green space processing robot 1 and to monitor whether a sticking confirmation criterion FBK is met, in particular it operates and monitors these, as shown in FIG. 3. The sticking confirmation criterion FBK is that the movement change BA does not occur, as shown in FIG. 4. Moreover, the monitoring and operating device 21 is designed, if the sticking confirmation criterion FBK is met, to initiate a sticking countermeasure FG of the green space processing robot 1, in particular it initiates this, as shown in FIGS. 5 and 6.

[0063] The method includes the following steps: a) monitoring whether the sticking presumption criterion FVK is met, in particular by means of the monitoring and operating device 21; b) if the sticking presumption criterion FVK is met, operating the drive system 2 for the movement change BA of the green space processing robot 1 and monitoring whether the sticking confirmation criterion FBK is met, in particular by means of the monitoring and operating device 21; c) if the sticking confirmation criterion FBK is met, initiating the sticking countermeasure FG of the green space processing robot 1, in particular by means of the monitoring and operating device 21.

[0064] In detail, the green space processing robot 1 is a lawnmowing robot 1, in particular including a lawnmowing tool 3.

[0065] Furthermore, the green space processing robot 1 is designed as a drivable green space processing robot 1. Additionally or alternatively, the drive system 2 includes a traction drive system 2. In particular, the drive system 2 is the traction drive system 2. The traction drive system 2 is designed for a driving movement of the green space processing robot 1.

[0066] Moreover, step a) includes: operating the drive system 2 for the propulsion of the green space processing robot 1, in particular by means of the monitoring and operating device 21. In particular, step b) includes: changed operation of the drive system 2.

[0067] Furthermore, the sticking presumption criterion FVK is that a propulsion of the green space processing robot 1 cannot be inferred, in particular a bumper 4 of the green space processing robot 1 does not bump and/or a distance AB, a position PO, a route WS, and/or an inclination NE of the green space processing robot 1 does/do not change and/or the green space processing robot 1 does not experience a rotation rate DR and/or an acceleration BE, in particular within a specified period of time ZR.

[0068] Moreover, the monitoring of step a) and/or step b) is executed by means of a bumper sensor 5, a distance sensor 6, in particular an ultrasonic sensor 6 and/or a magnetic field sensor 6, a position sensor 7, which is in particular global and/or local, an odometry sensor 8, which is in particular visual, an inclination sensor 9, a rotation rate sensor 10, and/or an acceleration sensor 11, of the green space processing robot 1.

[0069] Furthermore, the operation of the drive system 2 for the movement change BA is executed using a negative stroke NH of a target velocity SG, in particular of at most ?0.6 m/s, in particular at most ?0.3 m/s, and using a target braking ramp SB, in particular of at most 4 m/s.sup.2, in particular at most ?2 m/s.sup.2, as shown in FIG. 8.

[0070] In the exemplary embodiment shown, the velocity v is not measured or detected or acquired, but rather the acceleration a, in particular by means of the acceleration sensor 11. The velocity v is calculated or ascertained via the measured acceleration a by integration, in particular single integration. In alternative exemplary embodiments, aside from/additionally to and/or instead of/alternatively to the braking ramp SB, an acceleration ramp, in particular a target acceleration ramp, is also conceivable or possible, wherein the diagram or FIG. 8 is reflected, in particular simply, in particular at the time axis t.

[0071] Moreover, the operation of the drive system 2 for the movement change BA and the sticking countermeasure FG are different, in particular qualitatively and/or quantitatively.

[0072] Furthermore, the green space processing robot 1 includes a processing tool 3, in particular the lawnmowing tool 3. A processing height 3H of the processing tool 3 is adjustable. The sticking countermeasure FG includes: increasing the processing height 3H, in particular by means of a height adjustment device 22 of the monitoring and operating device 21, as shown in FIG. 5. Additionally or alternatively, the sticking countermeasure FG includes, in particular chronologically after the increase of the processing height 3H: operating the drive system 2 for a greater movement change BA, in particular twice as great, of the green space processing robot 1, in particular in modified, in particular opposite, propulsion direction ?x, as shown in FIG. 6. Further additionally or alternatively, the sticking countermeasure FG includes, in particular chronologically after the operation of the drive system 2 for the greater movement change BA: outputting and/or transmitting user-perceptible sticking information FI.

[0073] In particular, the processing tool 3 is movable, in particular rotationally. The sticking countermeasure FG includes in particular: ending a movement of the processing tool 3.

[0074] Additionally or alternatively, the green space processing robot 1 includes a driving level FE, wherein the processing height 3H is above the driving level FE.

[0075] Further additionally or alternatively, the green space processing robot 1 includes a protective device 14. The protective device 14 is designed for protection from an intervention, in particular by a user, in the processing tool 3, and is in particular arranged in front of the processing tool 3. A protective height 14H of the protective device 14 is adjustable. The sticking countermeasure FG includes: increasing the protective height 14H, in particular by means of the height adjustment device 22. In particular, the protective device can include, in particular can be, a comb and/or cage, which is in particular oriented downward and/or open downward. Further additionally or alternatively, the protective device can include, in particular can be, a tool housing, in particular a mower cover housing, which is in particular oriented downward and/or open downward.

[0076] Moreover, the sticking of the green space processing robot 1 is with a contact part, in particular the processing tool 3 and/or the protective device 14, and/or on an obstacle HI.

[0077] Furthermore, the green space processing robot 1 includes a propulsion framework 12, in particular a chassis 12, and/or a cover hood 13. The processing height 3H is adjustable in relation to the propulsion framework 12 and/or the cover hood 13.

[0078] Moreover, the method includes: if the sticking presumption criterion FVK and/or the sticking confirmation criterion FBK is/are not met, operating the drive system 2 for the propulsion of the green space processing robot 1 and/or not initiating and/or ending the sticking countermeasure FG, in particular by means of the monitoring and operating device 21, in particular reducing the processing height 3H and/or beginning the movement of the processing tool 3, as shown in FIG. 7.

[0079] As the exemplary embodiments shown and explained above make clear, the invention provides an advantageous method and an advantageous system, in particular for operating, in each case, an autonomous mobile green space processing robot which has improved properties.

[0080] The foregoing disclosure has been set forth merely to illustrate the invention and is not intended to be limiting. Since modifications of the disclosed embodiments incorporating the spirit and substance of the invention may occur to persons skilled in the art, the invention should be construed to include everything within the scope of the appended claims and equivalents thereof.