Communication channel between a robotic lawnmower and a charging station

Abstract

A bidirectional communication channel between a robotic lawnmower and a charging station for data communication between the robotic lawnmower and the charging station. The communication channel includes a first interface provided on the robotic lawnmower and a second interface provided on the charging station. The first and second interface are connected to each other through charging contacts and configured to communicate data in a Direct Current, DC-balanced way. Each interface is provided with an inductor in a charging power path between the charging station and the robotic lawnmower. Each inductor includes a high impedance for enabling a high data transmission rate for frequencies above 50 kHz.

Claims

1. A bidirectional communication channel between a robotic lawnmower and a charging station for data communication between a first control unit in the robotic lawnmower and a second control unit in the charging station, the bidirectional communication channel comprising: a first interface with charging contacts provided on the robotic lawnmower, and a second interface with charging contacts provided on the charging station, wherein the first interface and the second interface are connected to each other through said charging contacts, wherein the first interface and the second interface and the first control unit and the second control unit are configured to communicate data in a Direct Current, DC-balanced way, wherein each of the first interface and the second interface is provided with an inductor in a charging power path between the charging station and the robotic lawnmower, and wherein each of the inductors has an impedance of at least 7 Ohm for frequencies above 50 kHz.

2. The bidirectional communication channel according to claim 1, wherein the first interface, the second interface, the first control unit, and the second control unit are configured to use Manchester encoding for DC-balancing the data transmission between the robotic lawnmower and the charging station.

3. The bidirectional communication channel according to claim 1, wherein the first interface, the second interface, the first control unit, and the second control unit are configured to use 8b/10b encoding for DC-balancing the data transmission between the robotic lawnmower and the charging station.

4. The bidirectional communication channel according to claim 1, wherein the first interface and the second interface each comprises an amplifier with hysteresis configured to receive data.

5. The bidirectional communication channel according to claim 4, wherein each amplifier with hysteresis comprises an amplifier and a Schmitt-trigger connected in series.

6. The bidirectional communication channel according to claim 1, wherein the first interface and the second interface each comprises an amplifier configured to amplify an outgoing signal.

7. The bidirectional communication channel according to claim 1, wherein an inductance of each of the inductors is in the range of 20-100 μH.

8. The bidirectional communication channel according to claim 7, wherein the inductance of each of the inductors is 47 μH.

Description

BRIEF DESCRIPTION OF DRAWINGS

(1) The invention will now be described, by way of example, with reference to the accompanying drawings, in which:

(2) FIG. 1 a schematic view of a system comprising a robotic lawnmower, a charging station and a delimiting boundary wire.

(3) FIG. 2 is a schematic view of a lawnmower.

(4) FIG. 3 is a schematic block diagram of a control unit in the lawnmower.

(5) FIG. 4 is a schematic block diagram of a charging station.

(6) FIG. 5 shows the connection between the robotic lawnmower and the charging station when establishing a communication channel therein between.

DESCRIPTION OF EMBODIMENTS

(7) In the following, a detailed description of exemplary embodiments of a bidirectional communication channel between a robotic lawnmower and a charging station will be described.

(8) FIG. 1 shows a system comprising a robotic lawnmower 2 which moves across an area A surrounded by a boundary wire 4. As is obvious the robotic lawnmower 2 is depicted somewhat enlarged for the sake of clarity. The boundary wire 4 may be configured in any way, such that it delimits the area A within which the robotic lawnmower 2 is allowed to move. The system also comprises a charging station 6 for charging a battery in the robotic lawnmower 2 when the battery needs to be recharged. During charging the robotic lawnmower 2 is docked to the charging station 6 via charging contacts and is positioned within the charging area 8. The charging station 6 may also comprise a signal generator which feeds the boundary wire 4 with an Alternating Current, AC, signal.

(9) Turning now to FIG. 2, the lawnmower 2 will be closer described. The lawnmower 2 comprises a rechargeable battery 18, charging contacts 19, a control unit 20, wheels 10 and sensors 12, 14, 16. The control unit 20, which will be closer described in conjunction with FIG. 3, comprises among other things a processor 22 for controlling the movement, but also the charging, of the lawnmower 2. When the lawnmower 2 is in operation the sensors 12, 14, 16 sense the magnetic field that is generated in the boundary wire 4. The sensed magnetic field may be used to guide the robotic lawnmower 2 back to charging station, when the battery 18 needs to be charged, which is well known by a skilled person in the art.

(10) With reference to FIG. 3, the control unit 20 of the lawnmower 2 will be closer described. The control unit 20 comprises a processor 22 and a memory 24 and an interface 28, which interface 28 will be closer described in conjunction with FIG. 5. The memory 24 may comprise a computer program 26 comprising computer program code, i.e. instructions. The computer program code may be adapted to not only control the robotic lawnmower 2 within the delimited area A, but also the charging process when the robotic lawnmower 2 is docked to the charging station 6 and the transmission of data between the robotic lawnmower 2 and the charging station 6.

(11) There are different types of data that one may wish to transmit to and from the robotic lawnmower 2. With the bidirectional communication channel according to the present invention there is no limit to what type of data that may be exchanged between the robotic lawnmower 2 and the charging station 6. For example, the robotic lawnmower 2 may send data to the charging station 6 instructing the charging station 6 to change its identification code or the charging station 6 may instruct the robotic lawnmower to alter its behaviour, for example how to return to the charging station 6. Other data that may be exchanged between the robotic lawnmower 2 and the charging station 6 may be test data when using the communication channel in a serial production test system.

(12) The processor 22 may comprise a single Central Processing Unit (CPU), or could comprise two or more processing units. For example, the processor 22 may include general purpose microprocessors, instruction set processors and/or related chips sets and/or special purpose microprocessors such as Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or Complex Programmable Logic Devices (CPLDs). The processor 22 may also comprise a storage for caching purposes.

(13) FIG. 4 depicts the charging station 6, which also comprises a control unit 30, with a processor 32 and a memory 34, and an interface 38, which interface 38 will be closer described in conjunction with FIG. 5. The memory 34 may comprise a computer program 36 comprising computer program code, i.e. instructions. The computer program code may be adapted to control the charging process of the charging station 6 when the robotic lawnmower 2 is docked to the charging station 6 and the transmission of data between the robotic lawnmower 2 and the charging station 6.

(14) As for processor 22 also the processor 30 may comprise a single Central Processing Unit (CPU), or could comprise two or more processing units. For example, the processor 30 may include general purpose microprocessors, instruction set processors and/or related chips sets and/or special purpose microprocessors such as Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or Complex Programmable Logic Devices (CPLDs). The processor 30 may also comprise a storage for caching purposes.

(15) It should be understood that in FIG. 3 and FIG. 4 the different objects are schematically shown as separate objects, but this is only made to better explain the present invention. For example, in the charging station 6 the interface 38 may be part of the control unit 30 as such or arranged somewhere else in the charging station 6. Thus, all objects may be integrated in one and the same functional unit or be distributed throughout the robotic lawnmower 2 and the charging station 6, respectively. The charging contacts, best shown in FIG. 5, may for example be a part of the interfaces 28, 38 or be provided somewhere else, but in connection with the interfaces. Thus, it is the function that each object preforms that is important and not the physical location.

(16) Turning now to FIG. 5 the communication channel between the robotic lawnmower 2 and the charging station 6. In FIG. 5, for sake of simplicity, only the interfaces 28, 38 of the robotic lawnmower 2 and the charging station 6, respectively, are shown. The two interfaces 28, 38 are more or less identical with each other, but mirror-inverted when connected to each other through the charging contacts 19, 50, as shown if FIG. 5. Thus, only interface 28 will be described in detail in order to avoid unnecessary repetition.

(17) The interface 28 on the robotic lawnmower 2 is provided or connected to two charging contacts 19, which are adapted to interact with corresponding charging contacts 50 of the charging station 6. The interface 28, has a receiving part, Rx, for receiving signals from the charging station 6. The receiving part comprises an amplifier 55 with hysteresis, that is configured to receive data. The amplifier 55 with hysteresis may for example be an amplifier 56 and a Schmitt-trigger 60 connected in series. The interface 28 is also provided with a transmitting part, Tx, for transmitting data from the robotic mower 2 to the charging station 6. The transmitting part comprises an amplifier 56 for amplifying the signal carrying the data to be transmitted. The interface 28 also comprises an inductor 52 in the charging power path of the robotic lawnmower 2. During charging a charging power path will be established from a power source (+) on the charging station side via an inductor 54 in the interface 38, the charging contacts 50, 19, and the inductor 52 of the interface 28 to the battery 18 in the robotic lawnmower 2.

(18) The value of the inductor is chosen such that there will be a high impedance for high frequencies in the communication channel during the charging and data transmission process. The high impedance enables a high data transmission rate between the charging station 6 and the robotic lawnmower 2. This may be very beneficial during development and testing of the robotic lawnmower, speeding up the time to market. In an exemplary embodiment, the inductance of the inductors 52, 54 are chosen to 47 μH, which will give an impedance of 15 Ohm. This has been proven to be a good trade-off between costs and transmission speed. However, the inductance of the inductors 52, 54 may be chosen in an interval of 20 to 100 μH.

(19) As mentioned above, both interface 28, 38 are almost identical and the interface 38 of the charging station will not be described once again, as it also comprises a receiving part, Rx, a transmitting part, Tx, and the inductor 54

(20) Although, the present invention has been described above with reference to specific embodiments, it is not intended to be limited to the specific form set forth herein. Rather, the invention is limited only by the accompanying claims.

(21) In the claims, the term “comprises/comprising” does not exclude the presence of other elements or steps. Furthermore, although individually listed, a plurality of means or elements may be implemented by e.g. a single unit or processor. Additionally, although individual features may be included in different claims, these may possibly advantageously be combined, and the inclusion in different claims does not imply that a combination of features is not feasible and/or advantageous. In addition, singular references do not exclude a plurality. The terms “a”, “an”, “first”, “second” etc do not preclude a plurality. Reference signs in the claims are provided merely as a clarifying example and shall not be construed as limiting the scope of the claims in any way.