Autonomous work device

• US 10,466,710 B2
• Filed: 06/03/2015
• Issued: 11/05/2019
• Est. Priority Date: 06/27/2014
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Biber, Peter, Marx, Klaus, Petereit, Steffen, Hensel, Stefan
• Primary Examiner(s): Moyer, Dale
• Application Number:
  US15/321,973
• Publication Number:
  US 20170127608A1
• Time in Patent Office: 1,616 Days
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: A47L 2201/022 Recharging of batteries
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: B60L 2200/40 Working vehicles
• CPC Class Codes: B60L 53/35 Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
• CPC Class Codes: B60L 53/36 by positioning the vehicle
• CPC Class Codes: G05D 1/0225 involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: Y02T 10/70 Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 90/12 Electric charging stations
• CPC Class Codes: Y02T 90/14 Plug-in electric vehicles

Abstract

An autonomous implement includes at least one orientation device configured to provide an orientation within a processing zone. The at least one orientation device is different from a perimeter-wire orientation device. The autonomous implement further includes at least one control and/or regulating unit configured to ascertain a travel strategy. The at least one control and/or regulating unit is configured at least to ascertain an alignment relative to a base station for a targeted docking onto an interface of the base station based on at least one orientation parameter captured using the at least one orientation device.

Claims

1. An autonomous implement, comprising:

at least one orientation device configured to provide an orientation of the autonomous implement within a processing zone, wherein the at least one orientation device is not a perimeter-wire orientation device, and the processing zone is outside of a near zone located near a base station; and

at least one control and regulating unit configured to ascertain a travel strategy for guiding the autonomous implement to the base station when the autonomous implement is located in the near zone,

wherein the at least one orientation device is configured to capture at least one item of information emitted by the base station, the at least one item of information corresponding to a location of a principal axis extending parallel to an entry direction of the autonomous implement for docking onto an interface of the base station,

wherein the at least one control and regulating unit is configured to ascertain an alignment of the autonomous implement relative to the base station for a targeted docking onto the interface of the base station based on the at least one item of information captured using the at least one orientation device, and

wherein the at least one control and regulating unit is configured to ascertain an offset of the autonomous implement relative to the principle axis of the base station, the offset corresponds to a distance between the autonomous implement and the principle axis.

2. The autonomous implement as claimed in claim 1, wherein the at least one control and regulating unit is configured to ascertain the offset relative to the principal axis of the base station at least partly by a range measurement at at least two points spaced from one another.

3. The autonomous implement as claimed in claim 1, wherein the transmitting and receiving unit is configured at least for an emission, after reaching the near zone of the base station, of at least one signal configured to trigger an emission of at least one response signal by the base station.

4. The autonomous implement as claimed in claim 1, wherein the transmitting and receiving unit includes at least one of (i) at least one ultrasonic element and (ii) at least one ultra-wideband element for a communication at least with the base station within the near zone of the base station.

5. The autonomous implement as claimed in claim 1, wherein the autonomous implement is an autonomous lawnmower.

6. The autonomous implement as claimed in claim 1, wherein the interface is a charging interface.

7. An autonomous work system, comprising:

an autonomous implement including (i) at least one orientation device configured to provide an orientation within a processing zone located outside of a near zone, and (ii) at least one control and regulating unit configured to ascertain a travel strategy; and

a base station located in the near zone and including at least one interface configured to be coupled with the autonomous implement, the base station configured to emit at least one item of information corresponding to a location of a principal axis extending from the at least one interface,

wherein the travel strategy is for guiding the autonomous implement to the base station when the autonomous implement is located in the near zone,

wherein the at least one orientation device is configured to capture the at least one item of information emitted by the base station,

wherein the at least one orientation device is not a perimeter-wire orientation device, and

wherein the at least one control and regulating unit is configured to ascertain an alignment of the autonomous implement relative to the base station for a targeted docking onto the at least one interface of the base station based on the at least one item of information captured using the at least one orientation device.

8. The autonomous work system as claimed in claim 7, the base station further comprising:

a transmitting and receiving unit configured to provide a communication at least with the autonomous implement and further configured to be in a receive mode up until a detection of at least one signal emitted by the transmitting and receiving unit of the autonomous implement.

9. The autonomous work system as claimed in claim 8, wherein the transmitting and receiving unit includes at least one of (i) at least one ultrasonic element and (ii) at least one ultra-wideband element configured to communicate at least with the autonomous implement.

10. The autonomous work system as claimed in claim 7, wherein the interface is a charging interface.

11. The autonomous work system as claimed in claim 7, wherein the autonomous implement is an autonomous lawnmower.

12. A method for a coupling of an autonomous implement with an interface of a base station, the method comprising:

transmitting at least one item of information from the base station to the autonomous implement corresponding to a location of a principal axis, the principle axis extending parallel to an entry direction of the autonomous implement for docking onto an interface of the base station;

capturing the transmitted at least one item of information with an orientation device of the autonomous implement;

ascertaining an alignment of the autonomous implement relative to the principal axis of the base station using at least one control and regulating unit of the autonomous implement based on the captured at least one item of information for a targeted docking onto the interface of the base station; and

ascertaining an offset of the autonomous implement relative to the principle axis of the base station,

wherein the orientation device is not a perimeter-wire orientation device and the interface is a charging interface, and

wherein the offset corresponds to a distance between the autonomous implement and the principle axis.

13. The method as claimed in claim 12, further comprising:

guiding the autonomous implement with a GPS element of a direction-capture unit of the autonomous implement when the autonomous implement is outside of a near zone that is located near the base station;

emitting, using a transmitting and receiving unit of the autonomous implement, after reaching the near zone of the base station, at least one signal configured to trigger an emission of at least one response signal by a transmitting and receiving unit of the base station after detection of the at least one signal; and

guiding the autonomous implement based on the ascertained offset when the autonomous vehicle is located in the near zone.

14. The method as claimed in claim 12, wherein the autonomous implement is an autonomous lawnmower.