Autonomous mobile green area maintenance robot

• US 10,681,863 B2
• Filed: 06/08/2018
• Issued: 06/16/2020
• Est. Priority Date: 06/09/2017
• Status: Active Grant

• Current Assignee: Andreas STIHL AG & Company KG (Stihl Holding AG & Company KG)
• Original Assignee: Andreas STIHL AG & Company KG (Stihl Holding AG & Company KG)
• Inventors: Hans, Matthias, Lochmann, Holger, Totschnig, Andreas
• Primary Examiner(s): Torres, Alicia
• Application Number:
  US16/003,740
• Publication Number:
  US 20180352732A1
• Time in Patent Office: 739 Days
• CPC Class Codes: A01D 2101/00 Lawn-mowers
• CPC Class Codes: A01D 34/006 Control or measuring arrangements
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: A01D 34/416 Flexible line cutters
• CPC Class Codes: A01D 34/66 with two or more cutters
• CPC Class Codes: A01D 34/685 with two or more cutters
• CPC Class Codes: A01D 34/84 for edges of lawns or fields, e.g. for mowing close to trees or walls for embankments A01D34/86 takes precedence; edge trimmers A01G3/00
• CPC Class Codes: A01D 43/16 with lawn edgers
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• 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 1/0227 using mechanical sensing means, e.g. for sensing treated area

Abstract

A autonomous mobile green area maintenance robot, includes: a first motor-driven treatment tool, a second motor-driven treatment tool differing from the first treatment tool, and an open protective housing with a lateral rim. The first treatment tool defines a first treatment zone and is arranged within the protective housing such that the first treatment zone is located in a safety zone of the protective housing. The safety zone has a safety distance to the lateral rim. The second treatment tool defines a second treatment zone, wherein the second treatment zone is located at least partially beyond the safety zone. The autonomous mobile green area maintenance robot has an autonomous operation mode, wherein in the autonomous operation mode, a maximum kinetic energy of the second motor-driven treatment tool is smaller than a maximum kinetic energy of the first motor-driven treatment tool.

Claims

1. An autonomous mobile green area maintenance robot, comprising:

a first motor-driven treatment tool,

a second motor-driven treatment tool differing from the first treatment tool, and

an open protective housing with a lateral rim,

wherein the first treatment tool defines a first treatment zone and is arranged within the protective housing such that the first treatment zone is located in a safety zone of the protective housing, the safety zone having a safety distance to the lateral rim,

wherein the second treatment tool defines a second treatment zone, the second treatment zone being located at least partially beyond the safety zone, and

wherein the autonomous mobile green area maintenance robot has an autonomous operation mode, wherein in the autonomous operation mode, a maximum kinetic energy of the second motor-driven treatment tool is smaller than a maximum kinetic energy of the first motor-driven treatment tool.

2. The autonomous mobile green area maintenance robot according to claim 1,

wherein the first motor-driven treatment tool and/or the second motor-driven treatment tool each comprise one or more of:

a mowing line, a plastic knife, a metallic knife, or a metallic cutting blade having at least one cutting edge and/or having at least one cutting tooth.

3. The autonomous mobile green area maintenance robot according to claim 1,

wherein the first motor-driven treatment tool and/or the second motor-driven treatment tool each are a rotating treatment tool.

4. The autonomous mobile green area maintenance robot according to claim 1,

wherein the safety distance is at least 4 cm.

5. The autonomous mobile green area maintenance robot according to claim 1,

wherein, in the autonomous operation mode, the maximum kinetic energy of the second motor-driven treatment tool is in a limit range from 5 to 25 Joules.

6. The autonomous mobile green area maintenance robot according to claim 1,

wherein the autonomous mobile green area maintenance robot is configured such that, upon contact with an obstacle, the second motor-driven treatment tool draws aside.

7. The autonomous mobile green area maintenance robot according to claim 1, further comprising:

a boundary edge detection device, wherein the boundary edge detection device is configured to detect a boundary edge of an area to be treated, and

a control unit, wherein the control unit is configured to cooperate with the boundary edge detection device and to control a movement of the green area maintenance robot on the area to be treated such that the green area maintenance robot remains on the area to be treated.

8. The autonomous mobile green area maintenance robot according to claim 7,

wherein the control unit is configured to activate driving of the second motor-driven treatment tool upon detection of the boundary edge and, otherwise, to deactivate driving of the second treatment tool.

9. The autonomous mobile green area maintenance robot according to claim 7,

wherein the boundary edge detection device comprises one or more of:

a magnetic field sensor, a satellite position determination receiver, or a local positioning system device.

10. The autonomous mobile green area maintenance robot according to claim 1, further comprising:

a user control device,

a user-controlled operation mode, and

an operation mode switching device for switching between the autonomous operation mode and the user-controlled operation mode,

wherein, in the user-controlled operation mode, the green area maintenance robot with its first motor-driven treatment tool and its second motor-driven treatment tool is controlled by a user via the user control device and the maximum kinetic energy of the second motor-driven treatment tool is greater than in the autonomous operation mode.

11. The autonomous mobile green area maintenance robot according to claim 10,

wherein in the user-controlled operation mode, the maximum kinetic energy of the second motor-driven treatment tool is above a limit range from 5 to 25 Joules.

12. The autonomous mobile green area maintenance robot according to claim 10, further comprising:

a drive motor, wherein the second motor-driven treatment tool is driven via the drive motor, and

wherein the operation mode switching device is configured to reduce a maximum available drive power of the drive motor upon switching from the user-controlled operation mode to the autonomous operation mode.