DE102007008910A1 - Autonomous self-propelled mowing machine e.g. lawn mower, operating method, involves terminating mowing and/or picking process of mowing machine when detecting maximum filling degree of collecting box based on operating program - Google Patents

Abstract

The method involves storing an operating program, which independently controls a mowing machine (2), in a memory of an on board computer. A collecting box (3) and a detector i.e. sensor, for detecting a filling degree of the collecting box of the mowing machine are provided. Mowing and/or picking process of the mowing machine are terminated when detecting a maximum filling degree of the collecting box based on the operating program. The mowing machine is driven to a collecting point (4) for emptying the collecting box and then the mowing and/or picking processes are continued.

Description

The The invention relates to a method of operating an autonomous self-propelled vehicle Mowing.

Such a mower is, for example, by the DE 43 18 798 A1 known. This trained as a self-propelled machine mower can automatically work off surfaces or terrain. It is able to automatically descend and manipulate a defined area, such as mowing or sweeping, without the need for an operator to ride along.

The However, known device is not suitable for this purpose independently to pick up the estate.

Of the Invention is based on the object, the autonomous process of Mowing and collecting mowed, scarred or to automate further on the surface.

These The object is achieved by the characterizing Characteristics of claim 1 solved. As a result of this Measures will be a completely autonomous operation reached a self-propelled mower. The Mower is not only capable of the area to mow or to scarify and the mowed or scarifying or otherwise lying on the surface good but it can also independently the collection container empty at predetermined points and then clear the mower and / or continue collecting.

Around in an orderly manner located in the sump Good to empty from the sump, is provided that on the surface to be machined at least one Collection point at which the sump is emptied, set is.

If a mobile collecting device for receiving the in the collecting container provided the mowing equipment good is provided is provided that on the surface to be machined at least a mobile collecting device is provided which corresponds to the respective predetermined collecting point is moved, that the collecting container can be emptied into the collecting container of the collecting device.

A Optimization of the mowing, collecting and emptying process is achieved by having a program which the collecting device the respectively optimized location on and or in near the surface to be worked, depending on Processing progress of the surface by the lawnmower, passes.

In order to can easily identify the mower where the collector is located is provided that there is a program which the collecting the each optimized location on and or near the to processing area, depending on the processing progress of the The surface passes through the mower.

in this connection a sensor may be provided by means of which the on-board computer Signals receives, at which point the collector is located.

It it is also possible that the on-board computer has means by means of which he scans the surfaces and thus recognizes at which point the collecting device is located.

It it is also possible that the collecting means data transmission means comprising, by means of which the on-board computer of the mowing device is communicated at which the collecting device is located.

Further Details of the invention are the example description and the Drawings to take. Show here

1 a surface to be machined with marked routes and fixed collection point in a schematic representation and

2 another surface to be processed with marked driveways and mobile collecting vehicle in a schematic representation.

The area 1 should with the autonomous self-propelled mower 2 to be edited. The mower 2 can be designed as a lawn mower for mowing vertikutieren and for collecting mowed, scarred and lying on the surface Good. Such a mower 2 has a collection container 3 in which the mowed, scarred or lying on the ground Good of the mower 2 is picked up. The mower 2 has a chassis and a drive motor, by means of which the mower 2 over the scarified surface to be mowed 1 to move. Furthermore, the mowing device 2 a control and steering device, which by an on-board computer with a navigation device for autonomous navigation on a defined area 1 which is the area to be mowed and scarifying or the area to which the respective groupage is to be collected. In the memory of the on-board computer is a mower 2 automatically controlled operating program stored and due to this stored operating program is the mower 2 able, together with the navigation device to navigate independently the entire area 1 in pre see-through way to work.

On the surface to be worked 1 according to 1 is a collection point 4 determined at which the sump 3 When it is filled, it should be emptied, leaving the entire area to be worked on 1 on the predetermined collection points 4 is collected.

The collection container 3 has not shown means for detecting the degree of filling of the collecting container 3 on. If the means for detecting the degree of filling of the collection container 3 recognize that at least approximately the max. Degree of filling of the collecting container 3 has been reached, the mowing and collecting process is interrupted due to the program stored in the on-board computer program. The mower 2 then goes to a collection point 4 for emptying the collecting container 3 empties the sump 3 and then continue with the mowing and picking process.

This should be on hand of the 1 be explained in more detail:
On the surface to be worked 1 begins in the embodiment on the right side below the mower 2 according to the indicated lanes 5 the surface to be processed 1 to mow, to scarify or to collect the material lying on this surface. This estate is in the collection container 3 collected. At the point 6 Report the means for detecting the degree of filling of the collection container 3 in that the approximately max. Degree of filling of the collecting container 3 is reached, as the drawn lines, the routes 6 of the mower 2 on the surface to be processed 1 represent. When the mowing machine has arrived at the place where the collecting container 3 is filled, the mowing process is due to the deposit program and the means for detecting the degree of filling of the collecting container 3 transmitted signals interrupted. According to the drawn line 7 drives the mower 2 on the optimized route to the designated collection point 4 as symbolized by the pentagon, at this point 4 the collection container 3 to empty. After emptying the collection container 3 drives the mower 2 back to the place 6 to which it has interrupted the mowing process. The mower 2 then continues the mowing and scarifying and / or picking process. Is then in place, as in 1 sketched, so much good in the sump 3 collected that means for detecting the degree of filling of the collection container 3 Report that approximately the max. Filling degree is reached, in turn, the mowing and collecting process is interrupted. As by the lines 9 as in 1 is drawn, drives the mower 2 back to the collection point 4 and empty the container there 3 , The pre-marked process is continued until the entire surface 1 has been processed in the intended manner. Instead of the mower 2 always to the place 6 . 8th zurückfährt, where it has interrupted the mowing and collecting process, an optimization program can be stored in the on-board computer, in which calculates the program, at which optimized location the mower 2 the mowing and picking process on the surface to be worked 1 should continue.

The processing method according to 2 differs from the method according to 1 in that the collection point is not a fixed collection point on the surface to be processed, but the collection point one on or in the vicinity of the surface to be processed 1 movable collecting device 10 is that goes to each one precalculated place. In the collection container 11 the movable collecting device 10 then can the mower 2 the collection container 3 Drain. In this case, a program may be present in the on-board computer, which is the collection device 10 the respectively optimized location on or in the vicinity of the surface to be machined, depending on the processing progress of the surface 1 through the mower, directs. In this case, means may be provided with which the on-board computer the mower 2 recognizes or tells him at which point on the surface 1 or near the area 1 the collecting device 10 located. Here, the mower 2 be equipped with means that allow it, the surface to be machined 1 or the proximity of the surface to be worked 1 to scan, so as to recognize at which point the movable collecting device 10 located. Editing the area according to 2 happens in a similar way to 1 , with the difference that the mower 2 if the funds have recognized that the collection container 3 at least approximately filled, the mower 3 moves to the point at which the movable collecting device 10 located. As in 2 is indicated, drives the collector 10 depending on processing progress on a path 12 next to the surface to be processed 1 , for example from the position 10 in the position 10 It can continue according to the progression of the processing progress. The mower 2 then moves each time when the sump 3 is filled accordingly, autonomously directed by the on-board computer to the respective location of the movable collection device 10 and empties his collection container there 3 in the collection container 11 the collection device 10 ,

QUOTES INCLUDE IN THE DESCRIPTION

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Cited patent literature

• - DE 4318798 A1 [0002]

Claims (5)

Method for operating an autonomous self-propelled mowing device, such as mowers for mowing and / or collecting mowed, scarified and / or lying on the surface Good in a collection, with a chassis, drive motor and an on-board computer with a navigation device for autonomous navigation on a defined Area, wherein in the memory of the on-board computer a mowing device independently controlling operating program is stored, characterized in that a collecting container ( 3 ) and means for detecting the degree of filling of the collecting container ( 3 ) of the mower 2 are present that upon detection of the at least approximately maximum filling level of the collecting container ( 3 ) due to the program stored in the on-board computer, the mowing and / or collecting operation of the mowing device ( 2 ), the mower ( 2 ) to a collection point ( 4 . 10 . 10 ' ) for emptying the collecting container ( 3 ) and then continue the mowing and / or picking process is continued. A method according to claim 1, characterized in that on the surface to be processed ( 1 ) at least one collection point ( 4 ), to which the collecting container ( 3 ) is set. A method according to claim 1, characterized in that on the surface to be processed ( 1 ) at least one mobile collecting device ( 10 ) to the respective predetermined collection point ( 10 . 10 ' ) is movable, that the collecting container ( 3 ) into the collecting container ( 11 ) of the collection facility ( 10 ) is emptied. A method according to claim 3, characterized in that a program is provided which the collecting device ( 10 ) the respectively optimized location ( 10 . 10 ' ) on and / or near the surface to be treated ( 1 ), depending on the processing progress of the surface by the mower ( 2 ). Method according to one or more of the preceding claims, characterized in that means are provided with which the on-board computer of the mowing device ( 2 ) or tells it at which point ( 10 . 10 ' ) on the surface ( 1 ) or near the surface ( 1 ) the collecting device ( 10 ) is located.