US8392044B2. Robotic mower boundary sensing system. Google Patents
Publication number US8392044B2 US8392044B2 US12/845,326 US84532610A US8392044B2 US 8392044 B2 US8392044 B2 US 8392044B2 US 84532610 A US84532610 A US 84532610A US 8392044 B2 US8392044 B2 US 8392044B2 Authority US United States Prior art keywords boundary robotic mower control unit vehicle control wire Prior art date 2010-07-28 Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.) Active. expires 2030-10-28 Application number US12/845,326 Other versions US20120029754A1 ( en Inventor Jeffrey S. Thompson Craig E. Rupp Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.) Deere and Co Original Assignee Deere and Co Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.) 2010-07-28 Filing date 2010-07-28 Publication date 2013-03-05 2010-07-28 Priority to US12/845,326 priority Critical patent/US8392044B2/en 2010-07-28 Application filed by Deere and Co filed Critical Deere and Co 2010-10-12 Assigned to DEERE COMPANY reassignment DEERE COMPANY ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: RUPP, CRAIG E, THOMPSON, JEFFREY S 2011-07-18 Priority to EP12198850.5A priority patent/EP2572566B1/en 2011-07-18 Priority to EP11174304.3A priority patent/EP2412221B1/en 2011-07-18 Priority to EP12198863.8A priority patent/EP2572567B1/en 2012-02-02 Publication of US20120029754A1 publication Critical patent/US20120029754A1/en 2012-12-21 Priority to US13/724,159 priority patent/US8706339B2/en 2012-12-21 Priority to US13/724,112 priority patent/US8725316B2/en 2013-03-05 Publication of US8392044B2 publication Critical patent/US8392044B2/en 2013-03-05 Application granted granted Critical Status Active legal-status Critical Current 2030-10-28 Adjusted expiration legal-status Critical
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- USPTO PatentCenter
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Images
- A — HUMAN NECESSITIES
- A01 — AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D — HARVESTING; MOWING
- A01D34/00 — Mowers; Mowing apparatus of harvesters
- A01D34/006 — Control or measuring arrangements
- A01D34/008 — Control or measuring arrangements for automated or remotely controlled operation
- A — HUMAN NECESSITIES
- A01 — AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D — HARVESTING; MOWING
- A01D34/00 — Mowers; Mowing apparatus of harvesters
- A01D34/006 — Control or measuring arrangements
- B — PERFORMING OPERATIONS; TRANSPORTING
- B60 — VEHICLES IN GENERAL
- B60L — PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00 — Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20 — Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B — PERFORMING OPERATIONS; TRANSPORTING
- B60 — VEHICLES IN GENERAL
- B60L — PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00 — Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20 — Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2036 — Electric differentials, e.g. for supporting steering vehicles
- B — PERFORMING OPERATIONS; TRANSPORTING
- B60 — VEHICLES IN GENERAL
- B60L — PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00 — Electric propulsion with power supplied within the vehicle
- B60L50/50 — Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/51 — Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by AC-motors
- B — PERFORMING OPERATIONS; TRANSPORTING
- B60 — VEHICLES IN GENERAL
- B60L — PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00 — Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10 — Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14 — Conductive energy transfer
Abstract
A robotic mower boundary sensing system includes a boundary driving circuit on a charging station transmitting an encoded signal on a boundary wire, a boundary sensor on a robotic mower and including an inductor receiving the encoded signal, and a vehicle control unit on the robotic mower receiving the encoded signal from the boundary sensor and decoding the signal and cross correlating the received signal to determine the distance of the boundary sensor from the boundary wire.
This invention relates to robotic lawn mowers, and more specifically to a boundary sensing system for a robotic mower.
Robotic mowers may include boundary sensing systems to detect the boundary wire. Boundary sensing systems may detect if the robotic mower is inside or outside the boundary wire. When the robotic mower reaches the boundary wire, a vehicle control unit may prompt the traction drive to stop and/or turn around. A boundary sensing system is needed that also can accurately and reliably determine the distance of a robotic mower to the boundary wire.
The present invention provides a robotic mower boundary sensing system with a boundary driving circuit on a charging station transmitting an encoded signal on a boundary wire, a boundary sensor on a robotic mower and including an inductor receiving the encoded signal, and vehicle control unit on the robotic mower receiving the encoded signal from the boundary sensor and decoding the signal and cross correlating the received signal to determine the distance of the boundary sensor from the boundary wire.
FIG. 1 is schematic drawing of a robotic mower within a main boundary wire according to a preferred embodiment of the invention.
FIG. 2 is a block diagram of a boundary sensing system for a robotic mower according to a preferred embodiment of the invention.
FIG. 3 is a block diagram of an orientation and heading system for a robotic mower that may be used with the boundary sensing system of FIG. 2.
FIG. 4 is a block diagram of an improved area coverage system for a robotic mower according to a first embodiment of the invention.
FIG. 5 is block diagram of an embodiment of a wide area coverage that may be used with the improved area coverage system of FIG. 4.
FIG. 6 is a block diagram of an embodiment of a local area coverage that may be used with the improved area coverage system of FIG. 4.
FIG. 7 is a block diagram of an embodiment of a boundary following system that may be used according to one embodiment of the invention.
FIG. 8 is a block diagram of a boundary following system that may be used according to an alternative embodiment of the invention.
FIG. 9 is a block diagram of a boundary following system for a robotic mower with a single according to another alternative embodiment of the invention.
FIG. 10 is a block diagram of a stuck detection system for a robotic mower according to a preferred embodiment of the invention.
FIG. 11 is a schematic diagram of a boundary sensor according to a preferred embodiment of the invention.
In one embodiment shown in FIG. 1. robotic mower 100 may be powered by battery pack 109 that may be charged periodically at charging station 105. Vehicle control unit 101 may control all of the electronic functions of the robotic mower. For example, vehicle control unit 101 may command a pair of traction motors 110, 111 to turn traction drive wheels, blade motor 112 to rotate a cutting blade or blades, battery pack 109, a user interface and various sensors.
Vehicle control unit 101 may be a printed circuit board assembly that serves as the main control board for the robotic mower. The vehicle control unit may interpret and process information from various sensors, and use that information to control and operate the pair of traction motors to drive the robotic mower over a yard in order to maintain the lawn, and to drive the blade motor. For example, the vehicle control unit may be connected to a number of sensors including one or more boundary sensors 119, as well as one or more obstacle sensors or accelerometers. The vehicle control unit also may communicate with the battery pack in order to monitor the status of the battery pack to maintain a charge for one or more lithium ion batteries in the battery pack. The vehicle control unit also may be connected to a user interface module including an LCD display along with several indicator lights and key buttons for operator input.
In one embodiment, the vehicle control unit may include a microcontroller such as an LQFPSTM32F103ZET6 processor from ST Microelectronics. The microcontroller may have 512 kB of internal flash memory and 64 kbytes of internal RAM. The microcontroller may contain an ARM Cortex M3 core, may run at a maximum core clock frequency, and may use an onboard AtoD converter. The vehicle control unit may contain external static random access memory (SRAM) connected to the microcontroller with a 16 bit FSMC bus and have a minimum capacity of 1 Megabit.
Step 1: Finding a suitable location
The location for your charging station is important so that the robot can approach it smoothly. A central location that offers about 3 meters of space in front of the station is suitable. This distance allows access from all sides without any problems.
It is also important that the perimeter wire, which leads away from the station and comes back to the other side of it, runs about 3 meters straight ahead. Angled corners are therefore inconspicuous, but rather unsuitable for the charging station. The signal can irritate the robot during the search for the station.
The surface on which the station is located should be as flat as possible and preferably within the lawn area. A nearby power outlet is also important so that the charging station can be operated with a low-voltage cable. It is recommended that the cable be not too long or extended. An outdoor socket should of course be suitable and weather proof for optimal operation.
In addition to full sunlight, it should also be protected against splashing water. A lawn sprinkler near the station should be avoided, since penetrating water could damage the electronics inside. over, permanent heat leads to faster aging of the battery. Incidentally, the same location conditions with regard to sun and water protection also apply to the transformer.
How does the robotic lawnmower find the charging station?
Manufacturers use different systems to guide the robotic lawnmower back to the charging station. A perimeter wire is widely used, which the robot simply travels along when the battery level is low until it reaches the charging station. Other manufacturers rely on an additional guide wire that runs once across the lawn. This allows the distance to be shortened if the battery power drops in the middle of the area. However, the installation is also more complex, as you have to lay an additional cable to the perimeter wire.
Step 2: Connecting the charging station
Once you have identified a suitable location for the charging station, the connection is simple.
- Connect a low-voltage cable to the charging station.
- Plug the power cable of the transformer into the socket.
- Attach the plate to the ground.
Tip: Wait to attach the plate until you are sure the perimeter wire is properly installed. This will allow you to adjust the position of the charging station slightly if necessary.
Step 3: Laying the perimeter wire
So that the robotic lawnmower later knows which areas are to be mowed and which are not, it is now necessary to lay the boundary wire. This starts at one side of the station, then runs completely around the lawn until it finally ends up at the other side of the station. This will then establish a closed circuit. Furthermore, a magnetic field is created that the robot detects and will not cross the signal. When laying the cable, it is important to observe a few points such as the correct distance to the edge of the lawn. over, the cable must not cross at any point. You can lay the cable both above and below ground. While above-ground installation is easier as the cable only needs to be attached to the green with a few lawn hooks, underground installation requires significantly more time. On the other hand, the cable is then protected from weather conditions and is not in danger of being damaged or cut.
Once you have completed the preparatory measures, place the robotic lawnmower at the station so that the battery charges for the first time. This also allows for further programming of mowing times, date and time setup and also theft protection. If necessary, you can also define different starting points for main and secondary zones and changes to cutting height.
Installation is particularly easy for models with a touch display or even control via app. This allows the device to be programmed from a cell phone in just a few minutes. If a GSM module is installed in the robot, you don’t even need to be near the robot to do this, but can make the settings completely independently of location.
Step 5: Readjustment
The robotic lawnmower should be observed during its first run. If there are problems when driving over certain areas or if the edges are not mowed to the desired length, it is a good idea to make readjustments directly. Once this is done, you will have a lot of fun with your new garden which will reward you with an incredible amount of free time.
Installing a robotic mower is easier than you might think. The only thing that really takes some time at first is laying the boundary wire. The subsequent commissioning, on the other hand, is absolutely child’s play thanks to our modern technology.
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LUBA AWD 5000 : Perimeter Wire Free Robot Lawn Mower
Using the RTK-GNSS and Multi-sensor integrated Navigation System, LUBA AWD can map out your lawn and set up various mowing zones without you having to dig or bury wires. LUBA AWD makes the lawn maintenance a breeze for you.
RTK-GNSS and Multi-Sensor Navigation System
With the advanced four Global Navigation Satellite System (GNSS) and RTK Technology and IMU sensors, LUBA can map and navigate in cm-level accuracy.
Powerful RTK Signal Coverage
LUBA RTK signal range can cover a radius of 120m, so LUBA can take care of even large and challenging lawns. The LUBA AWD series maintain perfect route stability even when satellite signals are poor thanks to the integration of interial navigation, odometry, and patented algorithms.
Powerful All-wheel Drive System
Featuring four powerful in-hub motors and exclusive off-road tires and suspensions, LUBA AWD Series boasts best-in-class traction and zero-turning agility. Unlike small-diameter wheel mowers, the LUBA can effortlessly handle 75% slope and traverse the most demanding terrain without getting stuck.
Take good and soft care of your lawn
Four Powerful In-hub Motors
Manage 37° steep slope and obstacle of 50mm height
Make the best off-road capability in rough terrain
Dual Cutting Plates of 400mm
In-app adjustable cutting height of 30-70mm. Never miss a cut.
Impressive Slope Mowing
LUBA AWD 5000 can mow the steep slope up to 75% (37°), and handle the complex lawns and thick tall grass.
In-APP Adjustable Blade Height
LUBA AWD’s double cutting plate with a 400mm(16 inch) cutting width allows it to cut your grass without missing any areas.
LUBA AWD 5000 is ideal for all types of lawns up to 5000㎡(1.25acres). It has a super high efficiency of mowing up to 500㎡(0.13acre) each hour, allowing your family to spend more time enjoying the picture-perfect grass.
Smart App Control Anywhere
What Our Users Say
Luba does incredibly well on what is quite a difficult terrain. It is amazingly well built and as you can see, even manages to produce stripes.
I was really amazed at how he can mow really tall grass. Tried with a 700 m2 map, the result was outstanding.
I am super impressed so far! My rideon mower would have gotten stuck! Hats off to the Mammotion team! Great product.
Here LUBA is running on a hill where the slope varies between 15 and 35 degree.
It is doing a surprisingly great job. It cut the whole front lawn today with no interventions. It has every potential to be the leading fully automated lawnmower.
The 4 motors on every wheel have proven super useful. In my first trial, the machine hasn’t had any failures and the GPS position seems to be very accurate, even near the house.
Tech-art Aesthetics and Robust Safety
Mowing in another direction when encountering hard objects.
Stop spinning blades when Luba is lifted or unbalanced.
Smart obstacle avoidance with 220°FOV
Ensure Luba AWD easy clean with sprinklers and has absolute durability in all-weather
- Charging Station
- LUBA AWD 5000
- Power Supply
- RTK Reference Station
- RTK Reference Station Extension Cable(10m)
- RTK Reference Station Power Supply
- Extra One Set Of Blade
- Key
- Installation Kits
- Mounting Pole
- Quick Start Guide
FREQUENTLY ASKED QUESTIONS
If the product does not work as guaranteed during the warranty period, you can request after-sales service by contacting the upcoming local MAMMOTION distributor or email us at support@mammotion.com. The main parts of the lawn mower and battery are covered under a 2-year warranty. Please note that the accessories (Charging Station and RTK Antenna) are under a 1-year warranty while blades and tires do no have warranty. The warranty period for a product is valid on the day when product(s) are delivered from local warehouse for Kickstarter backers’ orders and pre-orders, while the other orders is valid on the purchase date.
- With a perimeter wire, firstly, someone has to install it – this means extra time if you do it yourself, or extra cost if someone else does it. Secondly, the perimeter wire can be damaged by animals or someone putting a spade through it. a break in the perimeter wire can be frustrating.Thirdly, if you want to change the area to be mowed, it means re-laying the wire. Finally, if you decide to move, you need to re-laying again the wire in your new lawn.
- With Luba, forget all the above worries. You just walk with Luba along to draw vitrual bounderies, you can program your multi-cutting zones without the hassle of digging or burying the wires.
- With Mammotion APP, you can remotely preset and update the mowing parameters for each zone, as well as check Luba’s status in real-time. The APP can be used remotely to manage your lawn when you are on a vacation or business trip.
- Luba robotic lawn mower keeps your lawn carpet-like all the time. Luba cuts more frequently in 1-2cm to ensure your grass stay healthy.
- It is quiet, you can run it at any time without worrying about disturbing your daily activity or your neighbours.
Thanks to the RTK-GNSS System, users can easily create and set mowing tasks for separated mowing areas in the Smart app. as well as set channels to connect them for multi-zone management. By setting up the operation parameters of different tasks, the equipment can automatically operate in multiple areas in sequence. Luba can pass the sidewalk when the width is more than 1 meter and surroundings are not severely blocked.
RTK base station does not need to be connected to the charging station. You can put the charging station anywhere you want! If you want to install RTK station on the roof, you will need to have a separate power adapter and extension cord to power RTK reference station.
Does the entire area needs to require Wi-Fi signal or once it gets its command near its charging base it can go complete work and then come back to charge ?
Once the mission is set it get do the whole workflow itself even without Wi-Fi. The Wi-Fi is to help you check the status of LUBA and receive messages remotely on your cell phone.
You can easily perform the installation yourself. A quick start guide will be included in the box. installation course video will comes.
Luba can manage multiple zones,if there is a path between these two yards, Luba can travel to the second yard and do the work automatically.
With Mammotion App, you can remotely preset and update the mowing parameters for each zone, as well as check Luba’s status in real-time.