# US 11,439,057 B2 · Green area maintenance system, method for sensing at least one section of a delimiting border of an area to be maintained, and method for operating an autonomous mobile green area maintenance robot > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,439,057 B2 - Document ID: US11439057B2 - Status: Granted - Kind: B2 - Application number: 16/620,026 - Filed: 2018-06-08 - Published: 2020-03-26 - Granted: 2022-09-13 - Earliest claimed: 2017-06-09 - Assignees: Andreas Stihl AG & Co. KG - Applicants: Andreas Stihl AG & Co. KG - Inventors: Peter Ritzer; Matthias Hans; Andreas Strohmaier - Web page: https://patentgrep.com/patent/US11439057B2 ## CPC - A01D 34/008: {for automated or remotely controlled operation} - A01B 69/008: {automatic} - A01D 34/006: {Control or measuring arrangements} - G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)} - G05D 1/0276: {using signals provided by a source external to the vehicle (involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058)} - G05D 1/0278: {using satellite positioning signals, e.g. GPS} - A01D 34/90: for carrying by the operator - A01D 2101/00: Lawn-mowers - A01D: HARVESTING; MOWING - A01B: SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL (making or covering furrows or holes for sowing, planting or manuring A01C5/00; mowers convertible to soil working apparatus or capable of soil working A01D42/04; mowers combined with soil working implements A01D43/12; soil working for engineering purposes E01, E02, E21) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract A green area maintenance system includes a motor scythe, a scythe position determining device for determining scythe position coordinates, and a position recording device. The scythe position determining device is attached to the motor scythe. The position recording device is designed for recording a series of scythe position coordinates of a delimiting border while the motor scythe is being guided together with the scythe position determining device along the delimiting border of an area to be maintained. ## Claims ### Claim 1 A green area maintenance system, comprising: a motor scythe; a scythe position determining device for determining scythe position coordinates, the scythe position determining device being attached to the motor scythe; and a position recording device, the position recording device being designed for recording a series of scythe position coordinates of a delimiting border while the motor scythe is being guided together with the scythe position determining device along the delimiting border of an area to be maintained. ### Claim 2 (depends on 1) The green area maintenance system as claimed in claim 1, wherein the motor scythe has a user carrying device, the user carrying device being designed for carrying the motor scythe by the user. ### Claim 3 (depends on 1) The green area maintenance system as claimed in claim 1, wherein the motor scythe has a scythe head with a cutting tool, the scythe position determining device being attached in a region of the cutting tool. ### Claim 4 (depends on 1) The green area maintenance system as claimed in claim 1, wherein the scythe position determining device comprises a satellite position determining receiver for determining scythe position coordinates. ### Claim 5 (depends on 4) The green area maintenance system as claimed in claim 4, wherein wherein the scythe position determining device further comprises a local positioning system device for determining scythe position coordinates. ### Claim 6 (depends on 5) The green area maintenance system as claimed in claim 5, further comprising: a computing and storing unit, the computing and storing unit being designed for determining and storing a series of delimiting border coordinates of the delimiting border of the area to be maintained on the basis of the recorded series of scythe position coordinates of the delimiting border. ### Claim 7 (depends on 1) The green area maintenance system as claimed in claim 1, wherein wherein the scythe position determining device comprises a local positioning system device for determining scythe position coordinates. ### Claim 8 (depends on 1) The green area maintenance system as claimed in claim 1, further comprising: a computing and storing unit, the computing and storing unit being designed for determining and storing a series of delimiting border coordinates of the delimiting border of the area to be maintained on the basis of the recorded series of scythe position coordinates of the delimiting border. ### Claim 9 (depends on 8) The green area maintenance system as claimed in claim 8, further comprising: an autonomous mobile green area maintenance robot; a robot position determining device for determining robot position coordinates, the robot position determining device being attached to the green area maintenance robot; and a control unit, the control unit being designed for controlling a movement of the green area maintenance robot on the area to be maintained in dependence on: the determined robot position coordinates, and the recorded series of scythe position coordinates of the delimiting border and/or the determined and stored series of delimiting border coordinates of the delimiting border, such that the green area maintenance robot stays on the area to be maintained. ### Claim 10 (depends on 9) The green area maintenance system as claimed in claim 9, further comprising one or both of: a scythe transmission unit, the scythe transmission unit being designed for interacting with one or more of the scythe position determining device, the position recording device and the computing and storing unit and for data transmission of one or more of the scythe position coordinates, the series of scythe position coordinates and the series of delimiting border coordinates, and a robot transmission unit, the robot transmission unit being designed for interacting with the control unit and for the data transmission of one or more of the scythe position coordinates, the series of scythe position coordinates and the series of delimiting border coordinates. ### Claim 11 (depends on 9) The green area maintenance system as claimed in claim 9, wherein the scythe position determining device is of a portable design, and forms the robot position determining device, and/or the position recording device is of a portable design. ### Claim 12 (depends on 9) The green area maintenance system as claimed in claim 9, wherein the autonomous mobile green area maintenance robot is a lawnmowing robot with a lawnmowing tool. ### Claim 13 A method for sensing at least one section of a delimiting border of an area to be maintained by a green area maintenance system comprising a motor scythe, a scythe position determining device for determining scythe position coordinates, and a position recording device, the position recording device being designed for recording a series of scythe position coordinates of a delimiting border of an area to be maintained, the method comprising the steps of: a) guiding the motor scythe along the section, the scythe position determining device being attached to the motor scythe; b) determining the scythe position coordinates by way of the scythe position determining device during the guiding; and c) recording the series of scythe position coordinates of the delimiting border by way of the position recording device. ### Claim 14 (depends on 13) The method as claimed in claim 13, the method further comprising the step of: d) determining and storing, by way of a computing and storing unit, a series of delimiting border coordinates of the delimiting border of the area to be maintained on the basis of the recorded series of scythe position coordinates of the delimiting border.