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Belrobotics BM2000 Big Mow Manual

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Chapter 6 How Big mow BM2000 works
Figure 20: Random movement within a GPS defined zone
The robot will leave the station, turn through an angle and head towards to the centre of the
GPS defined zone (A). It will then work in the zone using a random trajectory. It will stay in
the zone as closely as possible, but GPS accuracy is +/-10m. If it detects that it has moved
outside of the zone, (as at points C or D), it will stop, rotate and head back into the zone.
When it reaches a border of the zone that is bounded by the wire (B), it will rotate through an
random bounce angle and then continue in a new direction (as described above).
6.1.1.2 Avoiding obstacles when mowing
This section describes how the robot deals with small obstacles within the working area.
Larger, permanent and dangerous obstacles have to be avoided using wires or GPS NoGo
zones which form part of the installation.
When mowing normally, the robot moves at a speed of about 1m/s (3.5km/h). In areas where
the grass is longer, the robot will automatically adapt its mowing mode by slowing down.
The robot can detect an obstacle (permanent or transitory) through a set of sonar sensors
(page 19). Detection causes the robot to slow down and gently touch the obstacle, as
indicated by the pressure sensors on the bumper. The robot will reverse and then rotate
through a random angle in order to proceed with the mowing.
Figure 21: Robot maneuvers around an obstacle
Big mow BM2000 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 25
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