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Belrobotics BM2000 Big Mow Manual

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Chapter 6 How Big mow BM2000 works
Figure 29: Return to station with a loop using GPS
These manoeuvres depend on whether the robot is in the parcel nearest to the station (Parcel
1) or whether it is in a neighbouring parcel (Parcel 2) when it needs to return to the station.
Robot is in Parcel 2: At point D the robot needs to return to its charging station. It will move
directly to the GPS point E located in the current parcel. It will turn towards the wire and follow
Track border 2 until it detects the wire of the neighbouring Parcel 1. The direction followed
depends on the defined return direction for Parcel 2, which in this example is clockwise.
It will continue along the track border for a short distance and then move towards point B
(which is the GPS point nearest the station). The procedure to return to the station from point
B is given below.
Robot is in Parcel 1: At point A the robot will take the shortest route to the defined GPS point
B close to its charging station.
Move from point (B) to the station
Once at point B, the robot will turn so that it is heading towards the peripheral wire. It will then
follow the track border until it detects the loop wire, at point C.
When the robot reaches point C, it must follow the station loop wire until it arrives at the
charging station. The route it takes depends on the return direction defined for the loop
parcel.
When the return direction for the parcel loop matches that of the working loop, the robot will
take the route shown in the figure below, which corresponds to the behaviour shown in the
example above.
30 Big mow BM2000 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
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