818949

Belrobotics Parcmow Big Mow - BM1050 Manual

83
Zoom out
Zoom in
Previous page
1/86
Next page
Big mow BM 1050 User's Manual
Software version 4.5
Familiarity with the contents of this manual is required before operating the robot.
Belrobotics®, BM 1050® and BM 2050® are registered trademarks of Yamabiko Europe.
Avenue Lavoisier 35 • 1300 Wavre • Belgium
www.belrobotics.com
Copyright © Yamabiko Europe S.A./N.V.
All rights reserved.
This publication or parts thereof may not be reproduced in any form, by any method, for any purpose.
Disclaimer
Yamabiko Europe S.A./N.V. has taken reasonable care in compiling this document, however Yamabiko Europe S.A./N.V. accepts no
liability whatsoever for any error or omission in the information contained herein and gives no other warranty or undertaking as to its
accuracy.
Yamabiko Europe S.A./N.V. can accept no responsibility for damages, resulting from the operation of the equipment, its accessories
and peripherals, or any related software. Yamabiko Europe S.A./N.V. reserves the right to amend this document at any time without
prior notice.
Yamabiko Europe S.A./N.V. and its affiliates are not liable for damages and/or losses related to security breaches, any unauthorized
access, interference, intrusion, leakage and/or theft of data or information.
Contents
1 What's New...........................................................................................5
2 Introduction.......................................................................................... 8
3 Conventions used in the manual....................................................... 9
4 About RTK GPS................................................................................. 10
5 Big mow BM 1050 description..........................................................12
5.1 The robot.................................................................................................................13
5.1.1 Robot options............................................................................................. 17
5.2 The charging station............................................................................................... 19
6 Sensors............................................................................................... 21
7 How Big mow BM 1050 works..........................................................24
7.1 Operational state.....................................................................................................24
7.1.1 Work mode.................................................................................................25
7.1.2 Go to charging station mode......................................................................31
7.1.3 Charge mode..............................................................................................37
7.1.4 Border mode...............................................................................................38
7.1.5 Wait in charging station mode....................................................................39
7.1.6 Go zone mode............................................................................................39
7.2 Inactive state...........................................................................................................46
8 Using your robot................................................................................49
8.1 Safety measures..................................................................................................... 49
8.2 Safety notices..........................................................................................................50
9 The user interface..............................................................................52
9.1 User Interface Commands...................................................................................... 54
9.2 The Actions menu.............................................................................................55
9.3 The Settings menu ............................................................................................57
9.3.1 Schedule ..................................................................................................57
9.3.2 Cutting heads .......................................................................................... 60
9.3.3 Border ......................................................................................................61
9.3.4 Cutting height .......................................................................................... 61
9.3.5 System locking ........................................................................................ 64
9.3.6 LCD settings...............................................................................................64
9.4 The Service Settings menu ................................................................................65
9.4.1 Regional parameters.................................................................................. 65
9.4.2 Connections................................................................................................66
9.4.3 Operations.................................................................................................. 67
9.4.4 Device.........................................................................................................68
9.4.5 Security.......................................................................................................69
10 Service and Maintenance................................................................71
10.1 Maintenance..........................................................................................................71
10.1.1 Maintenance procedures..........................................................................72
10.1.2 Blade replacement....................................................................................77
11 Technical specifications Big mow BM 1050..................................78
12 Notices.............................................................................................. 80
13 Abbreviations....................................................................................81
14 Glossary............................................................................................82
Chapter 1 What's New
1 What's New
Software Version 4.5
• A GPS Navigation Zone (page 82) can be defined which encompasses an entire
working area. Multiple GPS zones can be defined within the navigation zone that do not
need to be connected to the loop or overlap with each other.
• GPS NoGo zones are always respected for both pattern and random working.
• Data corrections sent from the RTK base to the robots can be transmitted using 4G.
• The maximum slope allowed for pattern working is now 30%.
• Site requirements for pattern working have been improved in particular, navigation along
narrow passages.
• Pattern mowing in an RTK GPS zone can be switched on or off. This means that if there
are problems with the signal levels, or there are areas that are not suited to pattern
working, random working can be implemented.
• It is possible to specify the main orientation (heading) of the mowing pattern. This is
especially useful for sports pitches where it can be set to match exactly the lines defining
the pitch.
• Sonar problem detection and diagnostics have been improved.
• Border mode can now be executed by following the track wire or a set of GPS coordinates.
Software Version 4.4
• In pattern mowing, the overlap between lines has been reduced from 20cm to 10cm. This
increases the mowing efficiency by reducing the time to mow a particular area.
• Complex mowing areas are supported for pattern mowing.
• When mowing in pattern mode over multiple zones, the mowing in one zone will be
completed before mowing starts in another zone. See Choosing where to work (page
43).
• Improved GPS navigation.
This overcomes problems that could arise when the robot fails to calculate a GPS path to
the target point when it is close to the border of the field. This applies in particular to tight
corners with a small radius and when it is necessary to navigate through narrow passages.
• Track wire improvements.
This reduces the occurrence of alarms indicating "wire lost" during track wire movements
in corners.
• Track border improvements
This improves the navigation with a minimum track border distance (when the robot is
close to the wire) .
• Tilt alarm improvements
When using a high traction force to move the robot up a slope, the front is easily lifted,
triggering a tilt alarm causing the robot to stop.
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 5
Chapter 1 What's New
Figure 1: Tilt alarm triggered due to a slope
The robot now waits for a certain time to check whether the tilt situation has been
corrected. If it has, the robot will continue working.
• System level over-voltage, detection and protection of electronics.
The main bus voltage is now constantly monitored. If it reaches a critical level the
operation of the robot is shut down in a controlled manner to protect the electronics. If the
system voltage remains high when the robot tries to restart, an alarm is triggered.
• GPS defined NoGo zones can be implemented.
• Pattern mowing on slopes of up to 15% is possible.
Software Version 4.3
• Patterned mowing is possible for robots set up to use RTK GPS positioning system. See
About RTK GPS (page 10).
• Robots can now operate in border mode (page 38) for multi-field installations.
• It is possible to prevent mowing on a specified parcel by setting the cutting height of the
blades to "disabled" (page 61).
•Parcel choice is based on work history (page 43).
•A robot will not cross unavailable fields when starting a new mission (page 45).
• A Max short cycles allowed (page 68) parameter to limit the number of times the robot
will execute a very short working cycle can be set.
•Cutting heads disabled when returning to station (page 31).
•A robot will retry to dock after a failed connection (page 31).
Software Version 4.2
• Information about the portal is in a separate manual.
• Operation menu Brake on idle (page 67).
•Cutting heads (page 60). Cutting height can be set for a parcel.
• Return to station using GPS from multiple parcels. See Go to charging station mode (page
31).
• Exit from station using GPS. See Go zone mode (page 39).
• Options in a menu are presented graphically in a tree.
Release 4.1
• How to edit the robot's schedule using the web portal.
• The date format can be set using Service Settings > Regional parameters.
• The unit system used to display values can be set using Service Settings > Regional
parameters.
• The system of returning to the station using GPS.
• An overview of all the signal channels can be seen by pushing 8 on the keyboard for 5
seconds.
6 Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
Chapter 1 What's New
• Additional information about the robot is available from Service Settings > Device.
• Additional icons have been added to the home screen on the user interface (page 52).
• The chapter on Troubleshooting has been temporarily removed and will be available
shortly.
Release 3.5.1
- Corrections in the text.
Release 3.5
- The release number of the manual has been adjusted to match the software version to
which it relates.
Note: This implies that there are no manuals with release numbers 3.2, 3.3 or 3.4
- Update to the troubleshooting section.
- Updates to the portal interface.
Release 3.1
- The contents of the How Big mow BM 1050 works (page 24) has been updated to
distinguish between installations that use a positioning beacon and those that use a "return
to station loop".
- In The Actions menu (page 55) there is a new option to start the robot working in a
specific parcel.
Release 3.0
LCD settings (page 64)
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 7
Chapter 2 Introduction
2 Introduction
This manual provides all the information required to use your Big mow BM 1050 battery
powered robotic lawnmower.
is the new version of the Bigmow robot. All the information in this manual refers to the
Bigmow robot using software version 4.5.
This manual contains the original instructions.
Your robot is installed by a Belrobotics authorized engineer. The configuration of your field is
analyzed to determine the most suitable robot. The peripheral wire is installed, and the robot
programmed according to the terrain and your requirements. Training is provided to enable
you to manage the robot autonomously.
Technical developments are taking place constantly, so the information contained in this
document is provided as an indication and is in no way contractual. It can be changed at any
moment by Belrobotics, without the need for prior announcement. Updated information can be
obtained from your dealer and the website https://myrobot.belrobotics.com/.
Big mow BM 1050 has been designed to high safety standards, but residual risks are always
possible and the recommended safety and protective measures must be followed.
Version
This manual refers to Software version 4.5
The current software version can be see by selecting -> Device from the interface screen
or by viewing information about the robot on the web portal.
Related documentation
For related documentation go to the Documentation section on the web portal https://
myrobot.belrobotics.com.
• MyRobot - User's Manual: for information about using the web portal.
• User manual (other languages).
• The required RTK Base manual.
Contact details
customerservice@yamabiko.eu
8 Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
Chapter 3 Conventions used in the manual
3 Conventions used in the manual
To charge the battery Indicates the start of a procedure to be
followed.
blue text (page 9) A link to another section of the manual.
green text (page 9) A link to a word in the glossary.
Use active periods Indicates an option to highlight in the user
interface.
this is less than 5m italic script for emphasis
1An entry in the user interface
Indicates a maintenance operation.
menu entry Sequence of menu selections in the
interface. Infrastructure > Peripheral
wires
PARCELS The name of a screen in the user interface.
{ } Indicates a variable parameter value.
Robot Wi-Fi Access User interface control on the smartphone
app
message Message displayed on the smartphone app
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 9
Chapter 4 About RTK GPS
4 About RTK GPS
Standard GPS positioning data retrieved from satellites using GNSS (Global Navigation
Satellite System) is accurate to between 5m and 10m. This is because the signal received
from a satellite is distorted due to atmospheric and environmental conditions. Higher precision
positioning can be achieved by using an RTK (Real-Time Kinematic) technique.
This technique involves the use of an RTK base placed in a fixed position, which receives
GNSS signals from satellites. Since the base is fixed, the data it receives relates to its precise
location.
The robots are fitted with antennas, which also receive GNSS signals from satellites to
determine their position. Both the RTK base and the robots receive the GNSS signals from
satellites in different constellations (GPS, GLONASS, Galileo, BeiDou). Since the robots are
moving however, the evaluation of their position is less precise.
The RTK base computes correctional data for each of the satellites and sends these to the
robot. The robot is then able to use these corrections to achieve a positional accuracy of
between 2cm and 3cm. With such accurate positioning, the robot is able to follow a defined
pattern and cover the field in a series of straight lines.
Communication between the robot and the RTK base using WiFi and can be made over a
distance of up to 200m if there are no obstacles in the way. If greater distances are required,
up to 2 WiFi repeaters can be used.
Figure 2: Transfer of corrections using WiFi
Corrections can also be made via the Belrobotics cloud using 4G. In this case, obstacles do
not impede the transfer of correctional data and the base can connect to an unlimited number
robots at distances of up to 15km.
10 Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
Chapter 4 About RTK GPS
Figure 3: Transfer of corrections using 4G
One base station can feed corrections to multiple robots on the same site, but each robot
must receive corrections from only 1 base station to keep corrections consistent.
Subscriptions
The ability to use the RTK system to implement pattern working requires an annual
subscription. A free grace period of 2 months is provided after the initial installation of
the system. After this time, the payment of the annual subscription is required. Details on
subscriptions can be found in the MyRobots manual.
Advantages
Since the robot can mow in a well-defined pattern of straight lines, the time taken to mow an
area can be reduced relative to the time taken using a random trajectory. This means that:
• One robot can manage a larger area of grass.
• The time required to mow an area is reduced, so the selection of suitable work times is
much more flexible. Thus the robot can work when the field is not in use and does not
need to work at night, so reducing the danger to nocturnal animals.
• The grass is mown systematically. The direction of the mowing lines is changed with each
passage over the area to improve the quality of the mowing and avoid tracks.
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 11
Chapter 5 Big mow BM 1050 description
5 Big mow BM 1050 description
This topic describes all the mechanical characteristics of the robot and the charging station as
well as the specific hardware components required for using the RTK-GPS system.
Figure 4: Basic components of the RTK GPS mowing system
•The robots (page 13).
•The charging station (page 19)
• The RTK base and associated hardware. See About RTK GPS (page 10) for more details.
• Optional WiFi repeater. See About RTK GPS (page 10) for more details.
A user can exercise direct control over the robot using the User Interface. Once a robot is
registered on the portal running on a web-server:
- the robot can send information to this server which can be seen by the user
- the user can issue commands to the robot, assess its performance and adjust the
configuration.
Note however, that full control over the robot is only available with a subscription for that
robot.
Go to https://myrobot.belrobotics.com .
12 Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
Chapter 5 Big mow BM 1050 description
5.1 The robot
Big mow BM 1050 components
Figure 5: Top view of robot components
(1) STOP button
Hitting this button will stop the robot at any point.
It is also a lid that provides access to the so-called smart box that contains the on board
computer that controls the operation of the robot. A user interface is provided with which
to set and modify the robot's operational parameters.
(2) Body
The body houses sensors and covers the mechanical components.
(3) Obstacle detection sonars
Sensors detect an object in the path of the robot. For more information see Sensors
(page 21).
(4) Front wheels
Front wheels.
(5) Bumper
The bumper (page 21) is a pressure sensor which will cause the robot to change
direction when it touches an obstacle.
(6) Rear wheels
The rear wheels are driven and are equipped with brakes to ensure safety on slopes or
when machine is stopped.
(7) Charge contacts
There are two pairs of charge contacts on either side of the robot. They connect with the
charging arms in the charging station.
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 13
Chapter 5 Big mow BM 1050 description
Figure 6: Bottom view of robot components
(8) Cutting heads
The robot is fitted with 3 rotating cutting heads. Each cutting head is equipped with three
cutting blades, which are rotated on the head and which cut the grass.
Figure 7: Detail of the cutting head
(A) Bracket
(B) Cable entry
(C) Motor housing
(D) Blade support disc
(E) Anti-friction disc
(F) Cutting blade
(G) Pantograph
14 Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
Chapter 5 Big mow BM 1050 description
Note: The blade support disc (D), the anti-friction disc (E) and the cutting blades
(F) are referred to collectively as the "cutting disc".
If a problem is detected it is possible to disable any number of cutting heads (page
60).
Different types of cutting blades (page 18) are available depending on the mowing
conditions.
The cutting blades need to be replaced on a regular basis to ensure optimal mowing
performance. See changing the cutting blades (page 75).
The height of the cutting head determines the height of grass that is cut. This can be
adapted to match the required conditions. See setting the cutting height (page 61).
(9) Battery
An LFP battery powers Big mow BM 1050 whilst mowing. When the battery needs
charging the robot will return to the charging station.
(10) Sealed Electronic box (Smartbox)
This contains the electronics and the robot motor.
Note: This should only be opened or manipulated by an authorized technician.
(11) Coil
The robot is equipped with a coil that detects the magnetic field generated by the
peripheral wire. When the robot crosses the peripheral wire, it registers a change in
phase of the signal in the wire, which indicates it is leaving the field. As a consequence it
will change direction in order to return into the field.
(12) On/Off switch
Switches the robot on or off.
RTK GPS antenna
Figure 8: Location of the RTK GPS antenna
This is a specific GNSS antenna installed at center front of the shell. It is used to receive
data about the robot's global position from satellites.
Identification labels
The identification label can be found on the inside of the Stop button lid as shown below.
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 15
Chapter 5 Big mow BM 1050 description
Figure 9: Identification label under the Stop lid.
Dimensions
Figure 10: Rear view dimensions
Figure 11: Side view dimensions
16 Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
Chapter 5 Big mow BM 1050 description
Figure 12: Bottom view dimensions
Technical details
For detailed technical specifications seeTechnical specifications Big mow BM 1050 (page
78) .
Sound level: The A-weighted emission sound pressure level is:
- >70dB dB at 1m distance
- 52 dB at 5m distance
Mass in kilograms: This can be seen on the identification label. See Figure 9: Identification
label under the Stop lid. (page 16).
5.1.1 Robot options
Wheel brushes
The wheel brushes are installed behind the rear wheels to clean them.
Groomer
A groomer is a device that can be fitted to the rear of the mower to improve the quality of the
grass.
Figure 13: Groomer
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 17
Chapter 5 Big mow BM 1050 description
The grooming device extends sprung tines vertically into the turf to remove thatch and
horizontal runners. The result is that the grass is stimulated into more active vertical growth
as well as improved aeration and water penetration. Their regular use throughout the growing
season leads to greatly improved turf on golf courses and playing fields.
Areas suitable for grooming Areas Unsuitable for grooming
Sports fields that are flat and kept free from
twigs, branches and dead leaves. Rough areas.
Areas with crossing paths.
Areas that are covered with leaves and
twigs during some parts of the year.
Blade types
Three types of cutting blades are available which vary in their hardness and durability.
Hard blades HRC 62
These blades can be identified by the engraving "0x".
These blades are durable and are not likely to break, but they have a tendency to wear
around the fixation hole.
Soft blade HRC 48
These blades can be identified by the engraving "01".
These blades are not likely to break, but they do deform and need to be changed every
week.
These blades are recommended for situations where the loss of a blade may cause
injury, as on a sports field for example.
Mid-hard blades HRC 58
These blades have no engraving on them.
They have an additional collar around the fixation hole which reduces the risk of
weakening in that area.
These blades are recommended for demanding applications.
Note: The longevity of a cutting blade can be extended by taking a number of
measures (page 77).
18 Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
Chapter 5 Big mow BM 1050 description
5.2 The charging station
Figure 14: Components of the charging station
(1) Charge arms.
(2) Base.
(3) Occupation sensor. This is an optional feature indicating that the charging station is
occupied in charging a robot.
Figure 15: Rear view of the charging station
(4) LEDs which indicates the current state of the each wire:
•Green - blinking: wire is operating normally.
•Red - blinking: no peripheral wire can be detected.
This could be because the wire has been cut or that it is too long. Contact a technician.
•Red - steady: indicates a problem.
This could be due to the wire being too short, less than 200m, or there is a problem with
the electronics. Contact a technician.
(5) Identification label.
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 19
Chapter 5 Big mow BM 1050 description
(6) Input for power cable.
(7) Inputs for peripheral cables.
Technical details
Details of the charging station can be seen on the identification label.
Figure 16: Charging station identification label
20 Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
Chapter 6 Sensors
6 Sensors
Big mow BM 1050 is equipped with a comprehensive set of sensors that ensure its safe
operation. These sensors ensure that the robot can detect, and react if an obstacle lies in its
path or if a small object is in danger of being damaged by the cutting blades.
Stop button
The stop button is easily visible, situated on the top of the robot (see top view of the robot
(page 13)). Hitting it will cause the robot to stop moving and cutting.
The stop button also acts as a lid, which when lifted, provides access to the robot's control
user interface. An instruction must be issued using this control interface in order to restart the
robot.
Obstacle detection sonars
The robot is equipped with a set of sonar sensors to detect obstacles. These sensors transmit
a constant sonar signal (40kHz). When these hit an obstacle the reflected waves are received
by the sensors and the speed of the robot is reduced to 200mm/s (less than 1km/h).
Figure 17: Detection of obstacles by sonar sensors
The robot gently touches the obstacle at low-speed. The robot moves backwards and
chooses a random direction between 60° and 120°.
These sensors can detect objects that are:
• at least 400mm high
• at least 50mm wide (from all angles).
Note: If the surface of the obstacle reflects the sonar waves towards the sky, they
should be covered with large bubble wrap.
If the robot is always moving at a slow speed, even if there are no obstacles in view, it
indicates a problem with the sensors. In this case you should contact the after-sales team for
help in analysing the problem.
Bumper
The bumper is a pressure sensor which senses when the robot touches an obstacle. The
robot will be moving at a slow speed because the sonar detectors will have already detected
the obstacle. When the bumper touches the obstacle, the robot will move backwards and then
rotate through an angle until it can avoid the obstacle.
Lift and body displacement sensors
Big mow BM 1050 is fitted with sensors to detect when the robot body is lifted or displaced.
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 21
Chapter 6 Sensors
Figure 18: Location of the lift sensor attachments
Figure 19: Lift sensors
Lift sensors are attached to the body of the robot at 4 points. If the robot touches a low object
which pushes the bodywork up or if someone tries to lift the body, the lift sensors will react.
The robot will stop mowing and move backwards. If this movement frees the obstacle from
the body, the robot will perform a manoeuvre to avoid the object and continue mowing. If not,
after 10 seconds the robot will register an alarm and remain in safe mode (stationary) until the
obstacle is removed.
Coil
The induction coil detects the intensity of the magnetic field that is generated within the
peripheral wire. The maximum intensity is located on the wire which causes the robot to stop,
rotate and then continue mowing in a new direction.
22 Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
Chapter 6 Sensors
Tilt/Rollover sensor
The tilt sensor detects the angle of the slope on which the robot is working. If this angle
exceeds 30° (58%), an alarm will be raised and the robot will stop moving.
The rollover sensor detects whether the robot has been tipped upside down or whether
someone is trying to start the motor when the robot is upside down.
Temperature sensor
The temperature sensor measures the ambient temperature and will prevent the robot from
operating if this temperature is too low. The minimum temperature at which the robot can
operate is set as an operating parameter (page 67).
RTK GPS receiver
This sensor collects data from satellites to determine the robot's precise global location.
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 23
Chapter 7 How Big mow BM 1050 works
7 How Big mow BM 1050 works
The robot works in a number of 'states'. Within these states it is programmed to operate in a
number of 'modes'.
Operational state (page 24): In this state the robot operates in cycles in which it works,
(cutting the grass), or is in the charging station either to charge the battery or for a rest period.
Inactive state (page 46): The robot can enter an inactive state if there is a condition that
causes the mowing mission (operational state) to be halted. The robot will return to the
operational state when the problem has been resolved and/or a specific command has been
issued to tell the robot to resume.
7.1 Operational state
Figure 20: Operational state
In this state there are a number of modes:
Work
In this mode the robot mows the grass. For more details see Work mode (page 25).
Go to station
At a certain moment, which depends on the working schedule and the current conditions,
the robot will make the decision to move to the charging station. For more details see Go
to charging station mode (page 31).
Charge
In this mode, the robot connects to the charging station and charges the battery. For more
details see Charge mode (page 37).
Wait station
When the battery has been charged, the robot may remain at the charging station,
depending on the working schedule and the current conditions. For more details see Wait
in charging station mode (page 39).
24 Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
Chapter 7 How Big mow BM 1050 works
Border mode
In this mode the robot mows the border of the field. For more details see Border mode
(page 38).
Go zone
In this mode the robot performs a series of manoeuvres to leave the station and arrive at
the point where it needs to start work. For more details see Go zone mode (page 39).
Note: Programmed instructions can be over-ridden by instructions activated from the
User Interface.
7.1.1 Work mode
Figure 21: Work mode
When in work mode, Big mow BM 1050 mows the grass in working areas. The RTK GPS
positioning system enables the robot to mow the grass following a pattern. Pattern mowing
can be disabled and the area will then be worked in random mode.
-Mowing using a random trajectory (page 26).
-Pattern mowing (page 27).
-Avoiding obstacles when working (page 29).
Decisions A
At a certain moment, the robot will take the decision to return to the charging station. This
could be because:
• The battery needs charging,
• The scheduled mowing time has ended,
(In the case of multi-field installations, this corresponds to the mowing schedule for the
zone in which the robot is currently mowing.)
• An (external) command has been issued,
• The temperature is too low.
See Go to charging station mode (page 31).
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 25
Chapter 7 How Big mow BM 1050 works
7.1.1.1 Mowing using a random trajectory
Random mowing in a wired parcel
Figure 22: Random movement in a wired parcel
The charging station emits a signal that generates an electro-magnetic field within the area
bounded by the peripheral wire. The robot is equipped with a coil that senses the magnetic
field.
The strength of the electro-magnetic field is greatest at the boundary and as the robot arrives
at the wire, it slows down. It then passes over the wire and the coil senses a change in phase.
This causes the robot to stop, reverse a little, turn through a random bounce angle and then
continue in a new direction. This angle is typically between 108° and 172°, and will depend on
the settings defined in the software.
Random mowing in a GPS defined zone
When working in random mode, it is possible to create specific working areas defined by a set
of GPS coordinates. A GPS zone is always associated with a wire, but allows the definition of
zones with specific needs without having to install extra wires.
26 Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
Chapter 7 How Big mow BM 1050 works
Figure 23: 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).
7.1.1.2 Pattern mowing
For an installation using the RTK GPS positioning system, it is possible for the robot to mow
following a pattern.
Note: Pattern mowing is only possible when the quality of the GPS signal is high
enough to allow it. If the robot encounters difficulties communicating with the satellites,
it will stop and try scanning to improve the connection. If the problem persists, an alarm
is triggered.
Single simple working area
The figure below shows a simple rectangular working area where there are no permanent
obstacles to be avoided.
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 27
Chapter 7 How Big mow BM 1050 works
Figure 24: Pattern mowing in a simple rectangular working area
The robot will exit the station and move towards the working area using the GPS points. Once
the working area has been reached the robot will calculate a path to the start point of the
pattern for this cycle and will navigate to this point using GPS. For calculating the pattern, a
mowing overlap of 10cm is used.
The mowing pattern is executed over multiple working cycles. At the start of each new cycle,
the robot resumes its pattern at beginning of the line that was incomplete at the end of the
previous cycle.
It is possible to specify the main direction (heading) used for calculating the pattern. This is
especially useful in the case of sports fields, where it is important to have the pattern align
with the edges of the pitch.
Once the pattern is complete the robot will recalculate a new mowing pattern and will rotate
the mowing direction to ensure optimal cutting quality and full coverage of the field. In the
example shown below 4 directions are specified with angles of 45° between them. It is
possible to use fewer mowing directions if required.
Figure 25: Rotation of the mowing direction
28 Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
Chapter 7 How Big mow BM 1050 works
During pattern mowing, the robot turns before it reaches the peripheral wire, so the edge of
the zone is not mowed. It is important therefore to make sure that the robot mows the border
at least 2 times per week.
Single complex working area
When operating in a more complex working area, the area is sub-divided depending on the
direction of the working pattern.
Pattern mowing of sub-area 1 in direction X Pattern mowing of sub-area 2 in direction X
The robot will first work in sub-area 1 in a particular direction (X). Coverage of a sub area can
require more than one cycle (page 82). When sub-area 1 has been completed, the robot
will move directly to start mowing sub-area 2 in the same direction (X). A new cycle is not
started.
When the entire area has been completed, the robot will return to the station to charge. It will
then compute new sub-areas that will cover the working area when working in a new direction
(Y). A new working cycle will begin.
Pattern mowing of sub-area 1 in direction Y Pattern mowing of sub-area 2 in direction Y
During pattern mowing, the robot turns before it reaches the peripheral wire, so the edge of
the zone is not mowed. It is important therefore to make sure that the robot mows the border
at least 2 times per week.
Multiple working areas
When there are multiple wires, parcels and RTK GPS zones, the robot will compute a pattern
for each zone depending on its shape and the pattern direction as described above. The robot
will choose a zone (page 43) to work in when it starts each new cycle.
7.1.1.3 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.
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 29
Chapter 7 How Big mow BM 1050 works
When mowing normally, the robot moves at a speed of about 0.8m/s (2.8km/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 21). 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 26: Robot maneuvers around an obstacle
If the robot detects an obstacle when working in pattern mode, it will move backwards and try
to navigate around it using small changes in angle. If this is successful, it will continue along
the path it was following.
Figure 27: Manoeuvres to avoid a small obstacle in pattern mowing
If this is not successful, it will move backwards and then to the next mowing lane, and
continuing doing this until it has passed the obstacle.
Figure 28: Manoeuvres to avoid a large obstacle in pattern mowing
30 Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
Chapter 7 How Big mow BM 1050 works
This does, of course, mean that there is a risk of areas behind the obstacles not being
mowed. However, since the direction of mowing changes with each cycle, this may well be
remedied on subsequent cycles.
7.1.2 Go to charging station mode
Figure 29: Go to station mode
Whilst working, the robot checks the current conditions and its scheduled instructions. As a
consequence, at a certain moment, it will decide to return to its charging station. The reasons
for this could be:
• The battery needs charging.
When the battery voltage drops below a certain threshold, the robot will stop the cutting
heads in order to save energy. This means that the robot can navigate for longer and
increases the likelihood that the robot will reach the station before the battery is depleted.
• The scheduled work period is over.
• An external command has been issued.
The robot can use various methods to return to the station:
• The robot moves towards a station loop wire using the track border :
- How the robot returns to the station from a single field (page 31).
- How the robot returns to the station from multiple fields (page 33).
• The robot uses GPS defined navigation points (page 34) to locate the station.
• Returning to station from within a GPS Navigation Zone
7.1.2.1 Return to station loop from a single field
The default method to return to the station involves the robot following the track border. This
is shown in the figure below. It is also possible for the robot to Return to station using GPS
(page 34).
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 31
Chapter 7 How Big mow BM 1050 works
Figure 30: Return to station using the station loop
At point A, the robot decides to return to the charging station.
Note: Point A may be in a wired parcel, as shown above, or in a GPS defined zone
associated with the wired parcel.
It then moves towards the track border (page 84) and follows the track border of the single
mowing field until it reaches point B. The direction when following the track border depends
on the return direction defined for the parcel, which in the example shown above is clockwise.
When the robot reaches point B, 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 loop parcel 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.
Figure 31: Matching return directions
When the return direction for the loop parcel is opposite to that of the working loop, the robot
will take the route shown in the figure below.
32 Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
Chapter 7 How Big mow BM 1050 works
Figure 32: Opposite return directions
Once the robot has arrived at the charging station, it enters Charge mode (page 37).
7.1.2.2 Return to station loop from chained fields
The default method to return to station involves the robot following the track border. This
is shown in the figure below. It is also possible for the robot to Return to station using GPS
(page 34).
Figure 33: Return to station from chained fields using the station loop
At point A, the robot decides it needs to return to the charging station.
Note: Point A may be in a wired parcel, as shown above, or in a GPS defined zone
associated with the wired parcel.
It moves towards the track border in "Parcel 2" and then follows "Track border 2". The
direction taken when it reaches "Track border 2" depends on the return direction defined for
the parcel, which in the example shown above is clockwise. When the robot reaches point B,
it will cross into Parcel 1.
It then follows "Track border 1" until it reaches point C. Once again the direction taken
depends on the return direction defined for the parcel, which in the example shown above is
clockwise.
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 33
Chapter 7 How Big mow BM 1050 works
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.
Figure 34: Matching return directions
When the return direction for the parcel loop is opposite to that of the working loop, the robot
will take the route shown in the figure below.
Figure 35: Opposite return directions
Once the robot has arrived at the charging station, it enters Charge mode (page 37).
7.1.2.3 Return to station using GPS
GPS provides an efficient means for the robot to move through its working areas to return
to and leave a station. It provides a number of steps in which the robot can move directly to
defined points either close to a station or in a working parcel. If the robot is not able to use the
GPS navigation system, it will revert to the default method to return to or leave a station by
following the track border.
Return to station using GPS
An example of the manoeuvres to accomplish this are shown in the figure below. In this
example, the dimensions of the overlap mean that the GPS point, must be placed outside of
the overlap.
34 Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
Chapter 7 How Big mow BM 1050 works
Figure 36: Return to station 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.
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 35
Chapter 7 How Big mow BM 1050 works
Figure 37: Matching return directions
When the return direction for the parcel loop is opposite to that of the working loop, the robot
will take the route shown in the figure below.
Figure 38: Opposite return directions
Return to station with a single wire
A robot using RTK GPS knows its position to a high degree of accuracy. For this reason it is
possible to operate without a separate loop wire.
The robot will move to a defined GPS point in the field. In this case the GPS point needs to be
located close to the station. From the GPS point the robot will move towards the wire, which it
follows until it reaches the station.
Figure 39: Return to station with a single wire
36 Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
Chapter 7 How Big mow BM 1050 works
Return to station in a GPS navigation zone
When a robot is working within a GPS navigation zone (page 82), it knows its location to a
high degree of accuracy. When it needs to return to the station, it will navigate to a GPS point
near the station and then follow the station loop wire.
Figure 40: Return to station from within a GPS navigation zone
7.1.3 Charge mode
Figure 41: Charge mode
When the robot arrives at the charging station, the robot will connect to the charging points
and the battery will be charged.
Note: The battery can be charged if the temperature of the battery is above 5°C.
Decisions B
The robot will stay at the charging station until:
• the battery is fully charged,
• an instruction is issued.
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 37
Chapter 7 How Big mow BM 1050 works
The operations that will be performed depends on the robot's working schedule and external
conditions.
The robot will wait in station if :
• rest periods have been scheduled,
• it has been programmed to stay in the station (using the command "Charge & stay"),
• the temperature is too low.
Otherwise it will continue with the scheduled mowing program.
7.1.4 Border mode
Figure 42: Border mode
When the robot is operating in border mode, it mows the very edge of the working field.
Border mode can be executed by the robot following the track wire or a GPS defined border.
Note: When the robot is mowing in pattern mode, the robot does not mow to the very
edge of the working area. It is therefore important to set the robot to mow the border at
least 2 times per week.
The robot executes border mode automatically a certain number of times per week. The
number of times per week can be set as an operating parameter (page 61) for each
defined working area.
When the robot mows the border, it will adopt the cutting height of the parcel.
When the robot has mowed the border, it returns to the station before continuing working
according to its schedule.
38 Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
Chapter 7 How Big mow BM 1050 works
7.1.5 Wait in charging station mode
Figure 43: Wait in station mode
Decisions C
The robot will stay in the charging station once the battery has been charged until:
• the normal program needs to commence,
• a specific command is issued,
• the temperature of the battery is higher than 5°C.
7.1.6 Go zone mode
Figure 44: Go zone mode
The robot will leave the charging station either because the work schedule demands it, or a
specific command has been issued.
The manoeuvres the robot makes to leave the station and start mowing depend on the type of
installation configuration.
-Exit station into a single working area (page 40).
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 39
Chapter 7 How Big mow BM 1050 works
-Exit station into multiple chained working areas (page 40).
-Exit station into a GPS navigation zone (page 43).
-Exit station into a single field without a loop wire (page 42).
In the case of multiple working areas the robot must choose in which one to work (page
43).
7.1.6.1 Exit station into a single working area
The configuration shown below contains the parcel to be mowed and the station loop.
Note: The parcel associated with the wire may contain GPS zones in which the robot
is scheduled to work. The manoeuvres used to exit the station are the same.
Note: The robot may also leave the station to mow the border (page 38).
Figure 45: Leaving the charging station into single field
When the robot leaves the station it follows the station loop wire, until it reaches point A within
the track border. The direction taken is defined by the return directions for the parcel to be
mowed and the loop parcel. In the example above these are both clockwise.
At point A the robot will turn and follow the track border of the field to be mowed until it
reaches point B, when it will turn into the field and start mowing.
7.1.6.2 Exit station into multiple chained working areas
In this configuration there are multiple wires, each defining a parcel (area to be mowed), as
well as the station loop wire.
Note: The wired parcels may also contain GPS zones in which the robot is scheduled
to work.
40 Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
Chapter 7 How Big mow BM 1050 works
Note: The robot may also leave the station to mow the border (page 38).
Before leaving the station the robot must decide where to start mowing. See Choosing where
to work (page 43).
This topic describes the default manoeuvres used to leave the station and how the robot
leaves the station using GPS navigation points (page 41). If the GPS mode is not available
the robot will revert to the default manoeuvres.
Go zone default behaviour
The figure below illustrates the example of when the robot starts mowing in "Parcel 2" (or a
GPS zone in "Parcel 2").
Figure 46: Leaving the charging station into multiple fields
When the robot leaves the station it follows the station loop wire, until it reaches point A,
within the track border. The direction the robot takes depends on the return direction for the
station loop. In the example above, this is clockwise.
At point A, it will turn and follow the track border of the parcel connected to the station loop.
Once again the direction it takes depends on the defined return direction for Parcel 1. In this
case it is clockwise.
It will follow the track border until it reaches point B. It will then follow the track border in
Parcel 2 according to the return direction for this parcel (clockwise in this example) until it
reaches point C. At this point it will turn into the field and start mowing.
If the robot is operating in pattern mode, it computes a mowing pattern which it will follow
when it enters the working zone.
Exit station using GPS navigation points
The movement of the robot from the station into a neighbouring parcel can be accomplished
more efficiently using GPS. In this case a GPS point is defined in the parcel connected to the
station near to the overlap between the two parcels as shown in the figure below.
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 41
Chapter 7 How Big mow BM 1050 works
Figure 47: Go zone using GPS into multi-fields
When the robot leaves the station it follows the station loop wire, until it reaches point A,
within the track border. The direction the robot takes depends on the return direction for the
station loop. In the example above, this is clockwise.
It will follow track border 1 for a short distance and will then take a direct path to the GPS
point (B) located in Parcel 1. This point will be near or inside the overlap between the two
parcels.
From B, it will turn towards the track border and follow it towards the overlap until it detect the
wire of the neighbouring Parcel 2. It will then follow track border 2 until it turns into the field to
start working.
7.1.6.3 Exit station into single wire field
A robot using the RTK GPS system knows its global position to a high degree of accuracy. It
is thus possible to work with just a single wire, as shown below. In such a situation the area to
be mowed is determined by the robot during border discovery and will generally just consist of
the main area and not the zone next to the station.
The robot will exit the station and move along the track wire for a pre-determined distance.
Once the robot senses that it has entered the RTK GPS working zone, it will move to the start
mowing point for the current cycle.
42 Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
Chapter 7 How Big mow BM 1050 works
Figure 48: Exit station with a single wire
7.1.6.4 Exit station into a GPS navigation zone
A robot using the RTK GPS system knows its global position to a high degree of accuracy.
The robot will exit the station and move along the track wire for a pre-determined distance.
Once the robot senses that it has entered the GPS navigation zone it will move to the work
start point in one of the GPS working zones.
Figure 49: Exiting the station into a GPS navigation zone
7.1.6.5 Choosing where to work
When there are multiple areas (parcels or GPS zones) in which the robot can work, the robot
must decide where to work when it starts a new cycle. (page 82) This decision is based on
two fundamental criteria:
• The defined working schedule.
• The percentage of time allotted to a parcel.
• When working in pattern mode, there is an additional criteria regarding the completion
of the current parcel.
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 43
Chapter 7 How Big mow BM 1050 works
Working schedule
When a schedule is defined, which dictates exactly where the robot should work, the robot will
follow the schedule. This will override the percentage of time allotted to a working area.
The schedule for a robot can be set using Settings > Schedule or from the web portal.
Random working without a schedule
If no schedule is defined, OR if the schedule allows the robot to work in any parcel or zone,
the robot will choose the parcel according to the percentage of time allotted.
This is illustrated in the figure below, where it can be seen that before 12:30h and after
15:30h the robot can work in any of the three zones. In this case it will choose the parcel or
zone according to the allotted percentage.
Figure 50: Overlapping work schedules
This decision is based on the actual time spent working in a parcel which the robot logs over
a period of 14 days. At the start of each cycle, the robot will choose the parcel where the
difference between the actual time and the allotted time is the greatest. If the percentage
allotted to parcels is modified, the working history is reset.
The percentage of time allotted to a parcel is set using Service settings > Operations > Edit
parcels percentage.
Note: When working in pattern mode, the choice of zone in which the robot works is
different as described below.
Pattern working without a schedule
When working in pattern mode, the robot will preferentially complete the work in one zone
before moving onto another, unless the schedule dictates otherwise.
Consider the situation where there are three zones; Zone G which has a percentage time of
40%, Zone H which has a percentage time of 20% and Zone F which has a percentage time
of 40%,
44 Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
Chapter 7 How Big mow BM 1050 works
The robot works in Zone G, until the cycle
ends when it needs to return to the station to
charge. The work in Zone G is not complete.
When the robot resumes working, it will
ignore the percentage times allotted and
return to Zone G to complete the pattern.
When this pattern is complete, it will return
to the station and a new cycle will begin.
The robot will now start work on a new zone.
If the schedule allows, it will start working in
Zone F which has a higher % time allotted.
7.1.6.6 Crossing parcels
The robot can be optionally configured not to cross one parcel to work in another if the parcel
it needs to cross is unavailable.
This is useful in the case of two sports fields. In the example shown below, the robot must
cross Sports Field 1 to work in Sports Field 2. However it can be configured to not cross
Sports Field 1 if this field is in use, as dictated by the schedule.
Figure 51: Crossing parcels
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 45
Chapter 7 How Big mow BM 1050 works
An example of such a schedule is shown below. The robot is scheduled to work in Sports
Field 2 from 14:30h until 16h. But Sports Field 1 is unavailable from 13:30h until 16:30. The
robot can not therefore access Sports Field 2.
Figure 52: Sports field schedules
If it is necessary that the robot works in Sports Field 2 while Sports Field 1 is in use, there are
two solutions:
• The robot can be configured to enable it to cross an unavailable parcel.
• The schedule can be adapted, so that the Sports Field 1 is available before the robot
needs to work in Sports Field 2.
Figure 53: Adapted sports field schedules
When the scheduled working time for Sports Field 2 is complete, or it needs to charge its
battery, the robot will cross Sports Field 1 to return to the charging station. The return to
station manoeuvre takes priority over the schedule.
Parcels connected to the loop are always available.
7.2 Inactive state
A condition may arise which causes the robot to stop its autonomous mowing mission and
enter an inactive state. Reasons for this could be:
46 Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
Chapter 7 How Big mow BM 1050 works
• the robot has encountered a problem and has issued an alarm.
• the mission has been manually stopped.
In both these situations there are mechanisms for managing the power consumption of the
robot.
Alarm
Figure 54: Inactive modes following an alarm
When the robot encounters a problem it will register an alarm, which will eventually require
manual intervention.
If the alarm has not been cleared after 15minutes, the robot will enter "sleep mode". In this
state the robot will reduce its power consumption, by shutting down everything apart from the
modem.
Note: Sleep mode will only be enabled if the robot has been switched on for more
than one hour.
It will continue in "sleep mode" for 2 days, or until the battery reaches a very low level, after
which it will switch itself OFF.
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 47
Chapter 7 How Big mow BM 1050 works
This will require manual intervention:
- either to clear the alarm and resume the autonomous work mode,
- or to push the robot to a charging station to charge the battery.
Mission stopped
Figure 55: Inactive modes following a manual halt
In this case the robot will enter into an "idle" state. By default, after 15 minutes of being idle,
the robot will enter the "sleep mode" described above, in which the power consumption is
reduced to a minimum. It will continue in "sleep mode" for 2 days, or until the battery reaches
a very low level, after which it will switch itself OFF.
Before resuming working the robot will perform a self test, to check the integrity of the entire
system (including electronics, sensors, mechanics and software).
• If the result of the self test is successful, the robot will resume the autonomous working
state.
• If the result of the self test is NOT successful, the robot will register an alarm, which will
require and intervention.
48 Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
Chapter 8 Using your robot
8 Using your robot
Your robot has been installed and configured according to your requirements.
Before using the robot refer to the Safety measures (page 49).
There are a number of Safety notices (page 50) on the robot and it is important that you
understand what each of them means and respect all of them.
To ensure optimal operation of your robot, it is important that it is well maintained and
serviced.
The user interface enables you to manage the operation of your robot.
8.1 Safety measures
Note: Before starting your robot, check that the working is free from obstacles such
as toys, tools, garden waste, pebbles, ... These could damage your robot or cause a
breakdown.
Slopes: Never leave your robot on a slope.
Charging the battery: The battery must always be charged using the charging station.
Any other power source (car battery charger, ...) can cause damage and loss of
warranty coverage. Never connect an external electrical element to the battery cable.
Sealed parts: Your robot contains components that are sensitive to electrostatic
discharge. Do not attempt to access sealed parts.
Important: If you notice unusual behavior or wear (worn parts, missing screw or nut,
defective cable, ...), stop the machine and contact an authorized technician.
Important: when manipulating the robot or the charging station:
• Do not overreach yourself and keep your balance at all times.
• Take care of your footing on slopes.
• Always walk, never run.
Important: Always wear substantial footwear and long trousers while operating the
machine.
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 49
Chapter 8 Using your robot
Note: The operator or user is responsible for accidents or hazards occurring to other
people or their property.
Note: Never pick up or carry the robot while the motor is running.
Note: Do not leave pets unattended in the vicinity of the machine when in operation.
Note: Never operate the machine and/or its peripherals with defective guards or
shields, or without safety devices.
Note: Avoid using the machine in bad weather conditions especially when there is a
risk of lightning.
8.2 Safety notices
The symbols shown below appear on all robots. Each of them is described below.
Warning: This automatic machine can be dangerous if misused. Warnings and
safety instructions on the machine and described in this manual must be followed
exactly to ensure its safe use.
Instructions: Read this manual carefully before using this machine.
Yamabiko Europe declines any responsibility if this machine is used by persons
who are not familiar with how it works or with the contents of this manual.
Handling the machine: Never place hands or feet under or near the machine
when it is operation.
Stop the machine: Always stop the machine and wait for the moving parts to stop
before handling the machine.
Operate the disabling device (ON/OFF switch) before working on or lifting the
machine.
50 Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
Chapter 8 Using your robot
Handling the machine: Never place hands or feet under or near the machine
when it is operation.
Keep a safe distance: Always keep a safe distance from the machine when
operating.
Beware of projectiles: Keep a safe distance from the machine when it is
operation. Clippings and other objects such as branches and pebbles that lie in the
path of the machine may be ejected with force, causing injury.
Do not ride the machine: Do not ride on the machine. Never use the machine as
a means of transportation. Do not stand or sit on the machine or load objects onto
it or the charging station.
Animals: Keep animals away from the robot when it is operating.
Supervise children: This appliance is not intended for use by persons (including
children) with reduced physical, sensory or mental capabilities, or lack of
experience and knowledge, unless they have been given supervision or instruction
concerning use of the appliance by a person responsible for their safety.
Water: Cleaning with water systems can cause damage.
Gloves: Protective gloves must be worn when handling the robot, especially the
cutting system.
Keyboard: The robot is protected by an access PIN code.
Lock: The robot is equipped with an anti-theft system.
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 51
Chapter 9 The user interface
9 The user interface
A smart box, which contains the on-board computer to manage the operations of your robot,
is located under the Stop button lid.
Your Belrobotics technician has pre-programmed your robot according to your needs, but
this interface enables you to see the current status, modify the settings and issue particular
instructions.
Figure 56: Components of the user interface
The configuration interface consists of the following components:
(1) The numeric buttons
These are used to select menu choices and enter numeric values.
(2) LED screen
Displays current situation. See The LED screen (page 53).
(3) LED
Light indicating that the user interface is switched ON.
(4) ON button
Switches the user interface on.
(5) The Navigation buttons
The arrow buttons allow you to highlight menu options.
(6) The Back button
Exits a menu and returns you to the previous level.
(7) The Accept button
Accepts an operation or setting.
(8) Service menu button
Provides a number of commands used most commonly by the service personnel. See
The Service Settings menu (page 65).
52 Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
Chapter 9 The user interface
(9) Settings menu button
Allows you to define operational settings. See The Settings menu (page 57).
(10) Action menu button
Allows you to issue a number of operating instructions. See The Actions menu (page
55).
The LED screen
Name
The name of the robot. To change the robot name (page 68).
Cloud
Indicates that the robot is connected to the web portal.
GPS
Indicates that the robot can detect at least 4 satellites and that it knows its current
location.
If the GPS indication is blinking it indicates that the robot cannot detect enough satellites.
To see the number of satellites detected (page 68).
Mobile signal level
Indicates the robot has a mobile signal.
No mobile connection
This icon indicates that there is no mobile connection.
WiFi /Mobile connection
Indicates that the robot is connected as WiFi client. When it is blinking it is trying to
connect. When it is steady, it is connected.
No WiFi
Indicates that the WiFi setting is OFF.
WiFi Access Point (AP)
Indicates that the robot is configured as WiFi access point and is waiting for a client to
connect.
Battery charge level
Percentage of battery charge.
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 53
Chapter 9 The user interface
Message
Shows the current status of the robot or alarm.
9.1 User Interface Commands
Commands area available from three menus.
Actions
Provides a number of direct missions for the robot.
Settings
Defines parameters controlling the operation of the robot
Service settings
Provides a set of commands most commonly used by service technicians.
The table below lists all the commands available from these menus.
Table 1: Commands available from the user interface
Command / parameter Route
Activation code Service settings > Device
APN Service settings > Device > Device info
Bootloader ver. Service settings > Device > System version
Border Actions
Border Settings
Brain version Service settings > Device > System version
Brake on idle Service settings > Operations
Change pin code Service settings > Security > PIN code
Charge & stay Actions
Cutting heads Settings
Cutting height Settings
Date format Service settings > Regional parameters
Device info Service settings > Device
Edit parcels percentage Service settings > Operations
Enable pin code Service settings > Security > PIN code
Go charge Actions
IP address Service settings > Connections
Language Service settings > Regional parameters
Latitude Service settings > Device > Device info
Longitude Service settings > Device > Device info
MAC address Service settings > Device > Device info
Max short cycles allowed Service settings > Operations
Min temp Service settings > Operations
54 Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
Chapter 9 The user interface
Command / parameter Route
Mode Service settings > Connections
Mow Actions
Mow after charge Actions
Mow now Actions
PIN code Service settings > Security
Robot name Service settings > Device
Schedule Settings
Search for networks Service settings > Connections
Serial number Service settings > Device > Device info
Software version Service settings > Device > System version
SSID Service settings > Connections
Stay in station after charge Actions
System locking Settings
System version Service settings > Device
Time zone Service settings > Regional parameters
Unit system Service settings > Regional parameters
Version Service settings > Device > System version
Visible satellites Service settings > Device > Device info
9.2 The Actions menu
The operations provided in this menu depend on the current state of the machine.
•when the robot is in the field (page 55).
•when the robot is at the charging station (page 56).
Operations when the robot is in the field
Figure 57: Overview of Actions menu in the field
These operations can be performed on the robot when it is not in the charging station.
Important: Always stop the robot first by hitting the big red stop button.
These operations would be performed if the robot has been stopped during its normal
operation schedule, or if it has stopped because an alarm has been raised. If an alarm has
been raised, you need to correct the problem before executing the operations.
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 55
Chapter 9 The user interface
1 Go charge
Return to the charging station, charge the battery and then resume mowing.
2 Charge & stay
Return to the charging station and stay there until a new instruction is issued.
3 Mow
Continue the mowing schedule after an interruption.
To execute the operations
1. Click .
2. Press the up and down arrows to highlight the required command, or press the
numeric key that appears in front of the command.
3. Press .
4. Close the lid.
Note: If the lid is not closed within 10 seconds, the operation is canceled and you
will need to repeat this procedure.
Note: If the operation does not start even if the lid appears to the closed contact
Belrobotics .
Operations when the robot is at the charging station
Figure 58: Overview of Actions menu at the station
Use these operations to override the regular operating schedule.
Mow now
Leave the charging station and continue mowing.
Mow after charge
Remain in the charging station until the battery is charged and then start mowing.
Stay in station after charge
Stay in the charging station until a new command is issued.
Border
Execute Border mode (page 38) and then return to the charging station.
Mow now on ...
This option appears when there is more than one parcel to be mowed. Leave the
charging station and continue mowing in a specific parcel. A list of (neighbouring) parcels
appears in which you can choose the required one. Only those parcels with a working
percentage of more than 0% are listed.
56 Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
Chapter 9 The user interface
To execute the operations
1. Click .
2. Press the up and down arrows to highlight the required command, or press the
numeric key that appears in front of the command.
3. Press .
4. Close the lid.
Note: If the lid is not closed within 10 seconds, the operation is canceled and you
will need to repeat this procedure.
Note: If the operation does not start even if the lid appears to the closed contact
Belrobotics .
9.3 The Settings menu
These commands enable you to define settings that control the operation of the robot.
Figure 59: Overview of Settings menu
See also: LCD settings (page 64).
9.3.1 Schedule
This command enables you define the working schedule for the robot. It defines the times
when the robot can or cannot enter a parcel or GPS zone to work.
Note: A schedule can also be defined using the web portal.
A schedule influences how the robot works. See also:
-Choosing where to work (page 43).
-Crossing parcels (page 45).
• A working schedule can be defined for each day of the week.
• A number of working periods can be defined for each day, each parcel and each GPS
zone.
• Each defined period can be active (implemented) or inactive (ignored).
• A schedule for one day, and for one parcel, can be copied to other days of the week.
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 57
Chapter 9 The user interface
• The complete schedule can be ignored and the robot set to work at all times.
To define a working schedule
Note: By default when the robot is delivered, the schedule is set to work continuously.
1. Press .
2. Press the up and down arrows to highlight Schedule , then press .
A screen like the one below will appear. In the example below, there are two columns for
each day because two parcels that have been defined. This shows the current schedule,
where the white blocks represent the time when the robot will be operating in one parcel.
Note: By default all the time periods will appear white, meaning the robot will
work continuously.
3. Use the arrow keys to highlight Edit and press .
The following screen appears.
4. To edit the schedule, highlight the parcel and press .
5. Use the left and right arrows to select the required day of the week, then press
6. Use the down arrows to select the required period in the day, and press .
58 Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
Chapter 9 The user interface
7. Use the numeric keyboard to enter the start and end time values where the cursor is
flashing then press .
8. Press the down arrow key to select the active check box.
9. Press to activate the defined session.
In the figure above, Period 1 is active, Period 2 is inactive.
10. Repeat the process for all the days and the time periods required.
Note: You can copy the defined schedule to another day (page 59).
11. Press to return to the PARCEL SCHEDULE screen shown above.
12. Use the arrows to select Follow sched. . Press to check the button ON to ensure that the
robot follows the defined schedule. When unchecked, the robot will ignore the timetable
and work continuously.
Important: When creating a schedule for GPS zones, the schedule for the wired
parcel associated with the zones must be set to continuous, i.e. shown as solid white.
To copy the schedule from one day to another
1. Follow the procedure above to define the mowing schedule for one day.
2. When all the required periods have been defined, use the down key to highlight Copy .
Press .
The following screen appears.
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 59
Chapter 9 The user interface
3. Press the number key that corresponds to the day to which the schedule is to be copied.
More than one day can be selected.
4. Press .
5. Press to return to the overview of the schedule.
To ignore the working schedule
1. Press .
2. Highlight Edit .
3. Press .
4. Use the arrow keys to highlight Follow sched. and press to uncheck the button.
9.3.2 Cutting heads
The robot is supplied with cutting heads which, under normal conditions, should all be used.
When there is a problem with a cutting head, this command allows you to disable it. This
operation can also be executed from the web portal.
Note: It is also possible to disable the cutting heads in a particular parcel (page
63).
To enable/disable specific cutting heads
1. Press .
2. Press the up and down arrows to highlight Cutting heads and then press .
The following screen appears.
This figure indicates that all the cutting heads are enabled.
3. Press the number key(s) that corresponds to the cutting head(s) you wish to enable/
disable.
60 Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
Chapter 9 The user interface
Note: Pressing 0 on the numeric keypad will select all the cutting heads.
4. Press .
5. Press to return to the main menu.
Note: To enable a disabled cutting head, repeat the procedure above, selecting the
disabled head.
9.3.3 Border
Sets the number of times the border mode (page 38) is used each week for each parcel. The
border mode will be implemented at regular intervals during the week.
To set the number of border mode operations per week
1. Press .
2. Press the up and down arrows to highlight Border then press .
A screen will appear with a list of configured working parcels.
3. Highlight the parcel, then use the left and right arrow keys to scroll to the required
number of border modes per week.
4. Press .
5. Press to return to the main menu.
9.3.4 Cutting height
This command allows you to set height of the blades and to disable mowing in a specific
parcel (page 63).
When using the robot for the first time in the season or after being switched off for several
days, the grass may be too dense or too long, and it will be necessary to increase the mowing
height for a few days. By default, the cutting heads will rise automatically when an increased
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 61
Chapter 9 The user interface
resistance from long, dense grass is detected. The cutting heads will also be lowered when
the resistance has decreased.
The height of the blades can be defined for each parcel in which the robot is going to work.
The parcel in which the robot is currently located is termed the actual parcel.
Note: You should be aware that if the cutting height is set to 25mm or less, this will
result in increased wear of the white plastic cover of the anti-friction disc - see Figure
7: Detail of the cutting head (page 14). In this case, this part should be inspected
frequently (at least every 2 months) and replaced if necessary.
To set the cutting height
1. Press .
2. Press the up and down arrows to highlight Cutting height then press .
A screen appears, which shows the cutting height in the parcel in which the robot is
located.
Note: If this value is negative, it implies that a reset of the parameters has
taken place and that the blade height values need to be re-calibrated. Contact
Belrobotics (page 8).
3. Click Set target . A list of configured parcels and their cutting heights are displayed. In
this example it can be seen that the Active parcel is LOOP.
4. Highlight the parcel in which the cutting height is to be modified, then use the left and
right arrow keys to scroll to the required value. Press to set the new height.
If the height for the Active parcel is modified, the cutting heads will be raised or lowered.
If the height is modified in one of the other parcels, the cutting heads will be raised or
lowered when the robot enters the parcel.
62 Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
Chapter 9 The user interface
5. Repeat for other parcels.
6. Press to return to the main menu.
The new height for the active parcel is displayed.
To disable mowing in a specific parcel
This is useful if there are parcels where there is no grass, such as a loop parcel, or a
connecting parcel between two grassy areas. When the robot enters this parcel, the cutting
heads are deactivated and the cutting height is set to the maximum cutting height for all
configured parcels.
If the machine should be scheduled to work on a parcel on which the cutting heads are
disabled the machine will “work” on this parcel but the cutting heads will not be active.
1. Follow the instructions given above to open the CUTTING HEIGHT screen.
2. Click Set target .
3. Highlight the parcel where mowing is not required. Scroll through the values using the
right/left arrows and select Disabled .
4. Press to return to the main menu.
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 63
Chapter 9 The user interface
9.3.5 System locking
This command enables you to block the use of the robot. This is useful if the field area is in
use during the time when the robot is scheduled to be working. The robot will remain inactive
until the system is unlocked.
Note: It is also possible to enable a PIN code (page 69) which must be entered
before a specific commands can be issued.
To lock the system
1. Press .
2. Press the up and down arrows to highlight System locking then press .
3. Highlight OK then press .
The following screen will appear and you will need to enter the robot's pin code in order to
access the menus again.
Note: If you do not know or have forgotten the PIN code contact your dealer.
To unlock the system
1. Enter the 4-digit PIN code.
2. Press .
The robot will then wait for a new command to be issued.
9.3.6 LCD settings
To modify the LCD settings
1. Press for a few seconds.
64 Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
Chapter 9 The user interface
2. Press the right and left arrow buttons to change the contrast.
3. Press the up and down arrows to highlight Temperature Auto Adj . When this option
is checked ON, the LCD contrast is automatically adjusted according to the ambient
temperature. Press to check or uncheck this option.
4. Press the 9 key to invert the colors black and white.
5. Press the 0 key to revert to the factory settings.
6. Press to exit this menu.
9.4 The Service Settings menu
This menu will be used primarily by service technicians.
9.4.1 Regional parameters
This menu enables you to set the date format, the robot time zone, the language used in the
menus and the unit system.
Date format
The date format can be set to be DD/MM/YYYY (Day/Month/Year) or MM/DD/YYYY
(Month/Day/Year)
Time zone
Use the left and right arrow keys to scroll to the required time zone.
Language
Use the left and right arrow keys to select the required language.
Unit system
Use the left and right arrow keys to select the required unit system. The unit of any
displayed value is shown.
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 65
Chapter 9 The user interface
9.4.2 Connections
You need to be able to connect with the robot for the following reasons:
•To enable the robot to communicate with the portal on the web-server. This allows
you to monitor the state of the robot.
•To update the robot software version. The robot connects with the remote server on
a regular basis to check if a new software version is available. If there is, the robot starts
to download it as a background task while it continues to work as usual. At the end of the
next charging period, the newly downloaded software will have been installed on the robot.
IP address
This displays the current IP address of the robot, depending on the mode in which the
robot is operating.
Modes can be mobile, vpn, wifi
Mode
Allows you to set the mode in which the robot is to operate. This can be:
OFF
The robot will not be connected to a network.
Client
The robot will connect to the selected network as a client (page 67).
Access point
The robot will use its inbuilt modem to generate its own WiFi network to which you can
connect.
Search for networks
This option appears when the robot is not connected or cannot detect a WiFi network.
SSID
This displays the name of the WiFi network to which the robot is connected, and allows
you to modify it. Highlight {network name} and press .
A list of networks appears.
Entries in bold text are ones that the robot has connected to.
66 Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
Chapter 9 The user interface
Entries in normal text are available but which have not been used.
[*] indicates the actual network to which the robot is connected.
[!] indicates that the network to which the robot is connected, is not encrypted using
either WPA or WPA2 technologies. This is therefore an insecure network and the [!]
indicates a warning.
[-] indicates that the network has been disabled.
To connect to a different known network (BelRobotics in the example above), highlight
the network, press and select Enable Network .
To modify the current network, (BelRobotics Guest in the example above) highlight the
network, press . The following operations are available
-Disable Network : disconnects the robot from this network. This will be indicated by [-]
preceding the name of the network in the list.
-Change Password : allows you to modify the password to access the network from this
machine.
-Forget Network : removes the recognition of this known network from this robot.
Using the robot as a client
For normal operation it is recommended that you set up the robot as a WiFi client. This will
enable it to communicate with the portal on the web-server.
To set up the robot as a client
1. Press .
2. Highlight Connections and press .
3. Highlight Mode and set it to Client .
If the robot has not been connected to a WiFi network, selecting the option Search for
networks will search for networks and present a list of those available.
4. Highlight the WiFi network required and press .
5. Enter the password for the network using the keyboard.
6. Highlight V and press .
9.4.3 Operations
This menu enables you to set a number of operating parameters: .
Min temp
Sets the lowest temperature that the robot will operate at.
Note: Working at too low a temperature can damage the grass.
Edit parcels percentage
This option enables you to view and modify the percentage values (page 83) assigned
to each of the parcels that have been defined. The percentage value assigned to a parcel
determines the proportion of times the robot will start working in the parcel. A defined
schedule (page 57) for the robot to work in specific parcels will take priority over these
percentage values.
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 67
Chapter 9 The user interface
Brake on idle
When this option is checked ON, at least one brake will be applied when the robot is
stationary. This ensures that the robot does not slide down a slope if
- the robot has stopped because of an alarm,
- the user has manually stopped the robot,
- the stop cover lid is open.
If the brakes have been applied due to this option, you can disable them (or re-enable
them again) by pushing 5. The brakes will also be released when the robot starts to work
again normally.
This option need not be set if the working terrain is flat, and by default it is set OFF.
Max short cycles allowed
This parameter sets the maximum number of times that the robot will return to the station,
after executing a very short cycle, before triggering an alarm. .
9.4.4 Device
This menu displays the characteristics of the device and enables you to change the robot's
name.
Robot Name
By default the name of the robot corresponds to the serial number.
To change the name of the robot
1. Press .
2. Press the arrow keys to highlight Device info then press .
3. Highlight Robot name and press
4. Highlight the back arrow to delete the current name.
5. Use the alpha-numeric keyboard to enter the new name. Highlight each character
required and press to select it.
6. Highlight V in the bottom row and press .
7. Press to accept the new name.
8. Press to return to the main menu.
Activation code
The activation code is a four-figure code provided on the registration card supplied with each
robot.
Device info
To see the device info
1. Press .
2. Press the arrow keys to highlight Device then press .
3. Highlight Device info and press
4. Use the arrows , to scroll through the list.
68 Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
Chapter 9 The user interface
Robot name
The name of the robot.
Serial number
Serial number of the robot.
Latitude
Current latitude of the robot position.
Longitude
Current longitude of the robot position.
Visible satellites
Number of satellites that the device can currently detect.
APN
Id. of the Access Point Network.
MAC address
MAC address.
System version
Software version
The current software version.
Details
Brain Version
Current Artificial Intelligence (AI) version. Use this when reporting a problem.
Bootloader details
This displays a list of software components. The values displayed here should be used
when reporting a problem.
Firmware details
This displays a list of software components. The values displayed here should be used
when reporting a problem.
9.4.5 Security
The security menu enables you to enable/disable the use of a PIN code.
Note: By default the pin code is 0000. To obtain the menu below you need to enter
0000.
PIN code
This enables you to define and implement a PIN code which must be entered before specific
commands can be issued.
If a pin code has already been enabled, you need to enter it. You will then see the following
screen.
Note: If you have forgotten the pin code, you need to contact a service technician.
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 69
Chapter 9 The user interface
Enable pin code
Highlight the check box. Press to toggle the setting.
-Enable PIN code OFF
-Enable PIN code ON
Press to accept the new setting.
From now on certain commands will require the PIN code to be entered before they can
be executed.
Change pin code
Allows you to change the pin code.
Enter the required numbers and press .
70 Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
Chapter 10 Service and Maintenance
10 Service and Maintenance
This section deals with regular maintenance and servicing of your robot.
Maintenance refers to regular operations that should be carried out regularly throughout the
mowing season.
Service refers to the (annual) check carried out by authorized technicians. All machines
should be regularly serviced!
10.1 Maintenance
Maintenance refers to a set of tasks that should be carried out regularly throughout the
mowing season. In addition to these an (annual) service of the robot by an authorized
technician should be undertaken.
The service interval depends to some extent on the operational load of your robot, but it is
recommended that it is serviced by an authorized technician at least once a year.
Whilst maintaining your robot for optimum performance, do not attempt to make any changes
to your robot. You risk disturbing its operation, causing an accident, and damaging parts.
Note: If you notice any unusual behavior or damage - call a technician.
When carrying out these maintenance procedures the following safety regulations should be
observed.
Stop the machine: Always switch off the power and wait for the all moving parts to
stop before handling the machine.
Operate the disabling device before working on or lifting the machine.
This is especially important:
- before clearing a blockage,
- before checking, cleaning or working on the machine,
- after striking a foreign object to inspect the machine for damage,
- if the machine starts to vibrate abnormally.
Important: Keep all nuts, bolts and screws tight to be sure the machine is in safe
working condition.
Use gloves: Protective gloves must be worn whenever handling the machine, and
especially when handling the cutting system.
Always use OEM (Original Equipment Manufacturer) parts supplied by Belrobotics. In addition
to the risk of accidents, the use of any non-OEM parts will result in the annulment of the
guarantee for any resulting damage. Belrobotics declines all liability in case of accident due to
the use of non-OEM parts.
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 71
Chapter 10 Service and Maintenance
Table 2: Maintenance tasks for
Component Weekly 6 months Annual
Station charge contacts (page 73) Inspect /Clean
Body
Bumper (page 73) Inspect /Clean
Sonar (page 73) Clean
Robot charge contacts (page 73) Clean
Wiring (page 76) Inspect/Clean
Mechanical parts
Front wheels (page 74) Clean Inspect
Front wheel axle (page 74) Clean
Cutting head (page 74) Clean
Cutting disc (page 75) Clean
Blades (page 75) Inspect Replace
Rear wheels (page 76) Clean
Battery (page 76) Charge
10.1.1 Maintenance procedures
These procedures should be carried out at the recommended frequency by the regular user of
the robot.
Note: Throughout the mowing season you should regularly check that all screws, nuts
and bolts are properly tightened. Tighten any that are loose, and if there is damage or
evidence of a problem contact an authorized technician.
Every day
-Regular cleaning (during wet weather) (page 73)
Every week
-Clean the charge contacts (page 73).
-Clean the bumper (page 73).
-Clean the sonar sensors (page 73).
-Clean the front wheels (page 74).
-Clean the front wheel axle (page 74).
-Clean the cutting head (page 74)
-Clean the cutting disk (page 75)
-Check the cutting blades (page 75)
-Clean the rear wheels (page 76)
Every six months
-Check the wiring (page 76).
-Replace the cutting blades (page 75)
72 Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
Chapter 10 Service and Maintenance
At the end of the season
-Battery (page 76).
-Wintering (page 76)
Regular cleaning (during wet weather)
During periods of wet weather it is necessary to ensure that mud and grass do not
accumulate on the moving parts: the wheels and the cutting heads. These should be
inspected and cleaned daily.
1. Hit the red button to stop the robot.
2. Turn the machine onto its rear side.
3. Switch the machine OFF.
4. Remove any accumulations of grass and dirt using a wire brush and/or a spatula.
5. Rub the body with a soft, damp cloth or sponge.
6. If the body is very dirty, use a soapy solution or washing-up liquid. Never use solvents!
Clean the charge contacts
This procedure should be performed weekly on both the robot and the charging station.
Charge contacts on the robot Charge contacts on the station
Rub the contact surfaces with grade 280 sandpaper until they appear clean.
Clean the bumper
This procedure should be performed weekly.
Check that the bumper material is intact; no cuts or tears. If it is, contact an authorized
technician.
Clean the bumper with a damp cloth.
Note: Do NOT use water.
Clean the sonar sensors
This procedure should be performed weekly.
The sonar sensors need to be kept clean if they are to operate properly. All need to work
properly. If any of the sensors are not operating properly an alarm is issued.
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 73
Chapter 10 Service and Maintenance
Remove any mud, grass or dirt and wipe with a damp cloth.
Note: Do NOT use water.
Clean the front wheels
This procedure should be performed weekly.
Remove any mud and grass with a wire brush or a cloth.
Check that they rotate easily and that there is not too much play. If so, contact an
authorized technician.
Clean the front wheel axle
This procedure should be performed weekly.
Clean the front wheel axle with a brush and/or a cloth.
Visually inspect the axle. If there is a problem contact an authorized technician.
Clean the cutting head
This procedure should be performed weekly.
Clean the cutting head using a brush. If compressed air is available, this is preferable.
Check that the entire cutting head moves smoothly backward and forwards as shown by
the arrow in the figure below.
74 Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
Chapter 10 Service and Maintenance
See also: adjusting the height of the cutting head (page 61).
Clean the cutting disk
This procedure should be performed weekly. This is especially important if the cutting height
is set to 25mm or less. If this is the case, the wear on the anti-friction disc is increased and
will need to be replaced at least every 2 months.
Clean the cutting disc using a brush. If compressed air is available, this is preferable.
Check that it rotates smoothly. If there is a problem contact an authorized technician.
Check the cutting blades
The condition of the cutting blades is essential for a satisfactory mowing operation. The
service life of the blades depends on a number of factors. See Blade replacement (page
77) for information on these factors and means of improving the life of blades.
Every week you should inspect:
- the blades,
- the blade bolts,
- the cutter assembly.
Cutter assembly parts should be replaced every every six months or whenever they are
damaged.
Rotate the disc, so that the screw head holding the blade is visible.
Undo the screw to remove the blade.
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 75
Chapter 10 Service and Maintenance
Note: Use a flat-headed screw driver with a blade width of 8mm and a thickness of
1.2mm.
Position the new blade and tighten the screw.
Note: After any intervention on the cutting heads:
- Rotate each of them independently.
- Check that each one does not cause any of the other heads to rotate.
Clean the rear wheels
This procedure should be performed weekly. (Daily in periods of wet weather.)
Remove any mud and grass using a wire brush.
If wheel brushes are installed, these will keep the wheels clean, but the brushes should be
inspected and cleaned.
Check the wiring
This procedure should be performed every six months.
Visually inspect the wiring under the robot. If any problems are detected, contact an
authorized technician.
Battery
robotic mowers are equipped with the latest generation LFP batteries.
Note: In the event of leakage of electrolyte, flush with water and seek medical help if it
comes in contact with the eyes etc.
The automatic (programmed) operation of the robot optimizes battery life. It is advisable to
allow the robot to manage its working cycles. If these work cycles seem unusually short,
contact an authorized technician to check the condition of the battery.
Note: It is possible to monitor these cycles using the portal.
This procedure should be performed at the end of the mowing season.
Make sure that the battery is fully charged before winter, then switch the machine OFF.
See Figure 6: Bottom view of robot components (page 14) to see the location of the switch.
Wintering
In addition to charging the battery (see above)
• Clean the robot and arrange for it to be serviced.
• Store the robot in a dry, protected and frost free place.
• It is recommended to protect the charging station with a shelter or a tarpaulin.
• It is not necessary to switch the charging station off. Leaving it connected provides a
degree of warmth.
At the start of the new season.
1. Switch the robot ON.
2. Check that the power is connected to the charging station.
76 Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
Chapter 10 Service and Maintenance
3. Check the battery voltage of battery. The battery level can be seen on the user interface
screen.
4. Start the robot and test it comes back normally to the charging station
10.1.2 Blade replacement
The frequency with which blades needs to be replaced depends on the robot type, its use
and the ground it is working on. Since the condition of the blades is essential for satisfactory
mowing it is recommended that you check this part of your robot each week after installation
and at the beginning of each new mowing season.
The pantograph allows the blade to follow the curves of the ground. If the pantograph is not
operating correctly, blades can become blunt or break. The pantograph should be checked
and cleaned regularly.
There are also a number of ways in which you can prolong the life of your cutting blades.
Do not cut long grass in a single pass. This can blunt the blade edge prematurely. It is
advised to set the cutting height to 5 mm or 10 mm less than the height of the grass and to
proceed in several passes. This is particularly important during the first mows of the season.
Make sure the terrain is even. If the terrain has severe bumps or dips in it, the cutting head
may not be able to follow the contours of the terrain and blades my hit the ground. Try to even
out the terrain and if necessary exclude very uneven patches from the mowing area.
Furrows may appear near the charging station. It is therefore recommended to level the
ground near the station or lay artificial turf.
Remove molehills. When the robots hits a molehill, the blades slow down or may stop. Once
past the molehill, the blade returns to a normal speed. The resistance of the earth and the
changes in speed might loosen the screws (or damage the screw hole).
Avoid bare patches. The presence of bare patches within a grassy zone will cause the
rotational speed to change. If this speed shift occurs too often it may damage the pivot and
the screw hole. To avoid this problem you can raise the cutting height so that the robot is
cutting less grass and speed differences are diminished. Alternatively the bare patches can
be re-seeded.
Avoid contact with nylon ground marker. These can cause bluntness. It is recommended
to lower them below your cutting height.
Avoid low solid obstacles in the grass. These include sprinklers, stones, roots... Stones
and other moveable objects should be removed. To avoid permanent solid objects such as
sprinklers, set the cutting height to be higher than the obstacle, or adapt the mowing area to
avoid them.
Removable goals are another example of a solid obstacle which can not be detected by the
robot. Make sure they are removed before the mowing is scheduled.
Remove tall weeds near the peripheral wire. Tough tall plants can blunt or damage the
bladeIt is therefore preferable to keep clear the areas around your peripheral cables.
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 77
Chapter 11 Technical specifications Big mow BM 1050
11 Technical specifications Big mow BM
1050
Capacity
Maximum mowable area (1 (page 78)) 45000m2
Recommended mowable area (2 (page
79)) 35000m2
Number of sports fields per robot 3
Mowing width 633mm
Speed 2.8km/h
Maximum slope 0%
Cutting
Number of cutting heads 3
Number of cutting blades 9
Low cut (minimum) 22mm
High cut (maximum) 100mm
Adjustment of cutting heads Electronic
Maximum noise level (measured at 5m) 52dB(A)
Battery
Type LIFePo4
Nominal Voltage 25.6V
Nominal Capacity 19.2Ah
Max. charge current: 19.2A
Energy 491.5Wh
Working temperature range Between -20°C and +60°C
Time to fully charge (minimum) 90 minutes
Weight and dimensions
Weight 48kg
Length 1002mm
Width 1044mm
Height 466mm
Software and monitoring
Security PIN code Yes
78 Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
Chapter 11 Technical specifications Big mow BM 1050
GPS location RTK
Robot management via server and app. Standard
Intelligence
Sonar detection of obstacles Multiple. Height 400mm, diameter 70mm.
Adaptive cut This will be available in a future version
Return to station via GPS Yes
Type of mowing Patterned
Multiple starting zone Yes
Multi field (optional) Yes
Multi robots/ station No
Safety
Lift sensors Yes
Reverse sensors No
Bumper Electronic
Deflectors on the cutting heads No
(1) Valid for a lawn that is rectangular, flat, without obstacles, without fertilizer and watering,
being mowed 24/24 and 7/7.
(2) Valid for a lawn that is rectangular, flat, without obstacles, with fertilizer and watering,
being mowed 24/24 and 7/7.
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 79
Chapter 12 Notices
12 Notices
Your robot meets European standards.
Recycle: Waste electrical and electronic equipment is subject to selective collection.
Please recycle your robot according to the standards in force.
Icons on the battery
Make sure you are familiar with the documentation before handing and using the
battery.
Do not allow the battery to come into contact with water.
Caution Take care when handling and using the battery.
Do not crush, heat, incinerate, short circuit, dismantle, or immerse in any liquid. Risk of
leakage or rupture. Do not charge below 0°C. Only use charger specified in the user's
manual.
Recycle your battery.
Refer to the user's manual for battery recycling instructions.
Indicates the polarity of the battery.
80 Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
Chapter 13 Abbreviations
13 Abbreviations
APN: Access Point Name (GSM)
BMS: Battery Management System
LFP: Lithium Ferrous Phosphorous
UWB: Ultra Wide Band
CPU: Central Processing Unit
GPS: Global Positioning System
AP: Access Point (WiFi)
RTK: Real Time Kinematic
GNSS: Global Navigation Satellite System
PoE: Power over Ethernet
RTCM: Radio Technical Commission for Maritime Services (a Real-Time GNSS Data
Transmission Standard)
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 81
Chapter 14 Glossary
14 Glossary
Border mode
When the robot cuts the grass at the very edge of the field. This is done a number of
times per week.
Cycle
A cycle is a working session of the robot. It starts when the robot leaves the station and
ends when it returns to the station or there is an problem that halts the working cycle.
Entity
A collection of robots and users that operate within a site. Information about the robots in
an entity can be viewed on the web portal.
GPS Navigation Zone
This is an RTK GPS zone that is defined by the border discovery process. it
encompasses the entire working area. Sub-zones can then be created by copying and
editing this zone to optimise the efficiency of the robot.
GPS point
A specific point within a parcel that the robot uses to return to or leave a station. The point
is defined by its latitude and longitude. The robot takes a direct route to this point then
follows the trackborder and the loop wire to return to the station.
GPS zone
A GPS zone is defined by set of GPS coordinates. It allows a wired parcel to be sub-
divided without having to use additional wires and channels.
Figure 60: GPS zones in a wired parcel
This provides greater flexibility in defining working areas since the robot can be scheduled
to work with optimum efficiency over the zones.
Idle
A robot will enter idle mode, if the current mission has been ended using the Stop button.
By default the robot will enter the sleep mode after 15 minutes.
Island
A loop in the peripheral wire specially installed to prevent the robot working inside it. The
peripheral wire is taken around the obstacle and the approach and return wires laid next
to each other.
Map
Map of the robots routes on the portal
Mapping
The information built up by the robot using GPS data.
82 Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
Chapter 14 Glossary
NoGo zone
GPS defined No-Go zones are regions on the field defined by GPS coordinates where the
robot can never enter during any of its autonomous operating states. GPS defined No-
Go zones are used to exclude zones from the working area of the robot that cannot be
detected during border discovery. Use of GPS defined No-Go zones allows the robot to
calculate the most efficient mowing pattern in advance. GPS defined No-Go zones are
used to exclude obstacles, typically done by islands and pseudo islands.
Obstacle
An object in the field that the robot must avoid. Obstacles can be permanent (e.g.. trees,
furniture) or transitory, (e.g.. animals).
Obstacles are detected by sensors. Permanent obstacles can be avoided by making
loops in the peripheral wire to form "islands" or "pseudo-islands".
Parcel
An area to be mowed within a peripheral wire. At least one parcel is associated with one
wire.
Several parcels can be defined.
Percentage
This represents the proportion of time that the robot will spend working a particular parcel.
If there is only one parcel, the robot will spend 100% of its time there.
Peripheral wire
A wire laid below the surface of the field which defines the area in which the robot works.
The area defined by the peripheral wire is termed a "parcel".
Pseudo-island
The peripheral wire is taken around the obstacle, maintaining a specific distance between
the approach and the return wires.
Robot status values
Off
Robot has been switched off.
Off After Alarm
Robot has switched itself off after an alarm.
Alarm
Robot is in a state of alarm.
Staying
Robot is waiting at a charge station.
Charge
Robot is charging the battery.
Heading for unload station
Robot is going to the drop pit station to unload balls. This status starts when a robot
decides to return to the station.
Heading for charge station
Robot is going to the charging station. This status starts when the robot decides to
return to the station.
Leaving station
Robot is leaving the station and starting to work.
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 83
Chapter 14 Glossary
RTK GPS zone
The working area for a robot performing pattern mowing. The RTK GPS zone is defined
by the robot making a tour of the peripheral wire.
Site
The entire area which includes the area in which the robot works.
Sleep
A robot will enter sleep mode 15 minutes after an alarm has occurred which has not been
cleared. After 2 days in sleep mode, the robot will enter the OFF mode. This will also
occur if the battery charge level reaches a low level. When in sleep mode the robot uses
minimal power to reduce the risk of the battery.
The robot can be brought out of sleep mode by:
- clearing the alarm and switching the robot on, using the button on the LED screen,
- pushing the robot to the charging station, if the battery is flat,
- sending a remote wakeup command via the web portal.
Start zone
A defined position within a parcel which determines where the robot will start working.
Station loop
A station loop is a short wire around a charging station which is used to guide the robot
into the station. When the robot detects that it is in the station loop it follows the wire until
it arrives in the station.
Station positioning beacon
A device, usually installed in the charging station, that emits a signal that allows the robot
to accurately locate the charging station.
Subscription
A means to access the functionality of the web portal. There are four types of
subscription.
Free: this is available for 2 months after installation for a robot using RTK or 2 years for a
robot not using RTK.
Basic: the subscription type for a robot not using RTK. All the functionality of the web
portal are available.
PremiumRTK: the subscription type for a robot using RTK. All the functionality of the web
portal are available for this type of robot. This subscription is essential if the robot is to
operate using RTK GPS.
Offline: this type of subscription is free, but provides on limited functionality on the web
portal.
Terrain
An area of grass surrounding the field that is not to be mowed.
Track border
A width of grass around the edge of the parcel in which the robot works. The robot follows
the track border when leaving or returning to a station unless it is using GPS.
There is no track border specified for a wire that acts as a "return to station loop (page
84)".
84 Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20
Chapter 14 Glossary
Figure 61: Track border
The track border lies next to the peripheral wire, and is defined by minimum and
maximum dimensions set as installation parameters. It is wider than the robot. The path
taken by the robot within the track border is selected in a random manner. This ensures
that the robot does not repeatedly move along the same path and so create ruts in the
field.
If the robot encounters an obstacle whilst in the track border, the sensors will cause it
to reverse and then rotate through a random angle in order to proceed. This may be
repeated a number of times if necessary.
Figure 62: Maneuvers to avoid an obstacle within the track border
Trackwire
Movement of the robot along the loop wire as it enters and leaves the station.
Big mow BM 1050 User's Manual Version: Release 4.5.0 Last updated: 2022-08-20 85
Belrobotics®, BM 1050® and BM 2050® are registered trademarks of Yamabiko Europe.
… 83 …


Need help? Post your question in this forum.

Forumrules


Report abuse

Libble takes abuse of its services very seriously. We're committed to dealing with such abuse according to the laws in your country of residence. When you submit a report, we'll investigate it and take the appropriate action. We'll get back to you only if we require additional details or have more information to share.

Product:

For example, Anti-Semitic content, racist content, or material that could result in a violent physical act.

For example, a credit card number, a personal identification number, or an unlisted home address. Note that email addresses and full names are not considered private information.

Forumrules

To achieve meaningful questions, we apply the following rules:

Register

Register getting emails for Belrobotics Parcmow Big Mow - BM1050 at:


You will receive an email to register for one or both of the options.


Get your user manual by e-mail

Enter your email address to receive the manual of Belrobotics Parcmow Big Mow - BM1050 in the language / languages: English as an attachment in your email.

The manual is 5.23 mb in size.

 

You will receive the manual in your email within minutes. If you have not received an email, then probably have entered the wrong email address or your mailbox is too full. In addition, it may be that your ISP may have a maximum size for emails to receive.

The manual is sent by email. Check your email

If you have not received an email with the manual within fifteen minutes, it may be that you have a entered a wrong email address or that your ISP has set a maximum size to receive email that is smaller than the size of the manual.

The email address you have provided is not correct.

Please check the email address and correct it.

Your question is posted on this page

Would you like to receive an email when new answers and questions are posted? Please enter your email address.



Info