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公开(公告)号：US20180364735A1
公开(公告)日：2018-12-20
申请号：US15780856
申请日：2015-12-02
Applicant: HUSQVARNA AB
Inventor： Jonathan Holmström , Peter Reigo
Abstract: A robotic lawnmower (100) for movable operation within a work area (205) has a satellite navigation device (190), a landmark scanner (193) and a controller (110). The controller causes the robotic lawnmower (100) to movably operate within the work area (205) in a first operating mode, the first operating mode being based on positions determined from satellite signals received by the satellite navigation device (190). The controller determines that a position cannot be reliably determined based on satellite signals received by the satellite navigation device (190), and in response thereto causes the robotic lawnmower (100) to movably operate within the work area (205) in a second operating mode. In the second operating mode, the controller receives scanning information from said landmark scanner (193) and identifies at least one landmark based on the received scanning information and determines a landmark-based position estimate. The controller defines a search space using the landmark-based position estimate, and the satellite navigation device (190) is reconstructed based on the defined search space. Once the satellite navigation device (190) has been reconstructed, the controller causes the robotic lawnmower (100) to again operate in the first
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公开(公告)号：US10078336B2
公开(公告)日：2018-09-18
申请号：US15105654
申请日：2013-12-19
Applicant: HUSQVARNA AB
Inventor： Peter Reigo , Stefan Grufman
CPC classification number: G05D1/027 , A01D34/008 , B60L1/003 , B60L50/16 , B60L50/52 , B60L53/14 , B60L53/30 , B60L2200/40 , B60L2220/46 , B60L2240/62 , B60L2260/32 , G01C21/165 , G05D1/0278 , G05D2201/0203 , G05D2201/0208 , Y02T10/70 , Y02T10/7005 , Y02T10/7072 , Y02T10/7077 , Y02T10/7291 , Y02T90/121 , Y02T90/14 , Y02T90/16 , Y02T90/162
Abstract: A robotic work tool system (200) comprising a robotic work tool (100), said robotic work tool (100) comprising a position determining device (190) for determining a current position, such as through receiving satellite signals, and a navigation device (195) arranged to at least provide a compass heading, the robotic work tool (100) being configured to: determine a compass heading (CH) obtained through the navigation device (195); compare the compass heading to a true heading (TH) obtained through the position determining device (190); determine an error (e) between the true heading (TH) and the compass heading (CH); determine a robot position (XR; YR); and store the error (e) for said robot position (XR; YR) thereby generating a magnetic correction matrix.
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公开(公告)号：US20170031368A1
公开(公告)日：2017-02-02
申请号：US15104567
申请日：2013-12-19
Applicant: HUSQVARNA AB
Inventor： Peter Reigo , Patrik Jägenstedt , Magnus Öhrlund
CPC classification number: G05D1/0274 , A01D34/008 , B60L1/003 , B60L8/003 , B60L11/14 , B60L11/1805 , B60L11/1816 , B60L11/1824 , B60L15/2036 , B60L2200/40 , B60L2220/46 , B60L2240/12 , B60L2240/62 , B60L2260/32 , G01C21/165 , G01S19/13 , G05D1/0231 , G05D1/0265 , G05D1/0278 , G05D2201/0203 , G05D2201/0208 , G05D2201/0209 , G05D2201/0215 , Y02T10/645 , Y02T10/70 , Y02T10/7005 , Y02T10/7072 , Y02T10/7077 , Y02T10/7083 , Y02T10/72 , Y02T10/7275 , Y02T10/7291 , Y02T90/121 , Y02T90/14 , Y02T90/16 , Y02T90/162
Abstract: A robotic work tool system (200) comprising a charging station (210) and a robotic work tool (100), said robotic work tool (100) comprising a position determining device (190) for determining a current position, the robotic work tool (100) being configured to determine that reliable navigation through said position determining device (190) is no longer possible, such as when satellite signal reception is not possible, at a time point (T1) and position and in response thereto generate an obstacle map which gives information on the position of at least one obstacle (260), determine when an area will be shadowed with regards to satellite reception based on said obstacle map, and to schedule operation of the robotic work tool (100) accordingly.
Abstract translation: 一种包括充电站（210）和机器人工作工具（100）的机器人工作工具系统（200），所述机器人工作工具（100）包括用于确定当前位置的位置确定装置（190），所述机器人工作工具 100）被配置为确定通过所述位置确定装置（190）的可靠导航不再可能，例如当在时间点（T1）和位置不可能进行卫星信号接收时，并且响应于此产生障碍物图，其中 提供关于至少一个障碍物（260）的位置的信息，基于所述障碍物图确定关于卫星接收的区域何时被遮蔽，并相应地调度机器人作业工具（100）的操作。
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公开(公告)号：US11112505B2
公开(公告)日：2021-09-07
申请号：US16803276
申请日：2020-02-27
Applicant: HUSQVARNA AB
Inventor： Magnus Öhrlund , Peter Reigo
Abstract: A robotic work tool system, comprising a robotic work tool, said robotic work tool comprising a position determining device for determining a current position and at least one deduced reckoning (also known as dead reckoning) navigation sensor, the robotic work tool being configured to determine that a reliable and accurate current position is possible to determine and in response thereto determine an expected navigation parameter, compare the expected navigation parameter to a current navigation parameter to determine a navigation error, determine if the navigation error is negligible, and if the navigation error is not negligible, cause the robotic work tool to change its trajectory to accommodate for the navigation error. Wherein the robotic work tool (100) is further configured to change the trajectory by aligning the trajectory with an expected trajectory, wherein the expected trajectory is determined as an expected direction originating from an expected position and wherein the robotic work tool (100) is configured to change the trajectory by returning to a position that should have been visited and aligning the trajectory with the expected direction originating from the expected position, said position that should have been visited being aligned with the expected direction originating from the expected position.
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公开(公告)号：US10649466B2
公开(公告)日：2020-05-12
申请号：US15780856
申请日：2015-12-02
Applicant: HUSQVARNA AB
Inventor： Jonathan Holmström , Peter Reigo
Abstract: A robotic lawnmower (100) for movable operation within a work area (205) has a satellite navigation device (190), a landmark scanner (193) and a controller (110). The controller causes the robotic lawnmower (100) to movably operate within the work area (205) in a first operating mode, the first operating mode being based on positions determined from satellite signals received by the satellite navigation device (190). The controller determines that a position cannot be reliably determined based on satellite signals received by the satellite navigation device (190), and in response thereto causes the robotic lawnmower (100) to movably operate within the work area (205) in a second operating mode. In the second operating mode, the controller receives scanning information from said landmark scanner (193) and identifies at least one landmark based on the received scanning information and determines a landmark-based position estimate. The controller defines a search space using the landmark-based position estimate, and the satellite navigation device (190) is reconstructed based on the defined search space. Once the satellite navigation device (190) has been reconstructed, the controller causes the robotic lawnmower (100) to again operate in the first operating mode.
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Patent Agency Ranking
公开(公告)号：US10646997B2
公开(公告)日：2020-05-12
申请号：US15407576
申请日：2017-01-17
Applicant: HUSQVARNA AB
Inventor： Peter Reigo , Patrik Jägenstedt , Magnus Öhrlund
Abstract: A robotic work tool system, comprising a robotic work tool, said robotic work tool comprising a controller being configured to cause said robotic work tool to operate in a first operating mode, which first operating mode is based on a current position, said current position being determined based on signals received from a position determining device, such as Global Navigation Satellite System device; determine that said received signals are not reliable, and in response thereto cause said robotic work tool to operate according to second operating mode, which second operating mode is not based on a current position being determined based on said received signals.
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公开(公告)号：US10598793B2
公开(公告)日：2020-03-24
申请号：US15539356
申请日：2015-11-26
Applicant: HUSQVARNA AB
Inventor： Magnus Öhrlund , Peter Reigo
Abstract: A robotic work tool system, comprising a robotic work tool, said robotic work tool comprising a position determining device for determining a current position and at least one deduced reckoning (also known as dead reckoning) navigation sensor, the robotic work tool being configured to determine that a reliable and accurate current position is possible to determine and in response thereto determine an expected navigation parameter, compare the expected navigation parameter to a current navigation parameter to determine a navigation error, determine if the navigation error is negligible, and if the navigation error is not negligible, cause the robotic work tool to change its trajectory to accommodate for the navigation error. Wherein the robotic work tool (100) is further configured to change the trajectory by aligning the trajectory with an expected trajectory, wherein the expected trajectory is determined as an expected direction originating from an expected position and wherein the robotic work tool (100) is configured to change the trajectory by returning to a position that should have been visited and aligning the trajectory with the expected direction originating from the expected position, said position that should have been visited being aligned with the expected direction originating from the expected position.
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公开(公告)号：US10185325B2
公开(公告)日：2019-01-22
申请号：US15105013
申请日：2013-12-19
Applicant: HUSQVARNA AB
Inventor： Peter Reigo , Ludvig Sjöholm
IPC: G05D1/02 , G01S1/68 , G01S1/72 , A01D34/00 , A01D75/18 , B60L1/00 , B60L8/00 , B60L11/14 , B60L11/18 , B60L15/20
Abstract: A robotic work tool system (200) comprising a robotic work tool (100) and a beacon marker (280), said robotic work tool (100) comprising a beacon sensor (175) configured to sense a signal being transmitted by the beacon marker (280), said beacon marker (280) marking an area (270) around an obstacle (260) in a work area (205) in which said robotic work tool (100) is arranged to operate, wherein said robotic work tool is configured to determine a proximity to a beacon marker (280) and to adapt its operation accordingly.
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公开(公告)号：US20170357006A1
公开(公告)日：2017-12-14
申请号：US15539356
申请日：2015-11-26
Applicant: HUSQVARNA AB
Inventor： Magnus Öhrlund , Peter Reigo
CPC classification number: G01S19/14 , A01D34/008 , G01C21/165 , G01S19/49 , G05D1/0219 , G05D1/0265 , G05D1/027 , G05D1/0272 , G05D1/0278 , G05D1/028 , G05D2201/0201 , G05D2201/0203 , G05D2201/0208 , G05D2201/0215
Abstract: A robotic work tool system, comprising a robotic work tool, said robotic work tool comprising a position determining device for determining a current position and at least one deduced reckoning (also known as dead reckoning) navigation sensor, the robotic work tool being configured to determine that a reliable and accurate current position is possible to determine and in response thereto determine an expected navigation parameter, compare the expected navigation parameter to a current navigation parameter to determine a navigation error, determine if the navigation error is negligible, and if the navigation error is not negligible, cause the robotic work tool to change its trajectory to accommodate for the navigation error. Wherein the robotic work tool (100) is further configured to change the trajectory by aligning the trajectory with an expected trajectory, wherein the expected trajectory is determined as an expected direction originating from an expected position and wherein the robotic work tool (100) is configured to change the trajectory by returning to a position that should have been visited and aligning the trajectory with the expected direction originating from the expected position, said position that should have been visited being aligned with the expected direction originating from the expected position.
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公开(公告)号：US20170345210A1
公开(公告)日：2017-11-30
申请号：US15536147
申请日：2015-10-19
Applicant: HUSQVARNA AB
Inventor： Stefan Grufman , Björn Mannefred , Mikael Willgert , Anders Mattsson , Peter Reigo
IPC: G06T17/05 , G06F3/0484 , G05D1/02
CPC classification number: G06T17/05 , G05D1/0038 , G05D1/0219 , G05D1/0246 , G05D1/027 , G05D1/0274 , G05D1/0278 , G05D2201/0208 , G06F3/04842 , G06F3/04845 , H04L67/12 , H04L67/125 , H04W4/029
Abstract: A method for mapping and planning a parcel or garden may include receiving information indicative of position data of a robotic vehicle transiting a parcel and corresponding image data captured by the robotic vehicle at one or more locations on the parcel. The method may further include generating a base-map of the parcel based on the information received and providing a graphical representation of the parcel based on the base-map. The method may further include enabling an operator to generate a modified-map.
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