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公开(公告)号：US20230086392A1
公开(公告)日：2023-03-23
申请号：US17892591
申请日：2022-08-22
Applicant: HUSQVARNA AB
Inventor： Jonas Holgersson
Abstract: A robotic work tool arranged to operate in an operational area bounded by a boundary wire, the operational area encompassing a first charging station and a second charging station, each charging station comprising a base station wire, the robotic work tool comprising a controller, wherein the controller is configured to: operate in the operational area according to a first control signal, the first control signal comprising a first boundary signal being transmitted through the boundary wire and a first base station signal being transmitted through the base station wire of the first charging station; navigate the robotic work tool to locate and move the robotic work tool to the first charging station based on the first control signal; navigate the robotic work tool to distance the robotic work tool from the first charging station in a predetermined manner; synchronize to a second control signal comprising a first boundary signal and a second base station signal both being transmitted through the base station wire of the second charging station; and navigate the robotic work tool to enter the second charging station based on the second control signal.
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公开(公告)号：US20180253096A1
公开(公告)日：2018-09-06
申请号：US15535730
申请日：2015-11-10
Applicant: HUSQVARNA AB
Inventor： Jonas Holgersson , Fredrik Kallström , Jon Funk , Nick Schomer , Mario D'Ovidio
CPC classification number: G05D1/0088 , A01D34/008 , G05D1/0225 , G05D1/0242 , G05D1/0265 , G05D1/0272 , G05D1/0274 , G05D2201/0208
Abstract: A method for determining and mapping a parcel of land may include receiving positioning-information indicative of position data of a robotic vehicle transiting a parcel at one or more locations on the parcel and receiving workload-information indicative of workload data of a robotic vehicle transiting the parcel at one or more locations on the parcel. The method may further include generating a virtual map of the parcel based on the positioning-information and the workload-information received.
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3.发明申请公开(公告)号：US20180213717A1
公开(公告)日：2018-08-02
申请号：US15537437
申请日：2015-11-26
Applicant: HUSQVARNA AB
Inventor： Patrik Jägenstedt , Tom Söberg , Magnus Öhrlund , Andreas Källming , Fredrik Kallström , Jonas Holgersson , Mattias Kamfors , Johan Öster
CPC classification number: A01D34/008 , A01B79/005 , G05D1/021 , G05D1/0274 , G05D2201/0208
Abstract: A robotic work tool system (200) comprising further comprising a charging station (210) and a robotic work tool (100), the robotic work tool system (200) being configured to determine a change in weather and to take preservation action. The robotic work tool may detect the change in weather by detecting an electrical charge buildup in the boundary wire. The robotic work tool may take the preservative action by the robotic work tool (100) distancing itself from the charging station (210).
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公开(公告)号：US11974519B2
公开(公告)日：2024-05-07
申请号：US16965686
申请日：2019-01-21
Applicant: HUSQVARNA AB
Inventor： Jonas Holgersson
CPC classification number: A01D34/008 , G05D1/0223 , G05D1/0225 , G05D1/0265
Abstract: A robotic lawnmower system comprising a charging station (210) and a robotic lawnmower (100), the charging station comprising a signal generator (240) to which a navigation signal cable (260; 250) is to be connected, the signal generator (240) being configured to transmit a signal (265; 245) through the navigation signal cable (260; 250), and the robotic lawnmower (100) comprising: a propulsion system (130, 50); a sensor (170) configured to sense field values of magnetic fields generated by the signal (265; 245) in the navigation signal cable (260; 250); and a controller (110) configured to determine that the robotic lawnmower (100) is in a docking position; record the field value(s) of the sensed signal; control the propulsion system (130, 150) to reverse out of said docking position; and to control the propulsion system (130,150) to enter into said docking position by sensing a current field value; comparing the current field value to the stored field value(s); and determining how to navigate the robotic lawnmower (100) based on the comparison and navigating accordingly.
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公开(公告)号：US20210161065A1
公开(公告)日：2021-06-03
申请号：US16972411
申请日：2019-06-12
Applicant: HUSQVARNA AB
Inventor： Jonas Holgersson
Abstract: The present disclosure relates to a self-propelled robotic work tool (1), e.g. an automatic robotic lawn mower, and a corresponding method. The robotic tool comprises an inertia measurement unit (IMU 15) which generally obtains (25) measured IMU parameters regarding the robotic working tool's movement. A prediction algorithm (17) predicts (27,36) required motor currents for driving the robotic work tool's wheels (5) based on the measured IMU parameters. The predicted motor current is compared (29,37) to the actual current used and the difference constitutes an error (19), which is used in a collision detection unit (21). If the collision detection unit (21) senses that the actually used motor current is much higher than the predicted current, a collision may be indicated (31). The prediction algorithm is repeatedly updated based on the error (19) by incrementing or decrementing an error category counter (error cat, 41,45) if the error (19) is above or bellow a first or second threshold (39,43), and increasing or decreasing a prediction algorithm setting (49,53), e.g. a motor current offset term i offset—if the error category counter (error cat, 41,45) is above or bellow a third or fourth threshold (47,51). This allows the prediction algorithm to adapt to circumstances where the robotic tool is used. For instance, if a lawn mower operates in thick grass, the prediction algorithm can be adapted not to detect false collisions due to increased motor current values.
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Patent Agency Ranking
公开(公告)号：US20180038993A1
公开(公告)日：2018-02-08
申请号：US15540145
申请日：2015-12-22
Applicant: HUSQVARNA AB
Inventor： Patrik Jägenstedt , Tom Soberg , Magnus Öhrlund , Andreas Källming , Fredrik Kallström , Jonas Holgersson , Mattias Kamfors , Stefan Grufman
CPC classification number: G01W1/02 , A01D34/008 , G01S19/47 , G06F16/285 , G06F16/9537 , H04W84/18
Abstract: A robotic vehicle may be configured to incorporate multiple sensors to make the robotic vehicle capable of collecting, feeding, and uploading weather data into an aggregation agent to form a geospatial map or weather service. In this regard, in some cases, the robotic vehicle may include an onboard vehicle positioning module and sensor network to give the robotic vehicle a collective understanding of its environment, and enable it to autonomously collect and upload weather data to an aggregation agent for corresponding locations.
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公开(公告)号：US20240373782A1
公开(公告)日：2024-11-14
申请号：US18691138
申请日：2022-06-03
Applicant: HUSQVARNA AB
Inventor： Lars Roos , Jonas Holgersson , Christer Thorn
IPC: A01D34/00 , A01D101/00
Abstract: A robotic work tool system comprising a robotic work tool configured to operate in a work area comprising a lawn being of at least one lawn type, the robotic work tool comprising a controller configured to operate in the work area based on a work schedule, wherein the work schedule includes an indication of a work amount, wherein the robotic work tool system is characterized in that the work amount is dependent on the lawn type.
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公开(公告)号：US20240147898A1
公开(公告)日：2024-05-09
申请号：US18503359
申请日：2023-11-07
Applicant: HUSQVARNA AB
Inventor： Jonas Holgersson
CPC classification number: A01D34/008 , G05D1/0212 , A01D2101/00
Abstract: The present disclosure relates to a robotic lawn mower (100) comprising a body (140), at least two drive wheels (130a, 130b) arranged along a drive wheel axis (145) with a center (146) that is positioned between the drive wheels (130a, 130b). The robotic lawn mower (100) further comprises a control unit (110) and at least a first rotatable grass cutting disc (160). When the robotic lawn mower (100) is approaching a boundary (220) of an operation area (610), the control unit (110) is adapted to
position the robotic lawn mower (100a) such that there is a shortest distance (ds) between the center (146) and the boundary (220), and to
control the drive wheels (130a, 130b) to turn in mutually different directions such that the second end portion (102) of the robotic lawn mower (100a, 100b, 100c) performs an arcuate movement along a cutting arc (210), enabling the first cutting disc (160) to cut grass within the cutting arc (210).
The boundary (220) is positioned between a border (139) and the operation area (610), and where the shortest distance (ds) admits the cutting arc (210) to have a closest arc portion (211) that is closest to the border (139) without passing the border (139).-
公开(公告)号：US11112532B2
公开(公告)日：2021-09-07
申请号：US15540145
申请日：2015-12-22
Applicant: HUSQVARNA AB
Inventor： Patrik Jägenstedt , Tom Soberg , Magnus Öhrlund , Andreas Källming , Fredrik Kallström , Jonas Holgersson , Mattias Kamfors , Stefan Grufman
Abstract: A robotic vehicle may be configured to incorporate multiple sensors to make the robotic vehicle capable of collecting, feeding, and uploading weather data into an aggregation agent to form a geospatial map or weather service. In this regard, in some cases, the robotic vehicle may include an onboard vehicle positioning module and sensor network to give the robotic vehicle a collective understanding of its environment, and enable it to autonomously collect and upload weather data to an aggregation agent for corresponding locations.
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公开(公告)号：US20210037703A1
公开(公告)日：2021-02-11
申请号：US16965686
申请日：2019-01-21
Applicant: HUSQVARNA AB
Inventor： Jonas Holgersson
Abstract: A robotic lawnmower system comprising a charging station (210) and a robotic lawnmower (100), the charging station comprising a signal generator (240) to which a navigation signal cable (260; 250) is to be connected, the signal generator (240) being configured to transmit a signal (265; 245) through the navigation signal cable (260; 250), and the robotic lawnmower (100) comprising: a propulsion system (130, 50); a sensor (170) configured to sense field values of magnetic fields generated by the signal (265; 245) in kin the navigation signal cable (260; 250); and a controller (110) configured to determine that the robotic lawnmower (100) is in a docking position; record the field value(s) of the sensed signal; control the propulsion system (130, 150) to reverse out of said docking position; and to control the propulsion system (130,150) to enter into said docking position by sensing a current field value; comparing the current field value to the stored field value(s); and determining how to navigate the robotic lawnmower (100) based on the comparison and navigating accordingly.
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