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    Navigation for a robotic lawnmower
    1.
    发明授权
    Navigation for a robotic lawnmower 有权

    公开(公告)号：US10462961B2

    公开(公告)日：2019-11-05

    申请号：US15537542

    申请日：2015-11-26

    Applicant: HUSQVARNA AB

    Inventor： Isak Tjernberg ,  Jakob Almqvist ,  Peter Reigo

    IPC: A01D34/00 ,  G05D1/02 ,  G01S19/26 ,  G01S19/48 ,  G01S19/49 ,  G01C21/12 ,  G01S19/14 ,  A01D101/00

    Abstract: A robotic lawnmower (100) for movable operation within a work area (205) has a satellite navigation device (190), a deduced reckoning navigation sensor (195) 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, a deduced reckoning position estimate is obtained by the deduced reckoning navigation device (195). A search space is defined using the deduced reckoning position estimate, and the satellite navigation device (190) is recalibrated based on the defined search space. Once the satellite navigation device (190) has been recalibrated, the controller causes the robotic lawnmower (100) to again operate in the first operating mode.

    IMPROVED NAVIGATION FOR A ROBOTIC LAWNMOWER
    4.
    发明申请
    IMPROVED NAVIGATION FOR A ROBOTIC LAWNMOWER 审中-公开

    公开(公告)号：US20170347521A1

    公开(公告)日：2017-12-07

    申请号：US15537542

    申请日：2015-11-26

    Applicant: HUSQVARNA AB

    Inventor： Isak Tjernberg ,  Jakob Almqvist ,  Peter Reigo

    IPC: A01D34/00 ,  G01S19/26 ,  G01S19/49 ,  G05D1/02 ,  G01C21/12 ,  A01D101/00

    CPC classification number: A01D34/008 ,  A01D2101/00 ,  G01C21/12 ,  G01S19/14 ,  G01S19/26 ,  G01S19/48 ,  G01S19/49 ,  G05D1/0227 ,  G05D1/0265 ,  G05D1/0272 ,  G05D1/0278 ,  G05D2201/0208

    Abstract: A robotic lawnmower (100) for movable operation within a work area (205) has a satellite navigation device (190), a deduced reckoning navigation sensor (195) 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, a deduced reckoning position estimate is obtained by the deduced reckoning navigation device (195). A search space is defined using the deduced reckoning position estimate, and the satellite navigation device (190) is recalibrated based on the defined search space. Once the satellite navigation device (190) has been recalibrated, the controller causes the robotic lawnmower (100) to again operate in the first operating mode.

    Navigation for a robotic working tool
    6.
    发明授权
    Navigation for a robotic working tool 有权

    公开(公告)号：US10136576B2

    公开(公告)日：2018-11-27

    申请号：US15035662

    申请日：2013-11-12

    Applicant: HUSQVARNA AB

    Inventor： Peter Reigo

    IPC: A01D34/00 ,  G05D1/02 ,  B60L1/00 ,  B60L11/14

    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 and at least one deduced reckoning navigation sensor (195), the robotic work tool (100) being configured to determine that a reliable current position is possible to determine and in response thereto calibrate at least one of the at least one deduced reckoning navigation sensor (195).

    Navigation for a robotic working tool
    8.
    发明授权
    Navigation for a robotic working tool 有权
    导航机器人工作工具

    公开(公告)号：US09573275B2

    公开(公告)日：2017-02-21

    申请号：US15035627

    申请日：2013-11-12

    Applicant: HUSQVARNA AB

    Inventor： Peter Reigo ,  Patrik Jägenstedt ,  Magnus Öhrlund

    IPC: B25J9/16

    CPC classification number: B25J9/1643 ,  A01D34/008 ,  B25J9/1664 ,  G05D1/0219 ,  G05D1/0265 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0208 ,  Y10S901/01 ,  Y10S901/09

    Abstract: A robotic work tool system (200), comprising a robotic work tool (100), said robotic work tool (100) comprising a controller (110) being configured to cause said robotic work tool (100) 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 (190), such as Global Navigation Satellite System device (190); determine that said received signals are not reliable, and in response thereto cause said robotic work tool (100) 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.

    Abstract translation: 一种机器人作业工具系统（200），包括机器人作业工具（100），所述机器人作业工具（100）包括控制器（110），其被配置为使所述机器人工作工具（100）在第一操作模式下操作， 所述第一操作模式基于当前位置，所述当前位置是基于从诸如全球导航卫星系统设备（190）的位置确定设备（190）接收的信号确定的; 确定所述接收到的信号不可靠，并且响应于此使得所述机器人工作工具（100）根据第二操作模式操作，哪个第二操作模式不基于基于所述接收信号确定的当前位置。

    Navigation for a robotic work tool
    9.
    发明授权
    Navigation for a robotic work tool 有权

    公开(公告)号：US10928833B2

    公开(公告)日：2021-02-23

    申请号：US15780916

    申请日：2015-12-02

    Applicant: HUSQVARNA AB

    Inventor： Peter Reigo

    IPC: G05D1/02 ,  G01S19/14 ,  G01S19/41 ,  G01S19/43

    Abstract: A robotic work tool for movable operation within a work area. The robotic lawnmower comprises a satellite navigation device; and a controller, the controller being configured to cause the robotic work tool to movably operate within the work area based on positions partly or in whole determined from satellite signals received by the satellite navigation device being a differential satellite navigation device and on phase information received from a reference station, by: receiving phase information from the reference station for a satellite signal received by the reference station; storing the phase information; determining that further phase information from the reference station for the satellite signal received by the reference station is not available or erroneous, and in response thereto; extrapolating phase information based on the stored phase information; receiving a satellite signal received by the robotic work tool; comparing the extrapolated phase information to phase information of the satellite signal received by the robotic work tool; determining a position based on the comparison for movably operating the robotic work tool.

    OBSTACLE DETECTION FOR A ROBOTIC WORKING TOOL
    10.
    发明申请
    OBSTACLE DETECTION FOR A ROBOTIC WORKING TOOL 审中-公开

    公开(公告)号：US20190113923A1

    公开(公告)日：2019-04-18

    申请号：US16215123

    申请日：2018-12-10

    Applicant: HUSQVARNA AB

    Inventor： Peter Reigo ,  Ludvig Sjöholm

    IPC: G05D1/02 ,  B60L8/00 ,  B60L15/20 ,  B60L1/00 ,  A01D34/00 ,  A01D75/18

    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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