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    Method for updating a collision detection algorithm in a self-propelled robotic tool
    1.
    发明授权
    Method for updating a collision detection algorithm in a self-propelled robotic tool 有权

    公开(公告)号：US11963478B2

    公开(公告)日：2024-04-23

    申请号：US16972411

    申请日：2019-06-12

    Applicant: HUSQVARNA AB

    Inventor： Jonas Holgersson

    IPC: A01D34/00 ,  A01D101/00 ,  B25J9/16 ,  G05D1/00 ,  G05D1/02

    CPC classification number: A01D34/008 ,  B25J9/162 ,  G05D1/0212 ,  A01D2101/00 ,  G05D2201/0208

    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.

    Method for constructing map for mower, storage medium, mower, and mobile terminal
    5.
    发明授权
    Method for constructing map for mower, storage medium, mower, and mobile terminal 有权

    公开(公告)号：US11917938B2

    公开(公告)日：2024-03-05

    申请号：US18346699

    申请日：2023-07-03

    Applicant: Willand (Beijing) Technology Co., Ltd.

    Inventor： Shaoguang Zhang ,  Degan Lin ,  Zhuo Yao

    IPC: A01D34/00 ,  G05D1/00

    CPC classification number: A01D34/008 ,  G05D1/0274 ,  G05D2201/0208

    Abstract: A method for constructing a map for a mower includes: acquiring a preliminary map of a work region, two adjacent target points are used as first target points and are connected to form an initial connecting line; selecting a target point farthest from the initial connecting line as a second target point, and using a connecting line between the second target point and the first target points as to-be-processed connecting lines; selecting a third target point for each to-be-processed connecting line; when a condition is met, using connecting lines between the third target point and the target points at the two ends of the to-be-processed connecting line as new to-be-processed connecting lines and returning; retaining each of the third target points whose distance from a corresponding to-be-processed connecting line is greater than the first preset threshold as a map construction target point, and constructing a boundary map.

    IMPROVED OPERATION FOR A ROBOTIC WORK TOOL
    7.
    发明公开
    IMPROVED OPERATION FOR A ROBOTIC WORK TOOL 审中-公开

    公开(公告)号：US20240049627A1

    公开(公告)日：2024-02-15

    申请号：US18266319

    申请日：2021-12-07

    Applicant: HUSQVARNA AB

    Inventor： Adam Tengblad ,  Arvi Jonnarth ,  Herman Jonsson ,  Adam Saxén ,  Jakob Malm ,  Göran Calås ,  Elias Josefsson ,  Victor Ahlm ,  Maria Strahl

    IPC: A01D34/00 ,  G05D1/02

    CPC classification number: A01D34/008 ,  G05D1/0259 ,  G05D1/0274 ,  G05D2201/0208 ,  A01D2101/00

    Abstract: A robotic work tool system (200) comprising a server (230), a user device (240) and one or more robotic work tools (100, 100-1, 100-2), the server comprising a controller (231), the controller (231) being configured to: define (510) an extent of a work area (205); define (520) features of the work area; receive at least one user requirement from the user device (240); define (540) requirements based on the extent of the work area, the features of the work area and the user requirement; select (550) one or more of the one or more robotic work tools (100) based on capabilities of the robotic work tools (100) by matching the requirements to the capabilities of the robotic work tools; generate (560) operating instructions for the selected robotic work tools (100); and to transmit (570) the operating instructions to the selected robotic work tools (100).

    Autonomous moving object
    8.
    发明授权
    Autonomous moving object 有权

    公开(公告)号：US11899102B2

    公开(公告)日：2024-02-13

    申请号：US17262283

    申请日：2019-07-04

    Applicant: Acconeer AB

    Inventor： Bo Lincoln ,  Peter Almers ,  Rikard Nelander

    IPC: G01S13/931 ,  G05D1/02 ,  G01S13/90 ,  G01S13/87

    CPC classification number: G01S13/931 ,  G01S13/87 ,  G01S13/9043 ,  G05D1/0257 ,  G01S2013/93271 ,  G05D2201/0208 ,  G05D2201/0215 ,  G05D2201/0216

    Abstract: The disclosure relates to an autonomous moving object comprising: a radar sensor configured to scan a volume in front of the object, and a radar signal processor configured to: acquire a sequence of radar responses, each radar response of the sequence being acquired at a different position of the autonomous moving object, and perform synthetic aperture radar processing of at least parts of the acquired sequence of radar responses to obtain a synthetic aperture radar image representing response amplitude as a function of at least distance and angle with respect to the radar sensor, the autonomous moving object further comprising: a controller configured to detect presence of a potential obstacle within a pre-defined sub-volume in front of the autonomous moving object by analyzing the synthetic aperture radar image and, in response to detecting presence of a potential obstacle, output a control command configured to cause a changed movement of the autonomous moving object.

    Techniques for environmental parameter mapping
    9.
    发明授权
    Techniques for environmental parameter mapping 有权

    公开(公告)号：US11886188B2

    公开(公告)日：2024-01-30

    申请号：US17344268

    申请日：2021-06-10

    Applicant: R-Go Robotics LTD.

    Inventor： Nizan Horesh ,  Tal Levy ,  Assaf Agmon

    IPC: G01C21/00 ,  G05D1/00 ,  A01D34/00 ,  A01D101/00

    CPC classification number: G05D1/0088 ,  A01D34/008 ,  G01C21/3848 ,  A01D2101/00 ,  G05D2201/0208

    Abstract: A system and method for environmental parameter mapping. A method includes adding at least one entry to a mapping data structure, wherein each entry includes a position of a robotic device and at least one corresponding environmental parameter for the respective position of the robotic device, wherein each environmental parameter of each entry indicates an attribute of an environment at the corresponding position and is based on at least one sensor signal captured at the corresponding position; and sending at least one command to the robotic device, wherein the at least one command is determined based on the mapping data structure and includes at least one command to navigate.

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