Husqvarna Ab

Fredrik Kallström

Patrik Jägenstedt

Mattias Kamfors

Magnus Öhrlund

Stefan Grufman

Mats R Svensson

Björn Mannefred

Marcus Liljedahl

Jonas Holgersson

Jonas Rangsjö

Mikael Willgert

Olle Markusson

Jonathan Björn

Beppe Hellsin

Tommy Glimberg

Magnus Bergenholm

Andreas Källming

Jon Funk

Mario D'Ovidio

Nick Schomer

Anders Hjalmarsson

Johan Öster

Andreas Peterson

Jonas Agerhall

Pär-Ola Svensson

Kent Askenmalm

Tom Söberg

Johan Ståhl

Göran Calás

Göran Calås

Beppe Hesssin

Andreas Petersson

Jonas RangsjÖ

A robotic work tool system () comprising a robotic work tool () comprising a controller (), the controller () being configured to determine an area locality () associated with a hindrance; determine a classifier (C) associated with the area locality (); and determine an action for the robotic work tool (), wherein the action is based on the classifier (C).

Navigation for a robotic work tool

A robotic work tool system () for defining a working area () in which at least one robotic work tool () subsequently is intended to operate. The system () comprises at least one controller () being configured to receive sensor data for pose estimation and event data relating to a plurality of events of at least one robotic work tool () moving within the working area (). The received sensor and event data are associated with each other in time. The controller () is configured to determine positions for the events based on the received sensor data associated with the respective event data and to determine features reflecting the working area () by relating positions associated with corresponding events with each other. The controller () is configured to adjust the determined positions based on the determined features by, for each feature, comparing the respective determined positions with each other; and determine, based on the adjusted positions, a map defining the working area ().

Robotic work tool system and method for defining a working area

A robotic work tool system () for defining a working area () in which a robotic work tool () is subsequently intended to operate. The robotic work tool system () comprises a robotic work tool (), at least one controller () and at least one memory (). The robotic work tool () comprises at least one sensor unit () configured to collect sensed input data while the robotic work tool () is driven around the working area () to preliminarily define a perimeter around the working area (). The at least one controller () is configured to establish a preliminary working area perimeter (). The at least one memory () is configured to store a perimeter adjustment function and instructions that cause the at least one controller () to adjust the perimeter of the working area () by applying the stored perimeter adjustment function to the established preliminary working area perimeter () and thereby produce an adjusted working area perimeter (). The perimeter adjustment function is based on the collected sensed input data corresponding to terrain features.

A robotic work tool system () for avoiding trails from a robotic work tool () in a transit zone () in which the robotic work tool () is allowed to travel from a start point () to a goal point () along a travel path (). The system () comprises at least one memory () configured to store information about the transit zone (), at least one robotic work tool () configured to travel along the travel path () and at least one controller () for controlling operation of the robotic work tool (). The controller () is configured to receive, from the memory (), information about the transit zone () and generate, based on the transit zone (), the travel path () for the robotic work tool () from the start point () to the goal point (). The generated travel path () is configured to differ from previously generated travel paths.

Robotic work tool system and method for transporting a robotic work tool between different areas

A robotic work tool having a chassis, a cover and a controller for controlling the operation of the robotic work tool. The robotic work tool further has a lift/collision detection device () connected to the controller for providing sensor input, and which Hft/coUision detection device () includes a first sensor element () and a second sensor element (). The controller () is configured to receive sensor input of a distance value indicating a distance between the first sensor element () and the second sensor element (), determine that a lift has been detected, fay comparing the distance value with a lift detection threshold and/or determine that a collision has been detected, by comparing the distance value with a collision detection threshold, wherein the collision detection threshold is different from the lift detection threshold.

Robotic work tool and a method for use in a robotic work tool comprising a lift/collision detection device

The present disclosure relates to a self-propelled robotic tool () and a method in a self-propelled robotic tool (), being used to detecting lifting of the self-propelled robotic device from the ground. The method includes collecting () driving data () related to the driving of a wheel (), collecting () measured inertia data from an inertial measurement unit (), IMU, in the self-propelled robotic tool, determining (), using an estimation function (), a residual parameter corresponding to a differential between said measured inertia data and estimated inertia data resulting from said driving data being input to said estimation function, and determining a lifting condition based on the residual parameter.

Method for detecting lifting of a self-propelled tool from the ground

A robotic work tool comprising a work tool (), a tool damage detector () and a controller () for controlling the operation of the robotic work tool (), the robotic work tool () being configured to detect that the work tool () is damaged or lost by detecting an irregularity utilizing the tool damage detector () and thereby determining that the work tool () is damaged or lost.

Robotic work tool and method for detecting tool damage or loss

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.

Weather collection and aggregation via robotic vehicle

A robotic work tool comprising a motor for driving at least one wheel, an inclination sensor and a controller for controlling the operation of the robotic work tool, the controller being configured to; receive a signal indicating a collision; determine if the signal indicating a collision is above a collision threshold level and, if so, determine that a collision has been detected, the robotic work tool being characterized in that the controller is further configured to: receive an indication of an inclination; and to adapt the collision threshold accordingly based on said indication of an inclination.

Collision detection for a robotic work tool

A robotic vehicle may include a first chassis platform including a first wheel assembly, a second chassis platform including a second wheel assembly where the first and second chassis platforms are spaced apart from each other, and a combination linkage operably coupling the first and second chassis platforms. The combination linkage may be operably coupled to the first chassis platform via a first link and is operably coupled to the second chassis platform via a second link. The combination linkage employs at least two different coupling features to operably couple the first and second chassis platforms. The at least two different coupling features include at least any two among a fixed attachment, an attachment that enables rotation about a turning axis, and an attachment that enables pivoting about a pivot axis that is substantially perpendicular to the turning axis.

All wheel drive robotic vehicle with steering brake

A robotic work tool system () comprising further comprising a charging station () and a robotic work tool (), the robotic work tool system () 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 () distancing itself from the charging station ().

Operation of a robotic work tool by adapting the operation to weather conditions

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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Huskvarna, Sweden

Fredrik Kallström