Husqvarna Ab

Peter Reigo

Magnus Öhrlund

Patrik Jägenstedt

Stefan Grufman

Ludvig Sjöholm

Mikael Willgert

Björn Mannefred

Anders Mattsson

Isak Tjernberg

Jakob Almqvist

Jonathan Holmström

Jonathan HOLMSTRÖM

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 () 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 () 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.

Navigation for a robotic work tool

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.

A robotic work tool system () comprising a robotic work tool () and a beacon marker (), said robotic work tool () comprising a beacon sensor () configured to sense a signal being transmitted by the beacon marker (), said beacon marker () marking an area () around an obstacle () in a work area () in which said robotic work tool () is arranged to operate, wherein said robotic work tool is configured to determine a proximity to a beacon marker () and to adapt its operation accordingly.

Obstacle detection for a robotic working tool

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.

Navigation for a robotic working tool

A robotic lawnmower () for movable operation within a work area () has a satellite navigation device (), a landmark scanner () and a controller (). The controller causes the robotic lawnmower () to movably operate within the work area () in a first operating mode, the first operating mode being based on positions determined from satellite signals received by the satellite navigation device (). The controller determines that a position cannot be reliably determined based on satellite signals received by the satellite navigation device (), and in response thereto causes the robotic lawnmower () to movably operate within the work area () in a second operating mode. In the second operating mode, the controller receives scanning information from said landmark scanner () 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 () is reconstructed based on the defined search space. Once the satellite navigation device () has been reconstructed, the controller causes the robotic lawnmower () to again operate in the first operating mode.

Navigation for a vehicle by implementing two operating modes

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.

Garden mapping and planning via robotic vehicle

A robotic lawnmower () for movable operation within a work area () has a satellite navigation device (), a deduced reckoning navigation sensor () and a controller (). The controller causes the robotic lawnmower () to movably operate within the work area () in a first operating mode, the first operating mode being based on positions determined from satellite signals received by the satellite navigation device (). The controller determines that a position cannot be reliably determined based on satellite signals received by the satellite navigation device (), and in response thereto causes the robotic lawnmower () to movably operate within the work area () in a second operating mode. In the second operating mode, a deduced reckoning position estimate is obtained by the deduced reckoning navigation device (). A search space is defined using the deduced reckoning position estimate, and the satellite navigation device () is recalibrated based on the defined search space. Once the satellite navigation device () has been recalibrated, the controller causes the robotic lawnmower () to again operate in the first operating mode.

Navigation for a robotic lawnmower

A robotic work tool system () comprising a charging station () and a robotic work tool (), said robotic work tool () comprising a position determining device () for determining a current position and at least one deduced reckoning navigation sensor (), the robotic work tool () 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 ().

A robotic work tool system () comprising a robotic work tool (), said robotic work tool () comprising a position determining device () for determining a current position, such as through receiving satellite signals, and a navigation device () arranged to at least provide a compass heading, the robotic work tool () being configured to: determine a compass heading (CH) obtained through the navigation device (); compare the compass heading to a true heading (TH) obtained through the position determining device (); 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.

System and method for navigating a robotic working tool

A robotic work tool system includes a charging station and a robotic work tool. The robotic work tool includes a position determining device for determining a current position. The robotic work tool may be configured to determine that reliable navigation through the position determining device is no longer possible, such as when satellite signal reception is not possible, at a time point and position and in response thereto generate an obstacle map which gives information on the position of at least one obstacle, determine when an area will be shadowed with regards to satellite reception based on the obstacle map, and schedule operation of the robotic work tool accordingly.

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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Djursholm, Sweden

Peter Reigo