The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Dec. 07, 2021
Filed:
Jun. 07, 2019
Applicant:
Husqvarna Ab, Husqvarna, SE;
Inventors:
Assignee:
Husqvarna AB, Huskvarna, SE;
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
G07C 5/02 (2006.01); G05D 1/00 (2006.01); G05D 1/02 (2020.01);
U.S. Cl.
CPC ...
G07C 5/02 (2013.01); G05D 1/0088 (2013.01); G05D 1/027 (2013.01); G05D 2201/0208 (2013.01);
Abstract
The present disclosure relates to an articulated self-propelled robotic toolwith first and second platforms, each comprising a wheel setdriven by motors. A link arrangement connects the first platform to the second platform at a turning axis. A driving error is determined by recording a driving input to the motors and a resulting movement parameter, comparing the resulting movement with an estimated resulting movement which is based on the driving input. Slip is detected using the driving error.