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:
Jan. 10, 2023
Filed:
Apr. 12, 2018
Husqvarna Ab, Huskvarna, SE;
HUSQVARNA AB, Huskvarna, SE;
Abstract
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.