Navigation for a robotic working tool

Patent metadata

Field	Value
Publication number	US-10136576-B2
Application number	US-201315035662-A
Country	US
Kind code	B2
Filing date	Nov 12, 2013
Priority date	Nov 12, 2013
Publication date	Nov 27, 2018
Grant date	Nov 27, 2018

Abstract

A robotic work tool system (200) comprising a charging station (210) and a robotic work tool (100), said robotic work tool (100) comprising a position determining device (190) for determining a current position and at least one deduced reckoning navigation sensor (195), the robotic work tool (100) 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 (195).

First claim

The invention claimed is:

1. A robotic work tool system comprising:
a robotic work tool, said robotic work tool comprising:
an electric motor powered by a battery and configured to drive a blade for lawn mowing;
a position determining device for determining a current position of the robotic work tool,
a controller configured to determine a mowing pattern based on the current position of the robotic work tool and configured to control movement of the robotic work tool to execute the mowing pattern;
a deduced reckoning navigation sensor,
wherein the controller is configured to determine that the current position is reliable based on a number of signals received by the position determining device, and, in response to determining that the current position is reliable, determine, via the controller, a calibrated interpretation of signals received from the deduced reckoning navigation sensor based on a position provided by the position determining device.

2. The robotic work tool system according to claim 1 , wherein the robotic work tool is further configured to:
determine an expected navigation parameter;
compare the expected navigation parameter to a current navigation parameter to determine a navigation error (Δ);
determine if the navigation error (Δ) is negligible; and
if the navigation error (Δ) is not negligible, calibrate the deduced reckoning navigation sensor.

3. The robotic work tool system according to claim 2 , wherein the navigation parameter is one or a combination taken from the group of navigation parameters comprising position, speed, direction, tilt angle, and acceleration.

4. The robotic work tool system according to claim 2 , wherein the robotic work tool is configured to correct the current position or a current direction based on the navigation error (Δ).

5. The robotic work tool system according to claim 1 , wherein the robotic work tool is configured to correct the current position by returning to an expected position.

6. The robotic work tool system according to claim 1 , wherein the robotic work tool is configured to correct the current position by steering towards an expected movement line.

7. The robotic work tool system according to claim 1 , wherein the controller is further configured to, in response to determining that the that the current position is unreliable based on the number of signals received by the position determining device, control movement of the robotic work tool to execute the mowing pattern based on calibrated interpretations of the signals received from the deduced reckoning navigation sensor.

8. The robotic work tool system according to claim 1 , wherein the position determining device is a Global Navigation Satellite System device.

9. The robotic work tool system according to claim 1 , wherein the robotic work tool is a robotic lawnmower.

10. The robotic work tool system according to claim 1 , wherein the robotic work tool is a farming equipment, a vacuum cleaner, a floor cleaner, a street sweeper, a snow removal tool, a golf ball retriever robot, a cleaner robot, a leaves blower robot, a leaves collector robot, snow thrower robot or a mine clearance robot.

11. The robotic work tool of claim 1 , wherein the robotic work tool is configured to determine whether the current position is reliable based on receipt of a threshold number of signals by the position determining device.

12. The robotic work tool of claim 1 , wherein the robotic work tool is further configured to determine an alignment of the robotic work tool with the boundary wire by comparing sensor signals from a plurality of magnetic field detection sensors.

13. The robotic work tool of claim 1 , wherein the deduced reckoning navigation sensor is one of an odometer, an accelerometer, a gyroscope, or a compass.

14. The robotic work tool of claim 1 , wherein the deduced reckoning navigation sensor is one of an accelerometer, a gyroscope, or a compass.

15. The robotic work tool of claim 1 , wherein the controller is further configured to continually determine calibrated interpretations of the signals received from the deduced reckoning navigation sensor, while the current position from the position determining device is determined to be reliable.

16. A method for use in a robotic work tool comprising:
driving a blade for lawn mowing via an electric motor powered by a battery;
determining that a current position of a robotic work tool is reliable based on a number of signals received by a position determining device, wherein the robotic work tool comprises the position determining device and a deduced reckoning navigation sensor;
determining, via a controller, a mowing pattern based on the current position of the robotic work tool;
controlling movement of the robotic work tool to execute the mowing pattern; and
in response to determining that the current position of the robot work tool is reliable, determining, via the controller, a calibrated interpretation of signals received from the deduced reckoning navigation sensor based on a position provided by the position determining device.

17. The method of claim 16 further comprising:
determining a first speed of the robotic work tool using the position determining device;
compare the first speed to a second speed determined by the deduced reckoning sensor to determine a speed error; and
calibrate the deduced reckoning sensor in response to the error exceeding a threshold.

18. The method of claim 16 wherein at least one of the signals received by the position determining device are received from a satellite.

19. The method of claim 16 , further comprising, prior to determining the current position of the robotic work tool:
failing to receive a threshold number of signals by the position determining device;
in response to failing to receive the threshold number of signals by the position determining device, switching the robotic work tool to deduced reckoning navigation using the deduced reckoning sensor; and
in response to receiving the threshold number of signals by the position determining device, switching the robotic work tool to navigate using the position determining device;
wherein determining the position of the robotic work tool is performed in response to receiving the threshold number of signals by the position determining device.

20. The method of claim 16 further comprising, in response to determining that the current position of the robotic work tool is unreliable based on the number of signals received by the position determining device, determining an alternative movement pattern that does not require positioning based on the positioning determining device.

Assignees

• Husqvarna Ab

Inventors

• Reigo Peter

Classifications

• B60L2240/16

  longitudinal · CPC title

• A01D34/008 Primary

  for automated or remotely controlled operation · CPC title

• B60L2240/62

  Vehicle position · CPC title

• Y02T10/70

  Energy storage systems for electromobility, e.g. batteries · CPC title

• Y02T90/16

  Information or communication technologies improving the operation of electric vehicles · CPC title