Navigation for a robotic work tool

Patent metadata

Field	Value
Publication number	US-11112505-B2
Application number	US-202016803276-A
Country	US
Kind code	B2
Filing date	Feb 27, 2020
Priority date	Dec 24, 2014
Publication date	Sep 7, 2021
Grant date	Sep 7, 2021

Abstract

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 (100) 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 (100) 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.

First claim

The invention claimed is:

1. A robotic work tool comprising:
a position determining device configured to determine a current position of the robotic work tool; and
at least one deduced reckoning navigation sensor configured to provide signals for deduced reckoning navigation;
wherein the robotic work tool is configured to:
in response to the position determining device no longer being able to determine the current position, operate based on the deduced reckoning navigation via the at least one deduced reckoning navigation sensor,
subsequently determine that the position determining device is able to determine the current position of the robotic work tool, and in response thereto, determine an expected navigation parameter based on control data for the deduced reckoning navigation sensor, the expected navigation parameter comprising an expected position and an expected direction of travel of the robotic work tool,
compare the expected navigation parameter to a current navigation parameter to determine a navigation error, the current navigation parameter comprising the current position as indicated by the position determining device and a current direction of travel of the robotic work tool as determined from the position determining tool,
determine if the navigation error exceeds a navigation error threshold,
in response to the navigation error exceeding the navigation error threshold, cause the robotic work tool to change a trajectory to accommodate for the navigation error by aligning the trajectory with an expected trajectory of the robotic work tool, wherein the expected trajectory is determined as being along the expected direction originating from the expected position of the robotic work tool, and
perform the change of the trajectory by returning to a position and align the trajectory while at that position with the expected direction originating from the expected position of the robotic work tool, the position not coinciding with the expected position, and
wherein the position is determined to be a point in an area in which navigation from the position determining device is not possible or the position is a point along the expected trajectory.

2. The robotic lawnmower work tool according to claim 1 , wherein the expected position is determined based on the control data for the deduced reckoning navigation sensor used when no signal from the position determining device was received.

3. The robotic work tool according to claim 1 , wherein the robotic work tool is configured to determine the position by extrapolating positions known to have signal reception.

4. The robotic work tool according to claim 1 , wherein the robotic work tool is configured to calibrate the deduced reckoning navigation sensor based on the determined navigation error.

5. The robotic work tool according to claim 1 , wherein the position determining device is an optical position determining device.

6. The robotic work tool according to claim 1 , wherein the position determining device is a radio frequency position determining device.

7. The robotic work tool according to claim 1 , wherein the position determining device is an ultrawideband beacon.

8. A method for operating a robotic work tool, said robotic work tool comprising a position determining device configured to determine a current position of the robotic work tool and at least one deduced reckoning navigation sensor configured to provide signals for deduced reckoning navigation, the method comprising:
in response to the position determining device no longer being able to determine the current position, operating the robotic work tool based on the deduced reckoning navigation via the at least one deduced reckoning navigation sensor;
subsequently determining that the position determining device is able to determine the current position of the robotic work tool, and in response thereto, determining an expected navigation parameter based on control data for the deduced reckoning navigation sensor, the expected navigation parameter comprising an expected position and an expected direction of travel of the robotic work tool;
comparing the expected navigation parameter to a current navigation parameter to determine a navigation error, the current navigation parameter comprising the current position as indicated by the position determining device and a current direction of travel of the robotic work tool as determined from the position determining tool;
determining if the navigation error exceeds a navigation error threshold;
in response to the navigation error exceeding the navigation error threshold, causing the robotic work tool to change a trajectory to accommodate for the navigation error by aligning the trajectory with an expected trajectory of the robotic work tool, wherein the expected trajectory is determined as being along the expected direction originating from the expected position of the robotic work tool; and
performing the change of the trajectory by returning to a position and aligning the trajectory while at that position with the expected direction originating from the expected position of the robotic work tool, the position not coinciding with the expected position;
wherein the position is determined to be a point in an area in which navigation via the position determining device is not possible, or the position is a point along the expected trajectory.

9. The method according to claim 8 , wherein the expected position is determined based on the control data for the deduced reckoning navigation sensor used when no signal from the position determining device was received.

10. The method according to claim 8 , wherein the method further comprises determining the position by extrapolating positions known to have signal reception.

11. The method according to claim 8 , wherein the method further comprises calibrating the deduced reckoning navigation sensor based on the determined navigation error.

12. The method according to claim 8 , wherein the position determining device is an optical position determining device.

13. The method according to claim 8 , wherein the position determining device is a radio frequency position determining device.

14. The method according to claim 8 , wherein the position determining device is an ultrawideband beacon.

Assignees

• Husqvarna Ab

Inventors

• Öhrlund Magnus
• Reigo Peter

Classifications

• G01C21/165

  combined with non-inertial navigation instruments · CPC title

• G01S19/49

  whereby the further system is an inertial position system, e.g. loosely-coupled · CPC title

• A01D34/008

  for automated or remotely controlled operation · CPC title

• G01S19/14 Primary

  specially adapted for specific applications · CPC title

• G05D1/027

  comprising intertial navigation means, e.g. azimuth detector (inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165) · CPC title