Improved navigation for a robotic working tool

Patent metadata

Field	Value
Publication number	US-2016278285-A1
Application number	US-201315035662-A
Country	US
Kind code	A1
Filing date	Nov 12, 2013
Priority date	Nov 12, 2013
Publication date	Sep 29, 2016
Grant date	—

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

1 . 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 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.

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 at least one of the at least one 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 is current position and/or direction based on the navigation error (Δ).

5 . The robotic work tool system claim 3 , wherein the robotic work tool is configured to correct its position by returning to the expected position.

6 . The robotic work tool system claim 3 , wherein the robotic work tool is configured to correct its position by steering towards an expected movement line.

7 . The robotic work tool system according to claim 1 , wherein the robotic work tool is configured to determine that a reliable current position is not possible to determine and, in response thereto continue operation using deduced reckoning navigation.

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 . A method for use in 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 navigation sensor, the method comprising determining that a reliable current position is possible to determine and in response thereto calibrating at least one of the at least one deduced reckoning navigation sensor.

Assignees

• Husqvarna Ab

Inventors

• Reigo Peter

Classifications

• B60L2260/32

  Auto pilot mode · CPC title

• B60L2200/40

  Working vehicles · CPC title

• B60L2240/62

  Vehicle position · CPC title

• A01D34/008 Primary

  for automated or remotely controlled operation · CPC title

• B60L2240/16

  longitudinal · CPC title