Method and system for guiding a robotic garden tool

Patent metadata

Field	Value
Publication number	US-9405294-B2
Application number	US-201013824625-A
Country	US
Kind code	B2
Filing date	Oct 1, 2010
Priority date	Oct 1, 2010
Publication date	Aug 2, 2016
Grant date	Aug 2, 2016

Abstract

Method and system for guiding a robotic garden tool ( 100 ) is disclosed. The robotic garden tool ( 100 ) may include at least two sensing means ( 108, 110 , and 202 ). The robotic garden tool ( 100 ) is equipped to follow along a guiding wire ( 402 ) on a lawn ( 400 ). While the robotic garden tool ( 100 ) moves along the guiding wire ( 402 ), the sensing means ( 108, 110 , and 202 ) may detect a magnetic field strength generated from current carrying guiding wire ( 402 ). The method ( 500 ) and the system ( 300 ) is equipped to provide instructions to the robotic garden tool ( 100 ) to follow the guiding wire ( 402 ) based on the difference of magnetic field strength sensed by at least two sensing means ( 108, 110 , and 202 ).

First claim

The invention claimed is:

1. A guiding system for a robotic garden tool, the guiding system comprising:
at least one guiding wire configured to conduct electric current such that a magnetic field is generated adjacent to the guiding wire, and
a robotic garden tool configured to follow the guiding wire at a variable offset from the guiding wire,
wherein the robotic garden tool further comprises a first sensor, a second sensor, and a third sensor placed on the robotic garden tool such that they have different distances to the guiding wire when the robotic garden tool moves along the guiding wire, wherein each of the first sensor, second sensor, and third sensor are configured to detect a strength of the magnetic field,
wherein the first sensor is placed along a longitudinal axis of the robotic garden tool and the second and third sensors are on opposite respective sides of the longitudinal axis,
wherein the first sensor is separated by a distance from the second sensor and the third sensor along the longitudinal axis of the robotic garden tool, the distance extending parallel to the longitudinal axis and the longitudinal axis being parallel to a driving direction of the robotic garden tool,
wherein the robotic garden tool is configured to select one of the second sensor or the third sensor based on a magnitude of magnetic field strength detected at each of the second sensor and the third sensor, and
wherein the robotic garden tool is configured to be steered along the variable offset from the guiding wire based on a relative difference between detected magnetic field strengths of the first sensor and the selected one of the second sensor or the third sensor.

2. A guiding system according to claim 1 , wherein at least one of the first sensor, second sensor, and third sensor are configured to detect the strength of a vertical component in the magnetic field.

3. A guiding system according to claim 1 , wherein the first sensor is separated from the second and third sensor along the longitudinal axis of the robotic garden tool by a distance of between 4-30 cm.

4. A guiding system according to claim 1 , wherein the distance between the first sensor and the second sensor in a direction perpendicular to the-longitudinal axis of the robotic garden tool is between 5-35 cm.

5. A guiding system according to claim 1 , wherein the first sensor, second sensor, and third sensor are placed on the robotic garden tool in a triangle shape, such that the second sensor and the third sensor are placed along a line substantially perpendicular to the longitudinal axis of the robotic garden tool, and the first sensor is placed in front of the line along the longitudinal axis of the robotic garden tool.

6. A guiding system according to claim 5 , wherein the distance between the first sensor and the line along which the second sensor and the third sensor are placed, is between 4-30 cm.

7. A guiding system according to claim 1 , wherein an angle between the longitudinal axis of the robotic garden tool and a line joining the first sensor to any one of the second sensor and the third sensor is between 40-80°.

8. A guiding system according to claim 1 , wherein the guiding wire is a perimeter limiting wire or where the guiding wire is configured to conduct a non-constant current.

9. A method for guiding a robotic garden tool, the robotic garden tool is provided with a first sensor, second sensor, and third sensor,
the method comprising the steps wherein the robotic garden tool;
follows a guiding wire at a variable offset from the guiding wire, the guiding wire conducts electric current such that a magnetic field is generated adjacent to the guiding wire,
detects the strength of the magnetic field from the guiding wire in each of the first, second, and third sensors, wherein the first, second and third sensors are placed on the robotic garden tool such that they have different distances from the guiding wire when the robotic garden tool moves along the guiding wire and such that the first sensor is placed along a longitudinal axis of the robotic garden tool and the second and third sensors are on opposite respective sides of the longitudinal axis, the first sensor being separated by a distance from the second and third sensors along the longitudinal axis of the robotic garden tool, the distance extending parallel to the longitudinal axis and the longitudinal axis being parallel to a driving direction of the robotic garden tool,
selects one of the second sensor or the third sensor based on a magnitude of magnetic field strength detected at each of the second sensor and the third sensor,
determines a relative difference between detected magnetic field strengths of the first sensor and the selected one of the second sensor or the third sensor, and
steers along the variable offset from the guiding wire based on the relative difference.

10. A method according to claim 9 , wherein the robotic garden tool follows a path along the guiding wire such that the difference of magnetic field strength detected by the first sensor and the selected sensor is a constant value throughout an operating cycle of the robotic garden tool.

11. A method according to claim 9 , wherein the second sensor and the third sensor are placed along a line substantially perpendicular to the longitudinal axis of the robotic garden tool, and the first sensor is placed in front of the line on the longitudinal axis of the robotic garden tool.

12. A method according to claim 11 , wherein the robotic garden tool is steered along the guiding wire based on the difference between the detected magnetic field strength in the first sensor and detected magnetic field strength in one of the second sensor and the third sensor, whichever is closer to the guiding wire.

13. A method according to claim 11 , wherein the robotic garden tool is steered along the guiding wire based on the difference between the detected magnetic field strength in the first sensor and detected magnetic field strength in one of the second sensor and the third sensor, whichever is farther from the guiding wire.

14. A guiding system for a robotic garden tool, the guiding system comprising:
at least one guiding wire configured to conduct electric current such that a magnetic field is generated adjacent to the guiding wire, and
a robotic garden tool having a longitudinal axis that is parallel to the driving direction of the robotic garden tool, the robotic garden tool further comprising a first sensor placed along the longitudinal axis, a second sensor, and a third sensor placed on an opposite side of the longitudinal axis relative to the second sensor, each sensor being configured to detect a strength of the magnetic field,
wherein the second sensor and the third sensor are placed along a line substantially perpendicular to the longitudinal axis of the robotic garden tool, and the first sensor is placed in front of the line on the longitudinal axis of the robotic garden tool
wherein the robotic garden tool is configured to select one of the second sensor or the third sensor based on a magnitude of magnetic field strength detected at each of the second sensor and the third sensor, and
wherein the robotic garden tool is configured to steer along a variable offset path from the guiding wire based on a relative difference between detected magnetic field strengths of the first sensor and the selected one of the second sensor or the third sensor.

15. A guiding system according to claim 14 , wherein at least one of the first sensor, second sensor, and third sensor is configured to detect the strength of a vertical component in the m

Assignees

• Jägenstedt Patrik
• Bergvall Bengt-Allan
• Husqvarna Ab

Inventors

• Jägenstedt Patrik
• Bergvall Bengt-Allan

Classifications

• B60L2200/40

  Working vehicles · CPC title

• B60L2260/32

  Auto pilot mode · CPC title

• Y02T10/72

  Electric energy management in electromobility · CPC title

• A01D34/008 Primary

  for automated or remotely controlled operation · CPC title

• B60L15/20

  for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed · CPC title