Navigation for a robotic working tool

Patent metadata

Field	Value
Publication number	US-9573275-B2
Application number	US-201315035627-A
Country	US
Kind code	B2
Filing date	Nov 12, 2013
Priority date	Nov 12, 2013
Publication date	Feb 21, 2017
Grant date	Feb 21, 2017

Abstract

A robotic work tool system ( 200 ), comprising a robotic work tool ( 100 ), said robotic work tool ( 100 ) comprising a controller ( 110 ) being configured to cause said robotic work tool ( 100 ) to operate in a first operating mode, which first operating mode is based on a current position, said current position being determined based on signals received from a position determining device ( 190 ), such as Global Navigation Satellite System device ( 190 ); determine that said received signals are not reliable, and in response thereto cause said robotic work tool ( 100 ) to operate according to second operating mode, which second operating mode is not based on a current position being determined based on said received signals.

First claim

The invention claimed is:

1. A robotic work tool system, comprising a robotic work tool, said robotic work tool comprising a controller being configured to
cause said robotic work tool to operate in a first operating mode, wherein the first operating mode is based on a current position, said current position being determined based on received signals that are received from a position determining device;
determine that said received signals are not reliable, and in response thereto cause said robotic work tool to operate according to a second operating mode, wherein the second operating mode is not based on a current position being determined based on said received signals; and
determine if a counter is lower than a threshold value when the received signals are reliable again and if so, cause the robotic work tool to execute a turn to re-enter a section where the received signals are not reliably received and increase the counter,
wherein the controller is further configured to determine that the received signals are reliable again, and in response thereto switch to said first operating mode.

2. The robotic work tool system according to claim 1 , wherein the controller is further configured to determine an expected position and cause said robotic work tool to steer towards said expected position.

3. The robotic work tool system according to claim 1 , wherein the controller is further configured to determine an expected movement line and cause said robotic work tool to steer towards said expected movement line.

4. The robotic work tool system according to claim 1 , wherein the second operating mode is a random operating pattern.

5. The robotic work tool system according to claim 1 , wherein the second operating mode is an expanding circle operating pattern.

6. The robotic work tool system according to claim 1 , wherein the second operating mode is based on a deduced reckoning operating pattern.

7. The robotic work tool system according to claim 1 , wherein the controller is configured to determine that said robotic work tool encounters a boundary wire and in response thereto increase said counter.

8. The robotic work tool system according to claim 1 , wherein the controller is configured to determine that said robotic work tool executes a turn and in response thereto increase said counter.

9. The robotic work tool system according to claim 1 , wherein the controller is configured to store a map and to adapt operation of the controller based on a current position in a work area based on the map.

10. The robotic work tool system according to claim 9 , wherein the controller is configured to adapt the operation by initiating said second operating mode when the controller determines that the robotic work tool is close to or about to enter a blackout area.

11. The robotic work tool system according to claim 10 , wherein the controller is configured to update the map each time the robotic work tool leaves or enters the blackout area.

12. A robotic work tool system comprising a robotic work tool, said robotic work tool comprising a controller being configured to:
cause said robotic work tool to operate in a first operating mode, wherein the first operating mode is based on a current position, said current position being determined based on received signals that are received from a position determining device;
determine that said received signals are not reliable, and in response thereto cause said robotic work tool to operate according to a second operating mode, wherein the second operating mode is not based on a current position being determined based on said received signals;
start a timer as said received signals are determined not to be reliable; and
determine if the timer is lower than a threshold value when said received signals are reliable again and if so, cause said robotic work tool to execute a turn to re-enter a section where said received signals are not reliably received,
wherein the controller is further configured to determine that the received signals are reliable again, and in response thereto switch to said first operating mode.

13. A robotic work tool system comprising a robotic work tool, said robotic work tool comprising a controller being configured to:
cause said robotic work tool to operate in a first operating mode, wherein the first operating mode is based on a current position, said current position being determined based on received signals that are received from a position determining device;
determine that said received signals are not reliable, and in response thereto cause said robotic work tool to operate according to a second operating mode, wherein the second operating mode is not based on a current position being determined based on said received signals;
start to measure a distance traveled as said received signals are determined not to be reliable; and
determine if the distance traveled is lower than a threshold value when said received signals received are reliable again and if so, cause said robotic work tool to execute a turn to re-enter a section where said received signals are not reliably received,
wherein the controller is further configured to determine that the received signals are reliable again, and in response thereto switch to said first operating mode.

Assignees

• Husqvarna Ab

Inventors

• Reigo Peter
• Jägenstedt Patrik
• Öhrlund Magnus

Classifications

• Y10S901/09

  Closed loop, sensor feedback controls arm movement · CPC title

• B25J9/1664

  characterised by motion, path, trajectory planning · CPC title

• Y10S901/01

  Mobile robot · CPC title

• B25J9/1643 Primary

  redundant control · CPC title

• A01D34/008 Primary

  for automated or remotely controlled operation · CPC title