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SE546685C2 - Improved edge operation for a robotic work tool - Google Patents

Improved edge operation for a robotic work tool

Info

Publication number
SE546685C2
SE546685C2 SE2051309A SE2051309A SE546685C2 SE 546685 C2 SE546685 C2 SE 546685C2 SE 2051309 A SE2051309 A SE 2051309A SE 2051309 A SE2051309 A SE 2051309A SE 546685 C2 SE546685 C2 SE 546685C2
Authority
SE
Sweden
Prior art keywords
work tool
robotic work
robotic
edge
distance
Prior art date
Application number
SE2051309A
Other languages
Swedish (sv)
Other versions
SE2051309A1 (en
Inventor
Adam Tengblad
Björn Mannefred
Göran Calås
Kent Askenmalm
Stefan Grufman
Original Assignee
Husqvarna Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Husqvarna Ab filed Critical Husqvarna Ab
Priority to SE2051309A priority Critical patent/SE546685C2/en
Priority to DE102021129016.3A priority patent/DE102021129016A1/en
Publication of SE2051309A1 publication Critical patent/SE2051309A1/en
Publication of SE546685C2 publication Critical patent/SE546685C2/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/835—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes
    • A01D34/84—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes for edges of lawns or fields, e.g. for mowing close to trees or walls
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/81—Casings; Housings
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/82—Other details
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0265—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using buried wires
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • G05D1/43—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/646—Following a predefined trajectory, e.g. a line marked on the floor or a flight path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/648—Performing a task within a working area or space, e.g. cleaning
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/82—Other details
    • A01D34/828—Safety devices

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Electromagnetism (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

A robotic work tool system (300) and a method for controlling such a robotic work tool system (300), the robotic work tool system (300) comprising a self-propelled robotic work tool (200) arranged to operate on a surface in a work area (305), the robotic work tool (200) comprising a work tool (260) and a body (240) comprising an outer shell (240-1) having an edge (240-e), the robotic work tool (200) being configured to reduce a distance (d2) from the edge (240-e) to the surface and also to reduce a distance (dl) from the work tool (260) to the edge (240-e), thereby operating in a reduced-distance mode.

Claims (20)

Claims
1. A robotic Work tool system (300) comprising a self-propelled robotic Work tool (200) arranged to operate on a surface in a Work area (305), the robotic Work tool (200) comprising a Work tool (260) and a body (240) comprising an outer shell (240-1) having an edge (240-e), Wherein the Work tool (260) is arranged at a location relative the body (240), the robotic Work tool (200) being configured to: reduce a distance (d2) from the edge (240-e) to the surface and reduce a distance (dl) from the Work tool (260) to the edge (240-e) While maintaining the Work tool (260) at the location relative the body (240), thereby operating in a reduced-distance mode.
2. The robotic Work tool system (300) according to claim 1, Wherein the robotic Work tool (200) is further configured to determine that an edge of the Work area (305) has been reached and in response thereto reducing the distance (d2) between the edge (240-e) and the surface.
3. The robotic Work tool system (300) according to claim 2, Wherein the robotic Work tool (200) is further configured to determine that the edge of the Work area (305) has been reached by detecting a boundary Wire.
4. The robotic Work tool system (300) according to claim 2 or 3, Wherein the robotic Work tool (200) is further configured to determine that the edge of the Work area (305) has been reached by determining that the robotic Work tool (200) is at a location indicated by satellite navigation signals corresponding to a boundary location.
5. The robotic Work tool system (300) according to claim 2, 3 or 4, Wherein the robotic Work tool (200) is further configured to determine that the edge of the Work area (305) has been reached by detecting a collision.
6. The robotic work tool system (300) according to claim 2, 3, 4 or 5, wherein the robotic work tool (200) further comprises a memory (220) and wherein the robotic work tool (200) is further configured to store a map application in the memory (220) and to determine that the edge of the work area (305) has been reached based on the map application.
7. The robotic work tool system (300) according to any preceding claim, wherein the robotic work tool (200) is further configured to operate in the reduced- distance mode temporarily whereby the robotic work tool (200) is configured to restore the distance (d2) from the edge to the surface and restore the distance (dl) from the work tool (260) to the edge (240-e) to original distances upon eXiting the reduced- distance mode.
8. The robotic work tool system (300) according to claim 7, wherein the robotic work tool (200) is further configured to determine that the reduced-distance mode is to be exited by determining that a timer has expired.
9. The robotic work tool system (300) according to claim 2 in combination with claim 7 or 8, wherein the robotic work tool (200) is further configured to operate temporarily in the reduced-distance mode by following the detected edge and to determine that the reduced-distance mode is to be eXited by deterrnining that the followed edge has ended.
l0. The robotic work tool system (300) according to any preceding claim, wherein the robotic work tool (200) is further configured to reduce the distance (d2) between the surface and the edge (240-e) of the robotic work tool (200) by lowering at least a portion of the outer shell (240-l).
ll. The robotic work tool system (300) according to claim l0, wherein the outer shell (240-l) further comprises a portion (240-3) and wherein the robotic worktool (200) is further configured to reduce the distance (d2) between the surface and the edge (240-e) of the robotic work tool (200) by lowering the portion (240-3).
12. The robotic work tool system (300) according to any preceding claim, wherein the robotic work tool (200) is further configured to reduce the distance (d2) between the edge (240-e) of the robotic work tool (200) and the surface by lowering the body (240).
13. The robotic work tool system (300) according to any preceding claim, wherein the robotic work tool (200) is further configured to reduce the distance (dl) between the work tool (260) and the edge (240-e) of the robotic work tool (200) by eXpanding an extension of the work tool (260).
14. The robotic work tool system (300) according to any preceding claim, wherein the robotic work tool (200) is further configured to reduce the distance (dl) between the work tool (260) and the edge (240-e) of the robotic work tool (200) by moving ssn-eslš the outer shell (240- 1) relative the work tool (260).
15. The robotic work tool system (300) according to any preceding claim, wherein the robotic work tool (200) is further configured to reduce the distance (dl) between the work tool (260) and the edge (240-e) of the robotic work tool (200) and to reduce the distance (d2) between the edge (240-e) of the robotic work tool (200) and the surface by rotatingly moving at least a portion of the outer shell (240-1) relative the body (240).
16. The robotic work tool system (300) according to claim 15, wherein the outer shell (240-1) further comprises a movable shield portion (240-3), wherein the robotic work tool (200) is further configured to rotatingly move the movable shield portion (240-3).
17. The robotic Work tool system (300) according to any preceding claim Wherein the robotic Work tool (200) further comprises at least one lift detector (275), Wherein the robotic Work tool (200) is further configured to increase a sensitivity of the at least one lift detector (275) as the reduced-distance operating mode is entered or about to be entered.
18. The robotic Work tool system (300) according to claim 17 Wherein the robotic Work tool (200) is further configured to determine that the reduced-distance operating mode is entered or about to be entered by determining that the edge (240-e) is moving and in response thereto adapt the sensitivity of the at least one lift detector (275).
19. The robotic Work tool system (300) according to any preceding claim Wherein the robotic Work tool (200) is a robotic laWnmoWer.
20. A method for use in a robotic Work tool system (300) comprising a self- propelled robotic Work tool (200) arranged to operate on a surface in a Work area (305), the robotic Work tool (200) comprising a Work tool (260) and a body (240) comprising an outer shell (240-1) having an edge (240-e), Wherein the Work tool (260) is arranged at a location relative the body (240), the method comprising: reducing a distance (d2) from the edge (240-e) to the surface and reducing a distance (dl) from the Work tool (260) to the edge (240-e) While maintaining the Work tool (260) at the location relative the body (240), thereby operating in a reduced-distance mode.
SE2051309A 2020-11-10 2020-11-10 Improved edge operation for a robotic work tool SE546685C2 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
SE2051309A SE546685C2 (en) 2020-11-10 2020-11-10 Improved edge operation for a robotic work tool
DE102021129016.3A DE102021129016A1 (en) 2020-11-10 2021-11-08 IMPROVED EDGE PROCESSING FOR A ROBOT WORK EQUIPMENT

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE2051309A SE546685C2 (en) 2020-11-10 2020-11-10 Improved edge operation for a robotic work tool

Publications (2)

Publication Number Publication Date
SE2051309A1 SE2051309A1 (en) 2022-05-11
SE546685C2 true SE546685C2 (en) 2025-01-14

Family

ID=81256364

Family Applications (1)

Application Number Title Priority Date Filing Date
SE2051309A SE546685C2 (en) 2020-11-10 2020-11-10 Improved edge operation for a robotic work tool

Country Status (2)

Country Link
DE (1) DE102021129016A1 (en)
SE (1) SE546685C2 (en)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3102914B1 (en) * 2014-02-03 2018-08-08 Husqvarna AB Obstacle detection for a robotic working tool
US20180352732A1 (en) * 2017-06-09 2018-12-13 Andreas Stihl Ag & Co. Kg Autonomous Mobile Green Area Maintenance Robot
US20180352730A1 (en) * 2017-06-09 2018-12-13 Andreas Stihl Ag & Co. Kg Method for Operating an Autonomous Mobile Lawn Mower Robot and Lawn Mowing System
WO2019191622A1 (en) * 2018-03-30 2019-10-03 Irobot Corporation Blade guard for a robot lawnmower
WO2019226415A1 (en) * 2018-05-25 2019-11-28 The Toro Company Systems and methods for operating a robotic machine in an autonomous mode and a manual mode
US20200196523A1 (en) * 2015-10-13 2020-06-25 Positec Technology (China) Co., Ltd. Mower
WO2020143972A1 (en) * 2019-01-08 2020-07-16 Husqvarna Ab A robotic tool, and methods of navigating and defining a work area for the same

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3102914B1 (en) * 2014-02-03 2018-08-08 Husqvarna AB Obstacle detection for a robotic working tool
US20200196523A1 (en) * 2015-10-13 2020-06-25 Positec Technology (China) Co., Ltd. Mower
US20180352732A1 (en) * 2017-06-09 2018-12-13 Andreas Stihl Ag & Co. Kg Autonomous Mobile Green Area Maintenance Robot
US20180352730A1 (en) * 2017-06-09 2018-12-13 Andreas Stihl Ag & Co. Kg Method for Operating an Autonomous Mobile Lawn Mower Robot and Lawn Mowing System
WO2019191622A1 (en) * 2018-03-30 2019-10-03 Irobot Corporation Blade guard for a robot lawnmower
WO2019226415A1 (en) * 2018-05-25 2019-11-28 The Toro Company Systems and methods for operating a robotic machine in an autonomous mode and a manual mode
WO2020143972A1 (en) * 2019-01-08 2020-07-16 Husqvarna Ab A robotic tool, and methods of navigating and defining a work area for the same

Also Published As

Publication number Publication date
SE2051309A1 (en) 2022-05-11
DE102021129016A1 (en) 2022-05-12

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