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    IMPROVED LIFT/COLLISON DETECTION
    1.
    发明申请
    IMPROVED LIFT/COLLISON DETECTION 审中-公开
    改进提升/清除检测

    公开(公告)号：WO2016150510A1

    公开(公告)日：2016-09-29

    申请号：PCT/EP2015/056513

    申请日：2015-03-26

    Applicant: HUSQVARNA AB

    Inventor： BJÖRN, Jonathan ,  SJÖGREN, Anders

    IPC: A01D34/00

    CPC classification number: G05D1/0227 ,  A01D34/008 ,  G05D2201/0208 ,  G05D2201/0215

    Abstract: A robotic work tool system (200) comprising a robotic work tool (100) comprising a lift/collision detection sensor (190), said lift/collision detection sensor (190) comprising a polarity element (191) and at least a first sensing element (192') and a second sensing element (192"), wherein the polarity element (191) has a first and a second polarity and wherein the first and second sensing elements are configured to each sense a polarity of the first polarity element (191). The robotic work tool (100) is configured to detect a polarity change in the first sensing element (192') and in the second sensing element (192'') and in response thereto determine that a lift has been detected, or detect a polarity change in the first sensing element (192') but not in the second sensing element (192") and in response thereto determine that a collision has been detected.

    Abstract translation: 一种包括升降/碰撞检测传感器（190）的机器人工作工具（100）的机器人工作工具系统（200），所述提升/碰撞检测传感器（190）包括极性元件（191）和至少第一传感元件 （192'）和第二感测元件（192“），其中所述极性元件（191）具有第一和第二极性，并且其中所述第一和第二感测元件被配置为每个感测所述第一极性元件（191 机器人工作工具（100）被配置为检测第一感测元件（192'）和第二感测元件（192“）中的极性变化，并且响应于此确定已经检测到电梯，或检测 第一感测元件（192'）中的极性变化而不是第二感测元件（192“）中的极性变化，并且响应于此确定已经检测到碰撞。

    ROBOTIC LAWNMOWER
    7.
    发明申请
    ROBOTIC LAWNMOWER 审中-公开

    公开(公告)号：WO2022203561A1

    公开(公告)日：2022-09-29

    申请号：PCT/SE2022/050191

    申请日：2022-02-22

    Applicant: HUSQVARNA AB

    Inventor： BJÖRN, Jonathan ,  ASKENMALM, Kent

    IPC: A01D34/00 ,  A01D34/63 ,  A01D34/66 ,  A01D34/84

    Abstract: A self-propelled robotic lawnmower (1) is disclosed comprising a lawnmower body (3) and a number of lawnmower support members (5, 5', 6) configured to support the lawnmower body (3) by abutting against a ground surface (2) in a first plane (P1) during operation of the robotic lawnmower (1). The robotic lawnmower (1) further comprises a first cutting unit (11), a second cutting unit (12), and a control arrangement (21) configured to control operation of the first and second cutting units (11, 12) based on whether the robotic lawnmower (1) is propelled in a forward moving direction (fd) or in a reverse moving direction (rd) of the robotic lawnmower (1).

    ROBOTIC LAWNMOWER
    8.
    发明申请
    ROBOTIC LAWNMOWER 审中-公开

    公开(公告)号：WO2021228633A1

    公开(公告)日：2021-11-18

    申请号：PCT/EP2021/061771

    申请日：2021-05-05

    Applicant: HUSQVARNA AB

    Inventor： EDERFORS, Lars ,  BJÖRN, Jonathan ,  OLOFSSON, Willy

    IPC: A01D34/86 ,  A01D34/00 ,  A01D75/28 ,  G05G5/06 ,  B60G3/00 ,  B60B33/00 ,  B60B33/02 ,  A01D101/00

    Abstract: A self-propelled robotic Iawnmower (1) is disclosed comprising a lawnmower body (3) and at least one caster wheel (5) pivotally attached to the lawnmower body (3) about a swivel joint (7). The caster wheel (5) is configured to support the lawnmower body (3) by abutting against a ground surface (22) during operation of the lawnmower (1). The lawnmower (1) further comprises a locking assembly (9) configured to at least partially lock the caster wheel (5) from pivoting about the swivel joint (7).

    OBSTACLE DETECTION FOR A ROBOTIC WORKING TOOL
    10.
    发明申请
    OBSTACLE DETECTION FOR A ROBOTIC WORKING TOOL 审中-公开
    机器人工具的障碍物检测

    公开(公告)号：WO2015115954A1

    公开(公告)日：2015-08-06

    申请号：PCT/SE2014/050132

    申请日：2014-02-03

    Applicant: HUSQVARNA AB

    Inventor： BJÖRN, Jonathan

    IPC: G01D5/14 ,  B60R19/02 ,  G05D1/02 ,  A01D34/00

    CPC classification number: G05D1/0265 ,  A01D34/008 ,  A01D34/08 ,  G01D5/145 ,  G05D1/0033 ,  G05D1/0038 ,  G05D1/0227 ,  G05D2201/0208

    Abstract: A robotic work tool system (200) comprising a robotic work tool (100) comprising a collision detection sensor (190), said collision detection sensor (190) comprising a first sensor element (191) and a plurality of second sensor elements (192), wherein said first sensor element (191) is movably arranged with respect to said plurality of second sensor elements (192), wherein said robotic work tool (100) is configured to detect that said first sensor element (191) is proximate a peripheral second sensor element (192) and in response thereto determine that a collision has been detected, and detect that said first sensor element (191) is not proximate any peripheral second sensor element (192) and in response thereto determine that a lift has been detected.

    Abstract translation: 一种机器人作业工具系统（200），包括包括碰撞检测传感器（190）的机器人作业工具（100），所述碰撞检测传感器（190）包括第一传感器元件（191）和多个第二传感器元件（192） ，其中所述第一传感器元件（191）相对于所述多个第二传感器元件（192）可移动地布置，其中所述机器人工作工具（100）被配置为检测所述第一传感器元件（191）接近外围第二传感器元件 传感器元件（192），并且响应于此确定已经检测到碰撞，并且检测到所述第一传感器元件（191）不在任何外围第二传感器元件（192）附近，并且响应于此确定已经检测到电梯。

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