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    GARDEN VISUALIZATION AND MAPPING VIA ROBOTIC VEHICLE
    1.
    发明申请
    GARDEN VISUALIZATION AND MAPPING VIA ROBOTIC VEHICLE 审中-公开
    园艺视觉化和映射通过机动车

    公开(公告)号：WO2015192901A1

    公开(公告)日：2015-12-23

    申请号：PCT/EP2014/062918

    申请日：2014-06-19

    Applicant: HUSQVARNA AB

    Inventor： MANNEFRED, Björn ,  GRUFMAN, Stefan ,  WILLGERT, Mikael

    IPC: G05D1/02

    CPC classification number: A01D34/008 ,  A01D2101/00 ,  G05D1/0016 ,  G05D1/0044 ,  G05D1/0234 ,  G05D2201/0208

    Abstract: A method for creating a visualization of a parcel or garden may include receiving information indicative of position data of a robotic vehicle transiting a parcel and corresponding image data captured by the robotic vehicle at one or more locations on the parcel. The method may further include generating a model of the parcel based on the information received, providing a graphical representation of the parcel based on the model, and enabling an operator to interact with the graphical representation to view one or more content items associated with respective ones of the one or more locations.

    Abstract translation: 用于创建包裹或花园的可视化的方法可以包括接收指示包裹的机器人车辆的位置数据的信息和由包裹上的一个或多个位置处由机器人车辆捕获的相应图像数据。 该方法还可以包括基于所接收的信息生成包裹的模型，基于模型提供包裹的图形表示，以及使得操作者能够与图形表示交互以查看与相应的相关联的一个或多个内容项 的一个或多个位置。

    A METHOD AND A SYSTEM FOR NAVIGATING A SELF-PROPELLERED ROBOTIC TOOL
    3.
    发明申请
    A METHOD AND A SYSTEM FOR NAVIGATING A SELF-PROPELLERED ROBOTIC TOOL 审中-公开
    一种用于导航自蔓延机器人工具的方法和系统

    公开(公告)号：WO2017123137A1

    公开(公告)日：2017-07-20

    申请号：PCT/SE2017/050007

    申请日：2017-01-04

    Applicant: HUSQVARNA AB

    Inventor： MANNEFRED, Björn ,  GRUFMAN, Stefan

    IPC: G05D1/02 ,  A01D34/00 ,  A47L11/40

    CPC classification number: A01D34/008 ,  A47L9/2815 ,  A47L9/2852 ,  A47L11/40 ,  A47L11/4011 ,  A47L2201/04 ,  G05D1/0219 ,  G05D1/0255 ,  G05D1/0265 ,  G05D2201/0208

    Abstract: The present disclosure relates to a method and a system e.g. for mowing grass using a self-propelled robotic tool (14). The robotic tool (14) receives a first signal from a beacon (40) and determines, based on this signal, a distance from the robotic tool to the beacon. The robotic tool moves, for instance based on odometry data generated by the robotic tool itself, along a circular arc (60) corresponding to a circle with a radius equal to the determined distance, and subsequently receives later signals from the beacon and determining the current distance from the beacon to the robotic tool to adjust its direction to maintain a is constant distance to the beacon over a period of time. This makes it possible to mow the grass in an area in a structured and efficient way.

    Abstract translation: 本公开涉及一种方法和系统，例如， 用于使用自走式机器人工具（14）割草。 机器人工具（14）从信标（40）接收第一信号并且基于该信号确定从机器人工具到信标的距离。 机器人工具例如基于由机器人工具本身生成的测距数据沿着对应于具有等于所确定的距离的半径的圆的圆弧（60）移动，并且随后从信标接收稍后的信号并且确定电流 从信标到机器人工具以调整其方向以维持a的距离与信标在一段时间内的恒定距离。 这使得可以以结构化和高效的方式在一个地区修剪草地。

    ROBOTIC PATROL VEHICLE
    4.
    发明申请
    ROBOTIC PATROL VEHICLE 审中-公开
    机动车P车

    公开(公告)号：WO2016097897A1

    公开(公告)日：2016-06-23

    申请号：PCT/IB2015/058669

    申请日：2015-11-10

    Applicant: HUSQVARNA AB

    Inventor： ÖHRLUND, Magnus ,  GRUFMAN, Stefan ,  MANNEFRED, Björn ,  SÖBERG, Tom

    IPC: A01D34/00 ,  B25J13/00 ,  B25J13/06 ,  G05D1/02 ,  G06F11/30 ,  H04L29/08

    CPC classification number: G06F11/3058 ,  A01D34/008 ,  G05D1/0265 ,  G05D2201/0208 ,  G05D2201/0209

    Abstract: A robotic vehicle may include one or more functional components configured to execute a lawn care function, a sensor network comprising one or more sensors configured to detect conditions proximate to the robotic vehicle, and a monitoring module configured to monitor data gathered via the sensor network responsive to traversing the parcel. The monitoring module may also selectively initiate an alarm or notification function in response to the data indicating the occurrence of a trigger event.

    Abstract translation: 机器人车辆可以包括被配置为执行草坪护理功能的一个或多个功能部件，包括配置成检测邻近机器人车辆的状况的一个或多个传感器的传感器网络，以及被配置为监视经由传感器网络收集的数据响应的监视模块 穿过包裹。 监视模块还可以响应于指示触发事件的发生的数据来选择性地启动报警或通知功能。

    ROBOTIC WORK TOOL, SYSTEM, AND METHOD FOR OPERATION THEREOF
    5.
    发明申请
    ROBOTIC WORK TOOL, SYSTEM, AND METHOD FOR OPERATION THEREOF 审中-公开

    公开(公告)号：WO2021110310A1

    公开(公告)日：2021-06-10

    申请号：PCT/EP2020/078977

    申请日：2020-10-15

    Applicant: HUSQVARNA AB

    Inventor： GLIMBERG, Tommy ,  GRUFMAN, Stefan ,  KALLSTRÖM, Fredrik ,  KAMFORS, Mattias ,  LILJEDAHL, Marcus ,  MANNEFRED, Björn ,  HELLSIN, Beppe

    IPC: A01D34/00 ,  G05D1/02

    Abstract: A method for operating a robotic work tool (1) comprising a sensor for detecting a boundary wire (3) demarcating a work area (2). The method comprises the steps of detecting (9) at least a partial crossing of the boundary wire (3), allowing (12) a crossing of the boundary wire (3) by an offset, switching (8) between a first offset setting and at least a second offset setting of the work tool (1) based on one or more events (7). A robotic work tool (1) comprises a controller for controlling the operation of the robotic working tool (1). The controller is configured to: control the work tool (1) to operate within the work area (2), determine whether the work tool (1) crosses the boundary wire (3), allow a crossing of the wire (3) by the offset, and switch (8) between at least two offset settings stored in the work tool (1).

    METHOD FOR DETECTING LIFTING OF A SELF-PROPELLED ROBOTIC TOOL FROM THE GROUND
    6.
    发明申请
    METHOD FOR DETECTING LIFTING OF A SELF-PROPELLED ROBOTIC TOOL FROM THE GROUND 审中-公开

    公开(公告)号：WO2018194504A1

    公开(公告)日：2018-10-25

    申请号：PCT/SE2018/050375

    申请日：2018-04-12

    Applicant: HUSQVARNA AB

    Inventor： GRUFMAN, Stefan ,  RANGSJÖ, Jonas ,  KALLSTRÖM, Fredrik

    IPC: A01D34/00 ,  G05D1/02

    Abstract: The present disclosure relates to a self-propelled robotic tool (1) and a method in a self-propelled robotic tool(1), being used to detecting lifting of the self-propelled robotic device from the ground. The method includes collecting (21) driving data (31) related to the driving of a wheel (5), collecting (23) measured inertia data from an inertial measurement unit (13), IMU, in the self- propelled robotic tool, determining (25), using an estimation function (33), a residual parameter corresponding to a differential between said measured inertia data and estimated inertia data resulting from said driving data being input to said estimation function, and determining a lifting condition based on the residual parameter.

    INTELLIGENT GROUNDS MANAGEMENT SYSTEM
    8.
    发明申请
    INTELLIGENT GROUNDS MANAGEMENT SYSTEM 审中-公开
    智能地面管理系统

    公开(公告)号：WO2015022654A1

    公开(公告)日：2015-02-19

    申请号：PCT/IB2014/063898

    申请日：2014-08-13

    Applicant: HUSQVARNA AB

    Inventor： LAMELI, Peter ,  JÄGENSTEDT, Patrik ,  ALEXIUSSON, Mikael ,  SCHIEDT, Christoph ,  WIETELMANN, Sven ,  WILLGERT, Mikael ,  GRUFMAN, Stefan ,  DERNEBO, Lars ,  LARSÉN, Martin ,  MATTSSON, Anders

    IPC: G05B19/042 ,  A01G25/16

    CPC classification number: A01G25/16 ,  G05B15/02 ,  G05B19/042 ,  G05B2219/2625 ,  G06Q50/02

    Abstract: A system may include sensor equipment, task performance equipment, and a yard maintenance manager. The sensor equipment may include one or more sensors disposed on a parcel of land. The task performance equipment may be configured to perform a task on the parcel. The task may be associated with generating a result that is enabled to be monitored via the sensor equipment. The yard maintenance manager may be configured to interface with the sensor equipment and the task performance equipment to compare measured conditions with desirable conditions to direct operation of the task performance equipment.

    Abstract translation: 系统可以包括传感器设备，任务执行设备和场地维护管理器。 传感器设备可以包括设置在一块土地上的一个或多个传感器。 任务执行设备可以被配置为在包裹上执行任务。 该任务可以与生成能够经由传感器设备监视的结果相关联。 码头维护管理器可以被配置为与传感器设备和任务执行设备接口，以将测量条件与期望的条件进行比较，以指导任务执行设备的操作。

    ROBOTIC WORK TOOL SYSTEM AND METHOD FOR TRANSPORTING A ROBOTIC WORK TOOL BETWEEN DIFFERENT AREAS
    9.
    发明申请
    ROBOTIC WORK TOOL SYSTEM AND METHOD FOR TRANSPORTING A ROBOTIC WORK TOOL BETWEEN DIFFERENT AREAS 审中-公开

    公开(公告)号：WO2021066702A1

    公开(公告)日：2021-04-08

    申请号：PCT/SE2020/050855

    申请日：2020-09-14

    Applicant: HUSQVARNA AB

    Inventor： GLIMBERG, Tommy ,  GRUFMAN, Stefan ,  KALLSTRÖM, Fredrik ,  KAMFORS, Mattias ,  LILJEDAHL, Marcus ,  MANNEFRED, Björn ,  HESSSIN, Beppe

    IPC: A01D34/00 ,  G05D1/02

    Abstract: A robotic work tool system (200) for avoiding trails from a robotic work tool (100) in a transit zone (300) in which the robotic work tool (100) is allowed to travel from a start point (320) to a goal point (330) along a travel path (310). The system (200) comprises at least one memory (120,220) configured to store information about the transit zone (300), at least one robotic work tool (100) configured to travel along the travel path (310) and at least one controller (110,210) for controlling operation of the robotic work tool (100). The controller (110,210) is configured to receive, from the memory (120,220), information about the transit zone (300) and generate, based on the transit zone (300), the travel path (310) for the robotic work tool (100) from the start point (320) to the goal point (330). The generated travel path (310) is configured to differ from previously generated travel paths.

    ROBOTIC WORK TOOL SYSTEM AND METHOD FOR DEFINING A WORKING AREA
    10.
    发明申请
    ROBOTIC WORK TOOL SYSTEM AND METHOD FOR DEFINING A WORKING AREA 审中-公开

    公开(公告)号：WO2019234020A1

    公开(公告)日：2019-12-12

    申请号：PCT/EP2019/064481

    申请日：2019-06-04

    Applicant: HUSQVARNA AB

    Inventor： GRUFMAN, Stefan ,  MANNEFRED, Björn ,  KALLSTRÖM, Fredrik ,  JÄGENSTEDT, Patrik ,  AGERHALL, Jonas ,  ASKENMALM, Kent ,  CALÅS, Göran

    IPC: G05B19/42

    Abstract: A robotic work tool system (200) for defining a working area (205) in which a robotic work tool (100) is subsequently intended to operate. The robotic work tool system (200) comprises a robotic work tool (100), at least one controller (210) and at least one memory (220). The robotic work tool (100) comprises at least one sensor unit (170) configured to collect sensed input datawhile the robotic work tool (100) is driven around the working area (205) to preliminarily define a perimeter around the working area (205). The at least one controller (210) is configured to establish a preliminary working area perimeter (250). The at least one memory (220) is configured to store a perimeter adjustment function and instructions that cause the at least one controller (210) to adjust the perimeter of the working area (205) by applying the stored perimeter adjustment function to the established preliminary working area perimeter (250)and thereby produce an adjusted working area perimeter (260).The perimeter adjustment function is based on the collected sensed input data corresponding to terrain features.

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