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1.发明申请
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
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.
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公开(公告)号：WO2021206606A1
公开(公告)日：2021-10-14
申请号：PCT/SE2021/050254
申请日：2021-03-24
Applicant: HUSQVARNA AB
Inventor： GLIMBERG, Tommy , GRUFMAN, Stefan , KALLSTRÖM, Fredrik , KAMFORS, Mattias , LILJEDAHL, Marcus , MANNEFRED, Björn , HELLSIN, Beppe
Abstract: A robotic work tool system (200) comprising a robotic work tool (100) comprising a controller (110), the controller (110) being configured to determine an area locality (310) associated with a hindrance; determine a classifier (C) associated with the area locality (310); and determine an action for the robotic work tool (100), wherein the action is based on the classifier (C).
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公开(公告)号：WO2021209277A1
公开(公告)日：2021-10-21
申请号：PCT/EP2021/058846
申请日：2021-04-06
Applicant: HUSQVARNA AB
Inventor： LILJEDAHL, Marcus , RANGSJÖ, Jonas , HELLSIN, Beppe , KALLSTRÖM, Fredrik , PETERSSON, Andreas
IPC: G05D1/02
Abstract: A robotic work tool system (200) for defining a working area (105) in which at least one robotic work tool (100) subsequently is intended to operate. The system (200) comprises at least one controller (210) being configured to receive sensor data for pose estimation and event data relating to a plurality of events of at least one robotic work tool (100) moving within the working area (105). The received sensor and event data are associated with each other in time. The controller (210) is configured to determine positions for the events based on the received sensor data associated with the respective event data and to determine features reflecting the working area (105) by relating positions associated with corresponding events with each other. The controller (210) is configured to adjust the determined positions based on the determined features by, for each feature, comparing the respective determined positions with each other; and determine, based on the adjusted positions, a map defining the working area (105).
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公开(公告)号：WO2018199826A1
公开(公告)日：2018-11-01
申请号：PCT/SE2018/050290
申请日：2018-03-21
Applicant: HUSQVARNA AB
Inventor： LILJEDAHL, Marcus
Abstract: A robotic lawnmower system comprising a charging station (210) and a robotic work tool (100), the charging station comprising a signal generator (240) to which a boundary cable (250) is to be connected, the signal generator (240) being configured to transmit a signal (245) through the boundary cable (250), and the robotic working tool (100) comprising a sensor (170) configured to pick up magnetic fields generated by the signal (245) in the boundary cable (250) thereby receiving the signal (245) being transmitted and a controller (110) configured to analyse the picked up signal, wherein the signal generator (240) is further configured to: prefilter the signal through an filter model; and transmit the prefiltered signal to through the boundary cable (250) by means of a current generator.
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公开(公告)号：WO2018199830A1
公开(公告)日：2018-11-01
申请号：PCT/SE2018/050371
申请日：2018-04-11
Applicant: HUSQVARNA AB
Inventor： LILJEDAHL, Marcus
Abstract: A robotic lawnmower system, comprising a charging station comprising a controller said controller being configured to associate a time slot for use to transmit a guide signal, and a robotic lawnmower, wherein said controller is configured to detect if a guide cable is connected to the charging station or not, and if not, allot said associated time slot to another use.
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Patent Agency Ranking
公开(公告)号：WO2018160114A1
公开(公告)日：2018-09-07
申请号：PCT/SE2018/050051
申请日：2018-01-24
Applicant: HUSQVARNA AB
Inventor： LILJEDAHL, Marcus
Abstract: A robotic lawnmower system comprising a robotic lawnmower (100) and a signal generator (240) to which a cable (250, 260) is to be connected, the signal generator (240) being configured to transmit a signal (245) through the cable (250, 260). The robotic lawnmower (100) comprises: a sensor (170) configured to pick up magnetic fields generated by the signal (245) in the cable (250, 260) thereby receiving the signal (245) being transmitted and a controller (110). The controller (110) is configured to follow the cable (250, 260) at a distance by determining a received signal quality level and adapting the distance at which the robotic lawnmower (100) is following the cable at according to the determined signal quality level.
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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
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).
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公开(公告)号：WO2021034257A1
公开(公告)日：2021-02-25
申请号：PCT/SE2020/050792
申请日：2020-08-17
Applicant: HUSQVARNA AB
Inventor： HOLGERSSON, Jonas , LILJEDAHL, Marcus , RANGSJÖ, Jonas , PETERSON, Andreas , JÄGENSTEDT, Patrik , KAMFORS, Mattias
Abstract: A robotic work tool system comprising at least one robotic work tool arranged to operate in a work area, the robotic work tool comprising at least one sensor and a communication interface, the robotic work tool being configured to establish a connection to a cloud service through said communication interface; receive data gathered by the at least one sensor and transmit the gathered data to the cloud service causing the cloud service to analyze the gathered data; receive operating data from the cloud service; and to operate at least one robotic work tool based on the operating data received from the cloud service.
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公开(公告)号：WO2020148138A1
公开(公告)日：2020-07-23
申请号：PCT/EP2020/050356
申请日：2020-01-09
Applicant: HUSQVARNA AB
Inventor： LILJEDAHL, Marcus , RANGSJÖ, Jonas
Abstract: The present disclosure relates to a self-propelled robotic tool (1) comprising a work implement (3), a driving arrangement (5, 7, 9, 11) for moving the robotic work tool, a control device (13) for controlling the driving arrangement, and an acquisition device (23, 25), configured to record a signal (27; 31) transmitted in bursts by a boundary wire loop (19), wherein the control device is configured to determine whether the robotic work tool is located within an area (17) defined by the boundary wire loop based on the recorded signal. There is provided a digital signal processor (39) which is configured to provide an output corresponding to an average of a plurality of recorded transmitted signal bursts, wherein the control device (13) is configured to determine whether the robotic tool (1) is located within said area (17) at least partly based on said output.
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公开(公告)号：WO2018199825A1
公开(公告)日：2018-11-01
申请号：PCT/SE2018/050288
申请日：2018-03-21
Applicant: HUSQVARNA AB
Inventor： LILJEDAHL, Marcus
Abstract: A robotic lawnmower system, comprising a robotic lawnmower and a charging station, said charging station comprising a signal generator being configured to transmit a boundary signal (A) utilizing CDMA coding having a frame length corresponding to a full frame length through a boundary wire, wherein said signal generator is configured to transmit said boundary signal in subframes, and wherein said robotic lawnmower is configured to receive said boundary signal by detecting magnetic fields generated by the boundary signal, and wherein the robotic lawnmower is configured to determine a set of conditions; and to determine if said set of conditions correspond to a first set of conditions, and if so listen to the subframes, and to determine if said set of conditions correspond to a second set of conditions, and if so listen to the full frames.
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