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1. 发明授权

US11169530B1 Outdoor robotic work tool comprising an environmental detection system 有权
公开(公告)号：US11169530B1
公开(公告)日：2021-11-09
申请号：US17313207
申请日：2021-05-06
申请人： Husqvarna AB
发明人： Ulf Ärlig , Jimmy Petersson
IPC分类号： G01S13/00 , G05D1/02
摘要： The present disclosure relates to an outdoor robotic work tool (1) adapted for a forward travelling direction (D) and comprising an environmental detection system (19) that comprises a set of outer detector transceivers (2a, 2b) and a set of inner detector transceivers (3a, 3b), where the inner detector transceivers (3a, 3b) are positioned between the outer detector transceivers (2a, 2b). Each detector transceiver (2a, 2b; 3a, 3b) is adapted to transmit signals (4a, 4b; 5a, 5b) and to receive reflected signals (6a, 6b, 9) that have been reflected by an object (10, 11). The outer detector transceivers (2a, 2b) are associated with outer coverage main directions (7a, 7b) that are directed at corresponding outer angles (αa, αb) to the forward travelling direction (D), and the inner detector transceivers (3a, 3b) are associated with inner coverage main directions (8a, 8b) that are directed at corresponding inner angles (βa, βb) to the forward travelling direction (D). The inner angles (βa, βb) have magnitudes that exceed the magnitudes of the outer angles (αa, αb), and the inner coverage main directions (8a, 8b) intersect in front of the outdoor robotic work tool (1) in the forward travelling direction (D).

2. 发明申请

US20220350343A1 NAVIGATION FOR A ROBOTIC WORK TOOL 有权
公开(公告)号：US20220350343A1
公开(公告)日：2022-11-03
申请号：US17734540
申请日：2022-05-02
申请人： HUSQVARNA AB
发明人： Ulf Ärlig , Pär Forsman
IPC分类号： G05D1/02
摘要： A method for use in a robotic work tool system (300) comprising a first work area (305A) bounded by a first boundary (320A), a second work area (305B) bounded by a second boundary (320B) and a robotic work tool (200), wherein the method comprises: operating the robotic work tool (200) in a first domain mode in the first work area (305A) according to the first boundary (320A); determining that the robotic work tool (200) is in a crossing zone (Z) and then operating the robotic work tool (200) in a second domain mode in the second work area (305B) according to the second boundary (320B).

3. 发明申请

US20210274705A1 ROBOTIC WORK TOOL SYSTEM AND METHOD FOR REDEFINING A WORK AREA PERIMETER 有权
公开(公告)号：US20210274705A1
公开(公告)日：2021-09-09
申请号：US17190549
申请日：2021-03-03
申请人： HUSQVARNA AB
发明人： Anton Mårtensson , Ulf Ärlig , Daniel Wikestad
IPC分类号： A01D34/00 , G05D1/02
摘要： A robotic work tool system (200) for redefining a work area perimeter (150) surrounding a work area (105) in which a robotic work tool (100) is subsequently intended to operate. The work area perimeter (150) comprises a plurality of boundary segments (155,160). The robotic work tool system (200) comprises at least one boundary detection unit (170) configured to detect a position of a boundary segment (155,160) of the work area perimeter (150). The robotic work tool system (200) further comprises at least one controller (110,210) configured to determine if a detected position of a boundary segment (155,160) is closer than a threshold distance to a safety perimeter (330). The at least one boundary detection unit (170) is not allowed to cross the safety perimeter (330). The at least one controller (110,210) is further configured to redefine the detected boundary segment (155,160) based on the determination whether the detected boundary segment (155,160) is closer than the threshold distance to the safety perimeter (330).

4. 发明申请

US20230015812A1 ROBOTIC WORK TOOL SYSTEM, AND METHOD FOR DEFINING A WORKING AREA PERIMETER 有权
公开(公告)号：US20230015812A1
公开(公告)日：2023-01-19
申请号：US17782798
申请日：2020-11-18
申请人： HUSQVARNA AB
发明人： Daniel Wikestad , Ulf Ärlig , Anton Mårtensson
IPC分类号： G05D1/02
摘要： A robotic work tool system (200) for defining a working area perimeter (105) surrounding a working area (150) in which a robotic work tool (100) is intended to operate. The robotic work tool system (200) comprises a boundary definition unit (300) comprising at least one position unit (175) for receiving position data; and at least one controller (210) for controlling operation of the boundary definition unit (300). The controller (210) being configured to receive, from the position unit (175), position data while the boundary definition unit (300) is moved around the working area (150) to define a preliminary working area perimeter (110). The controller (210) is further configured to identify, based on the received position data, a geometry of the preliminary working area perimeter (110) approximately corresponding to a predefined geometry; and to adjust the identified geometry to define an adjusted working area perimeter (105), wherein the identified geometry is adjusted to correspond to the predefined geometry.

5. 发明申请

US20220348098A1 METHOD AND SYSTEM FOR CHARGING A ROBOTIC WORK TOOL 有权
公开(公告)号：US20220348098A1
公开(公告)日：2022-11-03
申请号：US17733206
申请日：2022-04-29
申请人： HUSQVARNA AB
发明人： Ulf Ärlig , Johan Kvist
IPC分类号： B60L53/36 , G05D1/02 , B60L53/66
摘要： A method for charging a self-propelled robotic work tool (1) in a charging station (4), comprises the steps of: the robot (1) navigating towards a charging position in the charging station (4), and sensing an attaining of a predetermined charging position of the robotic work tool (1) in the charging station (4). A charging position sensor (6a) and a sensed feature (6b) are arranged in the self-propelled robotic work tool (1) and the charging station (4). A charging procedure is initiated once said charging position is attained, and the sensor (6a) detects the sensed feature (6b) in a contactless manner.
A system includes a charging station (4) and a robotic work tool (1), which each comprises one of a sensor (6a) and a sensed feature (6b), respectively, as well as first and second charging means (5a, 5b). The sensor (6a) and sensed feature (6b) are arranged for contactless detection.
A robotic work tool (1) for use in the system comprises a charging position sensor (6a), a chargeable battery, and a charging means (5a).

6. 发明申请

US20220305658A1 Operation for a Robotic Work Tool 有权
公开(公告)号：US20220305658A1
公开(公告)日：2022-09-29
申请号：US17216374
申请日：2021-03-29
申请人： Husqvarna AB
发明人： Ulf Ärlig , Pär Forsman
IPC分类号： B25J9/16
摘要： A robotic work tool comprising a propulsion device, a satellite navigation device and a controller, wherein the controller is configured to: cause the robotic work tool to exit a service station a predefined distance by operating the propulsion device; determine that the satellite navigation device is receiving reliable signals and then navigate the robotic work tool based on the satellite navigation device.

7. 发明授权

US11467600B2 Perimeter marking for a robotic working tool 有权
公开(公告)号：US11467600B2
公开(公告)日：2022-10-11
申请号：US16497876
申请日：2018-02-28
申请人： Husqvarna AB
发明人： Ulf Ärlig , Ludvig Sjöholm
IPC分类号： G05D1/02 , A01D34/00 , A01D101/00
摘要： A robotic working tool comprising a sensor for detecting magnetic fields connected to a controller for controlling the operation of the robotic working tool. The controller is configured to operate according to a first control signal being transmitted through a first boundary wire and according to a second control signal being transmitted through a second boundary wire. The robotic working tool is thereby configured to operate within a composite work area comprising at least a first partial work area and a second partial work area. The first boundary wire delimits the first partial work area and the second boundary wire delimits the second partial work area. The at least first and second boundary wires provide a common perimeter for the composite work area. Analysing the magnetic fields detected by the sensor, the controller determines whether the robotic working tool is inside or outside the composite work area.

8. 发明申请

US20210349464A1 Outdoor Robotic Work Tool Comprising an Environmental Detection System 有权
公开(公告)号：US20210349464A1
公开(公告)日：2021-11-11
申请号：US17313207
申请日：2021-05-06
申请人： Husqvarna AB
发明人： Ulf Ärlig , Jimmy Petersson
IPC分类号： G05D1/02
摘要： The present disclosure relates to an outdoor robotic work tool (1) adapted for a forward traveling direction (D) and comprising an environmental detection system (19) that comprises a set of outer detector transceivers (2a, 2b) and a set of inner detector transceivers (3a, 3b), where the inner detector transceivers (3a, 3b) are positioned between the outer detector transceivers (2a, 2b). Each detector transceiver (2a, 2b; 3a, 3b) is adapted to transmit signals (4a, 4b; 5a, 5b) and to receive reflected signals (6a, 6b, 9) that have been reflected by an object (10, 11). The outer detector transceivers (2a, 2b) are associated with outer coverage main directions (7a, 7b) that are directed at corresponding outer angles (αa, αb) to the forward traveling direction (D), and the inner detector transceivers (3a, 3b) are associated with inner coverage main directions (8a, 8b) that are directed at corresponding inner angles (βa, βb) to the forward traveling direction (D). The inner angles (βa, βb) have magnitudes that exceed the magnitudes of the outer angles (αa, αb), and the inner coverage main directions (8a, 8b) intersect in front of the outdoor robotic work tool (1) in the forward traveling direction (D).

9. 发明申请

US20200042011A1 Improved Perimeter Marking for a Robotic Working Tool 审中-公开
公开(公告)号：US20200042011A1
公开(公告)日：2020-02-06
申请号：US16497876
申请日：2018-02-28
申请人： Husqvarna AB
发明人： Ulf Ärlig , Ludvig Sjöholm
IPC分类号： G05D1/02 , A01D34/00
摘要： A robotic working tool comprising a sensor for detecting magnetic fields connected to a controller for controlling the operation of the robotic working tool. The controller is configured to operate according to a first control signal being transmitted through a first boundary wire and according to a second control signal being transmitted through a second boundary wire. The robotic working tool is thereby configured to operate within a composite work area comprising at least a first partial work area and a second partial work area. The first boundary wire delimits the first partial work area and the second boundary wire delimits the second partial work area. The at least first and second boundary wires provide a common perimeter for the composite work area. Analysing the magnetic fields detected by the sensor, the controller determines whether the robotic working tool is inside or outside the composite work area.

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