EP3403156A4 - A method and a system for navigating a self-propellered robotic tool - Google Patents

A method and a system for navigating a self-propellered robotic tool Download PDF

Info

Publication number
EP3403156A4
EP3403156A4 EP17738722.2A EP17738722A EP3403156A4 EP 3403156 A4 EP3403156 A4 EP 3403156A4 EP 17738722 A EP17738722 A EP 17738722A EP 3403156 A4 EP3403156 A4 EP 3403156A4
Authority
EP
European Patent Office
Prior art keywords
propellered
navigating
self
robotic tool
robotic
Prior art date
Legal status (The legal status 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 status listed.)
Withdrawn
Application number
EP17738722.2A
Other languages
German (de)
French (fr)
Other versions
EP3403156A1 (en
Inventor
Björn MANNEFRED
Stefan GRUFMAN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Husqvarna AB
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
Publication of EP3403156A1 publication Critical patent/EP3403156A1/en
Publication of EP3403156A4 publication Critical patent/EP3403156A4/en
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
    • 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
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A47L9/281—Parameters or conditions being sensed the amount or condition of incoming dirt or dust
    • A47L9/2815—Parameters or conditions being sensed the amount or condition of incoming dirt or dust using optical detectors
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • 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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
    • 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
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • 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
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/245—Arrangements for determining position or orientation using dead reckoning
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Environmental Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Acoustics & Sound (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
EP17738722.2A 2016-01-11 2017-01-04 A method and a system for navigating a self-propellered robotic tool Withdrawn EP3403156A4 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE1650023A SE1650023A1 (en) 2016-01-11 2016-01-11 A method and a system for navigating a self-propelled robotic tool
PCT/SE2017/050007 WO2017123137A1 (en) 2016-01-11 2017-01-04 A method and a system for navigating a self-propellered robotic tool

Publications (2)

Publication Number Publication Date
EP3403156A1 EP3403156A1 (en) 2018-11-21
EP3403156A4 true EP3403156A4 (en) 2019-10-02

Family

ID=59311414

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17738722.2A Withdrawn EP3403156A4 (en) 2016-01-11 2017-01-04 A method and a system for navigating a self-propellered robotic tool

Country Status (3)

Country Link
EP (1) EP3403156A4 (en)
SE (1) SE1650023A1 (en)
WO (1) WO2017123137A1 (en)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109874487B (en) 2016-06-30 2022-11-04 创科（澳门离岸商业服务）有限公司 Autonomous mower and navigation system thereof
US11172608B2 (en) 2016-06-30 2021-11-16 Tti (Macao Commercial Offshore) Limited Autonomous lawn mower and a system for navigating thereof
US11243540B2 (en) 2018-05-17 2022-02-08 University Of Connecticut System and method for complete coverage of unknown environments
EP3833177B1 (en) 2018-08-08 2022-07-27 The Toro Company Handle and method for training an autonomous vehicle, and methods of storing same
CN112969903A (en) * 2018-09-14 2021-06-15 创科无线普通合伙 Navigation system for use in an autonomous tool and method for controlling an autonomous tool
CN111374598B (en) * 2018-12-28 2022-03-04 珠海一微半导体股份有限公司 Control method and device for cleaning hair of sweeping robot and chip
SE1950441A1 (en) * 2019-04-09 2020-08-11 Husqvarna Ab System and method for signal reception for a robotic work tool
SE544518C2 (en) * 2020-02-06 2022-06-28 Husqvarna Ab Control arrangement, robotic lawnmower, and method of operating robotic lawnmower
KR20210131748A (en) * 2020-04-24 2021-11-03 엘지전자 주식회사 Robot cleaner and controlling method thereof
SE544573C2 (en) * 2020-06-09 2022-07-19 Husqvarna Ab Guidance for an outdoor robotic work tool to an outdoor robotic work tool interaction station using two reflective targets
TWI766427B (en) * 2020-11-06 2022-06-01 財團法人工業技術研究院 Drone apparatus and method for deploying drone working zone
SE544910C2 (en) * 2021-02-15 2022-12-27 Husqvarna Ab Improved navigation for a robotic work tool
IT202100009032A1 (en) * 2021-04-09 2022-10-09 Stiga S P A In Breve Anche St S P A GROUNDS MAINTENANCE SYSTEM, IN PARTICULAR CONFIGURED TO DETERMINE AN OPERATIONAL EFFICIENCY INDEX OF A MOBILE DEVICE

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040204804A1 (en) * 2003-04-08 2004-10-14 Samsung Electronics Co., Ltd. Method and apparatus for generating and tracing cleaning trajectory of home cleaning robot
DE102004014273A1 (en) * 2004-03-22 2005-10-13 BSH Bosch und Siemens Hausgeräte GmbH Surface machining system
DE102008009208A1 (en) * 2008-02-15 2009-08-20 Gunter Arnold Navigation system for navigating e.g. lawn treating robot in garden like area, has transponder implementing distance measurement based on ultrasonic delay measuring principle by bidirectional ultrasonic delay measuring
WO2015072896A1 (en) * 2013-11-12 2015-05-21 Husqvarna Ab Improved navigation for a robotic working tool

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5491670A (en) * 1993-01-21 1996-02-13 Weber; T. Jerome System and method for sonic positioning
GB9913116D0 (en) * 1999-06-03 1999-08-04 Chandler Robert W Automatic grass cuting device
US8301325B2 (en) * 2008-07-28 2012-10-30 Precise Path Robotics, Inc. System and method for autonomous vehicle localization
US9376027B2 (en) * 2013-09-13 2016-06-28 Deere & Company Robotic mower inductive charging station

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040204804A1 (en) * 2003-04-08 2004-10-14 Samsung Electronics Co., Ltd. Method and apparatus for generating and tracing cleaning trajectory of home cleaning robot
DE102004014273A1 (en) * 2004-03-22 2005-10-13 BSH Bosch und Siemens Hausgeräte GmbH Surface machining system
DE102008009208A1 (en) * 2008-02-15 2009-08-20 Gunter Arnold Navigation system for navigating e.g. lawn treating robot in garden like area, has transponder implementing distance measurement based on ultrasonic delay measuring principle by bidirectional ultrasonic delay measuring
WO2015072896A1 (en) * 2013-11-12 2015-05-21 Husqvarna Ab Improved navigation for a robotic working tool

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2017123137A1 *

Also Published As

Publication number Publication date
EP3403156A1 (en) 2018-11-21
SE1650023A1 (en) 2017-07-12
WO2017123137A1 (en) 2017-07-20

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