SE2051309A1 - Improved edge operation for a robotic work tool - Google Patents
Improved edge operation for a robotic work toolInfo
- Publication number
- SE2051309A1 SE2051309A1 SE2051309A SE2051309A SE2051309A1 SE 2051309 A1 SE2051309 A1 SE 2051309A1 SE 2051309 A SE2051309 A SE 2051309A SE 2051309 A SE2051309 A SE 2051309A SE 2051309 A1 SE2051309 A1 SE 2051309A1
- Authority
- SE
- Sweden
- Prior art keywords
- work tool
- robotic work
- robotic
- edge
- distance
- Prior art date
Links
- 230000004044 response Effects 0.000 claims 2
- 230000035945 sensitivity Effects 0.000 claims 2
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/81—Casings; Housings
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/835—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes
- A01D34/84—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes for edges of lawns or fields, e.g. for mowing close to trees or walls
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/82—Other details
-
- 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
- G05D1/40—Control within particular dimensions
- G05D1/43—Control of position or course in two dimensions
-
- 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
- G05D1/60—Intended control result
- G05D1/646—Following a predefined trajectory, e.g. a line marked on the floor or a flight path
-
- 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
- G05D1/60—Intended control result
- G05D1/648—Performing a task within a working area or space, e.g. cleaning
-
- 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
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/82—Other details
- A01D34/828—Safety devices
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Electromagnetism (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A robotic work tool system (300) comprising a self-propelled robotic work tool (200) arranged to operate on a surface in a work area (305), the robotic work tool (200) comprising a work tool (260) and a body (240) comprising an outer shell (240-1) having an edge (240-e), the robotic work tool (200) being configured to reduce a distance (d2) from the edge (240-e) to the surface and also to reduce a distance (d1) from the work tool (260) to the edge (240-e), thereby operating in a reduced-distance mode.
Claims (21)
1. 1. A robotic Work tool system (300) comprising a self-propelled roboticWork tool (200) arranged to operate on a surface in a Work area (3 05), the robotic Worktool (200) comprising a Work tool (260) and a body (240) comprising an outer shell(240-1) having an edge (240-e), the robotic Work tool (200) being conf1gured to: reduce a distance (d2) from the edge (240-e) to the surface and reduce a distance (dl) from the Work tool (260) to the edge (240-e), thereby operating in a reduced-distance mode.
2. The robotic Work tool system (300) according to claim 1, Wherein therobotic Work tool (200) is further conf1gured to determine that an edge of the Work area(305) has been reached and in response thereto reducing the distance (d2) between the edge (240-e) and the surface.
3. The robotic Work tool system (3 00) according to claim 2, Wherein therobotic Work tool (200) is further conf1gured to determine that the edge of the Work area(3 05) has been reached by detecting a boundary Wire.
4. The robotic Work tool system (3 00) according to claim 2 or 3, Wherein therobotic Work tool (200) is further conf1gured to determine that the edge of the Work area(3 05) has been reached by deterrnining that the robotic Work tool (200) is at a location indicated by satellite navigation signals corresponding to a boundary location.
5. The robotic Work tool system (3 00) according to claim 2, 3 or 4, Whereinthe robotic Work tool (200) is further configured to determine that the edge of the Work area (305) has been reached by detecting a collision.
6. The robotic Work tool system (300) according to claim 2, 3, 4 or 5,Wherein the robotic Work tool (200) further comprises a memory (220) and Wherein the robotic Work tool (200) is further conf1gured to store a map application in the memory(220) and to determine that the edge of the work area (305) has been reached based on the map application.
7. The robotic work tool system (300) according to any preceding claim,wherein the robotic work tool (200) is further configured to operate in the reduced-distance mode temporarily whereby the robotic work tool (200) is configured to restorethe distance (d2) from the edge to the surface and restore the distance (dl) from thework tool (260) to the edge (240-e) to original distances upon exiting the reduced- distance mode.
8. The robotic work tool system (300) according to claim 7, wherein therobotic work tool (200) is further configured to determine that the reduced-distance mode is to be exited by deterrnining that a timer has expired.
9. The robotic work tool system (3 00) according to claim 2 in combinationwith claim 7 or 8, wherein the robotic work tool (200) is further configured to operatetemporarily in the reduced-distance mode by following the detected edge and todetermine that the reduced-distance mode is to be exited by deterrnining that the followed edge has ended.
10. The robotic work tool system (300) according to any preceding claim,wherein the robotic work tool (200) is further configured to reduce the distance (d2)between the surface and the edge (240-e) of the robotic work tool (200) by lowering atleast a portion of the outer shell (240-1).
11. The robotic work tool system (300) according to claim 10, wherein theouter shell (240-1) further comprises a portion (240-3) and wherein the robotic worktool (200) is further configured to reduce the distance (d2) between the surface and theedge (240-e) of the robotic work tool (200) by lowering the portion (240-3).
12. The robotic work tool system (300) according to any preceding claim,wherein the robotic work tool (200) is further conf1gured to reduce the distance (d2)between the edge (240-e) of the robotic work tool (200) and the surface by lowering thebody (240).
13. The robotic work tool system (300) according to any preceding claim,wherein the robotic work tool (200) is further conf1gured to reduce the distance (dl)between the work tool (260) and the edge (240-e) of the robotic work tool (200) by expanding an extension of the work tool (260).
14. The robotic work tool system (300) according to any preceding claim,wherein the robotic work tool (200) is further conf1gured to reduce the distance (dl)between the work tool (260) and the edge (240-e) of the robotic work tool (200) bymoving (at least a portion of) the outer shell (240-1) relative the work tool (260).
15. The robotic work tool system (300) according to any preceding claim,wherein the robotic work tool (200) is further conf1gured to reduce the distance (dl)between the work tool (260) and the edge (240-e) of the robotic work tool (200) bymoving the work tool (260) from an original location to a location closer to the edge (240-e).
16. The robotic work tool system (300) according to any preceding claim,wherein the robotic work tool (200) is further conf1gured to reduce the distance (dl)between the work tool (260) and the edge (240-e) of the robotic work tool (200) and toreduce the distance (d2) between the edge (240-e) of the robotic work tool (200) and thesurface by rotatingly moving at least a portion of the outer shell (240-1) relative the body (240).
17. The robotic work tool system (3 00) according to claim 16, wherein the outer shell (240-1) further comprises a movable shield portion (240-3), wherein therobotic Work tool (200) is further configured to rotatingly move the movable shield portion (240-3).
18. The robotic Work tool system (300) according to any preceding claimWherein the robotic Work tool (200) further comprises at least one lift detector (275),Wherein the robotic Work tool (200) is further configured to increase a sensitivity of theat least one lift detector (275) as the reduced-distance operating mode is entered or about to be entered.
19. The robotic Work tool system (3 00) according to claim 18 Wherein therobotic Work tool (200) is further configured to determine that the reduced-distanceoperating mode is entered or about to be entered by deterrnining that the edge (240-e) ismoving and in response thereto adapt the sensitivity of the at least one lift detector (275).
20. The robotic Work tool system (300) according to any preceding claim Wherein the robotic Work tool (200) is a robotic laWnmoWer.
21. A method for use in a robotic Work tool system (300) comprising a self-propelled robotic Work tool (200) arranged to operate on a surface in a Work area (305),the robotic Work tool (200) comprising a Work tool (260) and a body (240) comprisingan outer shell (240-1) having an edge (240-e), the method comprising: reducing a distance (d2) from the edge (240-e) to the surface and reducing a distance (dl) from the Work tool (260) to the edge (240-e), thereby operating in a reduced-distance mode.
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE2051309A SE2051309A1 (en) | 2020-11-10 | 2020-11-10 | Improved edge operation for a robotic work tool |
DE102021129016.3A DE102021129016A1 (en) | 2020-11-10 | 2021-11-08 | IMPROVED EDGE PROCESSING FOR A ROBOT WORK EQUIPMENT |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE2051309A SE2051309A1 (en) | 2020-11-10 | 2020-11-10 | Improved edge operation for a robotic work tool |
Publications (1)
Publication Number | Publication Date |
---|---|
SE2051309A1 true SE2051309A1 (en) | 2022-05-11 |
Family
ID=81256364
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
SE2051309A SE2051309A1 (en) | 2020-11-10 | 2020-11-10 | Improved edge operation for a robotic work tool |
Country Status (2)
Country | Link |
---|---|
DE (1) | DE102021129016A1 (en) |
SE (1) | SE2051309A1 (en) |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3102914B1 (en) * | 2014-02-03 | 2018-08-08 | Husqvarna AB | Obstacle detection for a robotic working tool |
US20180352732A1 (en) * | 2017-06-09 | 2018-12-13 | Andreas Stihl Ag & Co. Kg | Autonomous Mobile Green Area Maintenance Robot |
US20180352730A1 (en) * | 2017-06-09 | 2018-12-13 | Andreas Stihl Ag & Co. Kg | Method for Operating an Autonomous Mobile Lawn Mower Robot and Lawn Mowing System |
WO2019191622A1 (en) * | 2018-03-30 | 2019-10-03 | Irobot Corporation | Blade guard for a robot lawnmower |
WO2019226415A1 (en) * | 2018-05-25 | 2019-11-28 | The Toro Company | Systems and methods for operating a robotic machine in an autonomous mode and a manual mode |
US20200196523A1 (en) * | 2015-10-13 | 2020-06-25 | Positec Technology (China) Co., Ltd. | Mower |
WO2020143972A1 (en) * | 2019-01-08 | 2020-07-16 | Husqvarna Ab | A robotic tool, and methods of navigating and defining a work area for the same |
-
2020
- 2020-11-10 SE SE2051309A patent/SE2051309A1/en unknown
-
2021
- 2021-11-08 DE DE102021129016.3A patent/DE102021129016A1/en active Pending
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3102914B1 (en) * | 2014-02-03 | 2018-08-08 | Husqvarna AB | Obstacle detection for a robotic working tool |
US20200196523A1 (en) * | 2015-10-13 | 2020-06-25 | Positec Technology (China) Co., Ltd. | Mower |
US20180352732A1 (en) * | 2017-06-09 | 2018-12-13 | Andreas Stihl Ag & Co. Kg | Autonomous Mobile Green Area Maintenance Robot |
US20180352730A1 (en) * | 2017-06-09 | 2018-12-13 | Andreas Stihl Ag & Co. Kg | Method for Operating an Autonomous Mobile Lawn Mower Robot and Lawn Mowing System |
WO2019191622A1 (en) * | 2018-03-30 | 2019-10-03 | Irobot Corporation | Blade guard for a robot lawnmower |
WO2019226415A1 (en) * | 2018-05-25 | 2019-11-28 | The Toro Company | Systems and methods for operating a robotic machine in an autonomous mode and a manual mode |
WO2020143972A1 (en) * | 2019-01-08 | 2020-07-16 | Husqvarna Ab | A robotic tool, and methods of navigating and defining a work area for the same |
Also Published As
Publication number | Publication date |
---|---|
DE102021129016A1 (en) | 2022-05-12 |
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