SE2151251A1 - Navigation for a robotic work tool system - Google Patents

Abstract

A method for use in a robotic work tool (100), wherein the method comprises: establishing a connection with a server (240); receiving an escape route from the server via the communication interface (115); determining that the connection with the server (240) is broken, and in response thereto navigate to a station location according to the escape route.

Description

TECHNlClLXL FIELD This atppiicatiort reiates to a rohotiat i/vtirit tool arttl in particttiar' to a systertr aint a rnethod for providing an intprorøeci rravlgation for rolïfotle tvork tools, such laivurtrtrotveirs, in such a systern.

BAAÉKGROLND ffttttoriiateti or rohotie Work tiiois sneh as rohotie iavvnrntatfverfls are becoming, increasingly irtore potítniar and so is the use of the sanie rohotle ttforlring tool(s) in niore than one nfork area. The use trfrntrre and rnore advanced navigation rnethocis are "being ntiiizeci as tveil connnand strnctures based on server eornrnnnication, lviore and rnore rohotiit wftiirk tools are th us heeoniirtg rnore :trial niore reliant on ttorinectiiin tvitli ai server: there niay be rnany iristances trvhen the connection to a server is lost, the rohotic vvork tools rntaiy' he rentderetl ininfierahite and possihly' *vuineraliie if the tfonnifctitin to thte server' lost.

Those, th ere ai rteed tor an htrpritwfifd rnanner ot' ifriahiintg a trohotic wvorkirig tool to remain safe even wfhen the connection to the server is hroireri.

SÉJMNÉARY it is therefore an object of the teachiiigs of this application to overconie or at least reduce those problems hy provitiirtg hy proxfitditrrg a rolacitic tvork tool corn ori a controller, a. tfornrnnnicatlon iiiterfaee and a rneniory; vvherein the controller is configtrred to: estahlish a connection nfitlt a server; receive an escape route trorn the server Via the eornnitinication iiiterface; cieterrnine that the connection trfitii the ser broken, and in response tliereto rtavigttte to a statitiri location attcording to the eseapif route. in sorne ernhodiniertts the tforttritiler is titrtthter :torttigitretl to: wvait tor a tirne period artrit then atternpt to rectrnnect vvith the server prior to nawfigating to the safe zone, and if the eeonneetion is sneetzssfui, continue operation, and if the reeonneetion is ttnsnecessftti, rtavigating to the safe zone. ii) Ett) in some embodinients the etintroiier is furthefr eontigureti to: atternpt to reconrrect vvith the server *via av second rotmtire vvork tooL in some enrittotiirirents the tinie period is iess than 5 seconds, in sorne ernhtttiirrrents the controiittr is tirrth er eonti gured to: deterrrrine that a reeontieetion ttfitii the server sueeessfui during navigation of the escape route, anti in resnon thereto resnnie operzttitiri, in some enriïtotiirrients the eontroiier is further eonñgured to resttnie operation by iriitiating a rtev/ otreration task. in sorne einhodirnents the escane route received front the server ttpori start~ttp of the rohotitï vvforh tooi, in some enrirotiinieiits the eseape rottte received frorn the server utpon iriitiation of a tvork task. in sorne ernhtitiirrrents the eseape route received iiorri the server' part of av status rnessage. in some ernhodinierits tire tfseairtf route received trorn the server as part of a eoninraiid message. in sorne ernhtitiirrrents the eseape route received iiorri the server' at reguiatr iiitervtais. in some embodinients the etintroiier is further eontignreti to deteet an etferit arid in response thereto receive the escape rottte. in sonie ernhotiirnents the eseape :rotite reeeivedt inehrdes a return patii to he navigateo. in some embodinierits the eseapf: route ireeeitftzd ineiutitzs a niaxirnurn speed to be tttiiized. in some enrirotiiriients the eseape rottte received irieindes timing information for a iocatiorr to he reached. in some emhodirnents tiie eseape route reeeivfed inehtties information of another rohotie vvork tooir in some enrimriinieiits the eontroiier' is títrther eontigutredt to rravigate according to the tfseaire route and tiie iritorniation of the ariother rohotic *work tooi so to avoid a eoiiisitön. l-Jx Lu In sorrie errihodirrieirts the etintroiler is further contigiired to store a route travelied to the station Ioeatiriri an eseape route.

In sorrie enrlïiodiirients the rolïiotic *vvork tool a roliotic iawirniovtfer, It is aiso an rihjeot of the teaeiiings of this ariplireatiroii to tiverttorrie the prohlerris lïiy providing a method for use in a rolïiotic *vvork tool, Wherein the iriethod eorirpri ses: estzthlishinrg a eonneetiroii vvith a server; reeeivirig atn eseape route frtini the server via the cornrnnriieatiori interface; determining that the eoriirection *vvitli the server hroken, and in response thereto natfigatt: to a station location according to the eseape rontts..

It is aiso an ohjeet iaf the teaehings of this ariplieatitön to otfercorne the prohlerris hy providing a :rohotic *evork tool systern corriprising a rohotic vifork tool aceordiirg to hereiri.

In sonre eniloodiirients the rolïiotic Work tool systern cornprises a server.

It is aiso an rihjeot of the teaeiiings of this ariplireatiroii to tiverttorrie the problems liy providing a method for use in rohotie *efork tooi systern according to Iiereiri, Other Iäfattures arid atdvittritatges ttftiie diselosetl tfinhodirrnrehts ttfiil appear' trorn the foliowfing detailed diselosnre, frorn the attaelied dependent clairns vveil Irorn the drawirigs, Gtineradly, aIl *terrns itsed in thie tfiainis are to he interpreted aetttirtlirig to their orfiinairy rneaniiig in the teehnieai iileidt, iinless explicitly' detiried otherwise hereiri. Ali retereirees to "a./'ar1/the Ielerirtzrit, device? cornporient, irreansfi stepf, etoj" are to lie. interpreted tipeniy as retierriiig to at least one iristariee of the eienierit, device, cornponent, rntzansf, step., eten unless explieitly' stated titherxt/ise. The steps of any rritftiiod diselosrid hrereiii do not liave to he perfornieti in the exact tirtler' dirselostfd, uniess tzxpiicitly stated.

BRIEP' HLIESLÜRIPÜIÜIÛIN OF 'THE DIQYWINIÉíS The iiivtiiitionr ttfiil he described in further tietaii under retereritte. to the aceornpairyfiirg dratviirgs in ttvhieli: Figitre lA shotvs an exztrnrple of a rolçiotire Iavwrinitittfer according to stirne enilrridinrerits of the teaehings iierein; ii) Ett) i-Ü-v Figure 18 shovvs a sehematie wfittv/ of the components of an exarnpie. of a rohotic Wori-i tooi being a rohotiit iawvnrhtovvfai* ateeortiiiig to some exarh pie enihodinieiits of the teaehings hereiii; Figure 2A siiowvs a seheniatie *tfiewv of a rohotie tvork tooi systern aatttoroiiig to some example enihodinieiits of the teaehings herein; Figiire 23 shows a seherh atie view' of a rohotie txfork tooi sJvsterh aoiforiiirig to soine example emhodiments of the teaeiiiiigs hereiii; anti Figure 3 shovtfs a eoriesponding ftovvehart torr a inethod aeeordihg to sonie exaintiie ernhodirnents of the teaeiiiiigs iieirein. ÜETAILEEE) išššlfišíïišiiïïïíšN The ciiseioseci emhodiments tviii how ite described more ftitiy hereiiiafter »vi th rexferenee to the atteoinpztnjyling iirawt/ingsi, in Which oeiftttiht ifirihoiiiirients of the invention are shoivn, This inventioii may; hotvever, he enihodied in iiianïa diferent frnrris :uid should not he eonstrueo as limited to the errihriiiiirients frirth iiereiri, Like reference numbers refer to iike eienients throughout. it should he rioteti that :Wen thougii the description giveri hereiii wiii he toeused on rohotie iavvnniowfers, tiie teaehings herein may aiso he aiipiieti to, roiitßtie ibaii eoiietïtors, rohotie mine swifeepfzrs., rohotio farrhing etiuitiinent., or other rohotie vvork ttßois wfhere a wfoiii: tooi is to he safeguairded against horn aeeidentaiiys extending ibeyovnd or too eiose to the edge of the rohotie wxfozri; tooi.

Figure 1A siioxvs a perspective *vievv of a ifohotit: »verk tooi iíšiš, here exempiified hy a rohotie iavtfnrhovvei" ifii), iiaviiig a body 149 and a. iiiuiraiity of vvheeis ilší) (ohiy one side is shotvn). The rohotie ttforit tool 190 may he a inuiti-eiiassis type or a rhono-eiiassis type in figure 11%). A niuiti-chassis type eoinprises more than one riiairi hody parts that are nirivaiiie »vi th restpeitt to one another". A rriorioutiiassits type eorhprises onijy' ohe iiiain 'hodjtf part. it siiouiti he hoteo that roifiotite itawiirritiwver iriay he of dittererit sizes, tvhere the size rahges from rnereiy' a few deeiinetres for srnaii garden robots, to ainiost i meters for iarge rohots arraiigeti to service. for example airfieitis. 19 29 39 it shenlti he neteti that even though the description herein is teensseti on the exatrnpie of a rohotie iawrtrririiver. the teactiings rnay ifquaii y he atppiieäd te other types iii' rebotic iverk toeis, such reibetie efateririg teeis, reibetie geiihati coiiecters, roitfotie niiiietiers to nientien a 'few ex antpies. it shenid aise he iieted that the reiffetic tverk teei is a seif-protieiied rehetie »verk tool, eapabie ef autononious riavigatien ivitiiirt a iverh area, Where the rohetic iafork teei prepeis itseif across er around the iwerk area in a. pattern (random er tiredeterrninedi).

Figure 113 shovvs a. seheniatic oilerifiewif ef the rehotic ifverk too1 199, also exerntfiiitied here hy a reiietic Eavvnriiriwfer 199. in this exarnpie errihedirnerit the rohetic iaiifiirnowi/'er 199 is of a rneno-tïhassis type, having a, niain hetiy part 11-10. The iriain bedy part 149 siibstaritiahy heiises att eernperients ef the ieiiritic iavvnriiiiwifer 199. 'ihe iebetie iaivnrrieifaei' 199 has a piuraiity ef vtfheeis 139. in the exernpiarjy eriiiiediriieiit of figure 113 the rebotiit iaivrirnowfer' 199 teur »vhee1s 139, tvi/e front »Viteeis arid itvve rear ivheeis. At Eeast seine ef the ivheeis 139 are drivaiiiy connected to at ieast ene electric rnoter 159. it shouid he noted that :även if the iieseriptiori herein is teentsed en eieetrir: meters, eeinbustieri engines ntad' aiternativeiy the used, pessihiy in eerniïiiiiatien ivith an eieetric ntetrir: in thte ifxarripie rtiitigirre earth of the wfhife1s 139 is tfonrietfteit to a eornrnori er te a respective eiectrie meter 155 for driving the ivivheeis 139 te navigate the irohetie iawiiniewifer 199 in ditfereiit nianriers. The vvheeis., the rnoter 155 arid tiossihiy' the battery 159 are thus exarnp1es ef components rnairirtg up a rirepuhairin iievice. išy ceritrehing t1ie meters 159, the prepuhiion device rnay be rïoiitro11et1 to prepei the rebotii: iavvnrnowfei* 199 in a itesireri rnanner, and the propuisiriri device vvi11 therefore be sefzri syrioiiynietrts ivith the rnetrirts) 159. 1t shenid he neted that Wheels 139 tiriveri by eiectrie rnetrirs is eri1y one exarnpie ef a. prepnision syfsteni and ether 'tfariants are pessibie such as eaterpiiiar tracks.

The riihetic iawrinieiifer 199 aise cornprintfs tt ttorttrriiier 1 19 and a cornputer readahie storage riiediuin er rnemerjy 12,0. The eeritroiier 119 may be irnpieinented using iristruittiens that en ahie harihil are tirnetiortahty, ter exarnpie. hy rising exeeutahie erirnpittei' ttregraiii instruetieiis in a gerierahpitrtfiese er siieeiai-iautirprise processer' that niay be stered on the inernery 129 to be tzxtzouteti hy such a, rireciässoiï The ceritreher 119 is eentifiieied te read iristriictieris front the rneriie 'f 129 and exeeute these D w instructions to control tiie operation of the rohotic iavvfiirnovifer 100 incittding, but iiot being iitriitetí to, the propuisiivn and navigation of the robotitt iawriinovver: The eontroiier 110 in coniioination vvith the eiectric inotor i 55 and the vvheeis 130 torrns the of a navigation systern. (possihiy corn prising tiirth er cornporieiits) tor the roibotie iavvnrnoufer, enabiing it to be seif-propeiied as discussed under figure ifs, Tine eontroiier ii0 ntay he iinpienierited rising any stiitathie, avaiiaibitf processor or Programmable Logic Circuit (PLC). 'Fhe rneniory 120 rnay' iae inipiernented using any tfoinrnoniy' known techrnoiogsf for tfoinputenreaiiahief niernories sueii ROM, FiiASE-i, i) DR, or sorne other nieinoilv' technology.

The rohotic iavxfnrnoxver 100 is turther aitrangfzd with a ivireiess coniniiinication interface 115 for communicating vifitii other iieviees, such as a server, a perstinai coniptiter, a smartphone, the charging station, aint/or other rohotic Work toois. Ex arnpies of sitcb. vvireiess ttorriinuiiirsatioii devíceës are Biueëtoothtïjh, "vitfiiiifiïšï (IEFÄÉSÜZÉ. ib), Gioibai System ivioiiiie (GSM) and LTE (Long 'ferrn Efifoiution), to nanie a few. The rohotic iavtfrinutttfer 100 rriatv be arrarigeii to cornnitinicate With a user eriuiprnent 200 discussed in reiation to figure 2 below for providing iriforniation regarding status, ioitrttiiin, and iprogress of operation to the user equitpniifritt 200 as vveii. as ireceivirig corhinands or settings frorn the user equipment 200. .ßiiternativeiy or additionaiiy, the irohotic iawiiniovtfer 100 inav be arranged to communicate vvitii a server" (referenced 240 in figure 2A) for providing intorrnatioii regarding status, Eoeation, and progress of operation vtfeii as rectfiiving eorninands or settings.

The rrfhotie iawriniiivifer 100 aiso eoinpri ses a grass cuttirig device 160, such as a. irotating hiade 160 driven by a cutter niotor 165. The grass euttirig device being an exanipie (if a vvorit tooi 160 for a rohotic uforit: tooi iiit).

The robotic iavifnrnoufer' i 00 rnay further coniprise at ieast one navigation sensitr, such as ah opticai riavigation. sensor, ah uitrasound sensor, a, iieacon navigation sensor and/or a sateiiite navigation sensor 185. 'Üfhe optieai navigation sensor rnaj; tre a canufra-içiaseit sehsor aha/iir' a taseißiaaseit sehsor. Ttie iiertcori navigation sensor inay he a Radio Firequeiicy' receiver, such as an Liitra "Wide Ešanii (iiVifiš) receiver or sensor, configureii to receive signals froni a. Radio Fitequtfinev beatsoii, such as a UVJB beatsoii. rfxiteirnativeiy or adiiitioiiaiiy, the heaeoii iiavigatioii sensor rnay he ah optieai receiver' eonfigured to ireeerarä signals trorn an optical heaeon. The satellite navigation sensor rnay he a GPS (Global Prisitirirriiig System) device or other Global gatioii Satellite System (flNSS) deviee. ln eniliodiiiients, vvliere the rohotie latifnrnonfer 100 is arranged vvith a navigation sensor; the rnagiietie seiisors l70 as will he diseussetl below are optional, ln eniliodiiiients relyiiig (at least tiartially) on a navigation sensor, the 'afork area rnay he siíieeititfd as a virtiiatl nftirlt area in a inap applieati on stored in the rneniory l 20 of the robotie lavvnmoivei' l 00. "llie virtual ivorl: area inav lie defined by a 'virtual 'ooandarv The iohotie lavviiinonf er 100 iiiay also or aiternativelsf eoniprise dteduteed :reelroning sensors lS0. The tlednerfd reekoning sensois inay he odoiiirfiters, aeeeleronieter or other iieiineedt reeinaning sensors. ln soine einhodiinents, the iierlueedt reelroning sensors are eonitirised in tlie propnlsioii device, vvhereiii a dedneed reelroning navigation niay he ifirovitletl hy l-rriotvfiiig the ttnrrerrt supplied to a, iriotor aint the tirne tlie enrrent is srtpplied, vtfhieh vvili give an iiidieatioii of the speed and therehy' distaiiee for the tforresponding vxflieelt For en aliling the robotie lavvninotifei' 100 to iiavigate tvïitli refereriee to a 'oonridriry vvire tfnfiittiirig a inagnetie field :tausetl hy a, tfoirtroii signal train sinitted througli the ihonndarvi/ nfire, the Jroliotie lavvriniovifer l00 is, in sorne enihridinieiits, tiirther eonfigured to liave. at least one inagnetie field sensor l70 arratnged to deteet tlir? rnagnetie field aiid 'for deteeting the liinindary' vifire and/or 'for reeeiving (aiicl iiossihlye also sending) irifoiniation to/fzroin a signal generator (will he tliseiissefl vvith retereiirfie to figure l). in sonie enihotiinierrtsi, the sensors 170 rnay he itorrriettteti to the controller l li), possihly via filters arid an innplitifzzr, and the controller l l0 rnay l. e. eontigitreil to process and evaluate any signals received fironi the sensors l70. The sensor signals are caused liy the inagnetie tield being generated by the control signal beiiig transniitted throiigh the houndaiy vvire. Thii s enahles the tfioirtrriller l l0 to deterrniine vvhetliei" the rohotie iaivnnionfer l00 is elose to or erossing the lionndary' vvire, or inside or outside an area enelosetl liy tlie lioundzirjy vvire, As rnentioiied alirive, in sorne ernhiödirneiits, the rohotie lanfiiiiionfer 100 is in soine rärnhorlirnents arranged to operate aeeording to av nian application of the vvork area 205 (and possihly the snrrotintlings of the nfoiir area 205) stored in the nieinory l20 of li) the rohotitï iawnrrioyyfer l00. The inap applieatioii rnay be generated or suprrlerrieiittfd as the rohotio iawnnioyxfer l00 operates or oth erwxfise nioves armnni. in the work area 205. ln some embodiments, the niap application includes one or nrore start regions and one or rrmiffe goal regions for each nfiirl: rtrea. in sorne ernhodirnerits, the rrrrtp application also includes one or nrore transport areas.

As diseiussed in the ahotfe, tlie rrrrtp applioatiori in some enihodinierits stored in the memory l20 of the rohotie ytforlring toolts) l00. ln sorne ernhodiriients the rnap appiieatiori is stored in the server (retereneed 2140 in figure. nA). ln sorne ernbodirnents inaps are stored both in the inernory' l20 of tiie rohotie Working tool(si) 100 and in the server, yvherein the iiraps rnay be the sanie nraps or show suhsets of features of the area.

The rohotie aforhiirg tool 100 niay also coinprise afiditioiial sensors l90 for enahling operation of the roiffotic tyorking tool i 00, such as 'vistial Sensors (for example a oaniertt), rarigirig serisors tor eiiahling êšl_.A.'švfí-hrtsifd riavigatiorr (Sirnuitaiierias Loeahzatiori and tylapping), inoistnre Sensors, eollision sensors, ifaheel load Sensors to rnentiriri a teyv Sensors.

Figure 2A shows a robotie 'work tool systern 200 in sonre enrhodinreiits. 'Üihe seheniatie yfieyv is not to scale. Tlie rohotir: »Wiik tooi systern 200 oornpri ses one or nirire ioibotic wforlt tools l00 according to the teaehiirgs herein. lt slioitld. he iroted that the Work area shown in figure 2 is sirnplitied for illustrativfs. purposes. The robotirï Worth tool systenr eornprises a liotindarye 220 that inay the tvirttral and/rar eleetro rneehaiiieai such as a magnetie field generated hy a. eontrol signal being transniitterl through a 'oonridttryt yvire, and ttfliieh. rrrrtgrretiit tield is sensed by sensor in the rohotiit vvorir. tool l 00. "the rohotie tft/ork tool systern 200 ñirtlr er errrnprises a station 2l0 ivossihlyf at a station location. A station location inay alternatively or additioriallyf iridieate a service station, a parking area. or a safe area where the rohiitio yvorh tool rnay rernairi for a tirne tieriod between or during operation session.

AS With tigirres lA aint llš, the rohotíe yvorh tiioits) is exernpiitied hy a rohotie iayifnrnoiyer, wvherebye tiie rohotie Work tool systern nray' he a rohotie iaytfrirnoetafei' systern or a systern eoniprising a eonrbiriations of robotie vvork tools, one heting a rohotie ll) Ett) laiviiinowifer, but the teaichiiigs herein niay also be aptilietl to otlier roliotic *tiforlr tools adapted to iiperate ivithiri a vaorlr The one or rnore rolrotic ttforlring tools lill) of the roihotic nforlr tool systern Elli) arfe arranged to onerate in a lirst vvorl: area 2G5A and a second ivortk area 2953, The ttfork area(s) l 05 in this application exeniplified as a garden, 'bttt can also he other' vvorl: as ivould he uriderstiioil, sireh as an ttirtield. As discussed alaove, tlie garclen niay contain a riuniher of olrstacles, for example a iiurrilïfei' of trees, stories, slopes and liotises or other strucftures. ln some ernhodirnents the rohotlc Work tool is arranged or eontigitred to traverse and operate :in Work areas that are not essentially' flat, but contain terrain that is of varylng altitutle, such as uritliilatlng, cornpn sing hills or slopes or such. 'The ground of such terrairi is not flat and it is not straightforward how to determine an angle ibettireeir a sensor rnounted on, the irolootitt iii/title tool and the ground. The rfolvotic i/Vorlr tool is also or alternativeljt' arrariged or contigured to traverse and operate in a uforli: area that contains iilostacles that are not easily discern eil liriirri the ground, Exanipltfs ritisuttli are grass or rnoss covered rocks, roots or other obstacles that are close to ground and of a sirnilatr atiilour' or texturfe as tlie ground. Tlie rohotic vvorle tool is also or alternatively arranged or eonti gured to tiraverse and operate in a tiforlr area that contains obstacles that are tiverliarigirig, ie, obstacles that nray not lie tlettfictalile frorn the ground rip, siicli ltmf hanglng liranclies of trees or hushes. Such a garden is thus not slniply a flat lawn to he inowetl or sirriilar, hut a. *work area ofunpreilietahle structure and charaeteristies, The ifs/ork area 295 exernoliitleil tvitli retereiitterl to figure 2A, rnay thus he such a non- uriiftiritn nforlr area. as disrslostïd in this paragraph that the rohotitï ivorlr tool is arrainged to traverse an til/or o perate in. sliovifn in ligare 2A, the roibotic nforlriirg toolifs) l (li) is arranged to navigate in one or rnore vvork areas 205A, 2053, nossihly corrnectetl hy a transport area TA.

The rolffotic tiforking tool systern QÛÜ rnay alternativeljt' or additionally cornprise or he anrtriged to he ttoiinetttetl to a serverfidtl, sutth as a cloud service, a cloud server' application or a dedicated server 24%) 'lhe eoniiectlrin to the server' 240 niay he direct trorn the: robotic vvorlriiig tool ltštl, direct trorri a user ettuipnifzrit 250, indirect trorri tlif: ii) 2G Ett) lO rrohetie vtforhing tool iQÛ via. the eharging station, anti/er indirect trorn the robotic Wori-ring tooi 109 via the user' eoniiprneiit 250, a skiiied tiersen vvoaid understand a server, a cloud server or a eiettd service rnay be irnpieniifrited in a, n iirniver' of vilays utiiizing one er rnore eontreiieis 24ÜA and one or niere menieri es 24GB that may he grouped in the sarne server or ever a phiraiity ef stfrvers, in the iieien' severai ernbodiments of iiovv the rebotic 'sferk tooi niay be adapted vvfiil he tiiscioseti, it shonid, he noted that ah enibodirrieiits inay he combined in any eornhiriation ivrovfidirig a eornhiried adaptatioir of the iohotic tverk tooi.

The inventers have realized, that an route niay change depending en the status ef the rebotie vaorie tooi as nfeii as the Eoeation of the rohotie vtfork toei, and that the saine eseaiie rettte may* therefore net be optimal at aii iecatiens. in stirne ernbtiiiirrients, and shovan iii tïgiire 2A, the robotitt vtferk tooi 269 is eonfignred te estabiish a cennection With the server 449 and to receive an escape route tfrorri the sifrver via the eorntnriiriícati on in terfttee 'li 5, Tine rohetie »verk tteoi is tiirtiier' centigttred to determine that the eonneetien ttfith the server lidt) broken, and in response theretti riavigate to a stattiori irritation according te the eseape route ER, in figure 21%, tive eseape rentes are shown; one for the rohotie tverk tooi E09 in the tiist Work area, and one for e tlhe robotic work tool IGÛB in the seeeriti Work area 2958. ir: sorrze errriiotiinieiits the rohotie vtfork toei is tiarther eonfigared te vtfait for a tiine period, for exarnpie 5, it), 39, et), 129 sectintis or in any range there in hetifvfzen and tiien atternrpt to reeoriiieet tvith the server' 'IM-Û prier to riavirgzttirig to the station ioeatirori, aiso referreti to as the zone. if the recennection is successful, the robotie vvferk tooi etrntiirties operation. rand, if the reeornneetiiin is tonsaeeessfai, the roiitrtie vtforir teei navigates te the safe zone, in stirne ervnbtiiiirrients rohetie work tooi 109 is tiirtiier conff gated to atternrpt te reeonnect tifitii the server 240 via the second roiïfotie iverk toei i ÜÛB, Which then aets an iritertnreitiatry' between, the server and the rohotie ttfork tooi iOÛ, The atternrpt to reeonneet via the second rohotic tverk tooi rnay he derie the connection is deterniined to he trist, and/er as the iíireseriet: of the second rebotie vverk tooi IOGB is de. ected. The it) Ett) :reconnectiori via. the seeondv rohotitï vvozrh tool rnay tiius he done. hetore starting to natvigatrf to the stati on liittatiitn and/or during niarvigarti on to the stationi iriitrzttiiiri, in ernhodirnerits, vvliere the attempt ovrer tlie second rohotic ivork tooi i ÜGB is pertorrneil prior to riaviigtttirig to tite station location, the tirne títeriod is less than 5 seeoriris.

As a rohotitf vt/ork tool rriaq; enter an :trea Wh ere the eonnectiort to the server is rnore preferahle or possible, the rohotie Work tool is in sonie erntïfotiirnents, further' eontigirrerl to dieterrnine that a reeoririerstion vvitli the server 21th is suecessfirl during iiavigation ot the escape route, artrit in response thereto resuine operati on. 'ihe roliotie ivork tool rnay' then, in sorne ernhodirnents resurne oiieratiriri hy contiriuirig on its previous oiieration, hy rreturriiiig to the sarne ltrcatioti, frorn the rireserit Eoeatitrn, or trorn another iocation in the vvork area.

The irfohotic vvork tooi rrizty aitern ativfeiy, in sorne ernhoriirn en ts resunie operation lïry initiating a nevv operation task, An operation task rnay inclurie a specific Work area (rtrissihiiyf a sub area) a task to he perithrnietii, a pzttteni to tuhfilii, a coverage to acttiieve and/or a timing to he satistiied (time for start ariri/or for cornpletion). in sorrte errthriiiirrients, the rascar. e. route received trorn the server upon start- up til' the rohotie vaorlv: tooi (209). This ensures that the roliotie vvfork tool 269 iias an eseaiie iroute evYeii hetore ieaving the station location ariti cornnierieing on an oiirziration. hi sonie enihritíinieitts, the escape route ieeeivfetl finn: the server 240 as part ot" a stattts nirzssarge, hi sorne tfrnborlirnents, the eseape route eeeiifed trorn the server 249 as part otfa cornniartil message. ln sonie enihodiniertts, the esearpe route iertreiveilv h'orn the server t 21th) att :regular intervals, siteh at every l, lÜ niinutrfis or any rarigvf: tiiere. in hetvvfeen, or such as every 5, ti), 50, 190, :SÜÜ meters ot orieratirin. Ešueh ernhtadirneiits ail eriahie tiie rohotie Work tool to carry a current eseape route, tvhiie eonirironiising the arrtourit of eitrnniuriieatirirt, hy rtratding the arnoutnt rifcornniirniittttiitn to the degree of upriated escape route. in sorne ernhodiniertts, the rohiitiic vvork tool tíirthier cornfigirrerí to deteet an event and in response thereto receive the eseape rotite. 'the rohotic nforrhi tooi niay he eontigirrerl to dieteet the tfvrfnt aritl then signal the event to the. server ariri receive. a nevv or updated eseaive route. .Aiternativeiy or atíditiorialiyf, the rohotic vifork torrt may receive ll) Zl) Eli) the tipdattficl escape route in resgforise to the. server detectiiig the event, the rohotic vvorlr tool then deteetiiig the efverrt thifoiigli the server.

An event niay he an error situation of the rohotie iaforlr tool, ifahereliy the original eseape route rrrzty not he suitable, or possible.

.An event rnay alternatively or aclelitioiially* lite that a new (sub area of the) Work area enteretl. Thins alloivs tor a current eseape route to lie received lor a (sulihtforle area even before eritering it.

An event itnav alternatiiaeily' or adclitionallv he that an ohitäet (such as an ariirnal, person or vehicle) is detectetl in the area. zfxn event niay alternativeljtß' or adtlitionally' he that another rohotit: vvorh tool enters the vvork arrea. This allovvs tor the eseat, e. route to he ttprlated so that the ohjeet or either' rohotie eivtirlr tool is avoitlerl, ptissililuv' hy' halting navigation until the ohj eet or rohotie Worl: tool is no longer present. ln soine einhtitliirrents, the tfseape route received in elutles a ireturit path to he riaifigatetl. This enahles the rohotie 'øforlr tool to find its vvay* hack to the station location hy lfollovitirrrg a trusted ainl ttifelierzthly' satte tatttht. ln sonie eniliocliriients, the escape route received inclucles a niaxirnurn stieed to he utilizetl, therehy' errsuririg that the iohotitf vi/oifk tool riavigtttes sately to the station location. The speed niay he related to a part ot" the escape route arta/or to the vvhole eseape rottte.. ln sonie enihtirlinieiits, the eseape route received ineltirles tiining iiiforniatitin for a location to he reached, such tirnes taossihlv iritlitsatiiig tirnrzs When the rohotie work tool to he at rlitfteiiferit lotttttittns irielutlirtg vvait times. Thtis allows tor eoortliriating rnultiplt: rohotie xvorlr tools and/or ohirzets hy erisuring that thefy do not oecupjy' the saine specilie ltieation at the saine tirne. ln sonie eniliocliriients, the escape route received inclucles iiiforniation of another rohotit: vtftiirl: tool 2%. This eriahles the rohotie ivorle tool to tleterrntine lroiv to navigate the eseape route takirig into account the another roiïtotic ivork tool. ln sorne ernhorlirn en ts, the rolçieititc vvorlr tool 290 títrther eonligtt ett to iiavfirgztte aceorrliiig to the escape route anrl the iriforniation ol the ariotlier' rohotie Work tool so as to avoid a eollisioii. ßilteiiiatiixeljy' or atltlitionallyg tlir: robotie vvork tool is eontiguretl to pause uritil l Z. t) ïJx ,\ Lu the otlifzi* rohotie vvork tooi has left the. area, Whieli ean he eoniiiiuiiitsateti ironi the server. in sonie eniliodiriients, the robotie Work tool is furtlier configured to store a route travelieti to the station location as attt eseape route, The route niay he stored lny upioading it to the server. This aliows for tried and paths, to he used eseape routes. As the route has heen tratveiletl suceesstitily hetore, the chance tor av suettessthir navigation hi gh. it should he noted tliat evftzii it" the eonneetion vvith the server is lost., that does not inean that the rohotie vvorlr tool is ineapaliie of navigating ieiativeiyt safety, ttir ex arnpie using satellite liaivigaititiiit dedueeti reekoning anti/or utiiizing the. rriagnetie sensors lfïfit Figure Zšš showfs a sinipiitied *vievv of a rohotie vvork tool system IZGG as in figure 2A. in figure Jr it shovvn how the roliotie vvork tool litt) enahied to return to the station ioeation 210 via one esettpe route *vi/lien the rotwotie vaorh tooi 190 at a first position líšíšïi and via another' eseape route When the robotie Work tool is at a second location 1992, the rotvotie Work tool litt) liaifirtrg retteiveti an itpdtttetl esettpe route stirne time vvhiie moving front the first to tlie second position, Figure 3 strows a ilovvttliart tor a general niethtiti aettortlirtg to heiïein. The inethod is for use in a rohotie tivrirk tool as in figures lA and ltš. The inethod eoniprises estahlishing 3 ti) a connection With a server 249 and iteeeiiving šlt) an tfseatitt route tron: the server via the eornrnuriieatioii interface 215. The method eotnprises the roliotie vtforir tool then tieterrriiiiiiig that the eoniitfietitiii vvith the stziavtzi* 21430 is broken or lost 339, and in res :onse thereto riavitttttes 31th to av station loeatittri ttettttrtttiri to the eseai e route. J)

Claims (1)

1.i. A rohotie Wforir tooi (199) eoniririeiiig: a controtier (116), a etiniriiuiiitfizttiiiii intertattie (115) aiid a rheinory (120); tvhereiri the controiier (1 Itt) eonfigured to: estahiish. a etirineetioit *with a aerver (24Ü}; receive an escape route froni the server via the communication interface (1 15); deterrnirie that the crinnectiori With the server (240) in iirriken, and in :responstfi tiiereto navigate to a setation location aeeorttiiig to ethe. escape route. 2. 'Üthe rohotie Work tooi according to ciairn i , Wherein the eontroiier is ftirtiier' :frin ti gu red to: Wfait for' a tinie period and then atternpt to reconneet *With the serifer prior to hatvigatiiig to the. sate zone, ttnd it the reeonneetion is Successful, continue operation, and it' the rettoiiiietttion. is uhsiicetfssfui, iiavi getting to the aate zone. 3. The irohotic vtfork tooi according to eiairn 2, ttfhereiii the controiiei" is thrther ctintigtrred to: attenipt to ireconnect izvith the server' (246) via a second irohritic work tooi. 4. The rohotic, »viirk tooi according to ciaiin i/vtierein. the time period is tess than 5 seconds. 5. 'Ütiie rohotie vaork tooi according to any precedirig ciainis, tvhereiii the :tontro1ier is further ooh tigureit. to: determine that a reconriection vtfith the Server (244)) is suecesstftii during navigation of the eaoape route, find in reaper: ttiereto resurrie operattiriii. (i. The rohotie Wfork tooi according to ciaiin Wfiieiein ethe. eontroiier is fiirtiiiäi” configured. to iresurne operation hy initiating a rievv operation task. 1G 7. The rolmtirc tvork tool ( t GG) aeettffdtirrg to an y preceoting tflainr, ttfhereirr the escape route received front the server upon start-ttp of the rohotie nforl: tool (flGG), The rolrotic vvork toel f: tGGš according to any preeeding clainr, vvherein the eseape route received ttnnr the server' nporr initttttittn ofa *Norte task. 9. Tltt: robotíc wfortr tool (tGG) aecorrlíng to any precetttrtg elaírn, vvherfzln the escape rtmte received ttnrn the server (240) as part tat” a statuts rnessage. tG. The rohottc twrrrk toot (l GG) aceorntírrg to arry ttrecetting ctatrn, Wheretrr the escape route received front the ser (ZÅlG) as part of a cornrnalrtt rnessage. it t . The robctic ttforlt: toot t lGG) according to any preeeding ctairn, vvlrerein the eseape route received ttnnr the server' (24G) at *tfgutttr írrter\f2tts. tIZ, The rohetic wforlt teot acctrrding to any' preeedirrg ctairns, xvhereirr the controlter is tnrther tsornfigturerl to de ect an :went arter in response. thereto rectfiive the eseape route.. t3. The rohotitt *vt/truth toot (ÄGG) attcordtttg to any preeetttng ctatrn, Vvheretrt the escape rottte received irrelndes a return patlr to he natfigated. 14. 'lllre rohotic 'øfork toot (vi GG) aceorttnrg to arry prececting ctann, tvheretrr the escanrf route received includes a nraxtrrturrt speed to he utitízed. tS. The rohottc *sa/ork toot (_ lGG) according to any' preeeding ctainr, wvlttfirein tltt: escape route received includes timing irrfornratitön for a Eoeatitwn to he reached. th. The rohotitt *vt/truth toot (ÄGG) attcordtttg to any preeetttng ctatrn, Vvheretrt the escape rottte received includes inforrnattolr of another rolïfotlc tføork tocl (IGG). 1G 211) Ett) 17. The rotwtvtie *work tooi (1 GG) tteeording to clairn 16, tft/heroin the ttorrntttlüer is further con fi ggured to iravigate accoråirig to the escape route and the information of the artotïtttft” rohotic Vvorí-t toojt so to avoid a coíliisittrtt 18. The rotwotie *work toot (1 GG) tteeortiing to any precedintg ttiatint, tft/heroin the eontroíier :is furthiei" confignred to store a route tratfeläed to the station äoeation as sn escape route, 19. The robotie tvork too1 (_ HBO) according to any' preeeding c1ain1f, ttfherein the: robotie ttvrark too1 (109) is a robotie iawninowtfer. 20. A rohotit: »vorfk tool systern (2139) tforrníntfisirtg a rohotitt tft/ork toot (1 GG) according to any preeeding c1ain 21. 'Fhe robotie 'work too1 systern (ÉÜÜ) according to eíairn 1G fitrther eomprising a stfrvtfr (249). 22. A rnethod for use in a rohotic Work too1 (106), ttfhereiir the inethod erarnprises: estahhshing a connection vvith a server (Qf-'tüfi receivírig an eseatpe rottte trotn the server via the eornntttntittationt intertfactf (115); dtettfirrnining that the eonneetion ttfifii the server (2414)) is brokert, and in response thereto navigate to a station Eocation according to the esoape route.