SE2250721A1 - Method and system for operating an autonomous robot including searching for a new charging spot - Google Patents

Method and system for operating an autonomous robot including searching for a new charging spot

Info

Publication number
SE2250721A1
SE2250721A1 SE2250721A SE2250721A SE2250721A1 SE 2250721 A1 SE2250721 A1 SE 2250721A1 SE 2250721 A SE2250721 A SE 2250721A SE 2250721 A SE2250721 A SE 2250721A SE 2250721 A1 SE2250721 A1 SE 2250721A1
Authority
SE
Sweden
Prior art keywords
robot
illuminating light
working
charging position
intensity
Prior art date
Application number
SE2250721A
Other versions
SE545219C2 (en
Inventor
Martin Hammarström
Pär-Ola Svensson
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
Priority to SE2250721A priority Critical patent/SE2250721A1/en
Priority to DE102023107235.8A priority patent/DE102023107235A1/en
Publication of SE545219C2 publication Critical patent/SE545219C2/en
Publication of SE2250721A1 publication Critical patent/SE2250721A1/en

Links

Classifications

    • G05D1/6445—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/12—Inductive energy transfer
    • B60L53/126—Methods for pairing a vehicle and a charging station, e.g. establishing a one-to-one relation between a wireless power transmitter and a wireless power receiver
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/50—Charging stations characterised by energy-storage or power-generation means
    • B60L53/51—Photovoltaic means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • 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
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G05D2105/15—
    • G05D2107/23—
    • G05D2109/10—
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
    • G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code

Abstract

A method for operating at least one autonomous robot (2), in particular an autonomous vegetation working robot, preferably an autonomous lawn robot, within an operating area,the robot comprising (i) an electrically driven tool (8), (ii) an electric motion drive (20) for moving the robot, (iii) a photoelectric device (3) for converting energy from illuminating light, in particular sunlight, into electric energy, and (iv) an energy storage (4) for storing electric energy charged by the photoelectric device and for supplying the tool and the motion drive with electric energy,the method comprising the steps ofa) the robot working, in a working mode, within at least one working area (15) within the operating area according to a working navigational routine, wherein the tool and the motion drive are preferably both activated,b) the robot, in a charging mode, staying at a first charging position for recharging the energy storage (4) by means of the photoelectric device ,c) at the first charging position, monitoring the intensity of the illuminating light, d) if the monitored intensity of the illuminating light drops or has dropped below a predetermined minimum intensity level, the robot, in a searching mode, searching for a second charging position, where the intensity of the illuminating light is higher, preferably by at least a certain safety margin, than the minimum intensity level, and stopping at the second charging position for continuing recharging,e) wherein if the monitored intensity of the illuminating light drops or has dropped below the predetermined minimum intensity level, the robot first waits at the first charging position until a waiting period has passed, and only if the monitored intensity of the illuminating light is lower than the minimum intensity level at the end of the waiting period .
SE2250721A 2022-06-16 2022-06-16 Method and system for operating an autonomous robot including searching for a new charging spot SE2250721A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
SE2250721A SE2250721A1 (en) 2022-06-16 2022-06-16 Method and system for operating an autonomous robot including searching for a new charging spot
DE102023107235.8A DE102023107235A1 (en) 2022-06-16 2023-03-22 Method and system for operating an autonomous robot including the search for a new charging point

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE2250721A SE2250721A1 (en) 2022-06-16 2022-06-16 Method and system for operating an autonomous robot including searching for a new charging spot

Publications (2)

Publication Number Publication Date
SE545219C2 SE545219C2 (en) 2023-05-30
SE2250721A1 true SE2250721A1 (en) 2023-05-30

Family

ID=86498046

Family Applications (1)

Application Number Title Priority Date Filing Date
SE2250721A SE2250721A1 (en) 2022-06-16 2022-06-16 Method and system for operating an autonomous robot including searching for a new charging spot

Country Status (2)

Country Link
DE (1) DE102023107235A1 (en)
SE (1) SE2250721A1 (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5444965A (en) * 1990-09-24 1995-08-29 Colens; Andre Continuous and autonomous mowing system
CN103944202A (en) * 2013-01-23 2014-07-23 河南理工大学 Outdoor mobile robot photovoltaic automatic charging method
WO2015094054A1 (en) * 2013-12-19 2015-06-25 Husqvarna Ab Navigation for a robotic working tool
US20200068799A1 (en) * 2017-05-23 2020-03-05 The Toadi Order BV An energetically autonomous, sustainable and intelligent robot
EP3872867A1 (en) * 2016-08-19 2021-09-01 Positec Power Tools (Suzhou) Co., Ltd Automatic working system

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5444965A (en) * 1990-09-24 1995-08-29 Colens; Andre Continuous and autonomous mowing system
CN103944202A (en) * 2013-01-23 2014-07-23 河南理工大学 Outdoor mobile robot photovoltaic automatic charging method
WO2015094054A1 (en) * 2013-12-19 2015-06-25 Husqvarna Ab Navigation for a robotic working tool
EP3872867A1 (en) * 2016-08-19 2021-09-01 Positec Power Tools (Suzhou) Co., Ltd Automatic working system
US20200068799A1 (en) * 2017-05-23 2020-03-05 The Toadi Order BV An energetically autonomous, sustainable and intelligent robot

Also Published As

Publication number Publication date
DE102023107235A1 (en) 2023-12-21
SE545219C2 (en) 2023-05-30

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