SE538373C2 - Improved navigation for a robotic lawnmower - Google Patents

Improved navigation for a robotic lawnmower Download PDF

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Publication number
SE538373C2
SE538373C2 SE1451645A SE1451645A SE538373C2 SE 538373 C2 SE538373 C2 SE 538373C2 SE 1451645 A SE1451645 A SE 1451645A SE 1451645 A SE1451645 A SE 1451645A SE 538373 C2 SE538373 C2 SE 538373C2
Authority
SE
Sweden
Prior art keywords
robotic lawnmower
navigation device
satellite
operating mode
satellite navigation
Prior art date
Application number
SE1451645A
Other languages
English (en)
Other versions
SE1451645A1 (sv
Inventor
Isak Tjernberg
Jakob Almqvist
Peter Reigo
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 SE1451645A priority Critical patent/SE538373C2/sv
Priority to EP15801171.8A priority patent/EP3236733B1/en
Priority to PCT/EP2015/077846 priority patent/WO2016102143A1/en
Priority to US15/537,542 priority patent/US10462961B2/en
Publication of SE1451645A1 publication Critical patent/SE1451645A1/sv
Publication of SE538373C2 publication Critical patent/SE538373C2/sv

Links

Classifications

    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/26—Acquisition or tracking or demodulation of signals transmitted by the system involving a sensor measurement for aiding acquisition or tracking
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
    • 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
    • G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
    • 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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • 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
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D2101/00—Lawn-mowers
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Claims (11)

538 373 P114240041 SE 1451645-4 FCIRBATTRAD NAVIGERING FOR EN ROBOTGRASKLIPPARE PATENTKRAV
1. Robotgrdsklippare (100) for rorligt arbete inom ett arbetsomrade (205), varvid robotgrdsklipparen innefattar: en satellitnavigationsanordning (190); en dodrakningsnavigationssensor (195); en styrenhet (110), varvid styrenheten är konfigurerad att: forma robotgrdsklipparen (100) att rorligt arbeta Mom arbetsomradet (205) i ett forsta driftldge, varvid det forsta driftldget är baserat pa positioner faststallda av satellitsignaler mottagna av satellitnavigationsanordningen (190); faststalla att en position inte tillforlitligt kan faststallas baserat pa satellitsignaler mottagna av satellitnavigationsanordningen (190), och som svar darpa forma robotgrdsklipparen (100) att rOrligt arbeta inom arbetsomradet (205) i ett andra driftldge; varvid i det andra driftlaget: erhalla en dodrakningspositionsuppskattning av dodrakningsnavigationsanordningen (195); definiera en sokrymd genom att anvanda dodrakningspositionsuppskattningen; omkalibrera satellitnavigationsanordningen (190) baserat pa den definierade sokrymden; och ndr satellitnavigationsanordningen (190) har omkalibrerats, forma robotgrasklipparen (100) att aterigen arbeta i det forsta driftlaget.
2. Robotgrasklippare enligt patentkrav 1, varvid satellitnavigationsanordningen (190) är en anordning for ett globaltnavigationssatellitsystem, sa som en anordning for ett globalt positioneringssystem. 538 373
3. Robotgrasklipp are enligt patentkrav 2, varvid satellitnavigationsanordningen (190) innefattar en singelfrekvens-barvagsdifferentiell satellitsignalmottagare (191).
4. Robotgrasklippare enligt patentkrav 3, varvid styrenheten (110) är konfigurerad att omkalibrera satellitnavigationsanordningen (190) baserat pa den definierade sokrymden genom att losa en tvetydighet hos en heltalsvaglangd for satellit signaler mottagna av satellitnavigationsanordningen (190).
5. Robotgrasklippare enligt nagotdera av foregaende patentkrav, varvid dodrakningsnavigationssensorn är anordnad att detektera en eller flera av foljande navigationsparametrar: position, hastighet, riktning, lutningsvinkel och acceleration.
6. Robotgrasklippare enligt nagotdera av foregaende patentkrav, varvid styrenheten (110) är konfigurerad, i det andra drift laget, att definiera sOkrymden genom att: erhalla en pseudoavstandspositionsuppskattning fran satellitsignaler mottagna av satellitnavigationsanordningen (190); faststalla en grov sokrymdskandidat fran pseudoavstandspositionsuppskattningen; och definiera sokrymden genom att reducera ett omfang av den grova sokrymdskandidaten baserat pa dodraknings positionsuppskattningen.
7. Robotgrasklippare enligt nagotdera av patentkraven 4 till 6, varvid styrenheten (110) är konfigurerad, i det andra driftlaget, att: uppskatta om den definierade sokrymden tillater heltalsvaglangd tvetydighets losning inom en troskeltid; och i sa fall: fortsatta i det andra driftlaget atminstone for varaktigheten av troskeltiden; och om inte: stanna en pkaende framdrivning av robotgrasklipparen (100). 538 373
8. Robotgrasklippare enligt nagotdera av foregaende patentkrav, varvid styrenheten (110) vidare är konfigurerad att: mata en varaktighet av det andra driftlaget; faststalla om en troskeltid har overskridits; och i sa. fall: stanna en pagaende framdrivning av robotgrasklipparen (100).
9. Robotverktygssystem (200) innefattande en laddningsstation (210) och en robotgrasklippare (100) enligt nagotdera av foregaende krav.
10. Metod for styrning av en robotgrasklippare (100) for rorlig arbete Mom ett arbetsomrade (205), varvid metoden innefattar: rorlig drivning (410) av robotgrasklipparen (100) inom arbetsomeadet (205) i ett forsta driftlage, varvid det forsta driftlaget är baserat pa positioner faststallda av satellitsignaler mottag-na av en satellitnavigationsanordning (190); faststallning (420) av att en position inte tillforlitligt kan faststallas baserat pa satellit signaler mottagna av satellitnavigationsanordningen (190); och som svar darpâ rorlig drivning (430) av robotgrasklipparen (100) inom arbetsomradet (205) i ett andra driftlage; varvid i det andra driftlaget, erhafining (440) av en dodrakningspositionsuppskattning av dodrakningsnavigationsanordningen (195); definiering (450) av en sokrymd genom att anvanda dodrakningspositionsuppskattningen; omkalibrering (460) av satellitnavigationsanordningen (190) baserat pa 25 den defmierade sokrymden; och nar satellitnavigationsanordningen (190) har omkalibrerats, aterigen driva (470) robotgrasklipparen (100) i det forsta driftlaget.
11. Datorlasbart lagringsmedium (50) kodat med instruktioner (51) som, vid exekvering av en processor, utfor metoden enligt patentkrav 10. 2 2601 538 373 1/4 17 130' 1 1 191 r 150 190 130"
SE1451645A 2014-12-23 2014-12-23 Improved navigation for a robotic lawnmower SE538373C2 (sv)

Priority Applications (4)

Application Number Priority Date Filing Date Title
SE1451645A SE538373C2 (sv) 2014-12-23 2014-12-23 Improved navigation for a robotic lawnmower
EP15801171.8A EP3236733B1 (en) 2014-12-23 2015-11-26 Improved navigation for a robotic lawnmower
PCT/EP2015/077846 WO2016102143A1 (en) 2014-12-23 2015-11-26 Improved navigation for a robotic lawnmower
US15/537,542 US10462961B2 (en) 2014-12-23 2015-11-26 Navigation for a robotic lawnmower

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE1451645A SE538373C2 (sv) 2014-12-23 2014-12-23 Improved navigation for a robotic lawnmower

Publications (2)

Publication Number Publication Date
SE1451645A1 SE1451645A1 (sv) 2016-05-31
SE538373C2 true SE538373C2 (sv) 2016-05-31

Family

ID=54705188

Family Applications (1)

Application Number Title Priority Date Filing Date
SE1451645A SE538373C2 (sv) 2014-12-23 2014-12-23 Improved navigation for a robotic lawnmower

Country Status (4)

Country Link
US (1) US10462961B2 (sv)
EP (1) EP3236733B1 (sv)
SE (1) SE538373C2 (sv)
WO (1) WO2016102143A1 (sv)

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SE546890C2 (en) * 2023-06-08 2025-03-04 Husqvarna Ab Improved navigation for a robotic work tool system

Also Published As

Publication number Publication date
SE1451645A1 (sv) 2016-05-31
EP3236733A1 (en) 2017-11-01
EP3236733B1 (en) 2019-05-22
US10462961B2 (en) 2019-11-05
WO2016102143A1 (en) 2016-06-30
US20170347521A1 (en) 2017-12-07

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