WO2023244150A1 - Navigation améliorée pour système d'outil de travail robotique - Google Patents

Navigation améliorée pour système d'outil de travail robotique Download PDF

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Publication number
WO2023244150A1
WO2023244150A1 PCT/SE2023/050246 SE2023050246W WO2023244150A1 WO 2023244150 A1 WO2023244150 A1 WO 2023244150A1 SE 2023050246 W SE2023050246 W SE 2023050246W WO 2023244150 A1 WO2023244150 A1 WO 2023244150A1
Authority
WO
WIPO (PCT)
Prior art keywords
work tool
robotic work
satellites
tool system
indication
Prior art date
Application number
PCT/SE2023/050246
Other languages
English (en)
Inventor
Michel Chedid
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 WO2023244150A1 publication Critical patent/WO2023244150A1/fr

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Classifications

    • 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
    • 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
    • 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
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/05—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing aiding data
    • 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
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/05—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing aiding data
    • G01S19/06—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing aiding data employing an initial estimate of the location of the receiver as aiding data or in generating aiding data
    • 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
    • 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
    • G01S19/28—Satellite selection
    • 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
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • 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
    • G01S5/01—Determining conditions which influence positioning, e.g. radio environment, state of motion or energy consumption
    • G01S5/011—Identifying the radio environment
    • 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
    • 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
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections

Definitions

  • This application relates to a system, a charging station, a User Equipment and a method for providing an improved navigation for robotic work tools, such as lawnmowers, in such a system, and in particular to a system, a charging station, a User Equipment and a method for providing an improved reception of satellite signals in a robotic work tool system.
  • Automated or robotic work tools such as robotic lawnmowers are becoming increasingly more popular and so is the use of the robotic work tool in various types of operational areas. Furthermore, there is also a need for placing the robotic work tool in a sheltered area when not in use, or alternatively, users are requesting more freedom in selecting the location of the charging station. At the same time, robotic work tools are becoming more and more reliant on satellite navigation, such as in GPS (Global Positioning System) or GNSS systems.
  • GPS Global Positioning System
  • GNSS Global Positioning System
  • the user will still not be able to know if the base-station is placed in a good position as the user may not be aware of where the satellites are, especially as the satellites move across the sky during the day.
  • a robotic work tool system connected to a User Equipment, the robotic work tool system comprising a base station and a robotic work tool arranged to operate in an operational area, the robotic work tool comprising a satellite navigation sensor, the robotic work tool system comprising a controller configured to: receive an indication of zero or more reliably received satellites from the base station; receive an indication of expected satellites; compare the reliably received satellites to a list of expected satellites; and provide feedback to be displayed on the User Equipment.
  • the controller is further configured to retrieve the list of expected satellites from the robotic work tool. In some embodiments the controller is further configured to determine if there is a satellite to be disregarded by determining whether satellites that are not received by the base station are also not received by the robotic work tool.
  • the controller is further configured to determine a direction of a reliably received satellite, wherein the feedback includes an indication of the direction.
  • controller is further configured to determine a recommendation and wherein the feedback includes an indication of the recommendation.
  • controller is further configured to determine the recommendation based on a direction to a received satellite.
  • controller is further configured to determine the recommendation based on a direction to a missing satellite.
  • controller is further configured to receive a map and wherein the feedback includes the map.
  • the analysis is a topological analysis.
  • the controller is further configured to provide the feedback to be displayed on the User Equipment by providing an indication of the direction of received satellites and/or missing satellites to the User Equipment, thereby causing the User Equipment to generate the feedback and display the feedback.
  • the server is comprised in the UE, wherein the server controller is a controller of the UE.
  • the robotic work tool is a robotic lawnmower.
  • Figure 1 shows a schematic view of the components of an example of a robotic work tool being a robotic lawnmower according to some example embodiments of the teachings herein;
  • Figure 2 shows a schematic view of the components of an example of a User Equipment according to some example embodiments of the teachings herein;
  • Figure 3B shows a schematic view of a robotic work tool system according to some example embodiments of the teachings herein;
  • Figure 4A shows a schematic view of a User Equipment providing feedback according to some example embodiments of the teachings herein;
  • Figure 4B shows a schematic view of a User Equipment providing feedback according to some example embodiments of the teachings herein;
  • Figure 4C shows a schematic view of a User Equipment providing feedback according to some example embodiments of the teachings herein;
  • Figure 5 shows a corresponding flowchart for a method according to some example embodiments of the teachings herein.
  • FIG 1 shows a schematic overview of a robotic work tool 100, here exemplified by a robotic lawnmower 100.
  • the robotic work tool 100 may be a multi-chassis type or a mono-chassis type (as in figure 1).
  • a multi-chassis type comprises more than one main body parts that are movable with respect to one another.
  • a mono-chassis type comprises only one main body part.
  • robotic lawnmower may be of different sizes, where the size ranges from merely a few decimetres for small garden robots, to even more than 1 meter for large robots arranged to service for example airfields.
  • robotic work tools such as robotic watering tools, robotic golfball collectors, and robotic mulchers to mention a few examples.
  • the robotic work tool is a semi-controlled or at least supervised autonomous work tool, such as farming equipment or large lawnmowers, for example riders or comprising tractors being autonomously controlled.
  • the robotic work tool is a self-propelled robotic work tool, capable of autonomous navigation within a work area, where the robotic work tool propels itself across or around the work area in a pattern (random or predetermined).
  • the robotic work tool 100 exemplified as a robotic lawnmower 100, has a main body part 140, possibly comprising a chassis 140 and an outer shell 140A, and a plurality of wheels 130 (in this example four wheels 130, but other number of wheels are also possible, such as three or six).
  • the main body part 140 substantially houses all components of the robotic lawnmower 100. At least some of the wheels 130 are drivably connected to at least one electric motor 155 powered by a battery 150. It should be noted that even if the description herein is focused on electric motors, combustion engines may alternatively be used, possibly in combination with an electric motor. In the example of figure 1, each of the wheels 130 is connected to a common or to a respective electric motor 155 for driving the wheels 130 to navigate the robotic lawnmower 100 in different manners. The wheels, the motor 155 and possibly the battery 150 are thus examples of components making up a propulsion device.
  • the propulsion device may be controlled to propel the robotic lawnmower 100 in a desired manner, and the propulsion device will therefore be seen as synonymous with the motor(s) 150.
  • wheels 130 driven by electric motors is only one example of a propulsion system and other variants are possible such as caterpillar tracks.
  • the robotic lawnmower 100 also comprises a controller 110 and a computer readable storage medium or memory 120.
  • the controller 110 may be implemented using instructions that enable hardware functionality, for example, by using executable computer program instructions in a general -purpose or special-purpose processor that may be stored on the memory 120 to be executed by such a processor.
  • the controller 110 is configured to read instructions from the memory 120 and execute these instructions to control the operation of the robotic lawnmower 100 including, but not being limited to, the propulsion and navigation of the robotic lawnmower.
  • the controller 110 may be implemented using any suitable, available processor or Programmable Logic Circuit (PLC).
  • the memory 120 may be implemented using any commonly known technology for computer-readable memories such as ROM, FLASH, DDR, or some other memory technology.
  • the robotic lawnmower 100 is further arranged with a wireless communication interface 115 for communicating with other devices, such as a server, a personal computer, a smartphone, the charging station, and/or other robotic work tools. Examples of such wireless communication devices are Bluetooth®, WiFi® (IEEE802.1 lb), Global System Mobile (GSM) and LTE (Long Term Evolution), to name a few.
  • the robotic lawnmower 100 also comprises a work tool 160, which in the example of the robotic lawnmower 100 is a grass cutting device 160, such as a rotating blade 160/2 driven by a cutter motor 160/1.
  • a work tool 160 is a rotating grinding disc.
  • the robotic lawnmower 100 For enabling the robotic lawnmower 100 to navigate with reference to a wire, such as a boundary wire or a guide wire, emitting a magnetic field caused by a control signal transmitted through the wire, the robotic lawnmower 100 is in some embodiments configured to have at least one magnetic field sensor 170 arranged to detect the magnetic field and for detecting the wire and/or for receiving (and possibly also sending) information to/from a signal generator. In some embodiments, such a magnetic boundary may be used to supplement navigation according to virtual borders.
  • the robotic work tool is arranged or configured to traverse and operate in work areas that are not essentially flat, but contain terrain that is of varying altitude, such as undulating, comprising hills or slopes or such.
  • the ground of such terrain is not flat and it is not straightforward how to determine an angle between a sensor mounted on the robotic work tool and the ground.
  • the robotic work tool is also or alternatively arranged or configured to traverse and operate in a work area that contains obstacles that are not easily discerned from the ground. Examples of such are grass or moss-covered rocks, roots or other obstacles that are close to ground and of a similar colour or texture as the ground.
  • FIG. 2 shows a schematic view of a User Equipment 200.
  • the User Equipment may be a smartphone or a tablet computer, but may also be a personal computer or other computing device.
  • the robotic work tool system 300 further comprises a station 310 possibly at a station location.
  • a station location may alternatively or additionally indicate a service station, a parking area, a charging station or a safe area where the robotic work tool may remain for a time period between or during operation session.
  • the robotic work tool system 300 further comprises a base station 313, and the base station is in some embodiments included in the station 310. It should be noted that eventhough the description herein will be focussed on a base station 313 in a charging station 310, the base station 313 need not be placed in the charging station 310 but can be placed at other locations and there may be more than one base station 313 that may be located at other places than in the charging station 310.
  • the base station 313 is operatively connected to a controller 311.
  • the controller 311 may be a controller of the base station 313 or the controller may be a controller of the charging station 310.
  • the controller 311 controls the base station 313 for receiving satellite signals from zero or more satellites S and to transmit the signals to another entity, such as the robotic work tool 100, the UE 200 and/or to a server 340.
  • the base station 313 is also operatively connected to a communication interface 312.
  • the communication interface 312 may be a communication interface 312 of the base station 313 or the communication interface 312 may be a communication interface 312 of the charging station 310.
  • the communication interface 312 enables the base station 313 to transmit the received satellite signals to another entity, such as the robotic work tool 100, the UE 200 and/or to the server 340.
  • the server 340 comprises a controller 340A for controlling the operation of the server 340, a memory 340B for storing instructions and data relating to the operation of the server 340 and a communication interface 340C for enabling the server 340 to communicate with other entities, such as the robotic work tool 100, the base station 313 and/or a UE 200.
  • the controller, the memory and the communication interface may be of similar types as discussed in relation to figure 1 for the robotic work tool 100.
  • the base station 313 may also be placed in an area where one or more structures H blocks the satellite reception.
  • the house blocks one of the satellites S in the area of the charging station 310.
  • a shadowed area can thus be defined as an area where the robotic work tool (or base station) is unable to receive sufficiently reliable signal reception, i.e. when the number of signals received reliably is under a threshold number, and where a signal is reliably received when it is received at a signal quality level exceeding a threshold value.
  • the concept proposed by the inventors is to determine which satellites the base station 313 can receive signals from and then to compare this to a list of expected satellites, and to provide feedback through a user equipment allowing the user to move the base station 313. This may be done already upon installation of the robotic work tool system - or even prior to installation of the robotic work tool system to avoid changing any of the installation. It can also be done in real-time, where the user can move the base station until a desired feedback is received.
  • the base station 313 receives one or more satellite signals, determines which of these are reliably received (received at a sufficiently good signal quality exceeding a quality threshold), transmits an indication of the reliably received satellites to the server 340.
  • a reliably received satellite thus being a satellite from which a satellite signal is reliably received.
  • the server 340 compares the reliably received satellites to expected satellites and transmits an indication of this to the UE 200 which provides feedback 250 to the user.
  • the processing discussed may be provided by any, some or all of the robotic work tool system components.
  • the reliably received satellites are compared to a list of satellites in the area.
  • a list of satellites is retrieved via a cloud (or an internet) service.
  • such a list of satellites is retrieved from the robotic work tool 100 which is configured to determine which satellites are received reliably.
  • the direction where satellites are received can be determined.
  • the direction where satellites are received can be determined based on the position (at the time) of the received satellites.
  • the position can be retrieved from a cloud (or an internet) service.
  • also which satellites are not received is determined by comparing the reliably received satellites to the list of satellites and the direction where satellites are not received is also determined.
  • the feedback 250 is generated. As indicated above much of the processing herein may be performed by many different system component. In the specific example discussed the server 340 determines the directions and the UE 200 determines the feedback, however, the UE 200 may generate the feedback directly based on the reliably received satellites.
  • Figure 4A shows schematic views of an example embodiment where feedback 250 is provided visually on the display 230A of the UE 200.
  • the feedback 250 provided on the UE 200 includes an indication 250A of the base station 313 and an indication 250B of directi on(s) where satellites are not received reliably. In some embodiments the feedback 250 provided on the UE 200 includes an indication 250A of the base station 313 and an indication 250C of direction(s) where satellites are received reliably. In some embodiments the feedback 250 provided on the UE 200 includes an indication 250A of the base station 313, an indication 250B of direction(s) where satellites are not received reliably and an indication 250C of direction(s) where satellites are received reliably.
  • an indication can be location of satellite - which gives direction from location of base station to satellite.
  • an indication of data in general need not be the data itself, but can be an identifier of the data or other data that enables a calculation of the data.
  • Such feedback will enable the user to almost instantaneously determine whether the base station 313 is blocked or not and in which directions.
  • the feedback 250 includes textual information 250D providing information on the situation.
  • textual information can inform a user that the station is blocked.
  • the direction of the blocking may also be part of the textual information.
  • STATION BLOCKED NORTH may also be part of the textual information.
  • the feedback 250 provided on the UE 200 includes an indication 250D of direction(s) that are to be disregarded.
  • the server (or the UE) is configured to retrieve a map of the operational area, from memory or from a cloud (or internet) service, and to include the map in the feedback 250. In cases where there is no map of the operational area, a map of the general area may be retrieved instead.
  • Figure 4B shows schematic views of an example embodiment where feedback 250 is provided visually on the display 230A of the UE 200 and where the feedback includes the map.
  • the indication 250A of the position of the base station 313 is easily determined by determining the position of the base station 313.
  • the base station 313 determines its position and forwards this.
  • the server 340 determines the position of the base station 313 based on the received satellites, where in such embodiments information on the timing of the satellite signals are included.
  • the feedback comes with a recommendation.
  • a recommendation can be determined based on the direction(s). For example if there are satellites received in a first direction, but not in a second direction, then the recommendation could be to move the base station in the direction of the received satellites. Alternatively, the recommendation could be to move the base station in a direction opposite from the first direction hoping to get past a blocking object. Alternatively, the recommendation could be to move the base station in a direction opposite from the second direction hoping to get past a blocking object.
  • such analysis includes a topological analysis. Based on a topological analysis it can be determined if the base station 313 is placed in a location shadowed by natural structures, such as hills.
  • such analysis includes a feature analysis. Based on a feature analysis it can be determined if the base station 313 is placed in a location shadowed by features, such as trees or houses. In some embodiments the feature analysis is performed based on image analysis. In some embodiments, the feature analysis is performed based on features indicated in the map.
  • the feedback 250 includes an indication of the recommended position, in textual form or as a graphical indication relative the indication 250A of the location of the base station 313.
  • the inventors have thus devised a concept where it may be ascertained quickly whether a base station 313 is positioned well, and to do this prior to any installation and/or training has been done.
  • Figure 5 shows a flowchart for a general method according to herein.
  • the method is for use in a robotic work tool system as in figure 1 in a manner as discussed above in relation to figures 3 A, 3B, 4A and 4B.
  • the method comprises a controller of the robotic work tool system receiving 510 zero or more satellites reliably received by a base station 313, comparing 520 to expected satellites and providing 530 feedback.
  • the controller is the controller 340A of the server 340.
  • an indication of data in general need not be the data itself, but can be an identifier of the data or other data that enables a calculation of the data.
  • the controller 340A is further configured to provide the feedback 250 to be displayed on the User Equipment 200 by providing an indication of the direction of received satellites and/or missing satellites to the User Equipment, thereby causing the User Equipment 200 to generate the feedback 250 and display the feedback 250.
  • the controller 340A of the server 340 is configured to perform the main processing, the controller 340A of the server thus only need to perform indications of the directions, and need not perform all the processing.
  • Figure 6 shows both the situation when a User Equipment 200 receives the computer-readable computer instructions 610 via a server connection and the situation when another User Equipment 200 receives the computer-readable computer instructions 610 through a wired interface. This enables for computer-readable computer instructions 610 being downloaded into a User Equipment 200 thereby enabling the User Equipment 200 to operate according to and implement the invention as disclosed herein.

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

Abstract

L'invention concerne un système (300) d'outil de travail robotique relié à un équipement (200) d'utilisateur, le système d'outil de travail robotique (200) comportant une station (313) de base et un outil (100) de travail robotique agencés pour fonctionner dans une zone opérationnelle (305), l'outil (100) de travail robotique comportant un capteur (175) de navigation par satellite, le système d'outil de travail robotique comportant un moyen (210, 340A) de commande configuré pour: recevoir une indication de satellites en nombre supérieur ou égal à zéro reçus de manière fiable à partir de la station (313) de base; recevoir une indication de satellites attendus; comparer les satellites reçus de manière fiable à une liste de satellites attendus; et fournir une rétroaction (250) à afficher sur l'équipement (200) d'utilisateur.
PCT/SE2023/050246 2022-06-13 2023-03-21 Navigation améliorée pour système d'outil de travail robotique WO2023244150A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE2250703A SE2250703A1 (en) 2022-06-13 2022-06-13 Improved navigation for a robotic work tool system
SE2250703-2 2022-06-13

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WO2023244150A1 true WO2023244150A1 (fr) 2023-12-21

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EP3696576A1 (fr) * 2019-02-14 2020-08-19 Stiga S.P.A. Véhicule robotisé pour la culture du sol

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