Robotic work tool and method for use in robotic work tool comprising lift/collision detection device.
A work tool and collision detection technology, applied in transportation and packaging, agricultural machinery and implements, applications, etc., can solve the problem of expensive layout
Active Publication Date: 2019-11-26
HUSQVARNA AB
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[0008] However, this has the disadvantage that in order to allow a rather strong collision to be detected without registering a false determination, it is necessary to configure the pivotable joystick so that it does not elongate during pivoting, furthermore the joystick arrangement There is a second sensor arrangement for detecting actual pivoting (i.e. bumping)
Therefore, prior art arrangements are expensive and require careful design taking into account many factors related to operating speed, weight, etc., so that this arrangement is only available for a few models, which requires the manufacture of several different joysticks, making any repair shop Had to keep several models of joysticks in stock to provide enough service to a range of models
Method used
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[0031] The disclosed embodiments will now be described more fully hereinafter with reference to the accompanying drawings, in which certain embodiments of the invention are shown. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided by way of example so that this disclosure will be thorough and complete, and fully convey the scope of the invention to those skilled in the art. Like reference numerals refer to like elements throughout.
[0032] It should be noted that all indications of rotational speed, duration, workload, battery level, operating level etc. are given as examples and may be varied in many different ways as will be apparent to the skilled person. The changes can be to individual entities as well as to groups of entities, and can be absolute or relative.
[0033] Figure 1A A perspective view of a robotic work tool 100 is shown, here ex...
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A robotic work tool having a chassis, a cover and a controller for controlling the operation of the robotic work tool. The robotic work tool further has a lift / collision detection device (300) connected to the controller for providing sensor input, and which Hft / coUision detection device (300) includes a first sensor element (340) and a second sensor element (345), The controller ( 1 10) is configured to receive sensor input of a distance value indicating a distance between the first sensor element (340) and the second sensor element (345), determine that a lift has been detected, fay comparing the distance value with a lift detection threshold and / or determine that a collision has been detected, by comparing the distance value with a collision detection threshold, wherein the collision detection threshold is different from the lift detection threshold.
Description
technical field [0001] The present application relates to robotic work tools and, in particular, to a robotic work tool and method for performing improved lifting and collision detection to be performed by a robotic work tool such as a lawnmower. Background technique [0002] Autonomous or robotic powered tools such as robotic lawn mowers are becoming more and more popular. In a typical application, a work area such as a garden, the robotic work tool may not be aware of the many objects, stationary or movable, that the robotic work tool may collide with. Collision detection is therefore necessary to be able to keep the robotic work tool alert to adapt its operation when a collision is detected, thereby avoiding the robotic work tool from simply stopping in front of an object by trying to push through it. [0003] Also, from a safety point of view, it is important to detect if a robotic work tool is lifted so that an operating member or tool such as a rotary knife of a robot...
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IPC IPC(8): G05D1/02A01D34/00B60W60/00
CPCG05D1/0227A01D34/008A01D75/18A01D75/20A01D75/185A47L2201/04Y02T10/70Y02T10/7072A01D34/00G05D1/43G05D2105/15G05D1/0225G05D1/0265A01D2101/00
Inventor 马茨·斯文松佩尔-奥拉·斯文松芒努斯·奥尔隆德弗雷德里克·卡尔斯特伦
Owner HUSQVARNA AB