• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    14 ABSTRACT A robotic Work tool coniprising a Work tool (160), a tool damage detector (162) and acontroller (110) for controlling the operation of the robotic Work tool (100), the roboticWork tool (100) being configured to detect that the Work tool (100) is daniaged or lostby detecting an irregularity utilizing the tool damage detector (162) and therebydeterrnining that the Work tool (160) is daniaged or lost. To be published With figure 4.
    公开号:SE1451646A1
    申请号:SE1451646
    申请日:2014-12-23
    公开日:2016-06-24
    发明作者:Willgert Mikael；Jägenstedt Patrik；Markusson Olle；Kallström Fredrik
    申请人:Husqvarna Ab；
    IPC主号:
    专利说明:

    IMPROVED NAVIGATION FOR A ROBOTIC WORKING TOOL TECHNICAL FIELDThis application relates to a method, a robotic Work tool system, a robotic Worktool and a computer-readable storage medium for an improved navigation for a robotic Work tool.
    BACKGROUND Lawnmower robots are equipped With grass cutting tools, such as blades. As thelaWnmoWer robots Work outside they come in contact With stones, rocks, Wood and debris of allsorts. As such, they run a risk of being damaged if they should hit such an object. When a grasscutting device gets damaged it needs to be replaced to ensure proper operation. There is also arisk that the laWnmoWer robot is further damaged as the damaged cutting tool is rotated at highspeeds. Also, these blades are often sharp and it Would be beneficial if they Were found easily toprevent injuries to children and pets playing in a garden being serviced by the laWnmoWer robot.Also, the blades or other cutting devices may be repaired. It Would therefore be beneficial if theycould be located easily.
    Furthermore, if the damage is not major, it may take time to notice that theoperation of the robotic Work tool provides a reduced effect. In other Words, it may take time tonotice that the grass is not cut as Well as it should.
    Even if the problems have been discussed With reference to laWnmoWer robots,other robotic Work tools also suffer from similar problems.
    There is thus a need for a manner of detecting When a Work tool is damaged.
    SUMMARYIt is an object of the teachings of this application to overcome the problems listedabove by providing a robotic Work tool comprising a Work tool, a tool damage detector and a controller for controlling the operation of the robotic Work tool, the robotic Work tool being configured to detect that the Work tool is damaged or lost by detecting an irregularity utilizingthe tool damage detector and thereby deterrnining that the Work tool is damaged or lost.
    In one embodiment the controller is further configured to note a current positionWhen it is deterrnined that the Work tool is damaged or lost.
    In one embodiment the controller is further conf1gured to discontinue operation.In one embodiment the controller is further conf1gured to deterrnine that the operation should bediscontinued if sensed vibrations are above a vibration threshold and/or the load exerted on adriving shaft is below a load threshold.
    In one embodiment the controller is further conf1gured to return to a servicingstation . In one embodiment the controller is further conf1gured to return to the position Wherethe damage Was detected. In one embodiment the controller is further configured to provide anindication, such as the coordinates, for the position Where the damage Was detected through auser interface or a communication interface also comprised in the robotic Work tool .
    In one embodiment the controller is further conf1gured to stop at the positionWhere the damage Was detected.
    In one embodiment the tool damage detector is configured to sense vibrations inthe robotic Work tool as a Whole, on a shaft driving the Work tool , and/or on the Work toolmotor , and if the vibrations increase above a threshold or at a change rate above a threshold, therobotic Work tool deterrnines that the Work tool is damaged or lost.
    In one embodiment the tool damage detector is configured to sense audible noise,Wherein noise above a threshold indicates that the Work tool is damaged or lost.
    In one embodiment the tool damage detector is configured to detect a change inWeight of the robotic Work tool or the Weight exerted on a shaft driving the Work tool .
    In one embodiment the tool damage detector is configured to detect a change inbalance of the robotic Work tool or the balance of a shaft driving the Work tool .
    In one embodiment the tool damage detector is configured to sense the loadexerted on the Work tool , Wherein a decline in load below a threshold level, or a sudden declineWhich is maintained, indicates that the Work tool is lost or damaged.
    In one embodiment the robotic Work tool is a laWnmoWer robot, the Work tool is a grass cutting device, and the operation is a moWing operation.
    It is also an object of the teachings of this application to overcome the problemslisted above by providing a robotic work tool system comprising a charging station and arobotic work tool according to any preceding claim.
    It is also an object of the teachings of this application to overcome the problemslisted above by providing a method for use in robotic work tool comprising a work tool and atool damage detector , the method comprising detecting that the work tool is damaged or lost by detecting an irregularityutilizing the tool damage detector and thereby deterrnining that the work tool is damaged orlost.
    It is also an object of the teachings of this application to overcome the problemslisted above by providing a computer readable storage medium encoded with instructions that,when executed on a processor, perforrns a method according to herein.
    The inventors of the present invention have realized, after inventive andinsightfiJl reasoning that by sensing vibrations or unbalance it may be detected that a cuttingdevice, or other work tool ahs been damaged and thereby prevent further damage to the roboticwork tool.
    Other features and advantages of the disclosed embodiments will appearfrom the following detailed disclo sure, from the attached dependent claims as well asfrom the drawings. Generally, all terms used in the claims are to be interpreted according totheir ordinary meaning in the technical field, unless explicitly defined otherwise herein.
    All references to "a/an/the [element, device, component, means, step, etc]" are to beinterpreted openly as referring to at least one instance of the element, device,component, means, step, etc., unless explicitly stated otherwise. The steps of anymethod disclosed herein do not have to be performed in the exact order disclosed, unless explicitly stated.
    BRIEF DESCRIPTION OF DRAWINGS The invention will be described in further detail under reference to the accompanying drawings in which: Figure 1 shows a schematic oVerView of a robotic work tool according to oneembodiment of the teachings of this application; Figure 2 shows a schematic View of a robotic working tool system according toone embodiment of the teachings of this application; Figure 3 shows a schematic View of a robotic working tool system in operationaccording to one embodiment of the teachings of this application; Figure 4 shows a schematic View of a robotic working tool system in operationaccording to one embodiment of the teachings of this application; Figure 5 shows a flowchart for a general method according to herein; Figure 6 shows a flowchart for a general method according to herein; and Figure 7 shows a schematic View of a computer-readable medium according to herein.
    DETAILED DESCRIPTION The disclosed embodiments will now be described more fully hereinafter withreference to the accompanying drawings, in which certain embodiments of the inVention areshown. This inVention may, howeVer, be embodied in many different forms and should not beconstrued as limited to the embodiments set forth herein; rather, these embodiments areproVided by way of example so that this disclosure will be thorough and complete, and will fullyconVey the scope of the inVention to those skilled in the art. Like numbers refer to like elementsthroughout.
    Figure 1 shows a schematic oVerView of a robotic work tool 100 haVing a body140 and a plurality of wheels 130. In the exemplary embodiment of figure 1 the robotic worktool 100 has 4 wheels 130, two front wheels 130” and the rear wheels 130”. At least some of thewheels 130 are driVably connected to at least one electric motor 150. It should be noted thateVen if the description herein is focussed on electric motors, combustion engines mayaltematiVely be used possibly in combination with an electric motor.
    In the example of figure 1, the rear wheels 130” are connected to each an electricmotor 150. This allows for driVing the rear wheels 130” independently of one another which, for example, enables steep tuming.
    The robotic work tool 100 also comprises a controller 110. The controller 110 maybe implemented using instructions that enable hardware functionality, for example, by usingexecutable computer program instructions in a general-purpose or special-purpose processor thatmay be stored on a computer readable storage medium (disk, memory etc) 120 to be executed bysuch a processor. The controller 110 is configured to read instructions from the memory 120 andexecute these instructions to control the operation of the robotic work tool 100 including, but notbeing limited to, the propulsion of the robotic work tool. The controller 110 may beimplemented using any suitable, publically available processor or Programmable Logic Circuit(PLC). The memory 120 may be implemented using any commonly known technology forcomputer-readable memories such as ROM, RAM, SRAM, DRAM, FLASH, DDR, SDRAM orsome other memory technology.
    The robotic work tool 100 may further have at least one sensor 170, in the exampleof figure 1 there are two sensors 170, arranged to detect a magnetic field (not shown). Thesensors are connected to the controller 110 and the controller 110 is configured to process anysignals received from the sensors 170. The sensor signals may be caused by the magnetic fieldcaused by a control signal being transmitted through a boundary wire (for more details oncharging stations, control signals and boundary wires, see the description below with referenceto figure 2). This enables the controller 110 to determine whether the robotic work tool 100 isclose to or crossing a boundary wire, or inside or outside an area enclosed by the boundary wire.
    The robotic work tool 100 also comprises a work tool 160, which may be a grasscutting device, such as a rotating blade 160 driven by a cutter motor 165. The grass cuttingdevice may also or altematively be a disc carrying one or more grass cutting plates or blades. Itshould be noted that different kinds of grass cutting devices may be used with the mannerstaught herein. The cutter motor 165 is connected to the controller 110 which enables thecontroller 110 to control the operation of the cutter motor 165. The controller may also beconfigured to determine the load exerted on the rotating blade, by for example measure thepower delivered to the cutter motor 165 or by measuring the axle torque exerted by the rotatingblade. The robotic work tool 100 also has (at least) one battery 180 for providing power to themotors 150 and the cutter motor 165.The robotic work tool 100 is, in one embodiment, a lawnmower robot.
    The robotic work tool 100 may also be arranged with a position deterrniningdevice 190, such as a GNSS (Global Navigation Satellite System) device 190. In oneembodiment the GNSS device is a GPS (Global Positioning Service) device 190. The GNSSdevice 190 is connected to the controller 110 for enabling the controller 110 to deterrnine acurrent position for the robotic work tool 100 using the GNSS device and to control themovements of the robotic work tool 100 based on the position.
    The robotic work tool 100 may further be arranged with at least one sensor 195 forproviding signals for deduced reckoning navigation, also referred to as dead reckoning.Examples of such deduced reckoning navigation sensors 195 are odometers and compasses.
    The robotic work tool 100 may further be arranged with a wireless communicationinterface 197 for communicating with other devices, such as a server, a personal computer orsmartphone or the charging station. Examples of such wireless communication devices areBluetoothTM, Global System Mobile (GSM) and LTE (Long Term Evolution) to name a few.
    Figure 2 shows a schematic view of a robotic work tool system 200 comprising acharging station 210 and a boundary wire 250 arranged to enclose a working area 205, theworking area 205 not necessarily being a part of the robotic work tool system 200, in which therobotic work tool 100 is supposed to service. The charging station 210 has a charger 220coupled to, in this embodiment, two charging plates 230. The charging plates 230 are arrangedto co-operate with corresponding charging plates (not shown) of the robotic work tool 100 forcharging the battery 180 of the robotic work tool 100. The charging station 210 also has, or maybe coupled to, a signal generator 240 for providing a control signal (not shown) to be transmittedthrough the boundary wire 250. The control signal preferably comprises a number of periodiccurrent pulses. As is known in the art, the current pulses will generate a magnetic field aroundthe boundary wire 250 which the sensors 170 of the robotic work tool 100 will detect. As therobotic work tool 100 (or more accurately, the sensor 170) crosses the boundary wire 250 thedirection of the magnetic field will change. The robotic work tool 100 will thus be able todeterrnine that the boundary wire has been crossed. The use of more than one sensor 170 enablesthe controller 110 of the robotic work tool 100 to deterrnine how the robotic work tool 100 is aligned with relation to the boundary wire 250 by comparing the sensor signals received from each sensor 170. This enables the robotic work tool to follow the boundary wire 250, forexample when retuming to the charging station 210 for charging.
    Optionally, the charging station 210 also has a guide cable 260 for enabling therobotic work tool to find the entrance of the charging station 210. In one embodiment the guidecable 260 is forrned by a loop of the boundary wire 250. In one embodiment the guide wire 260is used to generate a magnetic field for enabling the robotic work tool 100 to find the chargingstation without following a guide cable 260.
    Figure 3 shows a schematic side View of a robotic work tool 100 having a worktool 160, such as a grass cutting device. In this example, the grass cutting device is exemplifiedas a disc, but other variants are also possible and work well with the teachings herein. As hasbeen discussed before, the grass cutting device 160 is driven by a grass cutter motor 165. Alsoarranged in the robotic work tool 100 is a tool damage detector 162 configured to detect whenthe tool 160 is damaged.
    The tool damage detector may 162 be configured to sense vibrations in the roboticwork tool 100 as a whole, on a shaft 163 driving the grass cutting device 160, or on the worktool motor 165, and if the vibrations increase above a threshold or at a change rate above athreshold (sudden changes which are maintained), the robotic work tool 100 may determine thatthe work tool 160 has suffered a damage.
    The tool damage detector 162 may also be configured to sense audible noiseindicating that something is damaged.
    The tool damage detector 162 may also be configured to detect a change in weightof the robotic work tool or the weight exerted on the shaft 163. A change in weight indicates thatsomething has gone missing, indicating that the work tool 160 is damaged or lost. The tooldamage detector 162 may also be configured to detect a change in balance of the robotic worktool or the balance of the shaft 163. A change in balance indicates that something has gonemissing, indicating that the work tool 160 is damaged or lost. A sensor for detecting a change inweight or balance may be implemented as part of lift or collision detection means.
    The tool damage detector may be a vibration sensor (possibly implemented as partof a collision or lift detector) arranged to send signals to the controller 110 which then processes the signals to determine if such changes in vibration has occurred.
    The tool damage detector 162 may also be configured by the controller 110sensing the load exerted on the work tool 160. The load may be sensed by sensing the actualtorque on the shaft 163 or by monitoring the power being used by the tool motor 165. A declinein load below a threshold level, or a sudden decline which is maintained, may indicate that thework tool is lost or damaged.
    Figure 4 shows a schematic side View of a robotic work tool 100 with a damagedwork tool 100. As is indicated the work tool 160 is vibrating. Figure 5 shows a schematic Viewof a robotic work tool system 200 according to herein and figure 6 shows a flowchart for ageneral method according to herein.
    The robotic work tool 100 is configured to detect 610 that the work tool 100 isdamaged or lost by detecting an irregularity, such as by sensing vibrations, noise, unbalance orweight changes 612 or by sensing or detecting 614 a change in the load exerted on the work tool160 and thereby detecting that the work tool 160 is damaged or lost 620.
    As the robotic work tool 100 detects that the grass cutting device 160 has beendamaged or lost, the robotic work tool 100 may be configured to note or record 630 its currentposition P. The robotic work tool 100 may be configured to determine the position of the roboticwork tool 100 using position deterrnining device(s), such as a GNSS device 190 or a deducedreckoning device 195.
    The robotic work tool 100 may then be configured to determine that the mowingoperation should be discontinued 640. The robotic work tool may be configured to determinethat the mowing operation should be discontinued if the sensed vibrations are above a vibrationthreshold 642 and/or the load exerted is below a load threshold 644. If the robotic work tool 100deterrnines to discontinue the mowing operation, to reduce the risk of damage to the roboticwork tool 100, the robotic work tool 100 may be configured to retum 650 to the charging station210 or other servicing station or to stop 670 at the position P where the damage was detected. Ifthe robotic work tool 100 stops it may signal an error by for example emitting a sound orflashing a light. The robotic work tool 100 may also signal an error to the charging station or toa remote control.
    If the robotic work tool 100 has retumed to the charging station 210, the robotic work tool 100 may be configured to retum 655 to the position P where the damage was detected upon receiving user input (through a user interface 166) or when activated next time if noservice has been made. The robotic work tool 100 may also or altematively be configured toprovide an indication 660, such as the coordinates, for the position P where the damage wasdetected through the user interface 166 or communication interface 197.
    In this manner, the robotic work tool may indicate to a user that the cutting deviceis damaged and possibly needs to be replaced thereby providing a better operation result andpreventing further damage to the robotic work tool.
    Figure 7 shows a schematic view of a computer-readable medium as described in theabove. The computer-readable medium 70 is in this embodiment a data disc 70. In oneembodiment the data disc 70 is a magnetic data storage disc. The data disc 70 is configured tocarry instructions 71 that when loaded into a controller, such as a processor, executes a methodor procedure according to the embodiments disclosed above. The data disc 70 is arranged to beconnected to or within and read by a reading device 72, for loading the instructions into thecontroller. One such example of a reading device 72 in combination with one (or several) datadisc(s) 70 is a hard drive. It should be noted that the computer-readable medium can also beother mediums such as compact discs, digital video discs, flash memories or other memorytechnologies commonly used. In such an embodiment the data disc 70 is one type of a tangiblecomputer-readable medium 70.
    The instructions 71 may also be downloaded to a computer data reading device 74,such as the controller 110 or other device capable of reading computer coded data on acomputer-readable medium, by comprising the instructions 71 in a computer-readable signal 73which is transmitted via a wireless (or Wired) interface (for example via the Intemet) to thecomputer data reading device 74 for loading the instructions 71 into a controller. In such anembodiment the computer-readable signal 73 is one type of a non-tangible computer-readablemedium 70.
    The instructions may be stored in a memory (not shown explicitly in figure 7, butreferenced 120 in figure 1) of the computer data reading device 74.
    References to computer program, instructions, code etc. should be understood to encompass software for a programmable processor or firmware such as, for example, the prograniniable content of a hardware device Whether instructions for a processor, or configuration settings for a fixed-function device, gate array or prograniniable logic device etc.
    The invention has mainly been described above With reference to a fewen1bodin1ents. HoWever, as is readily appreciated by a person skilled in the art, otheren1bodin1ents than the ones disclosed above are equally possible Within the scope of the invention, as defined by the appended patent clain1s.
    权利要求:
    Claims (17)
    [1] 1. A robotic Work tool comprising a Work tool (160), a tool damagedetector (162) and a controller (110) for controlling the operation of the robotic Worktool (100), the robotic Work tool (100) being configured to detect that the Work tool (100) is damaged or lost by detecting anirregularity utilizing the tool damage detector (162) and thereby deterrnining that theWork tool (160) is damaged or lost.
    [2] 2. The robotic Work tool (100) of claim 1, Wherein the controller (110) isfurther configured to note a current position (P) When it is deterrnined that the Work tool (160) is damaged or lost.
    [3] 3. The robotic Work tool (100) of claim 1 or 2, Wherein the controller (110) is fiarther configured to discontinue operation.
    [4] 4. The robotic Work tool (100) of claim 3, Wherein the controller (110) isfurther configured to deterrnine that the operation should be discontinued if the sensed Vibrations are above a vibration threshold and/or the load exerted is below a load threshold.
    [5] 5. The robotic Work tool (100) of claim 3 or 4, Wherein the controller (110) is fiarther conf1gured to return to a serVicing station (210).
    [6] 6. The robotic Work tool (100) of claim 3, 4 or 5, Wherein the controller (110) is fiarther configured to return to the position (P) Where the damage Was detected.
    [7] 7. The robotic Work tool (100) of any of claims 3 to 6 , Wherein thecontroller (110) is further configured to provide an indication, such as the coordinates,for the position (P) Where the damage Was detected through a user interface (166) or a communication interface (197) also comprised in the robotic Work tool (100). 12
    [8] 8. The robotic Work tool (100) of claim 1 or 2, Wherein the controller (110) is fiarther configured to stop at the position (P) Where the damage Was detected.
    [9] 9. The robotic Work tool (100) of any preceding claim, Wherein the tooldamage detector is configured to sense vibrations in the robotic Work tool (100) as aWhole, on a shaft (163) driving the Work tool (160), and/or on the Work tool motor(165), and if the vibrations increase above a threshold or at a change rate above athreshold, the robotic Work tool (100) deterrnines that the Work tool (160) is damaged or lost.
    [10] 10. The robotic Work tool (100) of any preceding claim, Wherein the tooldamage detector (162) is configured to sense audible noise, Wherein noise above a threshold indicates that the Work tool (160) is damaged or lost.
    [11] 11. The robotic Work tool (100) of any preceding claim, Wherein the tooldamage detector (162) is configured to detect a change in Weight of the robotic Work tool (100) or the Weight exerted on a shaft (163) driving the Work tool (160).
    [12] 12. The robotic Work tool (100) of any preceding claim, Wherein the tooldamage detector (162) is configured to detect a change in balance of the robotic Work tool or the balance of a shaft (163) driving the Work tool (160).
    [13] 13. The robotic Work tool (100) of any preceding claim, Wherein the tooldamage detector (162) is configured to sense the load exerted on the Work tool (160),Wherein a decline in load below a threshold level, or a sudden decline Which is maintained, indicates that the Work tool (160) is lost or damaged.
    [14] 14. The robotic Work tool (100) of any preceding claim, Wherein therobotic Work tool (100) is a laWnmoWer robot, the Work tool (160) is a grass cutting device, and the operation is a moWing operation. 13
    [15] 15. A robotic Work tool system (200) comprising a charging station (210) and a robotic Work tool (100) according to any preceding claim.
    [16] 16. A method for use in robotic Work tool comprising a Work tool (160)and a tool damage detector (162), the method comprising detecting that the Work tool (100) is damaged or lost by detecting anirregularity utilizing the tool damage detector (162) and thereby deterrnining that theWork tool (160) is damaged or lost.
    [17] 17. A computer readable storage medium (70) encoded With instructions (71) that, When executed on a processor, performs the method according to claim 16.
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    同族专利:
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    WO2016102145A1|2016-06-30|
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    US20180263181A1|2018-09-20|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    SE1451646A|SE538773C2|2014-12-23|2014-12-23|Robotic tool and method for detecting tool damage or loss of tool|SE1451646A| SE538773C2|2014-12-23|2014-12-23|Robotic tool and method for detecting tool damage or loss of tool|
    EP15802063.6A| EP3236735B1|2014-12-23|2015-11-26|Robotic work tool and method for detecting tool damage or loss|
    PCT/EP2015/077850| WO2016102145A1|2014-12-23|2015-11-26|Robotic work tool and method for detecting tool damage or loss|
    DK15802063.6T| DK3236735T3|2014-12-23|2015-11-26|ROBOT TOOLS AND METHOD FOR REGISTERING DAMAGE OR LOSS OF TOOLS|
    US15/537,509| US11134609B2|2014-12-23|2015-11-26|Robotic work tool and method for detecting tool damage or loss|
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