EP3912005A1 - Outil robotique - Google Patents

Outil robotique

Info

Publication number
EP3912005A1
EP3912005A1 EP20700770.9A EP20700770A EP3912005A1 EP 3912005 A1 EP3912005 A1 EP 3912005A1 EP 20700770 A EP20700770 A EP 20700770A EP 3912005 A1 EP3912005 A1 EP 3912005A1
Authority
EP
European Patent Office
Prior art keywords
self
robotic tool
signal
robotic
bursts
Prior art date
Legal status (The legal status 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 status listed.)
Withdrawn
Application number
EP20700770.9A
Other languages
German (de)
English (en)
Inventor
Marcus LILJEDAHL
Jonas RANGSJÖ
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Husqvarna AB
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 EP3912005A1 publication Critical patent/EP3912005A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • 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 [2D]
    • 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
    • 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
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
    • G05D2111/30—Radio signals
    • G05D2111/36—Radio signals generated or reflected by cables or wires carrying current, e.g. boundary wires or leaky feeder cables

Definitions

  • the present disclosure relates to a self-propelled robotic tool comprising a work implement, a driving arrangement for moving the robotic work tool, a control device for controlling the driving arrangement, and an acquisition device, configured to record a signal transmitted in bursts by a boundary wire loop, wherein the control device is configured to determine whether the robotic work tool is located within an area defined by the boundary wire loop based on the recorded signal.
  • Fig 3 illustrates an example of burst with certain signatures or patterns.
  • the method may begin with clearing 45 the buffer 41 or memory.
  • the system waits 47 an estimated period time P est , and thereafter samples 49 data input from the coil 23.
  • the sampled data is added 51 to the buffer 41.
  • adding is here meant that the received signal is added to corresponding data from previous pulses such that the value at a time t, v t is added to the corresponding value of previous pulses v t -p+v t -2 P +... etc.
  • the sum in the buffer thus corresponds to an average of pulses received since the last clear event, even if not divided by the number of pulses.
  • other and different FIR- and MR filter configurations are possible.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Electromagnetism (AREA)
  • Manipulator (AREA)

Abstract

La présente invention porte sur un outil robotique (1) autopropulsé comprenant un instrument de travail (3), un agencement d'entraînement (5, 7, 9, 11) destiné à déplacer l'outil de travail robotique, un dispositif de commande (13) destiné à commander l'agencement d'entraînement, et un dispositif d'acquisition (23, 25) servant à enregistrer un signal (27 ; 31) émis en salves par une boucle de câbles de délimitation (19), le dispositif de commande servant à déterminer si l'outil de travail robotique est situé dans une zone (17) définie par la boucle de câbles de délimitation sur la base du signal enregistré. L'invention concerne un processeur de signal numérique (39) qui sert à transmettre une sortie correspondant à une moyenne d'une pluralité de salves de signaux émises enregistrées, le dispositif de commande (13) servant à déterminer si l'outil de travail robotique (1) est situé dans ladite zone (17) au moins partiellement sur la base de ladite sortie.
EP20700770.9A 2019-01-15 2020-01-09 Outil robotique Withdrawn EP3912005A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE1950041A SE542918C2 (en) 2019-01-15 2019-01-15 Robotic tool with boundary wire loop
PCT/EP2020/050356 WO2020148138A1 (fr) 2019-01-15 2020-01-09 Outil robotique

Publications (1)

Publication Number Publication Date
EP3912005A1 true EP3912005A1 (fr) 2021-11-24

Family

ID=69167799

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20700770.9A Withdrawn EP3912005A1 (fr) 2019-01-15 2020-01-09 Outil robotique

Country Status (3)

Country Link
EP (1) EP3912005A1 (fr)
SE (1) SE542918C2 (fr)
WO (1) WO2020148138A1 (fr)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022126364A1 (fr) * 2020-12-15 2022-06-23 Globe (jiangsu) Co., Ltd. Procédé et appareil de rejet d'interférence de signaux
US12296694B2 (en) 2021-03-10 2025-05-13 Techtronic Cordless Gp Lawnmowers
US12443180B2 (en) 2021-11-10 2025-10-14 Techtronic Cordless Gp Robotic lawn mowers
AU2023200381A1 (en) 2022-01-31 2023-08-17 Techtronic Cordless Gp Robotic garden tool
EP4270138A1 (fr) 2022-04-28 2023-11-01 Techtronic Cordless GP Création d'une limite virtuelle pour un outil de jardin robotisé
US12472611B2 (en) 2022-05-31 2025-11-18 Techtronic Cordless Gp Peg driver
EP4310621B1 (fr) 2022-07-19 2025-02-12 Techtronic Cordless GP Dispositif d'affichage pour commander un outil robotique
AU2023206123A1 (en) 2022-07-29 2024-02-15 Techtronic Cordless Gp Generation of a cryptography key for a robotic garden tool

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2679083B1 (fr) * 2012-06-27 2015-08-05 Fabrizio Bernini Tondeuse

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE0201739D0 (sv) 2002-06-07 2002-06-07 Electrolux Ab Elektroniskt avgränsningssystem
EP2741160B1 (fr) 2012-12-07 2016-10-12 Viking GmbH Procédé de commande d'une tondeuse automobile

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2679083B1 (fr) * 2012-06-27 2015-08-05 Fabrizio Bernini Tondeuse

Also Published As

Publication number Publication date
WO2020148138A1 (fr) 2020-07-23
SE1950041A1 (en) 2020-07-16
SE542918C2 (en) 2020-09-15

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