Detection of slip between a self-propelled robotic tool and a grass surface
AssigneeHusqvarna AB
InventorMartin Hammarstrom
Life of this patent
Estimating the term…
Abstract
A method of detecting slip between a self-propelled robotic tool and a grass surface comprises: driving on the grass surface; based on a desired heading and speed of the self-propelled robotic tool, generating a first drive signal for a first drive wheel of the self-propelled robotic tool; generating a time-variant drive signal pattern overlay; applying said time-variant drive signal pattern overlay to said first drive signal to form a first wheel control signal; operating a first drive wheel based on said first wheel control signal; receiving a movement signal from a movement detector; and determining a slip state based on an identification of said time-variant drive signal pattern overlay in said movement signal.
Claims16
A method of detecting slip between a self-propelled robotic tool and a grass surface, comprising:
- driving on the grass surface;
- based on a desired heading and speed of the self-propelled robotic tool, generating a first drive signal for a first drive wheel of the self-propelled robotic tool;
- generating a first time-variant drive signal pattern overlay;
- applying said first time-variant drive signal pattern overlay to said first drive signal to form a first wheel control signal;
- operating a first drive wheel based on said first wheel control signal;
- receiving a movement signal from a movement detector;
- and
- determining a slip state based on an identification of said first time-variant drive signal pattern overlay in said movement signal.
Dependencies are inferred from the claim text.