Robotic working tool
AssigneeHusqvarna AB
InventorsMagnus Bergenholm, Johan Rogö, Lars Ederfors
Life of this patent
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Abstract
The present disclosure relates to an articulated self-propelled robotic tool 1 with first and second platforms 3, 7, each comprising a wheel set 5, 9 driven by motors. A link arrangement connects the first platform to the second platform at a turning axis 11. A driving error is determined by recording a driving input to the motors and a resulting movement parameter, comparing the resulting movement with an estimated resulting movement which is based on the driving input. Slip is detected using the driving error.
Claims16
An articulated self-propelled robotic tool comprising a first platform with a first wheel set driven by a first set of motors, a second platform with a second wheel set, a link arrangement connecting the first platform to the second platform at a turning axis, such that one of said first and second platforms are pivotable in relation to the other at said turning axis to an angular position, characterized by a slip detection arrangement configured to:
- record a driving input to the first set of motors,
- record at least one resulting movement parameter correlated to movement of the first wheel set,
- determine a driving error by:
- determining an estimated resulting movement parameter based on recorded driving input, and comparing the estimated resulting movement parameter with a recorded resulting movement parameter to provide the driving error, or
- determining estimated driving input based on the recorded resulting movement parameter and comparing the estimated driving input with the recorded driving input to provide the driving error, and
- detect slip based on the driving error.
A method in a self-propelled robotic tool for detecting wheel slip, the self-propelled robotic tool being articulated and comprising a first platform with a first wheel assembly driven by a first set of motors, a second platform with a second wheel assembly, a link arrangement connecting the first platform to the second platform at a turning axis, such that one of said first and second platforms are pivotable in relation to the other at said turning axis to an angular position, the method comprising:
- recording a driving input to the first set of motors,
- recording at least one resulting movement parameter correlated to movement of the first wheel assembly,
- determining a driving error by:
- determining an estimated resulting movement parameter based on recorded driving input, and comparing the estimated resulting movement parameter with a recorded resulting movement parameter to provide the driving error, or
- determining an estimated driving input based on the recorded resulting movement parameter and comparing the estimated driving input with recorded driving input to provide the driving error, and
- detecting slip based on the driving error.
Dependencies are inferred from the claim text.