Patent Grant
10462961
This application relates to a robotic lawnmower, a robotic work tool system, a method and a computer-readable storage medium for improved navigation of a robotic lawnmower.
Conventional robotic lawnmowers usually operate within a work area in a garden by traversing the work area according to an irregular movement pattern. Such irregular movements will reduce the risk of tracks being formed in the lawn by the lawnmower as well as the risk of incomplete or unbalanced grass cutting attendance to the entire work area over time. For one common type of robotic lawnmowers, a boundary wire, or guide cable, is used to define the perimeter of the work area. By means of sensors in the robotic lawnmower, the lawnmower will detect when it approaches or crosses the boundary wire, and automatically change its propulsion direction so that the work area is not escaped and the lawnmower remains within the intended work area.
A garden may however be a challenging work area for a robotic lawnmower. A garden is generally of a small scale (under or around tens of meters) and may contain many kinds of obstacles such as, for instance, fountains, trees, bushes, ponds, deck chairs, benches, garden umbrellas (sunshades), statues, rocks, sheds, etc. The small scale and the presence of obstacles may make it hard for the robotic lawnmower to access all parts of the work area by its irregular movement pattern; difficult parts may for instance be where access is partially blocked by one or more obstacles, and/or by an obstacle near a boundary of the work area. The typical work area for a robotic lawnmower is thus heterogeneous and compact in nature, and may result in an insufficient grass-cutting work performance by the robotic lawnmower in the garden.
Some contemporary robotic lawnmowers employ satellite navigation to enhance the robotic lawnmower's ability for accurate navigation within the work area. As is well known per se, a satellite navigation or sat nav system is a system of satellites that provide autonomous geo-spatial positioning with global coverage. It allows small electronic receivers to determine their location (longitude, latitude, and altitude) to within a few meters, or even centimeters, using signals transmitted along a line-of-sight by radio from satellites. Receivers calculate the precise time as well as position and carrier phase, which can be used as a reference for scientific experiments. A satellite navigation system with global coverage may be termed a global navigation satellite system or GNSS (Global Navigation Satellite System).
Particularly good accuracy of GNSS systems is obtained by using one or more fixed, land-based reference receivers, or beacons, in addition to the satellites. This is called differential GNSS. There are several DGNSS techniques, such as the classical DGNSS (or DGPS), the Real Time Kinematics (RTK) and the Wide Area RTK (WARTK).
The use of GNSS systems requires good reception of satellite signals to work reliably. For a robotic lawnmower which employs satellite navigation, the heterogeneous and compact nature of the typical work area (i.e., the lawn in a garden) will pose an additional challenge. If the satellite signals become blocked by buildings, roofs, sheds, trees, garden umbrellas, awnings, foliage, etc, in or near the work area, the robotic lawnmower may lose track and be momentarily prevented from continuing with satellite navigation-based operation in the work area. For differential GNSS, the signal from a reference receiver or beacon may likewise be blocked by, for example, any of the obstacles mentioned above and/or by radio disturbances such as interference, multi-path propagation delay, etc.
If, because of a momentary situation as described above, the robotic lawnmower loses track of the GNSS signals and is therefore momentarily prevented from continuing with satellite navigation-based operation in the work area, several problems may arise.
First, if the robotic lawnmower has no other navigation means, it will have to suspend its current propulsion/movement and wait until the satellite navigation receiver again receives the satellite signals sufficiently well to recalibrate its current position and resume its movement and satellite navigation-based operation in the work area. It must be recalled that a robotic lawnmower is a device which operates autonomously without the direct assistance or control by a human user.
However, every time a robotic lawnmower is forced to suspend its operation and stop its movement momentarily and then resume the operation and movement after a short time, the electrical motor and mechanical drive line will be subjected to a certain stress. If such stops occur frequently, which might be the case in a heterogeneous and compact garden, the accumulated wear and tear of critical parts of the robotic lawnmower will be considerable, and a premature breakdown of any of these critical parts is at risk.
Moreover, repeated stops and resumptions of the robotic lawnmower movement will consume a small but not negligible additional amount of electric power, hence causing a penalty in battery power consumption and reducing the maximum operational duration until next recharging of the battery.
Should the robotic lawnmower only stop and keep cutting the grass, this will lead to increased wear of the lawn and will lead to tracks or spots being formed leaving the lawn unevenly cut.
In addition, a repeated habit of intermittent stopping and restarting by the lawnmower may be interpreted by the garden owner as a potential malfunction. As a result, the garden owner may arrive at an ill-founded decision to take the lawnmower out of operation and seek professional service assistance or raise a warranty claim against the seller of the lawnmower. It goes without saying that a lawnmower which is taken out of operation will leave the lawn unattended to and thus provide insufficient grass-cutting work performance.
In view of the problems and shortcomings indicated above, there is a need for an improved manner of operation for a robotic lawnmower in a heterogeneous and compact work area.
The inventors of the present invention have realized, after inventive and insightful reasoning, that it will not be necessary to stop an ongoing movement or propulsion of a robotic lawnmower when its satellite navigation device loses track of the satellite signals and needs recalibration. Instead, the robotic lawnmower can continue to be movably operated based on a deduced reckoning navigation sensor, wherein a deduced reckoning position estimate obtained by the deduced reckoning navigation sensor may be used to shorten the time for recalibration of the satellite navigation device, thereby allowing the robotic lawnmower to quickly regain track of the satellite signals and resume its satellite signal-based operation.
It is therefore an object of the teachings of this application to overcome one or more of the problems and shortcomings listed above by providing a robotic lawnmower for movable operation within a work area. The robotic lawnmower comprises a satellite navigation device, a deduced reckoning navigation sensor and a controller. The controller is configured to cause the robotic lawnmower to movably operate within the work area in a first operating mode, the first operating mode being based on positions determined from satellite signals received by the satellite navigation device, determine that a position cannot be reliably determined based on satellite signals received by the satellite navigation device, and in response thereto cause the robotic lawnmower to movably operate within the work area in a second operating mode. In the second operating mode, the controller is configured to obtain a deduced reckoning position estimate by the deduced reckoning navigation device, define a search space using the deduced reckoning position estimate, recalibrate the satellite navigation device based on the defined search space, and, once the satellite navigation device has been recalibrated, cause the robotic lawnmower to again operate in the first operating mode.
It is also an object of the teachings of this application to overcome one or more of the problems and shortcomings listed above by providing a robotic work tool system comprising a charging station and a robotic lawnmower according to the above.
It is a further object of the teachings of this application to overcome one or more of the problems and shortcomings listed above by providing a method of controlling a robotic lawnmower for movable operation within a work area. The method comprises movably operating the robotic lawnmower within the work area in a first operating mode, the first operating mode being based on positions determined from satellite signals received by a satellite navigation device, determining that a position cannot be reliably determined based on satellite signals received by the satellite navigation device, and, in response thereto, movably operating the robotic lawnmower within the work area. In the second operating mode, the method comprises obtaining a deduced reckoning position estimate by the deduced reckoning navigation device, defining a search space using the deduced reckoning position estimate, recalibrating the satellite navigation device based on the defined search space, and, once the satellite navigation device has been recalibrated, again operating the robotic lawnmower in the first operating mode.
It is moreover an object of the teachings of this application to overcome one or more of the problems and shortcomings listed above by providing a computer readable storage medium encoded with instructions that, when executed on a processor, perform the method referred to above.
Using the teachings herein, a robotic lawnmower is thus provided which does not stop or discontinue its operation as it loses satellite reception. Furthermore, as the inventors have realized that for a robotic lawnmower operating in a garden, a minor deviation from an expected trajectory will most likely not have catastrophic consequences and an unsupervised continued operation relying on deduced reckoning may thus be used, unlike for example an unsupervised tractor used to plough a field in the vicinity of living arrangements. The robotic lawnmower may thus be arranged to continue operation according to the objects above thereby solving the problems for example listed in the background section.
Other features and advantages of the disclosed embodiments will appear from the following detailed disclosure, from the attached dependent claims as well as from the drawings. Generally, all terms used in the claims are to be interpreted according to their 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 be interpreted openly as referring to at least one instance of the element, device, component, means, step, etc., unless explicitly stated otherwise. The steps of any method disclosed herein do not have to be performed in the exact order disclosed, unless explicitly stated.
The invention will be described in further detail under reference to the accompanying drawings, in which:
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 will fully convey the scope of the invention to those skilled in the art. Like numbers refer to like elements throughout.
In the example of
The robotic lawnmower 100 also comprises a controller 110. The controller 110 may be implemented using instructions that enable hardware functionality, for example, by using executable computer program instructions in a general-purpose or special-purpose processor that may be stored on a computer readable storage medium (disk, memory etc) 120 to be executed by such a processor. The controller 110 is configured to read instructions from the memory 120 and execute these instructions to control the operation of the robotic lawnmower 100 including, but not being limited to, the propulsion of the robotic lawnmower. The controller 110 may be implemented using any suitable, publically available processor or Programmable Logic Circuit (PLC). The memory 120 may be implemented using any commonly known technology for computer-readable memories such as ROM, RAM, SRAM, DRAM, FLASH, DDR, SDRAM or some other memory technology.
The robotic lawnmower 100 may further have at least one sensor 170; in the example of
The robotic lawnmower 100 also comprises a work tool 160, which may be a grass cutting device, such as a rotating blade 160 driven by a cutter motor 165. The cutter motor 165 is connected to the controller 110 which enables the controller 110 to control the operation of the cutter motor 165. The controller may also be configured to determine the load exerted on the rotating blade, by for example measure the power delivered to the cutter motor 165 or by measuring the axle torque exerted by the rotating blade. The robotic lawnmower 100 also has (at least) one battery 180 for providing power to the motors 150 and the cutter motor 165.
The robotic lawnmower 100 is also arranged with a satellite navigation device 190 which comprises a satellite signal receiver 191. In the disclosed embodiment, the satellite signal receiver 191 is a GNSS (Global Navigation Satellite System) satellite signal receiver, such as a GPS (Global Positioning System) satellite signal receiver. The satellite navigation device 190 is connected to the controller 110 for enabling the controller 110 to determine current positions for the robotic lawnmower 100 using the satellite navigation device 190 and to control the movements of the robotic lawnmower 100 based on the determined positions.
The robotic lawnmower 100 further comprises at least one deduced reckoning navigation sensor 195 for providing signals for deduced reckoning navigation, also referred to as dead reckoning. Examples of such deduced reckoning navigation sensor(s) 195 are odometers and compasses.
The robotic lawnmower 100 may further be arranged with a wireless communication interface 197 for communicating with other devices, such as a server, a personal computer or smartphone, or the charging station. Examples of such wireless communication devices are Bluetooth™, Global System Mobile (GSM) and LTE (Long Term Evolution), to name a few.
In addition, the robotic lawnmower 100 may be arranged with collision sensor means for detecting when the robotic lawnmower 100 runs into an obstacle. The collision sensor means may be one or more separate sensors (such as accelerometers, pressure sensors or proximity sensors) arranged in or on the housing of the robotic lawnmower 100 and capable of detecting an impact caused by a collision between the robotic lawnmower 100 and an obstacle. Alternatively, the collision sensor means may be implemented as a program routine run by the controller 110, being effective to detect a sudden decrease of the rotational speed of any of the drive wheels 130″ and/or sudden increase in the drive current to the electric motor 150.
The use of more than one sensor 170 enables the controller 110 of the robotic lawnmower 100 to determine how the robotic lawnmower 100 is aligned with relation to the boundary wire 250 by comparing the sensor signals received from each sensor 170. This enables the robotic lawnmower to follow the boundary wire 250, for example when returning to the charging station 210 for charging. Optionally, the charging station 210 may have a guide cable 260 for enabling the robotic lawnmower to find the entrance of the charging station 210. In one embodiment the guide cable 260 is formed by a loop of the boundary wire 250. In one embodiment the guide wire 260 is used to generate a magnetic field for enabling the robotic lawnmower 100 to find the charging station without following a guide cable 260.
Furthermore, first and second trees T1 and T2 may similarly cause momentary blocking of satellite signals, and so may a garden umbrella U, depending on the momentary location of the robotic lawnmower 100 within the work area 205. Also, a building B nearby may cause momentary satellite signal blocking when the robotic lawnmower is close to that building.
As a result of such momentary satellite signal blocking caused by obstacles R, T1, T2, U and B in or near the heterogeneous work area 250, the satellite navigation device 190 and controller 110 of the robotic lawnmower 100 will lose track and be momentarily prevented from continuing with satellite navigation-based operation in the work area 250.
The satellite signal-blocking obstacles R, T1, T2, U and B in
The method shown in
In a first step 410, the controller 110 is configured to cause the robotic lawnmower 100 to movably operate within the work area 205 in a first operating mode. The first operating mode is based on positions determined from satellite signals received by the satellite navigation device 190. The robotic lawnmower 100 is thus configured to utilize its satellite navigation device 190 to control its working operation. In one embodiment, the controller 110 determines a mowing pattern based on one or more positions of the robotic lawnmower 100. The mowing pattern may be determined as a direction or heading to be taken, or a circular pattern or other mowing pattern. Such mowing patterns are known to a skilled person and will not be discussed further herein.
Alternatively or additionally, the mowing pattern may be based on a digital or virtual map of the work area 205. To this end, the controller may be configured to store a map of the work area in the memory 120. The map may be a collection of geographical positions, for example indicating the boundaries of the work area 205, or it may be a more detailed virtual or digital map containing for instance information also about the location of the charging station 210, and/or about forbidden subareas (e.g. known obstacles) in the work area 205.
The map may have been configured by the user (e.g. the garden owner) upon installation or subsequent update of the robotic lawnmower system 200 by using a remote computer device, wherein the contents of the map may have been downloaded to the robotic lawnmower 100 over the wireless communication interface 197.
In one embodiment, the controller 110 may be configured to generate or update a map of the work area 205 on the fly as the robotic lawnmower 100 operates. For instance, obstacles in the work area 205 as detected by the aforementioned collision sensor means may be translated into small regions of the map where the work area 205 shall be avoided by the robotic lawnmower 100, whereas the boundary 205 of the work area 250 as detected by the magnetic sensors 170 may be translated into regions of the map which define the limits of the work area 205, etc.
In a second step 420, the controller 110 is configured to determine that a position of the robotic lawnmower 100 cannot currently be reliably determined based on satellite signals received by the satellite navigation device 190. It should be noted that the number of satellite signals needed to reliably determine the position of the robotic lawnmower 100 may differ between different satellite signal receivers 191, as well as on the operation and safety issues of the robotic lawnmower 100. For example, if only the position is of interest, it may suffice to receive three reliable satellite signals to establish a reliable position, whereas if, for example, the amplitude or time is also of relevance, a fourth satellite signal may need to be reliably received.
In response to having determined in step 420 that a position of the robotic lawnmower 100 cannot currently be reliably determined based on satellite signals, the controller 110 causes in a third step 430 the robotic lawnmower 100 to movably operate within the work area 205 in a second operating mode. Hence, the movement or propulsion of the robotic lawnmower 100 is not stopped when the mode changes from the first operating mode to the second operating mode, instead it continues to be movably operable by means of the electric motor 150 continuing with the propulsion of the drive wheels 130″, the robotic lawnmower 100 thereby continuing to move in the work area 205.
In the second operating mode, the deduced reckoning navigation sensor 195 is used. The deduced reckoning navigation sensor 195 may be adapted for detecting one or more of the following navigation parameters: position, speed, direction, tilt angle, and acceleration. For instance, the deduced reckoning navigation sensor 195 may comprise an odometer, a compass or an accelerometer.
As is well known per se, deduced reckoning (or dead reckoning) works so that the last known direction of the robotic lawnmower 100 is taken to be the current and assumed direction. By, for example, measuring the number of wheel turns (or rather the turn speed of the wheel axle and the elapsed time), a current position estimate can be determined. If the robotic lawnmower 100 encounters the boundary 250/250′, the controller 110 may cause it to turn, and by counting the number of wheel turns, the new direction can be determined. The controller 110 may thus control the operation of the robotic lawnmower 100 based on position estimates made available from the deduced reckoning.
While in the second operating mode, the controller 110 will attempt to recalibrate the satellite navigation device 190 to regain track of the satellite signals, so as to allow re-entry into the first operating mode when a reliable position can again be reliably determined based on satellite signals received by the satellite navigation device 190. The recalibration procedure generally involves the following steps.
In a fourth step 440, the controller 110 uses the deduced reckoning navigation sensor 195 to obtain a deduced reckoning position estimate. In a fifth step 450, the controller 110 defines a search space using the deduced reckoning position estimate.
The defined search space is used in a sixth step 460 for recalibrating the satellite navigation device 190. Finally, once the satellite navigation device 190 has been recalibrated in step 460, the controller 110 causes in a seventh step 470 the robotic lawnmower 100 to again operate in the first operating mode.
In one advantageous embodiment, the satellite navigation device 190 is a Global Navigation Satellite System device, such as a Global Positioning System device, and comprises a single-frequency carrier phase differential satellite signal receiver 191. The carrier phase differential satellite signal receiver 191 will support very accurate navigation for the robotic lawnmower 100 with precision of the order of centimeters in the positions obtainable by the satellite navigation device 190. This is particularly advantageous for a heterogeneous and compact work area 205 in the form of a typical garden.
The single-frequency carrier phase differential satellite signal receiver 191 will provide a benefit in terms of component cost efficiency, since a single-frequency carrier phase differential satellite signal receiver is much less expensive than a dual-frequency carrier phase differential satellite signal receiver. It is a general objective in the field of robotic lawnmowers to facilitate a cost-efficient component choice.
For this advantageous embodiment, the recalibration step 460 for the satellite navigation device 190 involves resolving an integer wavelength ambiguity for satellite signals received by the satellite navigation device 190. Since the satellite navigation device 190 lost track of the satellite signals in the preceding step 420, the satellite navigation device 190 needs to determine the distances to the satellites in order to regain accurate position determination based on the satellite signals. In order to do this, the satellite navigation device 190 needs to know the exact number of integer wavelengths to a certain satellite when the tracking of the satellite signal from that satellite starts. A priori, the exact number of integer wavelengths is not known, i.e. there is initially an integer wavelength ambiguity that needs to be resolved. When the integer wavelength ambiguity has been resolved, the single-frequency carrier phase differential satellite signal receiver 191 can then accurately track phase changes in the received satellite signal.
For a single-frequency carrier phase differential satellite signal receiver, a coarse search space for the integer wavelength ambiguity resolution can be established based on an estimated starting position derived from a pseudo code in the received satellite signal. However, the precision of the estimated starting position will be rather poor, typically ±1 m. For a satellite signal wavelength at 19 cm or 24 cm (1575 MHz and 1228 MHz), this will mean that there are 10 possible integer wavelength solutions for each satellite. With 10 available satellites, the total number of possible integer wavelength solutions will amount to 1010. To resolve an ambiguity among 1010 different solutions will take considerable time, typically of the order of 10 minutes. A ten-minute recalibration time is clearly improper for a robotic lawnmower.
The disclosed embodiment provides a substantial improvement to this situation by making use of the deduced reckoning position estimate obtained from the deduced reckoning navigation device 195 when defining the search space for the integer wavelength ambiguity resolution. The search space obtained in this way will be substantially smaller than the coarse search space derived from the pseudo code in the received satellite signal. For instance, when the deduced reckoning position estimate has as precision of ±15 cm and the satellite signal wavelength is 19 cm, this will mean that there are only 3 possible integer wavelength solutions for each satellite. With 10 available satellites, the total number of possible integer wavelength solutions will amount to 103. To resolve an ambiguity among 103 different solutions can be made quite quickly, typically of the order of 1-10 seconds. Such a short recalibration time is satisfactory for a robotic lawnmower, and a considerable reduction in the recalibration time has therefore been achieved.
As a result, therefore, it will not be necessary to stop the movement or propulsion of the robotic lawnmower 100 when the satellite navigation device 190 loses track of the satellite signals and needs recalibration; instead the robotic lawnmower 100 can be movably operated in the second operating mode based on the deduced reckoning navigation sensor 195, wherein a deduced reckoning position estimate obtained by the deduced reckoning navigation sensor 195 may be used to shorten the time for recalibration of the satellite navigation device 190.
In the light of the inventive understandings above, in one refined embodiment the controller 110 is therefore configured, in the second operating mode, to define the search space for recalibration of the satellite navigation device 190 by first obtaining a pseudo range position estimate from satellite signals received by the satellite navigation device 190, then determining a coarse search space candidate from the pseudo range position estimate, and finally defining the search space by reducing a scope of the coarse search space candidate based on the deduced reckoning position estimate.
In another refined embodiment of the robotic lawnmower, the controller 110 is configured, in the second operating mode, to estimate whether the defined search space will allow integer wavelength ambiguity resolution within a threshold time, and, if so, continue in the second operation mode at least for the duration of the threshold time. Otherwise, the controller 110 will stop an ongoing propulsion of the robotic lawnmower 100.
In still another refined embodiment of the robotic lawnmower, the controller 110 is configured, in the second operating mode, to measure a duration of the second operation mode, determine whether a threshold time has been exceeded, and, if so, stop an ongoing propulsion of the robotic lawnmower 100.
Each of the latter two of these refined embodiments will be particularly suitable to serve a work area where it is not desired to let the robotic lawnmower 100 operate movably too long without satellite navigation. Such a work area may, for instance, be a garden containing fragile objects for which it is desired to avoid collision to a large extent. Still, thanks to the reduced recalibration time for the satellite navigation device 190, the robotic lawnmower 100 will often be capable of switching seamlessly between the first and second operation modes, since the recalibration time will not exceed the threshold time. The threshold time may therefore be set to a value which slightly exceed the normal reduced recalibration time as provided for by the present invention.
The instructions 51 may also be downloaded to a computer data reading device 54, such as the controller 110 or other device capable of reading computer coded data on a computer-readable medium, by comprising the instructions 51 in a computer-readable signal 53 which is transmitted via a wireless (or wired) interface (for example via the Internet) to the computer data reading device 54 for loading the instructions 51 into a controller. In such an embodiment the computer-readable signal 53 is one type of a non-tangible computer-readable medium 50.
The instructions may be stored in a memory (not shown explicitly in
References to computer program, instructions, code etc. should be understood to encompass software for a programmable processor or firmware such as, for example, the programmable content of a hardware device whether instructions for a processor, or configuration settings for a fixed-function device, gate array or programmable logic device etc.
The invention has mainly been described above with reference to a few embodiments. However, as is readily appreciated by a person skilled in the art, other embodiments than the ones disclosed above are equally possible within the scope of the invention, as defined by the appended patent claims.
| Number | Date | Country | Kind |
|---|---|---|---|
| 1451645 | Dec 2014 | SE | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/EP2015/077846 | 11/26/2015 | WO | 00 |
| Publishing Document | Publishing Date | Country | Kind |
|---|---|---|---|
| WO2016/102143 | 6/30/2016 | WO | A |
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| Number | Date | Country | |
|---|---|---|---|
| 20170347521 A1 | Dec 2017 | US |
