阅读说明：本技术 户外机器人作业工具和户外机器人作业工具中使用的方法 (Outdoor robotic work tool and method for use in outdoor robotic work tool ) 是由 乌尔夫·埃尔里格 吉米·彼得松 于 2021-04-29 设计创作，主要内容包括：本发明涉及户外机器人作业工具和户外机器人作业工具中使用的方法。户外机器人作业工具适合于向前行进方向并且包括环境检测系统,环境检测系统包括一组外部检测器收发器和一组内部检测器收发器,其中,所述内部检测器收发器定位在所述外部检测器收发器之间。每个检测器收发器适合于发送信号并且适合于接收由物体反射的反射信号。所述外部检测器收发器与相对于所述向前行进方向形成相应外角的外部覆盖范围主方向相关联,并且所述内部检测器收发器与相对于所述向前行进方向形成相应内角的内部覆盖范围主方向相关联。所述内角的大小超过所述外角的大小,并且所述内部覆盖范围主方向在向前行进方向上在户外机器人作业工具的前方相交。(The present invention relates to an outdoor robotic work tool and a method for use in an outdoor robotic work tool. The outdoor robotic work tool is adapted for a forward direction of travel and comprises an environment detection system comprising a set of external detector transceivers and a set of internal detector transceivers, wherein said internal detector transceivers are positioned between said external detector transceivers. Each detector transceiver is adapted to transmit a signal and to receive a reflected signal reflected by an object. The outer detector transceiver is associated with an outer coverage main direction forming a respective outer angle with respect to the forward direction of travel, and the inner detector transceiver is associated with an inner coverage main direction forming a respective inner angle with respect to the forward direction of travel. The inner angle exceeds the outer angle in magnitude and the inner coverage main directions intersect in front of the outdoor robotic work tool in a forward direction of travel.)

1. An outdoor robotic work tool (1) adapted for a forward direction of travel (D) and comprising an environment detection system (19) comprising a set of external detector transceivers (2a, 2b) and a set of internal detector transceivers (3a, 3b), wherein the internal detector transceivers (3a, 3b) are positioned between the external detector transceivers (2a, 2b), wherein each of the external detector transceivers (2a, 2b) and the internal detector transceivers (3a, 3b) is adapted to transmit a signal (4a, 4 b; 5a, 5b) and to receive a reflected signal (6a, 6b, 9) reflected by an object (10, 11), which is adapted to transmit a signal (4a, 4 b; 5a, 5b) and to receive a reflected signal (6a, 6b, 9)Said external detector transceivers (2a, 2b) form respective external angles (a) with respect to said forward direction of travel (D)_a、α_b) Is associated with an outer coverage main direction (7a, 7b), and the inner detector transceivers (3a, 3b) form respective inner angles (β) with respect to the forward direction of travel (D)_a、β_b) Is associated with an inner coverage main direction (8a, 8b), wherein the inner angle (β)_a、β_b) Exceeds the external angle (alpha)_a、α_b) And wherein the inner coverage main directions (8a, 8b) intersect in the forward direction of travel (D) in front of the outdoor robotic work tool (1).

2. Outdoor robot work tool (1) according to claim 1, wherein each of the outer (7a, 7b) and inner (8a, 8b) coverage main directions is associated with a corresponding transceiver coverage (12a, 12 b; 13a, 13b), wherein a combined rectangular coverage (14) with a certain width (w) is formed in front of the outdoor robot work tool (1) and in the forward travelling direction (D), wherein the combined rectangular coverage (14) comprises at least two separate transceiver coverage (12a, 12 b; 13a, 13 b).

3. Outdoor robotic work tool (1) according to claim 1 or 2, wherein the outer angle (a)_a、α_b) Have the same size, and the internal angle (beta)_a、β_b) Have the same size.

4. The outdoor robot work tool (1) according to any of the preceding claims, wherein the external coverage main directions (7a, 7b) do not intersect in front of the outdoor robot work tool (1) in the forward travelling direction (D).

5. Outdoor robotic work tool (1) according to any of the preceding claims, wherein the outer coverage main directions (7a, 7b) are parallel to each other.

6. Outdoor robotic work tool (1) according to any of the preceding claims, wherein the external detector transceiver (2a, 2b) and the internal detector transceiver (3a, 3b) are adapted to transmit signals (4a, 4 b; 5a, 5b) at least partly simultaneously.

7. Outdoor robotic work tool (1) according to any of the preceding claims, wherein the external detector transceiver (2a, 2b) and the internal detector transceiver (3a, 3b) are any of a radar transceiver, an ultrasound transceiver and a lidar transceiver.

8. The outdoor robotic work tool (1) according to any of the preceding claims, wherein the robotic work tool (1) is a robotic lawn mower.

9. Outdoor robotic work tool (1) according to any of the preceding claims, wherein the external detector transceiver comprises a first external detector transceiver (2a) and a second external detector transceiver (2b), and the internal detector transceiver comprises a first internal detector transceiver (3a) and a second internal detector transceiver (3 b).

10. Outdoor robotic work tool (1) according to any of the preceding claims, wherein the robotic work tool (1) comprises: a propulsion motor arrangement (15); a power source (16) adapted to provide power to the propulsion motor arrangement (15); a plurality of wheels (17a, 17 b; 21a, 21b), at least two of which are adapted to be propelled by the propulsion motor arrangement (15); and a control unit (18) adapted to control the external detector transceiver (2a, 2b) and the internal detector transceiver (3a, 3b) and to control the speed and direction of the robotic work tool (1) when the robotic work tool (1) is moving, depending on information acquired by means of the external detector transceiver (2a, 2b) and the internal detector transceiver (3a, 3 b).

11. An outdoor robotic work tool (1) adapted for a forward direction of travel (D) and comprising an environment detection system comprising at least two detector transceivers (2a, 2 b; 3a, 3b) adapted to transmit signals (4a, 4 b; 5a, 5b) and to receive reflected signals (6a, 6b, 9) reflected by an object (10, 11), wherein the at least two detector transceivers (2a, 2 b; 3a, 3b) are adapted to transmit signals (4a, 4 b; 5a, 5b) at least partly simultaneously.

12. The outdoor robotic work tool (1) according to claim 11, wherein the at least two detector transceivers comprise a set of outer detector transceivers (2a, 2b) and a set of inner detector transceivers (3a, 3b), wherein the inner detector transceivers (3a, 3b) are positioned between the outer detector transceivers (2a, 2b), wherein the outer detector transceivers (2a, 2b) form respective outer angles (a) with respect to the forward direction of travel (D)_a、α_b) Is associated with an outer coverage main direction (7a, 7b), and the inner detector transceivers (3a, 3b) form respective inner angles (β) with respect to the forward direction of travel (D)_a、β_b) Is associated with an inner coverage main direction (8a, 8b), wherein the inner angle (β)_a、β_b) Exceeds the external angle (alpha)_a、α_b) And wherein the inner coverage main directions (8a, 8b) intersect in the forward direction of travel (D) in front of the outdoor robotic work tool (1).

13. Outdoor robot work tool (1) according to claim 12, wherein each of the outer (7a, 7b) and inner (8a, 8b) coverage main directions is associated with a respective transceiver coverage (12a, 12 b; 13a, 13b), wherein a combined rectangular coverage (14) with a certain width (w) is formed in front of the outdoor robot work tool (1) and in the forward travelling direction (D), wherein the combined rectangular coverage (14) comprises at least two separate transceiver coverage (12a, 12 b; 13a, 13 b).

14. Outdoor robotic work tool (1) according to claim 12 or 13, wherein the outer angle (a)_a、α_b) Have the same size, and the internal angle (beta)_a、β_b) Have the same size.

15. The outdoor robot work tool (1) according to claim 12 or 13, wherein the external coverage main directions (7a, 7b) do not intersect in front of the outdoor robot work tool (1) in the forward travelling direction (D).

16. Outdoor robotic work tool (1) according to claim 12 or 13, wherein the outer coverage main directions (7a, 7b) are parallel to each other.

17. Outdoor robotic work tool (1) according to claim 12 or 13, wherein the external detector transceiver (2a, 2b) and the internal detector transceiver (3a, 3b) are any of a radar transceiver, an ultrasonic transceiver or a lidar transceiver.

18. The outdoor robotic work tool (1) according to any of claims 11-17, wherein the robotic work tool (1) is a robotic lawn mower.

19. The outdoor robotic work tool (1) according to any of the claims 11-18, wherein the at least two detector transceivers comprise a first outer detector transceiver (2a), a second outer detector transceiver (2b), a first inner detector transceiver (3a) and a second inner detector transceiver (3 b).

20. The outdoor robotic work tool (1) according to any of claims 11-19, wherein the robotic work tool (1) comprises: a propulsion motor arrangement (15); a power source (16) adapted to provide power to the propulsion motor arrangement (15); a plurality of wheels (17a, 17 b; 21a, 21b), at least two of which are adapted to be propelled by the propulsion motor arrangement (15); and a control unit (18) adapted to control the at least two detector transceivers (2a, 2 b; 3a, 3b) and to control the speed and direction of the robotic work tool (1) when the robotic work tool (1) is moving, in dependence on the relevant information acquired by means of the at least two detector transceivers (2a, 2 b; 3a, 3 b).

21. Outdoor robotic work tool (1) according to any of the claims 11-20, wherein said at least two detector transceivers (2a, 2 b; 3a, 3b) are adapted to transmit signals simultaneously at all of said at least two detector transceivers (2a, 2 b; 3a, 3 b).

22. Outdoor robotic work tool (1) according to any of claims 11-21, wherein the at least two detector transceivers (2a, 2 b; 3a, 3b) are adapted to transmit signals simultaneously at the same group at two or more detector transceivers or at different times at different groups.

23. Outdoor robotic work tool (1) according to any of the claims 11-22, wherein the at least two detector transceivers (2a, 2 b; 3a, 3b) are adapted to transmit a signal each time at some specific time only at one detector transceiver (2a, 2 b; 3a, 3 b).

24. Outdoor robotic work tool (1) according to any of the claims 11-23, wherein each of the at least two detector transceivers (2a, 2 b; 3a, 3b) is adapted to transmit a signal comprising a specific signal identity, such that a received signal can be identified with respect to its transmitting detector transceiver (2a, 2 b; 3a, 3 b).

25. Outdoor robotic work tool (1) according to claim 24, wherein said signal identification is done by means of utilizing different waveforms or embedded identification codes.

26. A method for use in an outdoor robotic work tool (1) adapted for a forward direction of travel (D), wherein the method comprises:

transmitting signals and receiving reflected signals (6a, 6b, 9) reflected by the object (10, 11) using at least two detector transceivers (2a, 2 b; 3a, 3b) (S100);

signals (4a, 4 b; 5a, 5b) are transmitted at least partially simultaneously at all detector transceivers (2a, 2 b; 3a, 3b) (S200).

27. The method of claim 26, wherein the method further comprises: signals are transmitted simultaneously at all detector transceivers (2a, 2 b; 3a, 3b) (S210).

28. The method of claim 26 or 27, wherein the method further comprises: signals are transmitted simultaneously at two or more detector transceivers in the same group, or at different times in different groups (S220).

29. The method of any of claims 26 to 28, wherein the method further comprises: signals are transmitted each time at some specific time at only one detector transceiver (2a, 2 b; 3a, 3b) (S230).

30. The method of any of claims 26 to 29, wherein the method further comprises: a signal comprising a specific signal identity is transmitted at each detector transceiver (2a, 2 b; 3a, 3b) such that the received signal can be identified (S240) with respect to its transmitting detector transceiver (2a, 2 b; 3a, 3 b).

31. The method of claim 30, wherein the signal identification is accomplished by utilizing different waveforms or embedded identification codes.

Technical Field

The present disclosure relates to an outdoor robotic work tool including an environment detection system having a set of external detector transceivers and a set of internal detector transceivers. The outdoor robotic work tool may be constituted by a robotic lawn mower, for example.

Background

Automated or robotic power tools, such as robotic lawn mowers, are becoming increasingly popular. In a typical deployment, in a work area such as a garden, the work area is surrounded by a boundary line, the purpose of which is to keep the robotic lawn mower within the work area. An electrical control signal can be transmitted through the border line, so that an (electro) magnetic field emanating from the border line is generated. The robotic work tool is typically arranged with one or more sensors adapted to sense control signals.

The robotic lawn mower may then automatically mow grass on the user's lawn and may be automatically charged without user intervention and no manual management is required after a single setup. The robot lawnmower needs to have a function of recognizing an obstacle to avoid a collision with the obstacle before encountering the obstacle, and a function of recognizing that a collision has occurred.

In the latter case, the collision sensor may be provided on the main body of the robot lawnmower, and when the robot lawnmower collides with an obstacle, the main body moves in such a manner that: causing the impact sensor to generate an impact signal. In the former case, different kinds of environment detection sensors are used, such as an ultrasonic sensor disclosed in EP3508048 and a radar sensor disclosed in SE 540794.

However, there is a need to improve the coverage, reliability and efficiency of such environment detection sensors so that all obstacles are detected in time so that collisions can be avoided by stopping the robot lawnmower and/or turning the robot lawnmower off of the obstacles.

Disclosure of Invention

It is an object of the present disclosure to provide a robotic work tool with an environment detection system having improved coverage (coverage), reliability and efficiency compared to the prior art.

This object is achieved by means of an outdoor robotic work tool adapted for a forward direction of travel and comprising an environment detection system comprising a set of external detector transceivers (detectors) and a set of internal detector transceivers, wherein the internal detector transceivers are positioned between the external detector transceivers. Each detector transceiver is adapted to transmit a signal and to receive a reflected signal that has been reflected by an object. The outer detector transceiver is associated with an outer coverage main direction forming a respective outer angle with respect to the forward direction of travel, and the inner detector transceiver is associated with an inner coverage main direction forming a respective inner angle with respect to the forward direction of travel. The magnitude of the inner angle exceeds the magnitude of the outer angle, and the inner coverage main direction intersects (intersect) in front of the outdoor robotic work tool in the forward direction of travel.

This means that a robotic work tool with a larger sensor coverage is provided, thereby improving the ability of the robotic work tool to avoid collisions with other objects.

According to some aspects, each coverage main direction is associated with a corresponding transceiver coverage, wherein a combined rectangular coverage with a certain width is formed in front of the outdoor robotic work tool and in the forward direction of travel, wherein the combined rectangular coverage comprises at least two separate transceiver coverage.

Forming such a combined area increases the reliability of detection.

According to some aspects, the outer corners have the same size and the inner corners have the same size.

According to some aspects, the outer coverage main direction does not intersect in front of the outdoor robotic work tool in the forward direction of travel.

In this way, it may be possible to enable an increase in coverage.

According to some aspects, the outer coverage main directions are parallel to each other.

In this way, a desired combined area is formed.

According to some aspects, the detector transceivers are adapted to transmit signals at least partially simultaneously.

In this way, objects in front of the robotic work tool are detected in a faster and more efficient way.

According to some aspects, the detector transceiver is any one of a radar transceiver, an ultrasound transceiver, and a lidar transceiver.

This means that the present disclosure is applicable to many types of detector transceivers.

According to some aspects, the robotic work tool is a robotic lawn mower.

According to some aspects, the robotic work tool comprises a first external detector transceiver, a second external detector transceiver, a first internal detector transceiver, and a second internal detector transceiver.

According to some aspects, the robotic work tool comprises: a propulsion motor arrangement (arrangement); a power source adapted to provide power to the propulsion motor arrangement; a plurality of wheels, wherein at least two wheels are adapted to be propelled by the propulsion motor arrangement. The robotic work tool further comprises a control unit adapted to control the detector transceiver and to control the speed and direction of the robotic work tool in dependence on information acquired by means of the detector transceiver while the robotic work tool is moving.

In this way, a safe and reliable control of the robotic work tool is provided.

According to some aspects, the detector transceivers are adapted to transmit signals simultaneously at all detector transceivers, or two or more detector transceivers transmit signals simultaneously in the same group (constellation), or transmit signals at different times in different groups. Alternatively or in combination, the detector transceivers are adapted to transmit signals at a time at some specific time at only one detector transceiver.

This means that the simultaneous transmission may be adapted to different requirements that arise according to the detection result and/or according to a certain predetermined schedule.

According to some aspects, each detector transceiver is adapted to transmit a signal including a particular signal identification so that a received signal can be identified with respect to its transmitting detector transceiver. According to some aspects, the signal identification is accomplished by utilizing different waveforms or embedded identification codes.

In this way, specific details such as azimuth heading and/or distance may be provided for the detected object.

The present disclosure also relates to methods associated with the above advantages.

Drawings

The present disclosure will now be described in more detail with reference to the accompanying drawings, in which:

FIG. 1 shows a first schematic top view of a lawn mower;

FIG. 2 shows a second schematic top view of the greens mower;

FIG. 3 shows a third schematic top view of the greens mower;

FIG. 4 shows a schematic front view of the greens mower;

FIG. 5 shows a schematic bottom view of the greens mower;

FIG. 6 schematically shows a processing circuit;

FIG. 7 illustrates a computer program product;

fig. 8 shows a flow chart of a method according to the present disclosure.

Detailed Description

Aspects of the present disclosure will now be described more fully hereinafter with reference to the accompanying drawings. The different apparatus, systems, computer programs, and methods disclosed herein may, however, be embodied in many different forms and should not be construed as limited to the aspects set forth herein. Like reference symbols in the various drawings indicate like elements throughout.

The terminology used herein is for the purpose of describing aspects of the disclosure only and is not intended to be limiting of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should be noted that even though the description given herein will focus on a robotic lawnmower, the teachings herein can be applied to any type of outdoor robotic work tool, such as robotic ball collectors, robotic floor sweepers, and robotic tilling devices.

Fig. 1 shows a top view of a robotic work tool 1, fig. 4 shows a front view of the robotic work tool 1, and fig. 5 shows a bottom view of the robotic work tool 1, here exemplified by a robotic lawnmower 1. Lawn mower 1 comprises a main body 20a, 20b, a propulsion motor arrangement 15, a power source 16 (such as a rechargeable battery) adapted to power the propulsion motor arrangement 15, and a plurality of wheels 17a, 17 b; 21a, 21b, two or more of these wheels, according to some aspects two rear wheels 21a, 21b, are adapted to be pushed by the propulsion motor arrangement 15, thereby enabling the robotic work tool 1 to move relative to the forward direction D. Of course, it is possible that all four wheels 17a, 17 b; 21a, 21b are both adapted to be propelled by the propulsion motor arrangement 15.

The robotic lawnmower 1 further comprises a grass cutting device 23, in this example a plurality of cutting blade arrangements driven by a cutter motor arrangement 22, which is also powered by the power source 16, or alternatively a separate power source. A lawn mower is an example of a general-purpose work tool for a robotic work tool.

According to some aspects, the propulsion motor arrangement 15 comprises for each wheel 17a, 17b to be driven; 21a, 21b, according to some other aspects, the cutter motor arrangement 22 comprises one separate cutter motor for each cutting blade arrangement.

It should be noted that even if the description herein focuses on an electric motor, an internal combustion engine may alternatively be used, possibly in combination with an electric motor.

The robot lawnmower 1 further comprises a control unit 18. The robotic lawnmower 1 may be multi-chassis or single chassis. The multiple chassis includes more than one body portion that are movable relative to each other. The single-frame type includes only one main body portion. In this example, there is a front body portion 20a and a rear body portion 20 b.

The robotic lawnmower 1 typically comprises a charging sled (charging skids)28 for contacting a contact plate in the charging station when docked in the charging station to receive the charging current therethrough, and possibly also to communicate information by means of electrical communication between the charging station and the robotic lawnmower 1. Other ways of establishing the charging contacts are also possible and are incorporated herein.

In a previously known manner, the robotic lawnmower 1 is adapted to navigate with reference to boundary lines that transmit magnetic fields caused by control signals transmitted through the boundary lines. The robotic lawnmower is further configured to detect the magnetic field and for detecting the boundary line, e.g. by means of one or more magnetic field sensors. It is also conceivable that the robotic lawnmower 1 is adapted to navigate without a boundary line, and that other navigation systems are conceivable, such as a GPS-based navigation system and/or one or more wireless communication systems.

The robotic lawnmower 1 further comprises an environment detection system 19 comprising a set of external detector transceivers 2a, 2b and a set of internal detector transceivers 3a, 3 b. The inner detector transceivers 3a, 3b are positioned between the outer detector transceivers 2a, 2b along an extension E perpendicular to the forward direction of travel D. According to some aspects, all detector transceivers 2a, 2 b; 3a, 3b are located along the extension E and, according to some other aspects, the one or more detector transceivers may be mutually displaced along the forward direction of travel D. In this example, the inner detector transceivers 3a, 3b are displaced in the forward direction of travel D relative to the outer detector transceivers 2a, 2b, as will be discussed later.

It is also conceivable that the detector transceivers 2a, 2 b; 3a, 3b are positioned along an extension inclined with respect to the forward direction of travel D, or detector transceiver 2a, 2 b; 3a, 3b are positioned in an irregular manner. According to some aspects, the inner detector transceivers 3a, 3b are positioned along the extension between the outer detector transceivers 2a, 2b, and according to some other aspects, one or more detector transceivers may be displaced from each other in a direction perpendicular to the extension. The extension may be any suitable extension and need not be an extension E perpendicular to the forward direction of travel D.

Referring also to fig. 3, each detector transceiver 2a, 2 b; 3a, 3b are adapted to transmit signals 4a, 4 b; 5a, 5b and receives reflected signals 6a, 6b, 9 that have been reflected by objects 10, 11. According to some aspects, the detector transceivers 2a, 2 b; 3a, 3b are ultrasound detector transceivers adapted to transmit and receive ultrasound signals. This should not be considered limiting; detector transceivers 2a, 2 b; 3a, 3b may be of any suitable kind, such as for example radar transceivers or lidar transceivers, so that corresponding well-known techniques are applied for transmitting and receiving the reflected signals. To achieve this, according to some aspects, each detector transceiver 2a, 2 b; 3a, 3b comprise respective transmitter and receiver arrangements and other necessary circuitry in a known manner.

Detector transceivers 2a, 2 b; 3a, 3b may be arranged in a variety of ways within the scope of the present application, according to some aspects there is a first external detector transceiver 2a, a second external detector transceiver 2b, a first internal detector transceiver 3a and a second internal detector transceiver 3 b. According to some aspects, as shown in fig. 4, all detector transceivers 2a, 2 b; 3a, 3b are positioned at a common level L. Of course, other positional arrangements are contemplated.

Referring also to fig. 2, the external detector transceivers 2a, 2b are associated with external coverage main directions 7a, 7b forming corresponding external angles a with respect to the forward direction of travel D_a、α_bAnd the inner detector transceivers 3a, 3b are associated with inner coverage main directions 8a, 8b forming corresponding inner angles β with respect to the forward direction of travel D_a、β_b。

According to the present disclosure, the internal angle β_a、β_bIs greater than the external angle alpha_a、α_bAnd is covered internallyThe cover range main directions 8a, 8b intersect in front of the outdoor robotic work tool 1 in the forward direction of travel D. According to some aspects, the external angle α_a、α_bHave the same size and an internal angle beta_a、β_bHave the same size.

In FIG. 1, according to some aspects, the external angle α_a、α_bAt zero degrees, the outer coverage main directions 7a, 7b are parallel and coincide with the forward direction of travel D. In FIG. 2, according to some aspects, the external angle α_a、α_bHaving a certain size and being oriented such that the outer coverage main directions 7a, 7b do not intersect in front of the outdoor robotic work tool 1 in the forward direction of travel D. It is also conceivable that the outer coverage main directions 7a, 7b intersect in front of the outdoor robotic work tool 1.

For the sake of clarity, as shown only in fig. 1, according to some aspects, each coverage main direction 7a, 7 b; 8a, 8b and corresponding transceiver coverage areas 12a, 12 b; 13a, 13b, wherein the associated coverage main direction 7a, 7 b; 8a, 8b indicate transceiver coverage 12a, 12 b; 13a, 13b have the largest range of orientations. Forming a combined rectangular coverage area 14 with a certain width w in the forward direction of travel D in front of the outdoor robotic work tool 1, wherein the combined coverage area 14 comprises at least two separate transceiver coverage areas 12a, 12 b; 13a, 13 b. According to some aspects, the width w is equal to or exceeds the maximum width of the robotic lawnmower 1, wherein the width w extends in a direction orthogonal to the forward direction of travel D. In fig. 1, width w is shown to exceed the maximum width of robotic lawnmower 1.

By means of the coverage main direction 7a, 7 b; 8a, 8b, a larger combined rectangular coverage area 14 is achieved than was previously possible, comprising at least two separate transceiver coverage areas 12a, 12 b; 13a, 13 b. This enables objects in the path of the robot lawnmower 1 to be detected in an efficient and reliable manner, in particular earlier than previously possible, so that all obstacles are detected in time, so that collisions can be avoided by stopping the robot lawnmower 1 and/or turning the robot lawnmower 1 away from the obstacles.

To this end, as shown in fig. 1 and 2, the robotic lawnmower 1 comprises a control unit 18 adapted to control the detector transceivers 2a, 2 b; 3a, 3b and, when the robot lawnmower 1 is moving, according to the control of the robotic lawnmower by means of the detector transceivers 2a, 2 b; 3a, 3b to control the speed and direction of the robotic work tool 1. The control unit 18 may be constituted by several separate control sub-units or by one single integrated control unit. The control unit 18 is adapted to perform a method for controlling the detector transceivers 2a, 2 b; 3a, 3b and obtains the desired information from the detected measurements.

In any event, in the event of a collision, at least the front body section 20a is movable and in contact with a collision sensor 24, as shown in FIG. 1 and adapted to detect that the front body section 20a has been displaced to the extent that a collision is most likely to occur. One or more impact sensors may be used for each body portion, preferably for all body portions 20a, 20b, here only one impact sensor 24 is shown as an example. The control unit 18 is also adapted to control the speed and direction of the robotic work tool 1 based on information from said collision sensor 24, e.g. to reverse the direction of movement when a possible collision is detected.

As shown in FIG. 2, according to some aspects, robot lawnmower 1 includes a handle portion 25 configured to lift and carry robot lawnmower 1 when needed, such as for maintenance, inspection, and/or cleaning. The handle portion 25 is connected to the detector transceivers 2a, 2b when the robotic lawnmower 1 is in operation; 3a, 3b are closer to the ground and are positioned in the front recess 26 so that they do not project as foremost. This means that the first and second outer detector transceivers 2a, 2b are positioned closer to the front line F of the robotic lawnmower 1 than the first and second inner detector transceivers 3a, 3b, in other words, the inner detector transceivers 3a, 3b are displaced in the forward direction of travel D relative to the outer detector transceivers 2a, 2 b.

As a result, the handle portion 25 does not interfere with the operation of the internal detector transceivers 3a, 3b, and the front recess 26 is formed such that the front body portion 20a does not interfere with the operation of the internal detector transceivers 3a, 3b, mainly by causing unwanted reflections. By means of the present design, the pairs of front wheels 17a, 17b, so-called caster wheels 17a, 17b, can be arranged as close as possible to the front line F and as far apart as possible to improve the stability of the robot lawnmower 1.

According to some other aspects of the present disclosure, and with particular reference to fig. 3, the detector transceivers 2a, 2 b; 3a, 3b are adapted to transmit signals 4a, 4b simultaneously; 5a, 5 b. This means that in the shown example, in case of the presence of a first object 10 and a second object 11 in front of the robot lawnmower 1, the first signal 4a transmitted by the first external detector transceiver 2a causes the second signal 6a reflected from the first object 10 to be received by the first external detector transceiver 2a, so the first object 10 will be detected by the first external detector transceiver 2 a.

Furthermore, since the third signal 5a transmitted by the first inner detector transceiver 3a causes the fourth signal 6b reflected from the second object 11 to be received by the second outer detector transceiver 2b, the second object 11 will be detected by the second outer detector transceiver 2 b. The second object 11 will also be detected by the first inner detector transceiver 3a, since the fifth signal 4b transmitted by the second outer detector transceiver 2b causes the sixth signal 9 reflected from the second object 10 to be received by the first inner detector transceiver 3 a.

As the detector transceivers 2a, 2 b; 3a, 3b are adapted to transmit signals 4a, 4b simultaneously; 5a, 5b, so that detection of a reflected signal will indicate the presence of one or more objects in front, but since the signal received at one detector transceiver may come from a slave detector transceiver 2a, 2 b; 3a, 3b, and therefore without further details, such as azimuth and/or distance, for example. In general, it is sufficient to inform the robot lawnmower 1 of the fact that one or more objects are present in front to avoid collisions. Each detector transceiver 2a, 2 b; 3a, 3b may each be adapted to transmit a specific signal, so that the detector transceiver 2a, 2 b; 3a, 3b to identify the received signal. Such identification can be achieved, for example, by using different waveforms or embedded identification codes for the transmission signals 4a, 4b, 5a, 5 b.

Typically, at least two detector transceivers 2a, 2 b; 3a, 3b are adapted to transmit signals 4a, 4 b; 5a, 5b and receives reflected signals 6a, 6b, 9 that have been reflected by objects 10, 11, wherein the detector transceivers 2a, 2 b; 3a, 3b are adapted to transmit signals 4a, 4b at least partly simultaneously; 5a, 5 b. This means that several alternatives can be used alone or in combination. For example:

detector transceivers 2a, 2 b; 3a, 3b always transmit signals at the same time,

two or more detector transceivers transmit signals simultaneously in the same group, or at different times in different groups, and/or

At certain times, only one detector transceiver 2a, 2 b; 3a, 3b transmit a signal each time.

This means that the simultaneous transmission may be adapted to different requirements that arise according to the detection result and/or according to a certain predetermined schedule.

After passing through one detector transceiver 2a, 2 b; 3a, 3b can be transmitted by the detector transceivers 2a, 2 b; 3a, 3b, this increases the likelihood of detecting objects 10, 11 in front of the robot lawnmower 1.

It should be noted that the second internal detector transceiver 3b sends a signal 5b, wherein the transceiver coverage 13b indicated in fig. 1 means that the signal 5b will be reflected by the first object 10, but wherein the reflected signal will travel away from the robot lawnmower 1 and will not be detected by any detector transceiver.

Fig. 6 schematically shows the components of the control unit 18 in a number of functional units according to embodiments discussed herein. The processing circuit 27 is provided using any combination of one or more of a suitable central processing unit CPU, multiprocessor, microcontroller, digital signal processor DSP, or the like, capable of executing software instructions stored in a computer program product, for example, in the form of a storage medium 28. The processing circuit 27 may also be provided as at least one application specific integrated circuit ASIC or field programmable gate array FPGA. Thus, the processing circuit comprises a plurality of digital logic components.

In particular, processing circuit 27 is configured to cause control unit 18 to perform a set of operations or steps to control the operation of robotic lawnmower 1, including, but not limited to: controlling the detector transceivers 2a, 2 b; 3a, 3 b; processing is via the detector transceivers 2a, 2 b; 3a, 3 b; and the propulsion of the robotic lawnmower 1. For example, the storage medium 28 may store the set of operations, and the processing circuit 27 may be configured to retrieve the set of operations from the storage medium 28 to cause the control unit 18 to perform the set of operations. The set of operations may be provided as a set of executable instructions. Thus, the processing circuitry 27 is thus arranged to perform the methods disclosed herein.

The storage medium 28 may also include persistent storage, which may be, for example, any single one or combination of magnetic storage, optical storage, solid state storage, or even remotely mounted storage.

According to some aspects, the control unit 18 further comprises an interface 29 for communicating with at least one external device, such as the control panel 30 or one external device. As such, the interface 29 may include one or more transmitters and receivers including analog and digital components and an appropriate number of ports for wired communication. The interface 29 may be adapted to communicate with other devices 34, such as a server, a personal computer or smart phone, a charging station and/or other robotic work tools. An example of such a wireless communication device is(IEEE802.11b), Global System for Mobile (GSM), and LTE (Long term evolution))。

Fig. 7 shows a computer program product 31 comprising computer executable instructions 32 stored on a medium 33 to perform any of the methods disclosed herein.

With reference to fig. 8, the present disclosure also relates to a method suitable for use in an outdoor robotic work tool 1 in a forward direction of travel D, wherein the method comprises: s100 uses at least two detector transceivers 2a, 2 b; 3a, 3b transmit signals and receive reflected signals 6a, 6b, 9 reflected by objects 10, 11; s200 at all detector transceivers 2a, 2 b; 3a, 3b, at least partially simultaneously transmitting signals 4a, 4 b; 5a, 5 b.

According to some aspects, the method further comprises: s210 at all detector transceivers 2a, 2 b; signals are sent simultaneously at 3a, 3 b.

According to some aspects, the method further comprises: s220 signals are transmitted simultaneously in the same group, or at different times in different groups, at two or more detector transceivers.

According to some aspects, the method further comprises: s230 is performed only at one detector transceiver 2a, 2 b; 3a, 3b transmit a signal each time at some particular time.

According to some aspects, the method further comprises: s240 at each detector transceiver 2a, 2 b; 3a, 3b, such that the received signal can be transmitted with respect to its transmitting detector transceiver 2a, 2 b; 3a, 3b are identified.

According to some aspects, signal identification is accomplished by utilizing different waveforms or embedded identification codes.

In general, the present disclosure relates to an outdoor robotic work tool 1 adapted for a forward direction of travel D and comprising an environment detection system 19 comprising a set of external detector transceivers 2a, 2b and a set of internal detector transceivers 3a, 3b, wherein the internal detector transceivers 3a, 3b are located between the external detector transceivers 2a, 2 b. Each detector transceiver 2a, 2 b; 3a, 3b are adapted to transmit signals 4a, 4 b; 5a, 5b and is adapted to receive a reflected signal 6a, which has been reflected by an object 10, 11,6b, 9. The external detector transceivers 2a, 2b form respective external angles α with respect to the forward direction of travel D_a、α_bIs associated with the outer coverage main direction 7a, 7b and the inner detector transceivers 3a, 3b form respective inner angles β with respect to the forward direction of travel D_a、β_bIs associated with the inner coverage main direction 8a, 8 b. Internal angle beta_a、β_bIs greater than the external angle alpha_a、α_bAnd the inner coverage main directions 8a, 8b intersect in front of the outdoor robotic work tool 1 in the forward direction of travel D.

According to some aspects, each coverage main direction 7a, 7 b; 8a, 8b and corresponding transceiver coverage areas 12a, 12 b; 13a, 13b, wherein a combined rectangular coverage 14 with a certain width w is formed in the forward direction of travel D in front of the outdoor robotic work tool 1. The combined rectangular coverage area 14 comprises at least two separate transceiver coverage areas 12a, 12 b; 13a, 13 b.

According to some aspects, the external angle α_a、α_bHave the same size and an internal angle beta_a、β_bHave the same size.

According to some aspects, the external coverage main directions 7a, 7b do not intersect in the forward direction of travel D in front of the outdoor robotic work tool 1.

According to some aspects, the outer coverage main directions 7a, 7b are parallel to each other.

According to some aspects, the detector transceivers 2a, 2 b; 3a, 3b are adapted to transmit signals 4a, 4b at least partly simultaneously; 5a, 5 b.

According to some aspects, the detector transceivers 2a, 2 b; 3a, 3b are any of a radar transceiver, an ultrasonic transceiver, or a lidar transceiver.

According to some aspects, the robotic work tool 1 is a robotic lawn mower.

According to some aspects, the robotic work tool 1 comprises a first outer detector transceiver 2a, a second outer detector transceiver 2b, a first inner detector transceiver 3a and a second inner detector transceiver 3 b.

According to some aspects, the robotic work tool 1 comprises: a propulsion motor arrangement 15; a power source 16 adapted to provide power to the propulsion motor arrangement 15; a plurality of wheels 17a, 17 b; 21a, 21b, wherein at least two wheels are adapted to be propelled by the propulsion motor arrangement 15; and a control unit 18 adapted to control the detector transceivers 2a, 2 b; 3a, 3b and is adapted to determine, when the robotic work tool 1 is moving, a desired position based on the position of the object by means of the detector transceivers 2a, 2 b; 3a, 3b controls the speed and direction of the robotic work tool 1.

In general, the present disclosure also relates to an outdoor robotic work tool 1 adapted for a forward direction of travel D and comprising an environment detection system comprising at least two detector transceivers 2a, 2 b; 3a, 3b, said at least two detector transceivers being adapted to transmit signals 4a, 4 b; 5a, 5b and is adapted to receive reflected signals 6a, 6b, 9 that have been reflected by objects 10, 11. Detector transceivers 2a, 2 b; 3a, 3b are adapted to transmit signals 4a, 4b at least partly simultaneously; 5a, 5 b.

According to some aspects, the robotic work tool 1 comprises a set of external detector transceivers 2a, 2b, a set of internal detector transceivers 3a, 3b, wherein the internal detector transceivers 3a, 3b are located between the external detector transceivers 2a, 2b, wherein the external detector transceivers 2a, 2b form respective external angles α with respect to the forward direction of travel D_a、α_bIs associated with the outer coverage main direction 7a, 7b and the inner detector transceivers 3a, 3b form respective inner angles β with respect to the forward direction of travel D_a、β_bIs associated with the inner coverage main direction 8a, 8b, wherein the inner angle β is_a、β_bIs greater than the external angle alpha_a、α_bAnd wherein the inner coverage main directions 8a, 8b intersect in the forward direction of travel D in front of the outdoor robotic work tool 1.

According to some aspects, the detector transceivers 2a, 2 b; 3a, 3b are adapted to receive signals from all detector transceivers 2a, 2 b; signals are sent simultaneously at 3a, 3 b.

According to some aspects, the detector transceivers 2a, 2 b; 3a, 3b are adapted for two or more detector transceivers to transmit signals simultaneously in the same group, or to transmit signals at different times in different groups.

According to some aspects, the detector transceivers 2a, 2 b; 3a, 3b are adapted to receive a signal at only one detector transceiver 2a, 2b at some particular time; 3a, 3b each time.

According to some aspects, each detector transceiver 2a, 2 b; 3a, 3b are adapted to transmit a signal comprising a specific signal identity, so that the detector transceiver 2a, 2b can be transmitted with respect thereto; 3a, 3b to identify the received signal.

According to some aspects, signal identification is accomplished by utilizing different waveforms or embedded identification codes.

The disclosure is not limited to the above, but may be varied freely within the scope of the appended claims. For example, each detector transceiver 2a, 2 b; 3a, 3b comprise related well-known components such as a signal generator, transmitting and receiving means such as an ultrasonic transmitter/receiver arrangement or a transmitting/receiving antenna arrangement, and receiver circuitry. Each detector transceiver 2a, 2 b; 3a, 3b may be controlled directly by the control unit 18 or comprise sub-controllers controlled by the control unit 18 and adapted to communicate with said control unit.