US 12,279,549 B2
Robotic work tool and method for improved collision handling
Dan Liljedahl, Jönköping (SE); Lars Ederfors, Bankeryd (SE); Magnus Bergenholm, Flisby (SE); and Daniel Wikestad, Hestra (SE)
Assigned to HUSQVARNA AB, Huskvarna (SE)
Appl. No. 17/431,926
Filed by HUSQVARNA AB, Huskvarna (SE)
PCT Filed Jan. 30, 2020, PCT No. PCT/EP2020/052310
§ 371(c)(1), (2) Date Aug. 18, 2021,
PCT Pub. No. WO2020/169318, PCT Pub. Date Aug. 27, 2020.
Claims priority of application No. 1950210-3 (SE), filed on Feb. 20, 2019.
Prior Publication US 2022/0151143 A1, May 19, 2022
Int. Cl. A01D 34/00 (2006.01); B60W 30/08 (2012.01); G05D 1/00 (2006.01); G05D 1/02 (2020.01); A01D 101/00 (2006.01)
CPC A01D 34/008 (2013.01) [B60W 30/08 (2013.01); G05D 1/0214 (2013.01); G05D 1/0227 (2013.01); A01D 2101/00 (2013.01); B60W 2030/082 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A robotic work tool comprising:
a chassis and a body;
at least one input unit for receiving input data relating to an operation of the robotic work tool;
at least one collision sensor arrangement for detecting a direction of a movement of the chassis with respect to the body, wherein the movement is indicative of a collision; and
at least one controller for controlling operation of the robotic work tool, wherein the at least one controller is configured to:
receive, from the at least one input unit, said input data relating to the operation of the robotic work tool; and
adapt a collision threshold based on said input data relating to the operation of the robotic work tool, wherein the collision threshold is related to said movement of the chassis with respect to the body detected by the at least one collision sensor arrangement.