US 12,140,953 B2
Propulsion control arrangement, robotic tool, method of propelling robotic tool, and related devices
Olle Hjelmåker, Jönköping (SE)
Assigned to HUSQVARNA AB, Huskvarna (SE)
Filed by HUSQVARNA AB, Huskvarna (SE)
Filed on Sep. 25, 2020, as Appl. No. 17/032,089.
Claims priority of application No. 1951079-1 (SE), filed on Sep. 25, 2019.
Prior Publication US 2021/0089034 A1, Mar. 25, 2021
Int. Cl. G05D 1/00 (2024.01); A01D 34/00 (2006.01); B60K 1/00 (2006.01)
CPC G05D 1/021 (2013.01) [A01D 34/008 (2013.01); B60K 1/00 (2013.01); G05D 1/0094 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A propulsion control arrangement for a self-propelled robotic tool,
wherein the robotic tool having a front end associated with a forward direction and a rear end associated with a reverse direction, the robotic tool comprises at least one swivel caster wheel configured to abut against a ground surface during operation of the robotic tool,
and wherein the control arrangement is configured to, upon detection of a stop event of the robotic tool after travel in a first longitudinal direction of the robotic tool that is associated with the forward direction relative to the robotic tool and that is parallel to a longitudinal axis of the robotic tool, turn the robotic tool a predetermined angle to turn the at least one swivel caster wheel to a position in which a respective rolling direction of the at least one swivel caster wheel is transversal to a second longitudinal direction of the robotic tool that is associated with the reverse direction relative to the robotic tool,
and then initiate propulsion in the second longitudinal direction of the robotic tool that is straight and parallel to the longitudinal axis of the robotic tool, wherein the second longitudinal direction is opposite to the first longitudinal direction.