Abstract: The present disclosure relates to a self-propelled robotic work tool (1), e.g. an automatic robotic lawn mower, and a corresponding method. The robotic tool comprises an inertia measurement unit (IMU 15) which generally obtains (25) measured IMU parameters regarding the robotic working tool's movement. A prediction algorithm (17) predicts (27,36) required motor currents for driving the robotic work tool's wheels (5) based on the measured IMU parameters. The predicted motor current is compared (29,37) to the actual current used and the difference constitutes an error (19), which is used in a collision detection unit (21). If the collision detection unit (21) senses that the actually used motor current is much higher than the predicted current, a collision may be indicated (31).

Abstract: A robotic work tool system (200) comprising a boundary (230) enclosing a work area (205) and a robotic work tool (100) comprising a proximity sensor (180) arranged to sense an obstacle (S1, S2, O, B), the robotic work tool (100) being arranged to operate within the work area (205) and the robotic work tool (100) being configured to determine (610) a sensed obstacle (S1, S2, O, B); determine (620) a distance (d); determine (630) whether the distance (d) is inside a threshold distance (D), and if so disregard (640) the proximity sensor (180); and, if not, take (650) evasive action to avoid the sensed obstacle (S1, S2, O, B).

Abstract: A robotic work tool arranged to operate in an operational area bounded by a boundary wire, the operational area encompassing a first charging station and a second charging station, each charging station comprising a base station wire, the robotic work tool comprising a controller, wherein the controller is configured to: operate in the operational area according to a first control signal, the first control signal comprising a first boundary signal being transmitted through the boundary wire and a first base station signal being transmitted through the base station wire of the first charging station; navigate the robotic work tool to locate and move the robotic work tool to the first charging station based on the first control signal; navigate the robotic work tool to distance the robotic work tool from the first charging station in a predetermined manner; synchronize to a second control signal comprising a first boundary signal and a second base station signal both being transmitted through the base station w

Abstract: A robotic work tool system (200) comprising a robotic work tool (100), the robotic work tool (100) being configured to determine (410) that the robotic work tool (100) has entered a state of limited movement; determine (420) an exit path; and exit (430) the state of limited movement by navigating the exit path.

Abstract: The present disclosure related to a robotic working tool 100 comprising a controller 110 and at least a first and at least a second magnetic sensor arranged to sense a magnetic signal. The controller 110 is configured to detect a first magnetic signal; determine a signal strength of the detected first magnetic signal; determine if the signal strength of the detected magnetic signal is above or below a threshold value, and if the signal strength is above the threshold value, accept signal detection input for the first magnetic signal from a first set of sensors, and if the signal strength is below the threshold value, accept signal detection input for the first magnetic signal from a second set of sensors, wherein the second set of sensors is a subset of the first set.

Abstract: A robotic work tool system comprising at least one robotic work tool arranged to operate in a work area, the robotic work tool comprising at least one sensor and a communication interface, the robotic work tool being configured to establish a connection to a cloud service through said communication interface; receive data gathered by the at least one sensor and transmit the gathered data to the cloud service causing the cloud service to analyze the gathered data; receive operating data from the cloud service; and to operate at least one robotic work tool based on the operating data received from the cloud service.

Abstract: A robotic work tool system (200) comprising a robotic work tool (100) comprising at least one body part (140, 140-1, 140-2, 140-3) and at least one navigation sensor (170, 175) being configured to receive a control signal (225, 235), wherein at least one of the at least one navigation sensor (170, 175) is arranged on the at least one body part (140, 140-1, 140-2, 140-3). The robotic work tool (100) being configured to determine that said control signal (225, 235) is not reliably received and in response thereto rotate at least one of the at least one body part (140, 140-1, 140-2, 140-3) comprising at least one of the at least one navigation sensor (170, 175) in a first direction to attempt to regain reliable reception of the control signal (225, 235).

Abstract: A robotic work tool (100) comprising a controller (110) and at least one magnetic sensor (170) arranged to sense a magnetic boundary signal emitted by a boundary wire, and a first magnetic guide signal emitted by a first guide wire (261), wherein the controller (110) is configured to: detect an at least partial crossing of the first guide wire (261) from a first work zone to a second work zone, determine an operating status and if the operating status indicates that a crossing is allowed, allow the robotic work tool to cross the first guide wire (261) to the second work zone, and if not, control the operation of the robotic work tool so that the first guide wire (261) is not crossed.

Abstract: A robotic vehicle may be configured to incorporate multiple sensors to make the robotic vehicle capable of collecting, feeding, and uploading weather data into an aggregation agent to form a geospatial map or weather service. In this regard, in some cases, the robotic vehicle may include an onboard vehicle positioning module and sensor network to give the robotic vehicle a collective understanding of its environment, and enable it to autonomously collect and upload weather data to an aggregation agent for corresponding locations.

Abstract: The present disclosure relates to a self-propelled robotic work tool (1), e.g. an automatic robotic lawn mower, and a corresponding method. The robotic tool comprises an inertia measurement unit (IMU 15) which generally obtains (25) measured IMU parameters regarding the robotic working tool's movement. A prediction algorithm (17) predicts (27,36) required motor currents for driving the robotic work tool's wheels (5) based on the measured IMU parameters. The predicted motor current is compared (29,37) to the actual current used and the difference constitutes an error (19), which is used in a collision detection unit (21). If the collision detection unit (21) senses that the actually used motor current is much higher than the predicted current, a collision may be indicated (31).

Abstract: A robotic lawnmower system comprising a charging station (210) and a robotic lawnmower (100), the charging station comprising a signal generator (240) to which a navigation signal cable (260; 250) is to be connected, the signal generator (240) being configured to transmit a signal (265; 245) through the navigation signal cable (260; 250), and the robotic lawnmower (100) comprising: a propulsion system (130, 50); a sensor (170) configured to sense field values of magnetic fields generated by the signal (265; 245) in kin the navigation signal cable (260; 250); and a controller (110) configured to determine that the robotic lawnmower (100) is in a docking position; record the field value(s) of the sensed signal; control the propulsion system (130, 150) to reverse out of said docking position; and to control the propulsion system (130,150) to enter into said docking position by sensing a current field value; comparing the current field value to the stored field value(s); and determining how to navigate the roboti

Abstract: The present disclosure related to a robotic working tool 100 comprising a controller 110 and at least a first and at least a second magnetic sensor arranged to sense a magnetic signal. The controller 110 is configured to detect a first magnetic signal; determine a signal strength of the detected first magnetic signal; determine if the signal strength of the detected magnetic signal is above or below a threshold value, and if the signal strength is above the threshold value, accept signal detection input for the first magnetic signal from a first set of sensors, and if the signal strength is below the threshold value, accept signal detection input for the first magnetic signal from a second set of sensors, wherein the second set of sensors is a subset of the first set.

Abstract: A method for determining and mapping a parcel of land may include receiving positioning-information indicative of position data of a robotic vehicle transiting a parcel at one or more locations on the parcel and receiving workload-information indicative of workload data of a robotic vehicle transiting the parcel at one or more locations on the parcel. The method may further include generating a virtual map of the parcel based on the positioning-information and the workload-information received.

Abstract: A robotic work tool system (200) comprising further comprising a charging station (210) and a robotic work tool (100), the robotic work tool system (200) being configured to determine a change in weather and to take preservation action. The robotic work tool may detect the change in weather by detecting an electrical charge buildup in the boundary wire. The robotic work tool may take the preservative action by the robotic work tool (100) distancing itself from the charging station (210).

Abstract: A robotic work tool (100) comprising a controller (110) and at least one magnetic sensor (170) arranged to sense a magnetic boundary signal emitted by a boundary wire, and a first magnetic guide signal emitted by a first guide wire (261), wherein the controller (110) is configured to: detect an at least partial crossing of the first guide wire (261) from a first work zone to a second work zone, determine an operating status and if the operating status indicates that a crossing is allowed, allow the robotic work tool to cross the first guide wire (261) to the second work zone, and if not, control the operation of the robotic work tool so that the first guide wire (261) is not crossed.

Abstract: A method for determining and mapping a parcel of land may include receiving positioning-information indicative of position data of a robotic vehicle transiting a parcel at one or more locations on the parcel and receiving workload-information indicative of workload data of a robotic vehicle transiting the parcel at one or more locations on the parcel. The method may further include generating a virtual map of the parcel based on the positioning-information and the workload-information received.

Abstract: A robotic work tool system (200) comprising further comprising a charging station (210) and a robotic work tool (100), the robotic work tool system (200) being configured to determine a change in weather and to take preservation action. The robotic work tool may detect the change in weather by detecting an electrical charge buildup in the boundary wire. The robotic work tool may take the preservative action by the robotic work tool (100) distancing itself from the charging station (210).

Abstract: A robotic vehicle may be configured to incorporate multiple sensors to make the robotic vehicle capable of collecting, feeding, and uploading weather data into an aggregation agent to form a geospatial map or weather service. In this regard, in some cases, the robotic vehicle may include an onboard vehicle positioning module and sensor network to give the robotic vehicle a collective understanding of its environment, and enable it to autonomously collect and upload weather data to an aggregation agent for corresponding locations.