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1. WO2015094054 - NAVIGATION ADAPTÉE À UN OUTIL DE TRAVAIL ROBOTISÉ

Note: Texte fondé sur des processus automatiques de reconnaissance optique de caractères. Seule la version PDF a une valeur juridique

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CLAIMS

1. A robotic work tool system (200) comprising a robotic work tool (100), said robotic work tool (100) comprising a position determining device (190) for determining a current position, the robotic work tool (100) being configured to:

determine that reliable navigation through said position determining device (190) is no longer possible, such as when satellite signal reception is not possible, at a time point (Tl)and position and in response thereto generate an obstacle map -;

determine when an area will be shadowed with regards to satellite reception based on said obstacle map; and to

schedule operation of the robotic work tool (100) accordingly.

2. The robotic work tool system (200) according to claim 1, wherein the robotic work tool (100) is further configured to

determine a first robot position (XR1;YR1) at which reception of a satellite signal is lost from a first satellite (280) at a first time point (Tl);

determine a second robot position (XR2;YR2) at which reception of a satellite signal is lost from a first satellite at a second time point (T2); and

generate said obstacle map based on said first and second robot position and said first and second time point(Tl, T2).

3. The robotic work tool system (200) according to claim 2, wherein the obstacle map is a shadow map giving information on areas that are at least partially shadowed at specific times.

4. The robotic work tool system (200) according to any of claims 2 to 3, wherein the robotic work tool (100) is further configured to

determine a first satellite position (XS 1; YS 1) of the satellite (280) at the first time point (Tl);

determine a second satellite position (XS2; YS2) of the satellite (280) at the second time point (T2);

determine a position (XOBS;YOBS) for said obstacle (260) based on the first and second satellite position and first and second robot position; and

generate said obstacle map based on the obstacle position.

5. The robotic work tool system (200) according to any of claims 2 to 4, wherein the robotic work tool (100) is further configured to

determine a first angle (al) to the satellite (280) at the first time point (Tl);

determine a second angle (al) to the satellite (280) at the second time point (T2);

determine a position (XOBS;YOBS) for said obstacle (260) based on said angles (al, a2); and

generate said obstacle map based on the obstacle position.

6. The robotic work tool system (200) according to claim 4 or 5, wherein the obstacle map is a topological map.

7. The robotic work tool system (200) according to any of claims 1 to 6, wherein the robotic work tool (100) is solar charged and wherein the robotic work tool (100) is configured to determine that it has entered an area that is shadowed from the sun at a time point and based on this generate a shadow map and schedule its operation based on said shadow map.

8. The robotic work tool system (200) according to any preceding claim, wherein the robotic work tool (100) is further configured to compare a current position to a position of an object (260) indicated by the obstacle map; and

determine if there is an object (260) close to or on the path of the robotic work tool (100), and in response thereto take measurements to avoid or at least mitigate the consequences of, a collision.

9. The robotic work tool system (200) according to any preceding claim, wherein theposition determining device is a Global Navigation Satellite System device (190).

10. The robotic work tool system (200) according to any preceding claim, wherein the robotic work tool (100) is a robotic lawnmower (100).

11. The robotic work tool system (200) according to any preceding claim, wherein the robotic work tool (100) is a farming equipment, a vacuum cleaner, a floor cleaner, a street sweeper, a snow removal tool, a golf ball retriever robot, a cleaner robot, a leaves blower robot, a leaves collector robot, snow thrower robot or a mine clearance robot.

12. The robotic work tool system (200) according to any preceding claim, wherein the position determining device (190) is a laser positioning device.

13. The robotic work tool system (200) according to any preceding claim, wherein the position determining device (190) is a radio frequency positioning device.

14. A method for use in a robotic work tool system (200), comprising a robotic work tool (100), said robotic work tool (100) comprising a position determining device (190) for determining a current position, the method comprising:

determining that reliable navigation through said position determining device (190) is no longer possible, such as when satellite signal reception is not possible, at a time point (Tl)and position and in response thereto generating an obstacle map which gives information on the position of at least one obstacle (260);

determining when an area will be shadowed with regards to satellite reception based on said obstacle map; and to

scheduling operation of the robotic work tool (100) accordingly.