Robotic lawnmower

• US 9,232,692 B2
• Filed: 02/22/2012
• Issued: 01/12/2016
• Est. Priority Date: 02/22/2012
• Status: Active Grant

• Current Assignee: Husqvarna AB (HUSQVARNA)
• Original Assignee: Husqvarna AB (HUSQVARNA)
• Inventors: Elonsson, Martin, Bjrn, Jonathan
• Primary Examiner(s): FRISBY, KEITH J
• Application Number:
  US14/380,500
• Publication Number:
  US 20140373497A1
• Time in Patent Office: 1,420 Days
• Field of Search: 180/274, 700/258, 901/1
• US Class Current: 1/1
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: A01D 75/18 Safety devices for parts of the machines
• CPC Class Codes: A01D 75/20 Devices for protecting men or animals
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

A lift detection arrangement (100, 200) in a robotic lawnmower for detecting a lift of a body (110, 210) relative a chassis (105, 205) of the robotic lawnmower is provided. The lift detection arrangement (100, 200) comprises a connection between the chassis (105, 205) and the body (110, 220). The connection comprises a joystick element (115, 215) 5 arranged to allow a displacement of the body (1110, 210) relative the chassis (105, 205) in a collision plane during a collision, and a lift element (120, 220) arranged to provide a flexibility between the chassis (105, 205) and the body (110, 210) in a lift direction during the lift. The lift detection arrangement (100, 200) further comprises a lift sensor configured to detect a displacement over a predetermined threshold of the lift element (120, 220) 10 during the lift by detecting a change in spacing between two sensor parts (125, 126, 225, 226). One of the two sensor parts (125, 126, 225, 226) is arranged on the lift element and the two sensor parts (125, 126, 225, 226) are arranged to be relatively displaceable only in the lift direction.

Claims

1. A lift detection arrangement in a robotic lawnmower for detecting a lift of a body of the robotic lawnmower relative a chassis of the robotic lawnmower, characterized by a connection between the chassis and the body, the lift detection arrangement comprising:

a joystick element; and

a lift element, which

wherein the joystick element is arranged to allow a displacement of the body relative the chassis in a collision plane during a collision of the robotic lawnmower, and

wherein the lift element is arranged to provide a flexibility between the chassis and the body in a lift direction during the lift, and

wherein the lift detection arrangement further comprises a lift sensor configured to detect a displacement over a predetermined threshold of the lift element during the lift by detecting a change in a spacing between two sensor parts of which one is arranged on the lift element, wherein the two sensor parts are arranged to be relatively displaceable only in the lift direction,

wherein the lift element is a sliding member which is slidingly arranged relative the joystick element in the lift direction to provide the flexibility during the lift, and wherein one of the two sensor parts is arranged on the joystick element and the other of the two sensor parts is arranged on the sliding member.

2. The lift detection arrangement according to claim 1, wherein the sliding member is telescopically extendable from the joystick element in the lift direction.

3. The lift detection arrangement according to claim 1, wherein the sensor parts are arranged on respective downwardly protruding end portions of the joystick element and the sliding member, the end portions being arranged at a distance from a pivot connection between the joystick element and the chassis.

4. The lift detection arrangement according to claim 1, wherein one of the two sensor parts is a Hall Effect sensor and the other of the two sensor parts is a magnet.

5. The lift detection arrangement according to claim 4, wherein the magnet is arranged on the lift element.

6. The lift detection arrangement according to claim 1, wherein the connection is a front suspension of the robotic lawnmower.

7. The lift detection arrangement according to claim 1, wherein detecting a displacement over a predetermined threshold comprises detection of the lift and wherein detection of the lift triggers the robotic lawnmower to stop.

8. The lift detection arrangement according to claim 1, wherein detecting a displacement over a predetermined threshold comprises detection of the lift and wherein detection of the lift triggers the robotic lawnmower to stop rotation of one or more cutting blades.