METHOD FOR DETECTING LIFTING OF A SELF-PROPELLED ROBOTIC TOOL FROM THE GROUND

The present disclosure relates to a self-propelled robotic tool (1) and a method in a self-propelled robotic tool (1), being used to detecting lifting of the self-propelled robotic device from the ground. The method includes collecting (21) driving data (31) related to the driving of a wheel (5), co...

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Bibliographische Detailangaben
Hauptverfasser:	GRUFMAN, Stefan, KALLSTRÖM, Fredrik, RANGSJÖ, Jonas
Format:	Patent
Sprache:	eng ; fre ; ger
Schlagworte:	AGRICULTURE ANIMAL HUSBANDRY CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES CONTROLLING FISHING FORESTRY HARVESTING HUMAN NECESSITIES HUNTING MOWING PERFORMING OPERATIONS PHYSICS REGULATING ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES TRANSPORTING TRAPPING VEHICLES IN GENERAL
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Beschreibung
Zusammenfassung:	The present disclosure relates to a self-propelled robotic tool (1) and a method in a self-propelled robotic tool (1), being used to detecting lifting of the self-propelled robotic device from the ground. The method includes collecting (21) driving data (31) related to the driving of a wheel (5), collecting (23) measured inertia data from an inertial measurement unit (13), IMU, in the self-propelled robotic tool, determining (25), using an estimation function (33), a residual parameter corresponding to a differential between said measured inertia data and estimated inertia data resulting from said driving data being input to said estimation function, and determining a lifting condition based on the residual parameter.