Navigation for a robotic work tool system
A method for use in a robotic work tool system ( 200 ) comprising a first robotic work tool ( 100:1 ) and a second robotic work tool ( 100:1 ) arranged to operate in an operational area ( 205 ) comprising a transport area (TA), the method comprising determining ( 310 ) that a transport is upcoming, and in response thereto moving ( 320 ) to a start area (SA); waiting ( 330 ) for the second robotic work tool ( 100:2 ) to reach the start area (SA); and then determining ( 340 ) that it is time to enter the transport area (TA), and in response thereto moving ( 350 ) through the transport area (TA) as a group.
1 . A robotic work tool system comprising a first robotic work tool and a second robotic work tool arranged to operate in an operational area comprising a transport area, the first robotic work tool comprising a controller, wherein the controller is configured to:
determine that a transport is upcoming, and in response thereto cause the first robotic work tool to move to a start area;
wait for the second robotic work tool to reach the start area; and then
determine that it is time to enter the transport area, and in response thereto cause the first robotic work tool to move through the transport area, and
wherein the controller is further configured to determine the time to enter the transport area by:
determining that a farthest away robotic work tool is at a first time distance away from the start area;
determining a second time distance through the transport area for the first robotic work tool, and
holding the first robotic work tool within the start area until the first time distance and the second time distance are equal.
2 . The robotic work tool system according to claim 1 , wherein the controller is further configured to
cause the first robotic work tool to move through the transport area together with the second robotic work tool as a robotic work tool group.
3 . The robotic work tool system according to claim 1 , wherein the controller is further configured to cause the first robotic work tool to follow a transport path to the start area.
4 . The robotic work tool system according to claim 1 , wherein the controller is further configured to determine that a transport is upcoming:
at the beginning or end of an operation,
by determining that a charging is needed,
by receiving an indication that the transport is upcoming from a server,
by receiving an indication that the transport is upcoming from a user equipment, or
by receiving an indication that the transport is upcoming from the second robotic work tool.
5 . The robotic work tool system according to claim 1 , wherein the controller is further configured to determine that it is time to enter the transport area by:
determining that all other robotic work tools in a group of robotic work tools have reached the start area,
determining that all robotic work tools having signaled that a transport is upcoming have arrived at the start area,
determining that all robotic work tools having signaled that the transport is upcoming and are within a time distance of the start area at the time of signaling have arrived at the start area,
by receiving an indication that it is time to enter the transport area from a server,
by receiving an indication that it is time to enter the transport area from a user equipment, or
by receiving an indication that it is time to enter the transport area from the second robotic work tool.
6 . The robotic work tool system according to claim 1 , wherein the controller is further configured to determine that it is time to enter the transport area by determining that a last robotic work tool will be able to reach the start area as a second last robotic work tool enters the transport area.
7 . The robotic work tool system according to claim 1 , wherein the controller is further configured to cause the first robotic work tool to keep a first speed through the transport area, wherein the second robotic work tool is configured to keep a second speed through the transport area.
8 . The robotic work tool system according to claim 7 , wherein the first speed is higher than the second speed.
9 . The robotic work tool system according to claim 7 , wherein the first speed is the same as the second speed.
10 . The robotic work tool system according to claim 1 , wherein the controller is further configured to cause the first robotic work tool to keep a specified distance to the second robotic work tool in the transport area.
11 . The robotic work tool system according to claim 1 , wherein the controller is further configured to cause the first robotic work tool to determine that it is approaching the second robotic work tool in the transport area (TA), and in response thereto adapt its speed.
12 . The robotic work tool system according to claim 11 , wherein the controller is further configured to cause the first robotic work tool to adapt its speed by stopping, waiting and then proceeding.
13 . The robotic work tool system according to claim 11 , wherein the controller is further configured to cause the first robotic work tool to adapt its speed by reducing its speed.
14 . The robotic work tool system according to claim 11 , wherein the first robotic work tool further comprises a collision sensor, and wherein the controller is further configured to cause the first robotic work tool to determine that it is approaching the second robotic work tool utilizing the collision sensor.
15 . The robotic work tool system according to claim 1 , wherein the controller is further configured to:
receive an indication of a speed from a server,
cause the first robotic work tool to wait in a goal area for the second robotic work tool ( 100 : 2 ) to arrive in the goal area as the transport area is exited before proceeding, or
cause the first robotic work tool to follow a transport path out of the transport area.
16 . The robotic work tool system according to claim 1 , wherein the first robotic work tool is supervised by a supervisor, and wherein the supervisor is a robotic work tool, or a human operator.
17 . The robotic work tool system according to claim 16 , wherein the controller is further configured to:
cause the first robotic work tool to determine that a transport is upcoming by receiving an indication thereof from the supervisor,
cause the first robotic work tool to determine that it is time to enter the transport area by receiving an indication thereof from the supervisor, or
cause the first robotic work tool to receive an indication of a speed to keep through the transport area from the supervisor.
18 . The robotic work tool system according to claim 16 , wherein the controller is further configured to:
cause the first robotic work tool to receive an indication that the supervisor has stopped, and in response thereto adapt its speed,
cause the first robotic work tool to receive an indication that the supervisor has reached the start area, and in response thereto adapt its speed, or
cause the first robotic work tool to stop if it reaches or exceeds a maximum distance from the supervisor.
19 . A method for use in a robotic work tool system comprising a first robotic work tool and a second robotic work tool arranged to operate in an operational area comprising a transport area, the method comprising
determining that a transport is upcoming, and in response thereto moving to a start area;
waiting for the second robotic work tool to reach the start area; and then
determining that it is time to enter the transport area, and in response thereto moving through the transport area,
wherein the controller is further configured to determine that it is time to enter the transport area by determining that a last robotic work tool will reach the start area at the same time a second last robotic work tool enters the transport area.