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.
Method for detecting lifting of a self-propelled tool from the ground
2023-01-10
Patent
Elektronische Ressource
Englisch
IPC: | A01D Ernten , HARVESTING / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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