# US 10,442,083 B2 · Domestic robotic system and method

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 10,442,083 B2
- Document ID: US10442083B2
- Status: Granted
- Kind: B2
- Application number: 16/021,910
- Filed: 2018-06-28
- Published: 2018-10-25
- Granted: 2019-10-15
- Earliest claimed: 2014-11-07
- Assignees: F Robotics Acquisitions Ltd.
- Applicants: F Robotics Acquisitions Ltd.
- Inventors: Karni Wolowelsky; Shai Abramson
- Web page: https://patentgrep.com/patent/US10442083B2

## CPC

- B25J 9/1666: {Avoiding collision or forbidden zones}
- G05D 1/0219: {ensuring the processing of the whole working surface}
- A01D 34/008: {for automated or remotely controlled operation}
- B25J 5/00: Manipulators mounted on wheels or on carriages (B25J1/00 takes precedence; program-controlled manipulators B25J9/00)
- B25J 9/0003: {Home robots, i.e. small robots for domestic use}
- B25J 9/163: {learning, adaptive, model based, rule based expert control}
- B25J 9/1694: {characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion}
- E04H 4/1654: {Self-propelled cleaners}
- G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00)
- G05D 1/0044: {by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps (maps used for automatic navigation G05D1/0274; flight directors G01C23/005)}
- G05D 1/0246: {using a video camera in combination with image processing means}
- G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)}
- G05D 1/028: {using a RF signal}
- Y10S 901/01: Mobile robot
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- A01D: HARVESTING; MOWING
- E04H: BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL (foundations E02D)
- Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS

## Abstract

A domestic robotic system includes a robot and data storage operable to store data defining a boundary of a working area, the robot includes a payload actuable to perform work on a portion of the working area adjacent the robot, at least one processor, a first positioning system, one or more sensors operable to sense directly the boundary of the working area and a current distance of the robot thereto, a second positioning system, which uses data from the sensors. The processor is programmed to operate in (i) an area coverage mode, wherein the processor, using the first positioning system and the stored data defining the boundary of the working area, navigates the robot around the working area, with the payload active, and (ii) a boundary proximity mode, wherein the processor, using the second positioning system, navigates the robot around the working area, in proximity to the boundary.

## Claims

### Claim 1

A domestic robotic system comprising a robot and data storage operable to store data defining a boundary of a working area, the robot comprising:
a payload actuable to perform work on a portion of the working area adjacent the robot;
at least one processor;
a first positioning system;
one or more sensors operable to sense directly the boundary of the working area and a current distance of the robot thereto;
a second positioning system, which uses data from said one or more sensors;
wherein the at least one processor is programmed to operate in modes comprising:
(i) an area coverage mode, wherein the at least one processor, using said first positioning system and said stored data defining the boundary of the working area, navigates the robot around the working area, with said payload active;
(ii) a boundary proximity mode, wherein the at least one processor, using said second positioning system, navigates the robot around the working area, in proximity to the boundary;
wherein the at least one processor is further programmed to switch from said area coverage mode to said boundary proximity mode, when said second positioning system detects the boundary of the working area with a confidence level greater than a predetermined value; and
wherein the at least one processor is further programmed such that said switching from said area coverage mode to said boundary proximity mode is additionally contingent upon the at least one processor determining, based on data received from said first positioning system and said stored data defining the boundary of the working area, that the robot is within a predetermined distance of the boundary.

### Claim 2 (depends on 1)

A system according to claim 1, wherein the at least one processor is further programmed such that said switch from said area coverage mode to said boundary proximity mode is additionally contingent upon the at least one processor determining, based on data received from said first positioning system, that the robot is approaching the boundary.

### Claim 3 (depends on 1)

A system according to claim 1, the at least one processor is further programmed so as to, in said boundary proximity mode, update said data defining the boundary of a working area, in accordance with data concerning a distance of the robot from the boundary that has been received from said second positioning system.

### Claim 4 (depends on 1)

A system according to claim 1, wherein the robot additionally comprises a camera, and said one or more sensors operable to sense directly the boundary of the working area are provided by said camera.

### Claim 5 (depends on 4)

A system according to claim 4, wherein data from said camera is also used by said first positioning system.

### Claim 6 (depends on 1)

The system according to claim 1, wherein said first positioning system comprises at least one of: a satellite navigation system receiver; and a local positioning system receiver.

### Claim 7 (depends on 6)

A system according to claim 6, wherein the robot additionally comprises a camera, and said one or more sensors operable to sense directly the boundary of the working area are provided by said camera.

### Claim 8 (depends on 1)

The system according to claim 1, wherein the robot is a robotic lawnmower and said payload comprises a cutting blade.

### Claim 9

A garden-based robotic system including a robot and data storage operable to store data defining a boundary of a working area within a garden, the robot comprising:
a payload actuable to perform work on a portion of the garden adjacent the robot;
one or more positioning systems;
at least one processor;
wherein the at least one processor is programmed to operate in modes comprising:
(i) a perimeter coverage mode, wherein the at least one processor causes the robot to move around the working area with said payload active such that, according to said one or more positioning systems, the robot remains within a perimeter area, which is adjacent to and generally follows the boundary of the working area; and
(ii) an internal area coverage mode, wherein the at least one processor causes the robot to move around the working area with said payload active such that, according to data received from said one or more positioning systems and said data defining the boundary of the working area, the robot remains within an interior area, which is defined so as to be generally located within said perimeter area;
wherein an accuracy of said one or more positioning systems during said perimeter coverage mode is greater than an accuracy of said one or more positioning systems during said internal area coverage mode;
wherein said at least one processor is further programmed such that the interior area approaches to or overlaps with said perimeter area sufficiently to substantially avoid gaps between an area that is in practice covered by said payload during said internal area coverage mode, taking into account said accuracy of the one or more positioning systems during said internal area coverage mode, and an area that is in practice covered by said payload during said perimeter coverage mode, taking into account said accuracy of the one or more positioning systems during said perimeter coverage mode; and
wherein said at least one processor is further programmed such that said interior area is defined so as to be sufficiently distant from said boundary of the working area to substantially avoid the robot in practice moving beyond the boundary during said internal area coverage mode, taking into account the accuracy of said one or more positioning systems during said internal area coverage mode.

### Claim 10 (depends on 9)

The system of claim 9, wherein the at least one processor is further programmed so as to, in said perimeter coverage mode, cause the robot to move according to a first scanning pattern, and, in said internal area coverage mode, cause the robot to move according to a second, different, scanning pattern.

### Claim 11 (depends on 9)

The system of claim 9, wherein the at least one processor is further programmed so as to, in said perimeter coverage mode, using said one or more positioning systems, cause the robot to follow one or more paths upon each of which the robot is a respective, substantially constant distance from said boundary of the working area.

### Claim 12 (depends on 11)

The system of claim 11, wherein said paths are spaced one from another by a substantially constant distance.

### Claim 13 (depends on 11)

The system of claim 11, wherein the at least one processor is further programmed so as to, in said internal area coverage mode, cause the robot to carry out a plurality of crossings of the internal area.

### Claim 14 (depends on 13)

The system of claim 13, wherein the at least one processor is further programmed such that, in said internal area coverage mode, upon the robot completing each crossing of the internal area, the at least one processor causes the robot to execute a turn as the robot approaches an outer edge of the internal area and, thereafter, causes the robot to carry out a further crossing of the internal area.

### Claim 15 (depends on 11)

The system of claim 11, wherein the at least one processor is further programmed so as to, in said internal area coverage mode, cause the robot to move according to a movement pattern that is at least partially randomly-determined.

### Claim 16 (depends on 9)

The system of claim 9, wherein said at least one processor is further programmed such that the perimeter area is defined so that an outer edge thereof is offset from said boundary by an amount sufficient to substantially avoid the robot in practice applying said payload beyond the boundary, taking into account the accuracy of said one or more positioning systems during said perimeter coverage mode.

### Claim 17 (depends on 9)

The system of claim 9, wherein the robot additionally comprises one or more sensors operable to sense directly the boundary of the working area and a distance from the robot thereto;
wherein said one or more positioning systems comprise a first positioning system that uses said one or more sensors; and
wherein the at least one processor is further programmed so as to, during said perimeter coverage mode update said data defining the boundary of the working area, in accordance with data concerning a distance of the robot from the boundary that is received from said first positioning system.

### Claim 18 (depends on 9)

The system according to claim 9, wherein the robot is a robotic lawnmower and said payload comprises a cutting blade.