US 12,153,435 B2 · Robotic work tool system and method for defining a working area

Abstract

A robotic work tool system (200) for defining a working area (205) in which a robotic work tool (100) is subsequently intended to operate. The robotic work tool system (200) comprises a robotic work tool (100), at least one controller (210) and at least one memory (220). The robotic work tool (100) comprises at least one sensor unit (170) configured to collect sensed input data while the robotic work tool (100) is driven around the working area (205) to preliminarily define a perimeter around the working area (205). The at least one controller (210) is configured to establish a preliminary working area perimeter (250). The at least one memory (220) is configured to store a perimeter adjustment function and instructions that cause the at least one controller (210) to adjust the perimeter of the working area (205) by applying the stored perimeter adjustment function to the established preliminary working area perimeter (250) and thereby produce an adjusted working area perimeter (260). The perimeter adjustment function is based on the collected sensed input data corresponding to terrain features.

Claims15

Dependent claims

A robotic work tool system for defining a working area in which a robotic work tool is subsequently intended to operate, the robotic work tool system comprising:

a robotic work tool comprising at least one sensor unit configured to collect sensed input data, wherein the at least one sensor unit is configured to collect the sensed input data while the robotic work tool is driven at least a portion of a lap around the working area to preliminarily define a perimeter around the working area;
at least one controller configured to establish a preliminary working area perimeter;
and
at least one memory configured to store a perimeter adjustment function and further including instructions that, when executed by the at least one controller, cause the at least one controller to adjust the perimeter of the working area by applying the perimeter adjustment function to the preliminary working area perimeter and thereby produce an adjusted working area perimeter, wherein the perimeter adjustment function is based on the collected sensed input data and wherein the sensed input data corresponds to terrain features;
wherein adjusting the perimeter of the working area comprises:
detecting one or more edges in the working area, wherein the one or more edges correspond to terrain feature edges;
and
applying the perimeter adjustment function to the preliminary working area perimeter to align the adjusted working area perimeter to be substantially parallel with and spaced apart from the one or more edges.

5 more elements

A method performed by a robotic work tool system for defining a perimeter for a working area in which a robotic work tool is subsequently intended to operate, wherein the robotic work tool system comprises at least one controller, at least one memory storing a perimeter adjustment function, and the robotic work tool, and wherein the robotic work tool comprises at least one sensor unit, the method comprising:

collecting sensed input data, by means of the at least one sensor unit, while the robotic work tool is driven at least a portion of a lap around the working area to preliminarily define a perimeter around the working area;
establishing, by means of the at least one controller, a preliminary working area perimeter;
and
adjusting, by means of the at least one controller, the preliminary working area perimeter by applying the perimeter adjustment function to the preliminary working area perimeter and thereby producing an adjusted working area perimeter, wherein the perimeter adjustment function is based on the sensed input data and wherein the sensed input data corresponds to terrain features;
detecting, by means of the at least one controller, one or more edges in the working area, wherein the one or more edges correspond to terrain feature edges;
and
applying, by means of the at least one controller, the perimeter adjustment function to the preliminary working area perimeter to align the adjusted working area perimeter to be substantially parallel with and spaced apart from the one or more edges.

4 more elements

Dependencies are inferred from the claim text.

Robotic work tool system and method for defining a working area

Life of this patent

Robotic work tool system and method for defining a working area

Life of this patent

Abstract

Claims15