# US 12,213,402 B2 · Robotic work tool system and method for defining a stay-out area within a work area > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,213,402 B2 - Document ID: US12213402B2 - Status: Granted - Kind: B2 - Application number: 17/799,802 - Filed: 2021-02-22 - Published: 2023-03-09 - Granted: 2025-02-04 - Earliest claimed: 2020-03-03 - Assignees: Husqvarna AB - Applicants: Husqvarna AB - Inventors: Anton Mårtensson; Tommy Glimberg; Sarkan Gazrawi - Web page: https://patentgrep.com/patent/US12213402B2 ## CPC - A01D 34/008: {for automated or remotely controlled operation} - G05D 1/0214: {in accordance with safety or protection criteria, e.g. avoiding hazardous areas (monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13)} - G05D 1/0221: {involving a learning process} - G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)} - G05D 1/246: using environment maps, e.g. simultaneous localisation and mapping [SLAM] - G05D 1/617: Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards (arrangements for controlling the position or course of two or more vehicles for avoiding collisions therebetween G05D1/693; arrangements for reacting to or preventing system or operator failure G05D1/80) - G06N 3/08: Learning methods - A01D 2101/00: Lawn-mowers - A01D: HARVESTING; MOWING - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G06N: COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS ## Abstract A robotic work tool system (200) for defining a stay-out area (120) within a work area (150). The stay-out area (120) is an area which is to be excluded from the work area (150) in which a robotic work tool (100) is subsequently intended to operate. The robotic work tool system (200) comprises a boundary definition unit (130) comprising at least one position unit (175) configured to receive position data and at least one controller (110, 210). The controller (110, 210) is configured to receive a stay-out area definition trigger signal, which indicates that the boundary definition unit (130) has approached the stay-out area to be defined. The controller (110, 210) is further configured to receive, based on the received signal, position data indicating the present position of the boundary definition unit (130) from the position unit (175). The controller (110, 210) is further configured to define the stay-out area (120) as an area centered at an offset from the received position data. ## Claims ### Claim 1 A robotic work tool system for defining a stay-out area within a work area, wherein the stay-out area is an area which is to be excluded from the work area in which a boundary definition unit is intended to operate, the robotic work tool system comprising: the boundary definition unit comprising a position unit configured to receive position data; a controller configured to: receive a stay-out area definition trigger signal, wherein the stay-out area definition trigger signal is a signal that indicates that the boundary definition unit has approached the stay-out area to be defined; receive, based on the received stay-out area definition trigger signal, position data from the position unit, wherein the position data indicates a present position of the boundary definition unit; and define the stay-out area as an area centered at an offset from the received position data. ### Claim 2 (depends on 1) The robotic work tool system according to claim 1, wherein the controller is configured to position an outer perimeter of the stay-out area at the present position of the boundary definition unit. ### Claim 3 (depends on 1) The robotic work tool system according to claim 1, wherein said offset comprises an offset direction. ### Claim 4 (depends on 3) The robotic work tool system according to claim 3, wherein said offset direction is based on a heading of the boundary definition unit. ### Claim 5 (depends on 1) The robotic work tool system according to claim 1, wherein said offset comprises an offset distance. ### Claim 6 (depends on 5) The robotic work tool system according to claim 5, wherein said offset distance is set based on a size of the stay-out area. ### Claim 7 (depends on 1) The robotic work tool system according to claim 1, wherein said offset is a predefined offset. ### Claim 8 (depends on 1) The robotic work tool system according to claim 1, wherein the robotic work tool system further comprises a user interface configured to receive user input from a user during the user's operation and interaction with said user interface, wherein the user interface is configured to receive input related to the stay-out area. ### Claim 9 (depends on 8) The robotic work tool system according to claim 8, wherein the controller further is configured to define the stay-out area based on the received user input. ### Claim 10 (depends on 9) The robotic work tool system according to claim 9, wherein said offset comprises an offset distance that is adjustable via the user interface and the received user input determines the offset distance. ### Claim 11 (depends on 9) The robotic work tool system according to claim 9, wherein the received user input determines a shape of the stay-out area. ### Claim 12 (depends on 11) The robotic work tool system according to claim 11, wherein the shape of the stay-out area is selectable from a set of predefined shapes in the user interface. ### Claim 13 (depends on 12) The robotic work tool system according to claim 12, wherein the shape of the stay-out area is at least one from a group comprising: a circle, a square and a rectangle. ### Claim 14 (depends on 11) The robotic work tool system according to claim 11, wherein an orientation of the shape of the stay-out area is adjustable via the user interface and the received user input determines the orientation of the shape of the stay-out area. ### Claim 15 (depends on 11) The robotic work tool system according to claim 11, wherein an aspect ratio of the shape of the stay-out area is adjustable via the user interface and the received user input determines the aspect ratio of the shape of the stay-out area. ### Claim 16 (depends on 8) The robotic work tool system according to claim 8, wherein the stay-out area definition trigger signal is based on input received via the user interface. ### Claim 17 (depends on 1) The robotic work tool system according to claim 1, wherein the boundary definition unit further comprises a sensor unit configured to receive sensor data indicating that an object is located in front of the boundary definition unit and wherein the stay-out area definition trigger signal is based on the received sensor data. ### Claim 18 (depends on 1) The robotic work tool system according to claim 1, wherein the stay-out area definition trigger signal is based on a signal indicating that the boundary definition unit is not moving, and wherein the signal indicating that the boundary definition unit is not moving is received from at least one from a group comprising: a motor, an odometer and an accelerometer. ### Claim 19 (depends on 1) The robotic work tool system according to claim 1, wherein the boundary definition unit is a robotic work tool, and the robotic work tool is a robotic lawn mower. ### Claim 20 A method performed by a robotic work tool system for defining a stay-out area within a work area, wherein the stay-out area is an area which is to be excluded from the work area in which a robotic work tool is intended to operate, wherein the method comprises: receiving a stay-out area definition trigger signal, wherein the stay-out area definition trigger signal is a signal that indicates that a boundary definition unit has approached the stay-out area to be defined; receiving, based on the received stay-out area definition trigger signal, position data, wherein the position data indicates the present position of the boundary definition unit; and defining the stay-out area as an area centered at an offset from the received position data.