Navigating a robotic mower along a guide wire
AssigneeGlobe (Jiangsu) Co., Ltd.
InventorAndré Lundkvist
Life of this patent
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Abstract
A method navigates a robotic mower by means of a wire. The robotic mower comprises at least one sensor. The method comprises detecting, by means of the at least one sensor, at least one signal from the wire, controlling the robotic mower to align with the wire, controlling the robotic mower to turn by an angle with respect to a section of the wire, controlling the robotic mower to increase the distance between the robotic mower and the wire by driving a displacement distance based on a random distance value, measuring, by means of the at least one sensor, a signal level of the at least one signal from the wire, and controlling the robotic mower to follow the wire based on the measured signal level.
Claims17
A method for navigating a robotic mower by means of a guide wire, said robotic mower comprising at least one sensor, the method comprising:
- detecting, by means of the at least one sensor, at least one signal from the guide wire,
- controlling the robotic mower to align with the guide wire,
- controlling the robotic mower to follow the guide wire in a first direction until detecting a straight section of the guide wire,
- controlling the robotic mower to follow the guide wire in a second direction opposite the first direction in response to detecting the straight section of the guide wire, driving a reversing distance based on a random distance value when following the guide wire in the second direction,
- controlling the robotic mower to turn by an angle with respect to a section of the guide wire,
- controlling the robotic mower to increase the distance between the robotic mower and the guide wire by driving a displacement distance based on the random distance value,
- measuring, by means of the at least one sensor, a signal level of the at least one signal from the guide wire, and
- controlling the robotic mower to follow the guide wire based on the measured signal level;
- wherein the random distance value is multiplied by a first factor for calculating the reversing distance, and the random distance value is multiplied by a second factor for calculating the displacement distance.
A method for guiding a robotic mower to a predetermined position, said robotic mower comprising at least one sensor, the method comprising:
- detecting, by means of the at least one sensor, a first guiding signal from a first guiding signal source, the first guiding signal source being a guide wire arranged within an area delimited by a boundary wire,
- controlling the robotic mower to align with the guide wire,
- controlling the robotic mower to follow the guide wire in a first direction until detecting a straight section of the guide wire,
- in response to detecting a straight section of the guide wire, controlling the robotic mower to follow the guide wire in a second direction opposite the first direction to drive a reversing distance based on a random distance value;
- controlling the robotic mower to turn by an angle with respect to a section of the guide wire;
- controlling the robotic mower to increase the distance between the robotic mower and the guide wire by driving a displacement distance based on the random distance value,
- measuring, by means of the at least one sensor, a signal level of the at least one signal from the guide wire,
- controlling the robotic mower to follow the guide wire based on the measured signal level to controlling the robotic mower to follow the first guiding signal at a fixed distance to the first guiding signal source,
- detecting, by means of the at least one sensor, a second signal from a second signal source within a predetermined distance from the predetermined position,
- controlling the robotic mower to follow the first guiding signal at a pre-configured distance from the first guiding signal source,
- detecting, by means of the at least one sensor, a third signal from a third signal source, and
- controlling the robotic mower to follow the third signal to dock the robotic mower at the predetermined position;
- wherein the random distance value is multiplied by a first factor for calculating the reversing distance, and the random distance value is multiplied by a second factor for calculating the displacement distance.
A robotic mower comprising at least one sensor, and adapted to:
- detect, by means of the at least one sensor, at least one signal from a guide wire,
- align with the guide wire;
- follow the guide wire in a first direction until detecting a straight section of the guide wire, and follow the guide wire in a second direction opposite the first direction in response to detecting the straight section of the guide wire;
- drive a reversing distance based on a random distance value when follow the guide wire in a second direction;
- turn by an angle with respect to a section of the guide wire,
- increase the distance to the guide wire by driving a displacement distance based on a random distance value,
- measure, by means of the at least one sensor, a signal level of the at least one signal from the guide wire,
- follow the guide wire based on the measured signal level;
- and
- wherein the random distance value is multiplied by a first factor for calculating the reversing distance, and the random distance value is multiplied by a second factor for calculating the displacement distance.
Dependencies are inferred from the claim text.