Robot gardening tool system and method for robot gardening tool

A method for a robot gardening tool, the method comprising:

• detecting at least one boundary element of a boundary module, the boundary module delimiting a work area and/or a non-work area of the robot gardening tool, and the at least one boundary element defining a periphery of the work area and/or the non-work area;
• generating a feedback signal Si based on the detection;
• recording a time of occurrence ti of each feedback signal Si;
• calculating a time interval Δti between two consecutive feedback signals Si and Si+1;
• and
• determining that the robot gardening tool is jammed when n consecutive time intervals Δti, Δti+1 . . . Δti+n−1 are all less than a time threshold, wherein n is selected from one of 2-10.

A robot gardening tool system, comprising:

• a robot gardening tool;
• a boundary module delimiting a work area and/or a non-work area of the robot gardening tool, the boundary module comprising at least one boundary element defining a periphery of the work area and/or the non-work area,
• wherein the robot gardening tool comprises:
• a boundary detection apparatus, configured to detect the at least one boundary element;
• a jamming detection apparatus which communicates with the boundary detection apparatus, the jamming detection apparatus being configured to judge whether the robot gardening tool is jammed based on a feedback signal Si of the boundary detection apparatus;
• a trajectory recording apparatus that records a trajectory of advance of the robot gardening tool;
• and
• a control apparatus configured to control the robot gardening tool to perform an extrication operation when the robot gardening tool is jammed, the extrication operation causing the robot gardening tool to retreat along the recorded trajectory of advance for a predetermined time or a predetermined distance, and then turning by a random angle.