# US 2020/0401146 A1 · Robotic mower and method for controlling a robotic mower > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2020/0401146 A1 - Document ID: US20200401146A1 - Status: Published application - Kind: A1 - Application number: 16/499,483 - Filed: 2018-03-30 - Published: 2020-12-24 - Earliest claimed: 2018-03-30 - Assignees: Globe (Jiangsu) Co., Ltd. - Applicants: Globe (Jiangsu) Co., Ltd. - Inventors: Stefan Strandberg - Web page: https://patentgrep.com/patent/US20200401146A1 ## CPC - 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)} - A01D 34/008: {for automated or remotely controlled operation} - G05D 1/0219: {ensuring the processing of the whole working surface} - G05D 1/0225: {involving docking at a fixed facility, e.g. base station or loading bay (parking aids B62D15/027)} - G05D 1/0265: {using buried wires} - A01D 2101/00: Lawn-mowers - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - A01D: HARVESTING; MOWING ## Abstract A robotic mower and method for controlling a robotic mower to a predetermined position, by means of a guide wire. The robotic mower includes a control unit and at least one sensor. At least one of the sensors detects a signal from the guide wire and follows the guide wire at a first distance that is randomly determined. The robotic mower follows the guide wire until detecting, by means of the at least one sensor, a signal from a boundary wire and then following the boundary wire at a second distance, which is randomly determined. When detecting that the signal strength from the guide wire falls outside a first predetermined threshold, the robotic mower starts following the guide wire again. ## Claims ### Claim at position 1 1-15. (canceled) ### Claim 16 A method for controlling a robotic mower to a predetermined position, by means of a guide wire within an area delimited by a boundary wire, said robotic mower comprising a control unit and at least one sensor, the method comprising: detecting, by means of the at least one sensor, a signal from the guide wire, following the guide wire at a first distance, wherein the first distance corresponds to a given first signal strength that is sensed by the at least one sensor and wherein the control unit randomly selects the first signal strength each time the guide wire signal is detected, detecting by means of the at least one sensor, a signal from the boundary wire, following the boundary wire at a second distance, wherein the second distance corresponds to a given second signal strength that is sensed by the at least one sensor and wherein the control unit randomly selects the second signal strength each time the boundary wire signal is detected, detecting that the first signal strength from the guide wire falls outside a first predetermined threshold, and following the guide wire again. ### Claim 17 (depends on 16) The method according to claim 16, wherein the robotic mower continues to move towards the guide wire, after the signal from the guide wire has been detected, until the first predetermined threshold corresponding to the first signal strength is reached. ### Claim 18 (depends on 16) The method according to claim 16, wherein the robotic mower follows the guide wire by controlling the robotic mower such that the first signal strength that is sensed by the at least one sensor is substantially constant. ### Claim 19 (depends on 16) The method according to claim 16, wherein the control unit randomly selects the first predetermined threshold, such that the first signal strength that the robotic mower follows differs from time to time in order to avoid creation of tracks on a lawn. ### Claim 20 (depends on 16) The method according to claim 16, wherein the robotic mower continues to move towards the boundary wire, after the signal from the boundary wire has been detected, until a second predetermined threshold corresponding to the second signal strength is reached. ### Claim 21 (depends on 20) The method according to claim 20, wherein the control unit randomly selects the second predetermined threshold, such that the second signal strength that the robotic mower follows differs from time to time in order to avoid creation of tracks on a lawn. ### Claim 22 (depends on 16) The method according to claim 16, wherein the robotic mower follows the boundary wire by controlling the robotic mower such that the first signal strength that is sensed by the at least one sensor is substantially constant. ### Claim 23 A robotic mower controllable to a predetermined position, by means of a guide wire within an area delimited by a boundary wire, said robotic mower comprising a control unit and at least one sensor, wherein the control unit comprises a processor and a memory, the memory comprising instructions which when executed by the processor causes the robotic mower to: detect, by means of the at least one sensor, a signal from the guide wire, follow the guide wire at a first distance, wherein the first distance corresponds to a given first signal strength that is sensed by the at least one sensor and wherein the control unit randomly selects the first signal strength each time the guide wire signal is detected, detect, by means of the at least one sensor, a signal from the boundary wire, follow the boundary wire at a second distance, wherein the second distance corresponds to a given second signal strength that is sensed by the at least one sensor and wherein the control unit randomly selects the second signal strength each time the boundary wire signal is detected, detect that the first signal strength from the guide wire falls outside a first predetermined threshold, and follow the guide wire again. ### Claim 24 (depends on 23) The robotic mower according to claim 23, which is further caused to continue to move towards the guide wire, after the signal from the guide wire has been detected, until the first predetermined threshold corresponding to the first signal strength is reached. ### Claim 25 (depends on 23) The robotic mower according to claim 23, which is further caused to follow the guide wire by controlling the robotic mower such that the first signal strength that is sensed by the at least one sensor is substantially constant. ### Claim 26 (depends on 23) The robotic mower according to claim 23, wherein the control unit is further caused to randomly select the first predetermined threshold, such that the first signal strength that the robotic mower follows differs from time to time in order to avoid creation of tracks on a lawn. ### Claim 27 (depends on 23) The robotic mower according to claim 23, which is further caused to continue to move towards the boundary wire, after the signal from the boundary wire has been detected, until a second predetermined threshold corresponding to the second signal strength is reached. ### Claim 28 (depends on 27) The robotic mower according to claim 27, wherein the control unit is further caused to randomly select the second predetermined threshold, such that the second signal strength that the robotic mower follows differs from time to time in order to avoid creation of tracks on a lawn. ### Claim 29 (depends on 23) The robotic mower according to claim 23, which is further caused to follow the boundary wire by controlling the robotic mower such that the first signal strength that is sensed by the at least one sensor is substantially constant. ### Claim 30 (depends on 16) A computer program comprising computer program code, the computer program code being adapted, if executed by the processors of the control unit, to implement the method according to claim 16.