# US 2024/0199080 A1 · Definition of boundary for a robotic work tool > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2024/0199080 A1 - Document ID: US20240199080A1 - Status: Published application - Kind: A1 - Application number: 18/540,185 - Filed: 2023-12-14 - Published: 2024-06-20 - Earliest claimed: 2022-12-16 - Assignees: Husqvarna AB - Applicants: Husqvarna AB - Inventors: Jakob Malm; Herman Jonsson; Stefan Grãnnõ - Web page: https://patentgrep.com/patent/US20240199080A1 ## CPC - B60W 60/0025: {specially adapted for specific operations} - G05D 1/2246: {displaying a map of the environment} - G05D 1/6482: {by dividing the whole area or space in sectors to be processed separately} - B60W 2300/15: Agricultural vehicles - B60W 2754/10: Spatial relation or speed relative to objects - G05D 2105/15: for harvesting, sowing or mowing in agriculture or forestry - G05D 2107/23: {Gardens or lawns} - G05D 2109/10: Land vehicles - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract A robotic work tool system comprising a robotic work tool (100) arranged to operate in an operational area (205), the robotic work tool system comprising controller (110, 240A) being configured to receive (410) a map of the operational area, receive (420) a first temporary boundary (220-1-4), receive (430) a second temporary boundary (220-1-4), and generate (440) a composite boundary (220C) encompassing the first and the second temporary boundaries (220-1-4), wherein the composite boundary (220C) is the boundary (220) for the robotic work tool (100) when operating in the operational area (205). ## Claims ### Claim 1 A method for use in a robotic work tool system comprising a robotic work tool arranged to operate in an operational area, wherein the method comprises: receiving a map of the operational area, receiving a first temporary boundary, receiving a second temporary boundary, and generating a composite boundary encompassing the first and the second temporary boundaries, wherein the composite boundary is a boundary for the robotic work tool when operating in the operational area. ### Claim 2 (depends on 1) The method according to claim 1, wherein the method further comprises receiving the first and second temporary boundary by receiving user input defining the first temporary boundary and receiving user input defining the second temporary boundary. ### Claim 3 (depends on 2) The method according to claim 2, wherein the method further comprises receiving the user input by displaying a representation of the map of the operational area and the user input is received relative the displayed map. ### Claim 4 (depends on 2) The method according to claim 2, wherein the method further comprises receiving the user input for a temporary boundary as a drawing of at least a segment of the temporary boundary. ### Claim 5 (depends on 4) The method according to claim 4, wherein the method further comprises connecting drawn segments. ### Claim 6 (depends on 2) The method according to claim 2, wherein the method further comprises receiving the user input for a temporary boundary as an indication of a corner for at least a segment of the temporary boundary. ### Claim 7 (depends on 6) The method according to claim 6, wherein the method further comprises connecting corners. ### Claim 8 (depends on 5) The method according to claim 5, wherein the method further comprises connecting drawn segments and corners. ### Claim 9 (depends on 1) The method according to claim 1, wherein the first temporary boundary is of a type indicating a use, wherein the use indicates a work area, a transport path or a stay-out area. ### Claim 10 (depends on 9) The method according to claim 9, wherein the first temporary boundary is of a same type or a different type as the second temporary boundary. ### Claim 11 (canceled) ### Claim 12 (depends on 1) The method according to claim 1, wherein the method further comprises generating the composite boundary at one or more safety distances from the first and second temporary boundaries. ### Claim 13 (depends on 12) The method according to claim 12, wherein a first of the one or more safety distances relating to the first temporary boundary is the same as or different from a second of the one or more safety distances relating to the second temporary boundary. ### Claim 14 (canceled) ### Claim 15 (depends on 12) The method according to claim 12, wherein the method comprises determining at least one of the one or more distances based on one or more capabilities of the robotic work tool. ### Claim 16 (depends on 15) The method according to claim 15, wherein the capabilities relate to the size of the robotic work tool, or a size of a work tool of the robotic work tool. ### Claim 17 (canceled) ### Claim 18 (depends on 15) The method according to claim 15, wherein the capabilities relate to a speed of the robotic work tool. ### Claim 19 (depends on 15) The method according to claim 15, wherein the capabilities relate to a capability to detect obstacles of the robotic work tool. ### Claim 20 (depends on 15) The method according to claim 15, wherein the method further comprises determining at least one of the one or more distances: based on a terrain, a topology or a condition of the topology of the operational area, as an absolute distance, as a relative distance, or based on user input. ### Claim at position 21 21-24. (canceled) ### Claim 25 (depends on 1) A computer-readable medium carrying computer instructions that when loaded into and executed by a controller of a robotic work tool or a server enables the robotic work tool or the server to implement the method according to claim 1, and wherein the robotic work tool is a robotic lawnmower. ### Claim 26 (canceled) ### Claim 27 A robotic work tool system comprising a robotic work tool arranged to operate in an operational area, the robotic work tool system comprising controller being configured to receive a map of the operational area, receive a first temporary boundary, receive a second temporary boundary, and generate a composite boundary encompassing the first and the second temporary boundaries, wherein the composite boundary is a boundary for the robotic work tool when operating in the operational area. ### Claim 28 (depends on 27) The robotic work tool system according to claim 27, wherein the robotic work tool or a server comprises the controller, and wherein the robotic work tool is a robotic lawnmower. ### Claim 29 (canceled) ### Claim 30 (canceled)