Method for controlling a robotic lawnmower by processing vibrations

A method for controlling a robotic lawnmower in a working environment, said robotic lawnmower comprising:

• a locomotion member;
• a grass cutting member;
• a plurality of vibration sensors, each adapted to detect a mechanical vibration generated in said working environment and which is propagated through a body of the robotic lawnmower or through the surrounding air;
• the method comprising the steps of:
• detecting, by each sensor of the plurality, a mechanical vibration to generate a plurality of electrical signals representative of said mechanical vibrations;
• processing, by an electronic processing unit, said plurality of electrical signals generated to extract at least one feature of said signals in order to generate a plurality of vibrometric marks, each corresponding to one of said signals;
• performing a combining operation of the plurality of vibrometric marks to generate a first vibrometric mark representative of the combination of the vibrometric marks of the plurality;
• classifying said first generated vibrometric mark to obtain a class identifier associated with the first vibrometric mark, said class identifier being capable of taking a first value indicating a desirable activity performed by the robotic lawnmower or a second value indicating an undesirable activity;
• generating at least one control signal of the locomotion member or of the grass cutting member when said class identifier takes said second value to bring the robotic lawnmower back to a condition of desirable activity.