Robot gardening tools

Abstract

A robotic gardening tool may include a first sensor configured to sense electromagnetic signals from a boundary cable mounted on a work surface and a second sensor configured to sense a first anchor point mounted on the work surface. The robotic gardening tool may also include an electronic processor configured to control the operation of at least one wheel motor based on first sensor data received from the first sensor to control the movement of the robotic gardening tool, such that the robotic gardening tool remains within a boundary defined by the boundary cable. The electronic processor may also be configured to control the operation of at least one wheel motor in response to receiving second sensor data from the second sensor indicating that the first anchor point has been sensed, so as to control the movement of the robotic gardening tool in a first predetermined manner.

Description

[0001] Cross-references to related applications

[0002] This application claims priority to U.S. Provisional Application No. 63 / 305,044, filed January 31, 2022, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to robotic gardening tools, and more specifically to a method for controlling a robotic lawn mower in response to detecting one or more anchor points mounted on a working surface on which the robotic lawn mower is configured to move. Summary of the Invention

[0004] One embodiment includes a robotic gardening tool that may include a housing and a set of wheels coupled to the housing and configured to rotate to propel the robotic gardening tool across a work surface. The robotic gardening tool may also include at least one wheel motor coupled to one or more of the wheels in the set. The at least one wheel motor may be configured to drive the rotation of the one or more wheels. The robotic gardening tool may also include multiple sensors. The multiple sensors may include a first sensor configured to sense electromagnetic signals from a boundary cable mounted on the work surface and a second sensor configured to sense a first anchor point mounted on the work surface. The robotic gardening tool may also include an electronic processor in communication with the multiple sensors. The electronic processor may be configured to receive first sensor data from the first sensor, which is configured to sense electromagnetic signals from the boundary cable. The first sensor data may correspond to the electromagnetic signals from the boundary cable. The electronic processor may also be configured to control the operation of the at least one wheel motor based on the first sensor data to control the movement of the robotic gardening tool, such that the robotic gardening tool remains within a boundary defined by the boundary cable. The electronic processor may also be configured to receive second sensor data from the second sensor configured to sense the first anchor point. The second sensor data can indicate that the first anchor point has been detected. The electronic processor can also be configured to control the operation of the at least one wheel motor in response to receiving the second sensor data in order to control the movement of the robotic gardening tool in a first predetermined manner.

[0005] In some instances, the electronic processor may be configured to control the operation of the at least one wheel motor to control the movement of the robotic gardening tool in the first predetermined manner by controlling the movement of the robotic gardening tool until the electronic processor receives third sensor data from at least one of the plurality of sensors indicating the sensing of an electromagnetic signal from the boundary cable. The electronic processor may be further configured to control the operation of the at least one wheel motor to control the movement of the robotic gardening tool in the first predetermined manner by controlling the movement of the robotic gardening tool along the boundary cable. The electronic processor may be further configured to control the operation of the at least one wheel motor to control the movement of the robotic gardening tool in the first predetermined manner by receiving fourth sensor data from at least one of the plurality of sensors indicating the sensing of a second anchor point mounted on the work surface. The second anchor point may be different from the first anchor point. The electronic processor may be further configured to control the operation of the at least one wheel motor to control the movement of the robotic gardening tool in the first predetermined manner by controlling the movement of the robotic gardening tool away from the boundary cable in response to receiving the fourth sensor data.

[0006] In some instances, the robotic gardening tool may also include a network interface. The electronic processor may be configured to communicate with an external device via this network interface. The electronic processor may be further configured to receive a first anchor point setting from the external device. The first anchor point setting may instruct the electronic processor, in response to receiving data from the second sensor, to control the operation of at least one wheel motor in a first predetermined manner to control the movement of the robotic gardening tool. The first anchor point setting may be selected from a plurality of anchor point setting options via a first user input on the external device.

[0007] In some instances, the electronic processor may be further configured to receive a second anchor point setting from the external device to replace the first anchor point setting. The second anchor point setting may be selected from a plurality of anchor point setting options via a second user input on the external device. The second anchor point setting may instruct the electronic processor, in response to receiving the second sensor data, to control the operation of at least one wheel motor in a second predetermined manner to control the movement of the robotic gardening tool. The second predetermined manner may differ from the first predetermined manner and may be configured to replace the first predetermined manner. The electronic processor may be further configured to, in response to receiving the second sensor data, control the operation of the at least one wheel motor to control the movement of the robotic gardening tool in the second predetermined manner.

[0008] In some instances, at least one of the plurality of sensors may be configured to sense a second anchor point mounted on the work surface. The electronic processor may be configured to receive third sensor data from at least one of the sensors configured to sense the second anchor point. The third sensor data may indicate that the second anchor point has been sensed. The electronic processor may be further configured to distinguish between the second sensor data and the third sensor data to determine whether the first anchor point or the second anchor point has been sensed. The electronic processor may be further configured to, in response to receiving the third sensor data, control the operation of the at least one wheel motor to control the movement of the robotic gardening tool in a second predetermined manner, different from the first predetermined manner.

[0009] In some instances, the second sensor configured to sense the first anchor point may be configured to sense the first anchor point by at least one of the following operations: sensing an active signal emitted by the first anchor point, and sensing a passive signal emitted by the first anchor point.

[0010] In some instances, the second sensor configured to sense the first anchor point may also be configured to sense electromagnetic signals from the boundary cable. In some instances, the robotic gardening tool may also include a cutting blade assembly coupled to the housing and configured to rotate relative to the housing. The robotic gardening tool may also include a cutting blade assembly motor coupled to the cutting blade assembly and configured to drive the rotation of the cutting blade assembly. In response to receiving data from the second sensor, the electronic processor may be configured to control the operation of the cutting blade assembly motor in a second predetermined manner.

[0011] Another embodiment includes a method for controlling a robotic gardening tool. The method may include receiving first sensor data from a first sensor of the robotic gardening tool using an electronic processor of the robotic gardening tool. The first sensor may be configured to sense electromagnetic signals from a boundary cable mounted on a work surface. The first sensor data may correspond to the electromagnetic signals from the boundary cable. The method may further include controlling the operation of at least one wheel motor of the robotic gardening tool using the electronic processor and based on the first sensor data to control the movement of the robotic gardening tool such that the robotic gardening tool remains within a boundary defined by the boundary cable. The at least one wheel motor may be coupled to one or more wheels of a set of wheels of the robotic gardening tool. The at least one wheel motor may be configured to drive rotation of one or more wheels. The set of wheels may be coupled to a housing of the robotic gardening tool. The set of wheels may be configured to rotate to propel the robotic gardening tool across the work surface. The method may further include receiving second sensor data from a second sensor of the robotic gardening tool using the electronic processor. The second sensor may be configured to sense a first anchor point mounted on the work surface. The second sensor data may indicate that the first anchor point has been sensed. The method may further include, in response to receiving the second sensor data, using the electronic processor to control the operation of the at least one wheel motor in order to control the movement of the robotic gardening tool in a first predetermined manner.

[0012] In some instances, controlling the operation of the at least one wheel motor to control the movement of the robotic gardening tool in the first predetermined manner includes: controlling the movement of the robotic gardening tool using the electronic processor until the electronic processor receives third sensor data indicating the sensing of an electromagnetic signal from the boundary cable from at least one sensor in a group consisting of the first sensor, the second sensor, another sensor of the robotic gardening tool, and combinations thereof. Controlling the operation of the at least one wheel motor to control the movement of the robotic gardening tool in the first predetermined manner may also include controlling the movement of the robotic gardening tool along the boundary cable using the electronic processor. Controlling the operation of the at least one wheel motor to control the movement of the robotic gardening tool in the first predetermined manner may also include receiving fourth sensor data indicating the sensing of a second anchor point mounted on the work surface from at least one sensor in a group consisting of the first sensor, the second sensor, another sensor of the robotic gardening tool, and combinations thereof. The second anchor point may be different from the first anchor point. Controlling the operation of the at least one wheel motor to control the movement of the robotic gardening tool in the first predetermined manner may also include controlling the movement of the robotic gardening tool away from the boundary cable using the electronic processor in response to receiving the fourth sensor data.

[0013] In some instances, the method may further include using the electronic processor to communicate with an external device via a network interface of the robotic gardening tool. The method may also include using the electronic processor to receive a first anchor point setting from the external device. The first anchor point setting may instruct the electronic processor, in response to receiving the second sensor data, to control the operation of at least one wheel motor in a first predetermined manner to control the movement of the robotic gardening tool. The first anchor point setting may be selected from a plurality of anchor point setting options via a first user input on the external device.

[0014] In some instances, the method may further include receiving a second anchor point setting from the external device using the electronic processor to replace the first anchor point setting. The second anchor point setting may be selected from a plurality of anchor point setting options via a second user input on the external device. The second anchor point setting may instruct the electronic processor, in response to receiving the second sensor data, to control the operation of at least one wheel motor to control the movement of the robotic gardening tool in a second predetermined manner. The second predetermined manner may differ from the first predetermined manner and may be configured to replace the first predetermined manner. The method may also include, in response to receiving the second sensor data, controlling the operation of the at least one wheel motor using the electronic processor to control the movement of the robotic gardening tool in the second predetermined manner.

[0015] In some instances, the method may further include using the electronic processor to receive third sensor data from at least one sensor in a group consisting of the first sensor, the second sensor, another sensor of the robotic gardening tool, and combinations thereof. The third sensor data may indicate that a second anchor point mounted on the work surface has been sensed. The method may further include using the electronic processor to distinguish between the second sensor data and the third sensor data to determine whether the first anchor point or the second anchor point has been sensed. The method may further include, in response to receiving the third sensor data, using the electronic processor to control the operation of the at least one wheel motor to control the movement of the robotic gardening tool in a second predetermined manner, different from the first predetermined manner.

[0016] In some instances, receiving data from the second sensor may include using the second sensor to sense the first anchor point by at least one of the following operations: sensing an active signal emitted by the first anchor point, and sensing a passive signal emitted by the first anchor point.

[0017] In some instances, the method may also include using the second sensor to sense electromagnetic signals from the boundary cable.

[0018] In some instances, the method may further include, in response to receiving the second sensor data, using the electronic processor to control the operation of the cutting blade assembly motor of the robotic gardening tool in a second predetermined manner. The cutting blade assembly motor may be configured to drive rotation of the cutting blade assembly, which is coupled to the housing, and may be configured to rotate relative to the housing.

[0019] Another embodiment includes a robotic gardening tool that may include a housing and a set of wheels coupled to the housing and configured to rotate to propel the robotic gardening tool across a work surface. The robotic gardening tool may also include at least one wheel motor coupled to one or more of the wheels in the set. The at least one wheel motor may be configured to drive the rotation of the one or more wheels. The robotic gardening tool may also include a sensor configured to sense a first anchor point mounted on the work surface. The robotic gardening tool may also include a network interface configured to communicate with an external device. The robotic gardening tool may also include an electronic processor communicating with the sensor and the network interface. The electronic processor may be configured to receive sensor data from the sensor. The sensor data may indicate that the first anchor point has been sensed. The electronic processor may also be configured to, in response to receiving the sensor data, control the operation of the at least one wheel motor to control the movement of the robotic gardening tool in a first predetermined manner. The electronic processor may also be configured to receive a first anchor point setting from the external device via the network interface. The first anchor point setting may indicate a first predetermined manner in which the electronic processor controls the operation of the at least one wheel motor to control the movement of the robotic gardening tool in response to receiving the sensor data. The first anchor point setting can be selected via first user input on the external device.

[0020] In some instances, at least one sensor from the group consisting of the sensor, another sensor of the robotic gardening tool, and combinations thereof can be configured to sense electromagnetic signals from a boundary cable mounted on the work surface. The electronic processor can be configured to receive second sensor data from at least one sensor from the group consisting of the sensor, another sensor of the robotic gardening tool, and combinations thereof. The second sensor data may correspond to the electromagnetic signals from the boundary cable. The electronic processor can also be configured to control the operation of the at least one wheel motor based on the second sensor data to control the movement of the robotic gardening tool, such that the robotic gardening tool remains within the boundary defined by the boundary cable.

[0021] In some instances, the electronic processor is configured to control the operation of the at least one wheel motor to control the movement of the robotic gardening tool in the first predetermined manner by controlling the movement of the robotic gardening tool until the electronic processor receives second sensor data from at least one sensor in a group consisting of the sensor, another sensor of the robotic gardening tool, and combinations thereof, indicating that an electromagnetic signal has been sensed from the boundary cable. The electronic processor may be further configured to control the operation of the at least one wheel motor to control the movement of the robotic gardening tool in the first predetermined manner by controlling the movement of the robotic gardening tool along the boundary cable. The electronic processor may be further configured to control the operation of the at least one wheel motor to control the movement of the robotic gardening tool in the first predetermined manner by receiving third sensor data from at least one sensor in a group consisting of the sensor, another sensor of the robotic gardening tool, and combinations thereof, indicating that a second anchor point mounted on the work surface has been sensed. The second anchor point may be different from the first anchor point. The electronic processor can be further configured to control the operation of the at least one wheel motor in order to control the movement of the robotic gardening tool in the first predetermined manner by controlling the robotic gardening tool to move away from the boundary cable in response to receiving the third sensor data.

[0022] In some instances, the electronic processor is also configured to receive a second anchor point setting from the external device via the network interface, replacing the first anchor point setting. The second anchor point setting can be selected via a second user input on the external device. The second anchor point setting can instruct the electronic processor, in response to receiving the sensor data, to control the operation of at least one wheel motor in a second predetermined manner to control the movement of the robotic gardening tool. The second predetermined manner can differ from the first predetermined manner and can be configured to replace the first predetermined manner. The electronic processor can also be configured to control the operation of the at least one wheel motor in response to receiving sensor data indicating that the first anchor point has been sensed, so as to control the movement of the robotic gardening tool in the second predetermined manner.

[0023] Other aspects of this disclosure will become clear by considering the specific implementation and the accompanying drawings. Attached Figure Description

[0024] Figure 1A The invention illustrates a robotic lawn mower, a robotic lawn mower docking station, and external devices according to some example embodiments.

[0025] Figure 1B Demonstrates some example embodiments Figure 1A A 3D view of the bottom of a robotic lawnmower.

[0026] Figure 2 Based on some example embodiments Figure 1A and Figure 1B A block diagram of a robotic lawnmower.

[0027] Figure 3 Based on some example embodiments Figure 1A A block diagram of the external device.

[0028] Figure 4 This demonstrates the possibility of [some example embodiments] being [made by] Figure 1A and Figure 1B A flowchart of a method for the first electronic processor of a robotic lawn mower to control the movement of the robotic lawn mower.

[0029] Figure 5 Demonstrates some example embodiments Figure 1A and Figure 1B The example use case shown is a robotic lawn mower operating within a boundary cable-defined work area. Detailed Implementation

[0030] Before explaining any embodiments of the invention in detail, it should be understood that the application of the invention is not limited to the construction details and component arrangements set forth in the following description or shown in the following drawings. The invention can have other embodiments and can be practiced or performed in various ways. Furthermore, it should be understood that the wording and terminology used herein are for descriptive purposes and should not be considered limiting. The use of “comprising,” “including,” or “having,” and variations thereof, is intended to cover the items listed thereafter and their equivalents, as well as additional items. The terms “installation,” “connection,” and “coupling” are used broadly and cover both direct and indirect installations, connections, and couplings. Further, “connection” and “coupling” are not limited to physical or mechanical connections or couplings and may include electrical connections or couplings, whether direct or indirect.

[0031] It should be noted that the present invention can be implemented using multiple hardware and software-based devices and multiple different structural components. Furthermore, and as described in the following paragraphs, the specific configurations shown in the figures are intended to illustrate embodiments of the invention, and other alternative configurations are possible. Unless otherwise stated, the terms "processor," "central processing unit," and "CPU" are interchangeable. Where the terms "processor," "central processing unit," or "CPU" are used to identify a unit performing a specific function, it should be understood that, unless otherwise stated, those functions can be implemented by a single processor or multiple processors arranged in any form (including parallel processors, serial processors, tandem processors, or cloud processing / cloud computing configurations).

[0032] In this application, the term "about" is used to describe the dimensions of various components. In some cases, the term "about" means that the described dimension is within 1%, within 5%, or within 10% of the stated value, etc. When the term "and / or" is used in this application, it is intended to include any combination of the listed components. For example, if components include A and / or B, then a component may include only A, only B, or both A and B.

[0033] Figure 1A A communication system 100 according to some example embodiments is shown, which may include a robotic tool 105 (e.g., a robotic gardening tool 105, which may be a robotic lawnmower 105, or simply a robotic lawnmower 105), a docking station 110 for the robotic lawnmower 105, and external devices 115. The robotic gardening tool 105 is primarily described as a robotic lawnmower 105. However, in other embodiments, the robotic tool 105 may be configured to operate outdoors and may include tools for sweeping debris, sucking up debris, removing debris, collecting debris, moving debris, etc. Debris may include plants (such as grass, leaves, flowers, stems, weeds, twigs, branches, etc., and their cuts), dust, dirt, work site debris, snow, and / or the like. In some instances, the robotic tool 105 may be configured to operate indoors and may include tools for vacuuming, mopping, etc. Example implementations of the robotic tool 105 may include a vacuum cleaner, a trimmer, a rope trimmer, a hedge trimmer, a sweeper, a cutter, a plow, a blower, a snow blower, etc.

[0034] In some embodiments, a lawn may include any type of property, including grass, crops, other materials to be mowed, cleared, collected, etc., and / or materials to be processed by the robotic gardening tool 105 (e.g., fertilizer for treating the grass on the lawn). In some embodiments, such as when the robotic gardening tool 105 is used for snow removal, the lawn may include a paved portion of the property (e.g., a driveway).

[0035] In some embodiments, the docking station 110 can be installed in a yard / lawn using a stake 120. The robotic lawnmower 105 can be configured to mow the lawn in the yard and dock at the docking station 110 to charge the robotic lawnmower 105's battery 245 (see [link to documentation]). Figure 2 In some embodiments, the docking station 110 is configured to be electrically connected to a power source (e.g., via a wire and plug connected to a wall socket connected to the power grid) to provide charging current to the robotic lawnmower 105 when it is electrically connected to the docking station 110.

[0036] In some embodiments, the docking station 110 may also be electrically connected to the boundary cable 505 (i.e., the boundary wire 505) (see...). Figure 5 In some embodiments, the docking station 110 supplies power to the boundary cable 505 to control the boundary cable 505 to provide / emulate electromagnetic signals, for example, that can be detected by the robotic lawnmower 105. In some embodiments, the boundary cable 505 can be any cable, wire, etc., configured to emit signals and configured to be installed in a discontinuous and inconspicuous manner on the work surface (e.g., a yard including grass) (e.g., fixed to the base of the grass blades, against the ground / soil where the grass grows, to prevent the robotic lawnmower 105 and other people or objects from being physically obstructed by the boundary cable 505). For example, the boundary cable 505 can be secured to the ground / soil using multiple pegs / stakes. As another example, the boundary cable 505 can be buried in the ground / soil under the grass (e.g., if the boundary cable 505 is installed when developing a piece of land). In some embodiments, in response to the detection of an electromagnetic signal from the boundary cable 505, the robotic lawnmower 105 is configured to control its movement such that the robotic lawnmower 105 remains within the boundary defined by the boundary cable 505, as described in more detail herein.

[0037] In some embodiments, the robotic lawnmower 105 operates without the boundary cable 505. Instead, the robotic lawnmower 105 may include mapping capabilities, positioning and tracking capabilities, and / or similar capabilities that allow the robotic lawnmower 105 to remain within a predefined boundary without using the boundary cable 505.

[0038] In some embodiments, docking station 110 includes a docking cable loop and / or another transmitting device configured to transmit a docking signal that can be detected by the robotic lawnmower 105. For example, the docking signal may indicate that the robotic lawnmower 105 is near docking station 110 and may allow the robotic lawnmower 105 to take certain actions in response to this, such as docking the robotic lawnmower 105 at docking station 110.

[0039] In some embodiments, one or more anchor points 510 (see...) Figure 5 Anchor point 510 is mounted on the work surface and configured to be detected by robotic lawnmower 105 to cause robotic lawnmower 105 to operate in a predetermined manner, as described in more detail herein. In some embodiments, anchor point 510 is different from and complements boundary cable 505 and docking cable loop and / or another transmitting device configured to transmit docking signals.

[0040] like Figure 1AAs shown, in some embodiments, the robotic lawnmower 105 is configured to wirelessly communicate with an external device 115 (e.g., via Bluetooth) when the two devices 105 and 115 are within each other's communication range. TM WiFi TM External device 115 may be, for example, a smartphone (as shown), a laptop computer, a tablet computer, a personal digital assistant (PDA), a wireless communication router that allows another external device 115, located away from the robotic lawnmower 105, to communicate with the robotic lawnmower 105, or another electronic device capable of communicating with the robotic lawnmower 105. External device 115 may generate a user interface and allow users to access and interact with information about the robotic lawnmower. External device 115 may receive user input to determine operating parameters / instructions for the robotic lawnmower 105, enable or disable features of the robotic lawnmower 105, etc. In some embodiments, communication between external device 115 and robotic lawnmower 105 may be wired (e.g., via a Universal Serial Bus (USB) cable configured to connect to the respective USB ports of external device 115 and robotic lawnmower 105).

[0041] Figure 1B A bottom perspective view of a robotic lawnmower 105 according to some example embodiments is shown. The robotic lawnmower 105 may include a housing 125 comprising an outer shell 125A (i.e., a housing) and an inner shell 125B. The outer shell 125A may be coupled to the inner shell 125B. The robotic lawnmower 105 may also include wheels 130 (i.e., a set of wheels 130) coupled to the inner shell 125B and configured to rotate relative to the housing 125 to propel the robotic lawnmower 105 across a work surface (e.g., a yard to be mowed). The wheels 130 may include motor-driven wheels 130A and non-motor-driven wheels 130B. Figure 1B In the illustrated embodiment, the two rear wheels 130A are motor-driven wheels 130A, while the two front wheels 130B are non-motor-driven wheels 130B. In other embodiments, the robotic lawnmower 105 may include different wheel arrangements (e.g., different total number of wheels, different number of each type of wheel, different motor-driven or non-motor-driven wheels, etc.).

[0042] In some embodiments, the robotic lawnmower 105 includes a wheel motor 235 (see...). Figure 2 The wheel motor is coupled to one or more wheels 130 and configured to drive the rotation of one or more wheels 130. In some embodiments, the robotic lawnmower 105 includes a plurality of wheel motors 235, wherein each wheel motor 235 is configured to drive a corresponding motor drive wheel 130A (see...). Figure 2 ) rotation.

[0043] In some embodiments, the robotic lawnmower 105 includes a cutting blade assembly 135 coupled to an inner housing 125B and configured to rotate relative to the housing 125B to cut grass on a working surface. The cutting blade assembly 135 may include a rotating disk to which a plurality of cutting blades 140 configured to cut grass are attached. In some embodiments, the robotic lawnmower 105 includes a cutting blade assembly motor 240 (see...). Figure 2 The cutting blade assembly motor 240 is connected to the inner housing 125B and the cutting blade assembly 135. The cutting blade assembly motor 240 can be configured to drive the rotation of the cutting blade assembly 135 to cut grass on the working surface.

[0044] In some embodiments, the robotic lawnmower 105 and / or docking station 110 includes more components and functions than shown and described herein. For example, the robotic lawnmower 105 and / or docking station 110 may include the components and / or functions described in PCT application No. PCT / CN2017 / 091129, filed June 30, 2017, published as International Publication No. WO2018 / 001358, the entire contents of which are incorporated herein by reference, and an accompanying alternative black-and-white line drawing filed in related U.S. application No. 16 / 312,236, which claims priority to PCT application No. PCT / CN2017 / 091129.

[0045] Figure 2 This is a block diagram of a robotic lawnmower 105 according to some example embodiments. In the illustrated embodiment, the robotic lawnmower 105 includes a first electronic processor 205 (e.g., a microprocessor or other electronic device). The first electronic processor 205 includes input interfaces and output interfaces (not shown) and is electrically connected to a first memory 210, a first network interface 215, an optional first input device 220, an optional display 225, one or more sensors 230, a left rear wheel motor 235A, a right rear wheel motor 235B, a cutting blade assembly motor 240, and a battery 245. In some embodiments, the robotic lawnmower 105 is connected to... Figure 2 The different configurations shown herein include fewer or more components. For example, the robotic lawnmower 105 may not include the first input device 220 and / or the first display 225. As another example, the robotic lawnmower 105 may include a height adjustment motor configured to adjust the height of the cutting blade assembly 135 (e.g., as described in PCT application number PCT / CN2017 / 091129). As yet another example, the robotic lawnmower 105 may include more or fewer sensors than the sensor 230 described herein. In some embodiments, the robotic lawnmower 105 performs functions other than those described below.

[0046] The first memory 210 may include read-only memory (ROM), random access memory (RAM), other non-transitory computer-readable media, or combinations thereof. The first electronic processor 205 is configured to receive instructions and data from the first memory 210 and execute instructions, etc. Specifically, the first electronic processor 205 executes instructions stored in the first memory 210 to perform the methods described herein.

[0047] The first network interface 215 is configured to send data to and receive data from the external device 115. In some embodiments, the first network interface 215 includes one or more transceivers for wireless communication with the external device 115. Alternatively or additionally, the first network interface 215 may include a connector or port for receiving a wired connection (such as a USB cable) to the external device 115.

[0048] The first user input device 220 is configured to allow the first electronic processor 205 to receive user input from the user to, for example, set / adjust operating parameters of the robotic lawnmower 105. The first display 225 is configured to display a user interface to the user. Similar to the user interface of the external device 115 previously described herein, the user interface displayed on the first display 225 allows the user to access and interact with robotic lawnmower information. In some embodiments, the first display 225 may also function as the first input device 220. For example, a touch-sensitive input interface may be incorporated into the first display 225 to allow the user to interact with content provided on the first display 225. The first display 225 may be a liquid crystal display (LCD) screen, an organic light-emitting diode (OLED) display, or an electronic ink display. In some embodiments, the first display 225 incorporates display technologies developed in the future.

[0049] In some embodiments, the first electronic processor 205 communicates with a plurality of sensors 230, which may include electromagnetic field sensors, radio frequency sensors (e.g., radio frequency identification (RFID) interrogators / sensors), Hall sensors, other magnetic sensors, and / or the like.

[0050] In some embodiments, the inner housing 125B includes at least two boundary cable sensors in the form of electromagnetic field sensors, configured to detect electromagnetic signals emitted by the boundary cable 505. For example, the electromagnetic field sensors may be able to detect the intensity and / or polarity of the electromagnetic signal from the boundary cable 505. In some embodiments, the robotic lawnmower 105 includes two electromagnetic field sensors symmetrically positioned about a central axis that bisects the housing 125 and extends in a front-rear direction. In some embodiments, the robotic lawnmower 105 includes two pairs of such symmetrically arranged electromagnetic field sensors, one pair located closer to the front of the robotic lawnmower 105 and the other pair located closer to the rear of the robotic lawnmower 105.

[0051] In some embodiments, the inner housing 125B includes one or more anchor point sensors configured to detect anchor points 510 mounted on the working surface (see...). Figure 5 In some embodiments, the anchor point sensor is an RFID interrogator / sensor configured to receive RFID signals from an RFID tag included on / in anchor point 510. For example, the RFID interrogator of the robotic lawnmower 105 may be configured to interrogate the RFID tag of anchor point 510 when the robotic lawnmower 105 is within communication range of anchor point 510. The RFID interrogator may wirelessly power the RFID tag to allow the RFID tag to emit an active signal in response to being interrogated by the RFID interrogator of the robotic lawnmower 105. Furthermore, the RFID interrogator may detect the active signal from the RFID tag. In some embodiments, the anchor point sensor is another type of sensor (e.g., an electromagnetic field sensor) configured to receive an active signal from anchor point 510. For example, anchor point 510 may receive power from boundary cable 505, enabling anchor point 510 to emit an active signal detectable by one or more anchor point sensors of robotic lawnmower 105. In this example where anchor point 510 receives power from boundary cable 505, boundary cable 505 may include a portion of cable 505 detached from main boundary cable 505 to power anchor point 510 without transmitting the electromagnetic signal that main boundary cable 505 is configured to transmit. Additionally, the signal from anchor point 510 may differ from the electromagnetic signal from main boundary cable 505.

[0052] In some embodiments, the anchor sensor is a magnetic sensor configured to sense only the presence of a magnetic field provided by a magnet (e.g., a magnetic post acting as anchor 510). In other words, the anchor sensor can be configured to sense passive signals emitted by anchor 510.

[0053] In some embodiments, different anchor points 510 may be associated with a unique identifier, allowing the first electronic processor 205 to distinguish between them. For example, an anchor point 510 configured to transmit an active signal may include a unique identifier in the active signal. In some embodiments, different anchor points 510 may not be associated with a unique identifier, and the first electronic processor 205 may respond to all detected anchor points 510 in the same or similar manner. For example, an anchor point 510 configured to provide only a passive signal may not be uniquely identifiable. Additionally, in some embodiments, some anchor points 510 configured to transmit an active signal may not be uniquely identifiable. In some embodiments, one or more anchor points 510 may act as bolts / piles securing the boundary cable 505 to the ground / soil.

[0054] In some embodiments, the robotic lawnmower 105 includes one or more first sensors configured to sense only electromagnetic signals from the boundary cable 505, and one or more second sensors configured to sense only one or more anchor points 510. In some embodiments, the robotic lawnmower 105 includes at least one sensor configured to sense electromagnetic signals from the boundary cable 505 and configured to sense one or more anchor points 510.

[0055] In some embodiments, the inner housing 125B includes a ranging sensor (e.g., one or more Hall sensors or other types of sensors) for each motor-driven wheel 130A. The first electronic processor 205 can use data from the ranging sensors to determine how far each wheel 130A has rotated and / or the rotational speed of each wheel in order to accurately control the movement (e.g., turning ability) of the robotic lawnmower 105. For example, the first electronic processor 205 can control the robotic lawnmower 105 to move in an approximately straight line by controlling the two wheel motors 235A and 235B to rotate at approximately the same speed. As another example, the first electronic processor 205 can control the robotic lawnmower 105 to turn in a specific direction by controlling one of the wheel motors 235A or 235B to rotate faster than or in the opposite direction to the other wheel motor 235A or 235B. Similarly, rotating only one of the wheel motors 235A or 235B while the other wheel motor 235A or 235B does not rotate should cause the robotic lawnmower 105 to turn.

[0056] In some embodiments, the inner housing 125B includes a cutting blade assembly motor sensor (e.g., one or more Hall sensors or other types of sensors). The first electronic processor 205 can use data from the cutting blade assembly motor sensor to determine the rotational speed of the cutting blade assembly 135.

[0057] In some embodiments, battery 245 provides power to the first electronic processor 205 and other components of the robotic lawnmower 105 (such as motors 235A, 235B, 240, and the first display 225). In some embodiments, the first electronic processor 205 may supply power to other components besides itself, or may supply power directly to other components. In some embodiments, when power is supplied directly from battery 245 to other components, the first electronic processor 205 may use, for example, a corresponding switch (e.g., a field-effect transistor) or a corresponding network of switches comprising multiple switches to control whether power is supplied to one or more of the other components. In some embodiments, the robotic lawnmower 105 includes active and / or passive regulation circuitry (e.g., a buck controller, voltage converter, rectifier, filter, etc.) to regulate or control the power received from battery 245 by components of the robotic lawnmower (e.g., the first electronic processor 205, motors 235A, 235B, 240, etc.). In some embodiments, battery 245 is a removable battery pack. In some embodiments, the battery 245 is configured to receive charging current from the docking station 110 when the robotic lawnmower 105 is docked at and electrically connected to the docking station 110.

[0058] Figure 3 This is a block diagram of an external device 115 according to some example embodiments. In the illustrated example, the external device includes a second electronic processor 305 electrically connected to a second memory 310, a second network interface 315, a second user input device 320, and a second display 325. These components are similar to those described above. Figure 2 The components of the robotic lawnmower 105 are explained with similar names and function in a similar manner to those described above. For example, the second display 325 can also be used as an input device (e.g., when the second display 325 is a touchscreen). In some embodiments, the second electronic processor 305 sends data to and receives data from the robotic lawnmower 105 via the second network interface 315. In some embodiments, the external device 115 interacts with... Figure 3 The different configurations shown include fewer or more components. For example, external device 115 may include a battery, a global positioning system (GPS) device, etc. In some embodiments, external device 115 performs functions other than those described below.

[0059] In some embodiments, the robotic lawnmower 105 may travel randomly within a work area defined by the boundary cable 505. For example, the robotic lawnmower 105 may be configured to travel in an approximately straight line until it detects the boundary cable 505. In response to detecting the boundary cable 505, the robotic lawnmower 105 may be configured to turn in a random direction and continue traveling in an approximately straight line along the new path until the boundary cable 505 is detected again.

[0060] However, robotic lawnmowers that travel in a random manner as described above have some drawbacks. For example, a robotic lawnmower may accidentally mow some areas of the work area more frequently than others. This uneven mowing problem is particularly relevant for multiple main work areas A and B separated by narrow passages / intersections 515 (see...). Figure 5 This is particularly problematic for the work area. For example, a randomly moving robotic lawnmower is unlikely to enter a narrow passage / intersection because it constitutes only a small portion of the work area. Furthermore, if a randomly moving robotic lawnmower does enter a narrow passage / intersection, it may have difficulty exiting due to the random movement of the lawnmower and the proximity of the two parts of the boundary cable 505. Spending extra time re-mowing already mowed areas in narrow passages / intersections wastes the lawnmower's time and battery power without providing much value (if any) to the user. Therefore, navigating a robotic lawnmower within a work area presents technical challenges, especially when the work area includes multiple work zones and / or narrow passages / intersections.

[0061] The methods and functions described below address the aforementioned technical problems by using one or more anchor points 510 installed in the work area and configured to be detected by the robotic lawnmower 105 to cause the robotic lawnmower 105 to operate in a predetermined manner. The embodiments described herein enable more precise control of the robotic lawnmower 105, which would otherwise move randomly within the work area defined by the boundary cable 505. The embodiments described herein efficiently solve the aforementioned technical problems without using complex mapping algorithms or complex position tracking, which could require expensive positioning and computing power and potentially consume valuable battery power and processing power, and could significantly increase the cost of the robotic lawnmower.

[0062] Figure 4 A flowchart illustrating a method 400, according to some example embodiments, that can be executed by a first electronic processor 205 of a robotic lawnmower 105 to control the movement of the robotic lawnmower 105. Although in Figure 4The examples provided indicate a specific sequence of processing steps, signal reception, and / or signal transmission; however, such steps, timing, and sequence of reception and transmission may be varied where appropriate without negating the purpose and advantages of the examples detailed throughout the remainder of this disclosure.

[0063] At block 405, a first electronic processor 205 receives first sensor data from at least one sensor 230 configured to sense electromagnetic signals from boundary cable 505. In some embodiments, the first sensor data corresponds to electromagnetic signals from boundary cable 505.

[0064] In some embodiments, in response to receiving first sensor data, at block 410, a first electronic processor 205 is configured to control the operation of at least one wheel motor 235 based on the first sensor data to control the movement of the robotic lawnmower 105, such that the robotic lawnmower 105 remains within the boundary defined by the boundary cable 505. For example, as previously described, in response to detecting the boundary cable 505, the first electronic processor 205 may control the robotic lawnmower 105 to make a random turn and then continue traveling in an approximately straight line. In some embodiments, in response to detecting the boundary cable 505, the first electronic processor 205 may control the robotic lawnmower 105 to stop and then make a random turn in place (i.e., pivot). In some embodiments, in response to detecting the boundary cable 505, the first electronic processor 205 may control the robotic lawnmower 105 to stop, reverse a predetermined distance / time in an approximately straight line, and then make a random turn. Figure 5 An example random movement path 520 of the robotic lawnmower 105 in work area A is shown.

[0065] The area within the boundary defined by the boundary cable 505 can be referred to as the work area. In some embodiments, the work area includes some areas outside the boundary cable 505 (e.g., 90 cm, 60 cm, 30 cm, etc. outside the boundary cable 505). In other words, the boundary defined by the boundary cable 505 can include some areas outside the boundary cable 505. For example, the first electronic processor 205 can be configured to detect the robotic lawnmower 105 crossing the boundary cable 505 (e.g., based on a change in the polarity of an electromagnetic signal from the boundary cable 505) as a detection of the boundary cable 505, thereby triggering the robotic lawnmower 105 to make a random turn.

[0066] After the robotic lawnmower 105 has made random turns to remain within the work area (at box 410), the robotic lawnmower 105 is configured to move again along an approximately straight line until (i) the first electronic processor 205 detects the boundary cable 505 again (at box 405) or (ii) the first electronic processor 205 receives second sensor data from at least one sensor 230 configured to sense anchor point 510 (e.g., first anchor point 510A) (at box 415). Therefore, Figure 4 A dashed line is shown starting at box 410 to indicate that after box 410, method 400 may continue to box 405 or 415, depending on the random movement of the robotic lawnmower 105. In some embodiments, second sensor data received during box 415 indicates that the first anchor point 510A has been sensed.

[0067] In response to receiving second sensor data, at block 420, a first electronic processor 205 is configured to control the operation of at least one wheel motor 235 to control the movement of the robotic lawnmower 105 in a first predetermined manner. In some embodiments, the first predetermined manner includes specific movement (e.g., stopping and randomly turning, changing the robotic lawnmower's travel speed, etc.) and / or a specific task (e.g., moving until boundary cable 505 is detected). For example, the first predetermined manner may include the first electronic processor 205 controlling the robotic lawnmower 105 to stop and / or turn around (randomly or in a predetermined manner, such as making a 180-degree turn). In some embodiments, at block 420, the first electronic processor 205 is additionally or alternatively configured to control at least one element of the robotic lawnmower 105 in the first predetermined manner. For example, at least one element controlling the robotic lawnmower 105 in a first predetermined manner may include adjusting the height and / or speed of the cutting blade assembly 135, enabling or disabling auxiliary cutting devices (such as edge cutting devices configured to cut grass closer to the edge of the housing 125A than the cutting blade assembly 135), enabling or disabling certain sensors 230, and / or similar operations.

[0068] As another example of controlling the operation of at least one wheel motor 235 to control the movement of the robotic lawnmower 105 in a first predetermined manner, the first predetermined manner may include the first electronic processor 205 controlling the robotic lawnmower 105 to move efficiently by means of, Figure 5 The diagram shows a narrow passage / intersection 515 leading from one work area A to another work area B. For example, a first predetermined approach could include a first electronic processor 205 controlling the movement of a robotic lawnmower 105 until the first electronic processor 205 receives third sensor data from at least one sensor 230 indicating that an electromagnetic signal has been sensed from the boundary cable 505. For example, as... Figure 5As shown, the first anchor point 510A may be located near the boundary cable 505 at one end of the narrow passage / intersection 515. Therefore, upon sensing the first anchor point 510A, the robotic lawnmower 105 may also be able to sense the electromagnetic signal from the boundary cable 505. In some embodiments, when the first electronic processor 205 senses both the anchor point 510A and the electromagnetic signal from the boundary cable 505, the first electronic processor 205 may prioritize sensing the anchor point 510 and execute block 420 of method 400. In some embodiments, as part of a first predetermined manner of controlling the robotic lawnmower in response to detecting the anchor point 510, the first electronic processor 205 controls the robotic lawnmower 105 to move along, for example, Figure 5 The narrow passage path 530 shown moves along the boundary cable 505. For example, the first electronic processor 205 can control the movement of the robotic lawnmower 105 to position the robotic lawnmower 105 such that the distance between the boundary cable 505 and each of the two symmetrical boundary cable sensors of the robotic lawnmower 105 is approximately equal (i.e., the robotic lawnmower 105 spans across the boundary cable 505). The first electronic processor 205 can then control the wheel motor 235 to move the robotic lawnmower 105 forward along the boundary cable 505 such that the boundary cable 505 remains equidistant from the symmetrical boundary cable sensors until the robotic lawnmower 105 detects a second anchor point 510B that is different from the first anchor point 510A. As explained above, in some embodiments, the first electronic processor 205 is able to distinguish the first anchor point 510A from the second anchor point 510B due to a unique identifier received in the active signal emitted by at least one of the anchor points 510A and 510B. In other embodiments, the first electronic processor 205 may not be able to distinguish between the first anchor point 510A and the second anchor point 510B. In such embodiments, upon detecting the first anchor point 510A, the first electronic processor 205 may delay for a predetermined period of time or allow the robotic lawnmower 105 to travel a predetermined distance before attempting to detect another anchor point 510 (e.g., giving the robotic lawnmower 105 time to move away from the first anchor point 510A so as not to immediately re-detect the first anchor point 510A). Alternatively, the first electronic processor 205 may not begin attempting to detect another anchor point 510 until second sensor data indicates that the first anchor point 510A is no longer detected (e.g., because the robotic lawnmower 105 has moved far enough away from the first anchor point 510A). In some embodiments, the first electronic processor 205 may also set a flag in the first memory 210 to indicate that the first anchor point 510A has been detected.

[0069] In some embodiments, to allow the robotic lawnmower 105 to move efficiently through a narrow passage 530, the first electronic processor 205 can coarsely navigate through the narrow passage 530 by detecting the difference between the magnetic field generated by the boundary cable 505 in and / or near the narrow passage 530 and the magnetic field generated by the boundary cable 505 away from the narrow passage 530. For example, because the two portions of the boundary cable 505 are close to each other in and / or near the narrow passage 530, the magnetic field generated by the boundary cable 505 in and / or near the narrow passage 530 may be different from the magnetic field generated by the boundary cable 505 away from the narrow passage 530. The first electronic processor 205 can identify this difference in the magnetic field on its own, and / or can identify this difference in the magnetic field in response to the detection of the first anchor point 510A. The first electronic processor 205 can coarsely navigate the robotic lawnmower 105 toward and / or through the narrow passage 530 based on the magnetic field difference.

[0070] In some embodiments, the first electronic processor 205 receives fourth sensor data from at least one of the sensors 230, indicating that a second anchor point 510B mounted on the work surface has been sensed. The first electronic processor 205 can determine that the second anchor point 510B is a different anchor point 510 from the first anchor point 510A by analyzing a unique identifier included in the active signal from the anchor point 510 or by delaying the detection of another anchor point 510 after the first anchor point 510A has been detected, as explained above. In response to receiving the fourth sensor data, the first electronic processor 205 can be configured to control the robotic lawnmower 105 to move away from the boundary cable 505 to, for example, Figure 5 The robot continues random movement 525 within the work area B shown. For example, the first electronic processor 205 can be configured to control the robotic lawnmower 105 to move in an approximately straight line or make random turns (e.g., within a predetermined angle range) to continue the random movement / mowing operation. In some embodiments, such as Figure 5 As shown, the second anchor point 510B can be located near the boundary cable 505 at the other end of the narrow passage / intersection 515.

[0071] In some embodiments, the first electronic processor 205 may be configured to control the movement of the robotic lawnmower 105 in a similar manner but in the opposite direction in response to the detection of a second anchor point 510B during random movement 525 of the robotic lawnmower 105 in work area B. In other words, the robotic lawnmower 105 may be configured to efficiently return along the narrow passage path 530 or to pass through the narrow passage / intersection 515 along a different narrow passage path to return to work area A. Therefore, the predetermined manner in which the first electronic processor 205 controls the movement of the robotic lawnmower 105 in response to the detection of anchor point 510 may depend on the unique identifier of anchor point 510, may depend on whether a flag indicating that another anchor point 510 was previously detected is set in the first memory 210, and / or may depend on the current operating mode of the robotic lawnmower 105. For example, detecting the second anchor point 510B during random operation (e.g., when the flag in the first memory 210 is not set) may cause the robotic lawnmower 105 to move along the boundary cable 505 to travel along the narrow passage path 530. However, detecting the second anchor point 510B during travel along the boundary cable 505 / narrow passage path 530 (e.g., when a flag in the first memory 210 is set) can cause the robotic lawnmower 105 to abort its movement along the boundary cable 505 and restart its random movement.

[0072] Additionally, in some embodiments, if anchor point 510 has been detected a predetermined number of times, the first electronic processor 205 may control the robotic lawnmower 105 to move only in a first predetermined manner in response to the detection of anchor point 510. For example, to ensure that the robotic lawnmower 105 mows the lawn in work area B for a sufficient period of time after entering work area B, the first electronic processor 205 may be configured to ignore a predetermined number of times (e.g., five, ten, etc.) the robotic lawnmower 105 detects the second anchor point 510B. Instead, in response to the predetermined number of times the second anchor point 510B is detected, the robotic lawnmower 105 may continue to move randomly.

[0073] In some embodiments, in response to receiving second sensor data indicating that the robotic lawnmower 105 has detected anchor point 510, the first electronic processor 205 is configured to control the cutting blade motor 240 to operate in a second predetermined manner. For example, the second predetermined manner may include stopping the rotation of the cutting blade motor 240 or adjusting the speed of the cutting blade motor 240. In some embodiments, the first electronic processor 205 may control other aspects of the robotic lawnmower 105 to function in a specific manner in response to the detection of any anchor point 510 or in response to the detection of a particular anchor point 510.

[0074] After the robotic lawnmower 105 has been controlled in the first predetermined manner (at box 420), the robotic lawnmower 105 is configured to move again along an approximately straight line until (i) the first electronic processor 205 detects the boundary cable 505 again (at box 405) or (ii) the first electronic processor 205 detects the anchor point 510 (at box 415). Therefore, Figure 4 A dashed line is shown starting from box 420 to indicate that after box 420, method 400 can continue to box 405 or 415, depending on the random movement of the robotic lawnmower 105.

[0075] As illustrated in the examples provided herein, in some embodiments, at least one sensor in sensor 230 is configured to sense a first anchor point 510 and a second anchor point 510 different from the first anchor point 510 (e.g., at a later time). In some embodiments, a first electronic processor 205 is configured to distinguish second sensor data indicating the detection of the first anchor point 510 from third sensor data indicating the detection of the second anchor point 510 to determine whether the first anchor point 510 or the second anchor point 510 has been sensed / detected. In response to receiving third sensor data indicating the detection of the second anchor point 510, the first electronic processor 205 is configured to control the operation of at least one wheel motor 235 to control the movement of the robotic lawnmower 105 (and / or control the operation of other components of the robotic lawnmower 105) in a second predetermined manner different from a first predetermined manner in which the robotic lawnmower 105 is configured to be controlled in response to the detection of the first anchor point 510. For example, the first anchor point 510 may indicate one end of a narrow passage / intersection 515, while the second anchor point 510 may indicate an obstacle. Therefore, the robotic lawnmower 105 can be controlled differently in response to the detection of each of the first anchor point 510 and the second anchor point 510.

[0076] In some embodiments, the first electronic processor 205 is configured to receive a first anchor point setting from an external device 115 via a first network interface 215 using wireless communication. In some embodiments, the first anchor point setting instructs the first electronic processor 205, in response to receiving second sensor data indicating that a first anchor point 510 has been detected, to control the operation of at least one wheel motor 235 to control the movement of the robotic lawnmower 105 (and / or the operation of other components of the robotic lawnmower 105) in a first predetermined manner. In some embodiments, the first anchor point setting is selected from a plurality of anchor point setting options via a first user input on the external device 115. In other words, using the external device 115, a user can select operating parameters of the robotic lawnmower 105 associated with one or more specific anchor points 510, such that the robotic lawnmower 105 is controlled in a desired manner in response to the detection of the corresponding anchor point 510.

[0077] In some embodiments, the external device 115 can alter the operating parameters of the robotic lawnmower 105 associated with a specific anchor point 510, which may be useful when a user moves to a new house with a new yard, requiring the robotic lawnmower 105 to move differently in response to the detection of the corresponding anchor point 510. In other words, the first electronic processor 205 can be configured to receive a second anchor point setting from the external device 115 to replace the first anchor point setting. The second anchor point setting can be selected from a plurality of anchor point setting options via a second user input on the external device 115. In some embodiments, the second anchor point setting instructs the first electronic processor 205 to control the operation of at least one wheel motor 235 in response to receiving second sensor data indicating that the first anchor point 510 has been detected, in a second predetermined manner to control the movement of the robotic lawnmower 105 (and / or control the operation of other components of the robotic lawnmower 105). As described above, in some embodiments, the second predetermined manner differs from the first predetermined manner and is configured to replace the first predetermined manner. In response to receiving second sensor data indicating that the first anchor point 510 has been detected, the first electronic processor 205 may be configured to control the operation of at least one wheel motor 235 in order to control the movement of the robotic lawnmower 105 (and / or control the operation of other components of the robotic lawnmower 105) in a second predetermined manner.

[0078] In some embodiments, any operating parameters described herein can be configured by a user using at least one of the first input device 220, the first display 225, and the external device 115.

[0079] In some embodiments, when anchor points 510 are configured to provide a corresponding unique identifier to the robotic lawnmower 105, the first electronic processor 205 may (in the first memory 210) store the number of times each anchor point 510 is detected (and the time). In response to determining that one or more anchor points 510 have been detected less frequently than other anchor points (e.g., less than a predetermined threshold), the first electronic processor 205 may determine that the area near the low-count anchor points 510 has not been sufficiently mowed. In response, the first electronic processor 205 may control the robotic lawnmower 105 to begin mowing the area near the low-count anchor points 510 (e.g., by traveling along the boundary cable 505 to one or more low-count anchor points 510). In some embodiments, the first electronic processor 205 may execute a control method that determines whether all anchor points 510 or a specific subset of anchor points 510 have been detected at least once within a predetermined time period. In response to determining that all anchor points 510 or a specific subset of anchor points 510 have been detected within the predetermined time period, the robotic lawnmower 105 may continue its normal operation. On the other hand, in response to determining that not all anchor points 510 or all anchor points 510 within a specific subset of anchor points 510 are detected within a predetermined time period, the first electronic processor 205 may control the robotic lawnmower 105 to begin mowing in an area near one of the undetected anchor points 510 (e.g., by traveling along the boundary cable 505 to one or more low-count anchor points 510). Alternatively or additionally, the first electronic processor 205 may provide a notification to the user indicating that not all desired anchor points 510 are detected within the predetermined time period. For example, the first electronic processor 205 may transmit the notification to an external device 115.

[0080] While many of the examples above include anchor points 510 located on or near boundary cable 505, anchor points 510 can be placed anywhere within the work area / boundary of the robotic lawnmower 105. For example, anchor points 510 can be placed in the middle of the work area (e.g., in an area where more frequent mowing is required), and when near anchor points 510, the robotic lawnmower 105 can be triggered to slow down or otherwise change its movement to mow more thoroughly in the area near anchor points 510.

[0081] The embodiments described above and shown in the accompanying drawings are presented by way of example only and are not intended to be limiting of the concept and principles of the invention. Therefore, it will be understood that various variations of the elements and their configurations and arrangements are possible without departing from the spirit and scope of the invention.

Claims

1. A robotic gardening tool, comprising: case; A set of wheels, which are attached to the housing and configured to rotate to propel the robotic gardening tool across the work surface; At least one wheel motor is coupled to one or more wheels in the set of wheels, the at least one wheel motor being configured to drive the rotation of the one or more wheels; Multiple sensors, including a first sensor configured to sense electromagnetic signals from a boundary cable mounted on the work surface and a second sensor configured to sense a first anchor point mounted on the work surface; as well as An electronic processor that communicates with and is configured to... First sensor data is received from a first sensor configured to sense electromagnetic signals from the boundary cable, wherein the first sensor data corresponds to the electromagnetic signals from the boundary cable. Based on the data from the first sensor, the operation of at least one wheel motor is controlled to control the movement of the robotic gardening tool, ensuring that the robotic gardening tool remains within the boundary defined by the boundary cable. Second sensor data is received from a second sensor configured to sense the first anchor point, wherein the second sensor data indicates that the first anchor point has been sensed, and In response to receiving the data from the second sensor, the operation of at least one wheel motor is controlled to control the movement of the robotic gardening tool in a first predetermined manner. The electronic processor is configured to control the operation of at least one wheel motor in order to control the movement of the robotic gardening tool in the first predetermined manner: The robot gardening tool is controlled to move until the electronic processor receives data from at least one of the multiple sensors indicating that an electromagnetic signal has been sensed from the boundary cable; Control the robot's gardening tools to move along the boundary cable; Receive fourth sensor data indicating the detection of a second anchor point mounted on the working surface from at least one of the plurality of sensors, wherein the second anchor point is different from the first anchor point; and In response to receiving data from the fourth sensor, the robot gardening tool is controlled to move away from the boundary cable.

2. The robotic gardening tool as claimed in claim 1, further comprising a network interface, wherein, The electronic processor is configured to communicate with an external device via the network interface, and wherein the electronic processor is further configured to: The first anchor point setting is received from the external device, wherein the first anchor point setting indicates the first predetermined manner in which the electronic processor controls the operation of the at least one wheel motor in response to receiving the second sensor data to control the movement of the robotic gardening tool; The first anchor point setting is selected from multiple anchor point setting options via a first user input on the external device.

3. The robotic gardening tool as described in claim 2, wherein, The electronic processor is further configured as follows: Receive a second anchor point setting from the external device to replace the first anchor point setting. The second anchor point setting is selected from the plurality of anchor point setting options via a second user input on the external device, and The second anchor point setting indicates a second predetermined mode in which the electronic processor, in response to receiving data from the second sensor, controls the operation of at least one wheel motor to control the movement of the robotic gardening tool. This second predetermined mode differs from the first predetermined mode and is configured to replace the first predetermined mode. In response to receiving the second sensor data, the operation of the at least one wheel motor is controlled to control the movement of the robotic gardening tool in the second predetermined manner.

4. The robotic gardening tool as described in claim 1, wherein, At least one of the plurality of sensors is configured to sense a second anchor point mounted on the working surface, and wherein the electronic processor is configured to: The third sensor data is received from at least one of the plurality of sensors configured to sense the second anchor point, wherein the third sensor data indicates that the second anchor point has been sensed; To distinguish between the data from the second sensor and the data from the third sensor, it is necessary to determine whether the first anchor point or the second anchor point was sensed; and In response to receiving the data from the third sensor, the operation of the at least one wheel motor is controlled to control the movement of the robotic gardening tool in a second predetermined manner, different from the first predetermined manner.

5. The robotic gardening tool as described in claim 1, wherein, The second sensor, configured to sense the first anchor point, is configured to sense the first anchor point by at least one of the following operations: Sensing an active signal emitted from the first anchor point; and The passive signal emitted from the first anchor point is sensed.

6. The robotic gardening tool as described in claim 1, wherein, The second sensor, configured to sense the first anchor point, is also configured to sense electromagnetic signals from the boundary cable.

7. The robotic gardening tool as claimed in claim 1, further comprising: A cutting blade assembly, which is coupled to the housing and configured to rotate relative to the housing; as well as A cutting blade assembly motor is connected to the cutting blade assembly and configured to drive the rotation of the cutting blade assembly; In response to receiving the data from the second sensor, the electronic processor is configured to control the operation of the cutting blade assembly motor in a second predetermined manner.

8. A method for controlling a robotic gardening tool, the method comprising: The electronic processor of the robotic gardening tool receives first sensor data from a first sensor of the robotic gardening tool, the first sensor being configured to sense electromagnetic signals from a boundary cable mounted on the work surface, wherein the first sensor data corresponds to the electromagnetic signals from the boundary cable. Using the electronic processor and based on the data from the first sensor, the operation of at least one wheel motor of the robotic gardening tool is controlled to control the movement of the robotic gardening tool, ensuring that the robotic gardening tool remains within the boundary defined by the boundary cable. The at least one wheel motor is coupled to one or more wheels in a set of wheels of the robotic gardening tool, and the at least one wheel motor is configured to drive the rotation of the one or more wheels. The set of wheels is connected to the housing of the robotic gardening tool and is configured to rotate to propel the robotic gardening tool on the work surface; The electronic processor receives second sensor data from a second sensor of the robotic gardening tool, the second sensor being configured to sense a first anchor point mounted on the work surface, wherein the second sensor data indicates that the first anchor point has been sensed; and In response to receiving the data from the second sensor, the electronic processor controls the operation of at least one wheel motor to control the movement of the robotic gardening tool in a first predetermined manner. The operation of controlling the at least one wheel motor to control the movement of the robotic gardening tool in the first predetermined manner includes: The electronic processor controls the movement of the robotic gardening tool until the electronic processor receives data from at least one of the group consisting of the first sensor, the second sensor, another sensor of the robotic gardening tool, and combinations thereof, indicating that an electromagnetic signal has been sensed from the boundary cable. The electronic processor is used to control the movement of the robotic gardening tool along the boundary cable; The electronic processor receives, using at least one sensor from a group consisting of the first sensor, the second sensor, another sensor of the robotic gardening tool, and combinations thereof, fourth sensor data indicating the sensing of a second anchor point mounted on the work surface, wherein the second anchor point is different from the first anchor point; and In response to receiving data from the fourth sensor, the electronic processor controls the robotic gardening tool to move away from the boundary cable.

9. The method of claim 8, further comprising: The electronic processor is used to communicate with external devices via the robotic gardening tool's network interface; as well as The electronic processor receives a first anchor point setting from the external device, wherein the first anchor point setting indicates a first predetermined manner in which the electronic processor controls the operation of at least one wheel motor in response to receiving the second sensor data to control the movement of the robotic gardening tool; The first anchor point setting is selected from multiple anchor point setting options via a first user input on the external device.

10. The method of claim 9, further comprising: The electronic processor receives a second anchor point setting from the external device to replace the first anchor point setting. The second anchor point setting is selected from the plurality of anchor point setting options via a second user input on the external device, and The second anchor point setting indicates a second predetermined mode in which the electronic processor, in response to receiving data from the second sensor, controls the operation of at least one wheel motor to control the movement of the robotic gardening tool. This second predetermined mode differs from the first predetermined mode and is configured to replace the first predetermined mode. In response to receiving the data from the second sensor, the electronic processor controls the operation of the at least one wheel motor in order to control the movement of the robotic gardening tool in the second predetermined manner.

11. The method of claim 8, further comprising: The electronic processor receives third sensor data from at least one of the group consisting of the first sensor, the second sensor, another sensor of the robotic gardening tool, and combinations thereof, wherein the third sensor data indicates that a second anchor point mounted on the working surface has been sensed; The electronic processor is used to distinguish between the data from the second sensor and the data from the third sensor to determine whether the first anchor point or the second anchor point has been sensed; and In response to receiving the data from the third sensor, the electronic processor controls the operation of the at least one wheel motor to control the movement of the robotic gardening tool in a second predetermined manner, different from the first predetermined manner.

12. The method of claim 8, wherein, Receiving data from the second sensor includes sensing the first anchor point using the second sensor through at least one of the following operations: Sensing an active signal emitted from the first anchor point; and The passive signal emitted from the first anchor point is sensed.

13. The method of claim 8, further comprising using the second sensor to sense electromagnetic signals from the boundary cable.

14. The method of claim 8, further comprising, in response to receiving the second sensor data, using the electronic processor to control the operation of the cutting blade assembly motor of the robotic gardening tool in a second predetermined manner; in, The cutting blade assembly motor is configured to drive the rotation of the cutting blade assembly, which is coupled to the housing and configured to rotate relative to the housing.

15. A robotic gardening tool, comprising: case; A set of wheels, which are attached to the housing and configured to rotate to propel the robotic gardening tool across the work surface; At least one wheel motor is coupled to one or more wheels in the set of wheels, the at least one wheel motor being configured to drive the rotation of the one or more wheels; The sensor is configured to sense a first anchor point mounted on the working surface; A network interface configured to communicate with external devices; as well as An electronic processor that communicates with the sensor and the network interface is configured to Sensor data is received from the sensor, wherein the sensor data indicates that the first anchor point has been sensed. In response to receiving the sensor data, the operation of at least one wheel motor is controlled to control the movement of the robotic gardening tool in a first predetermined manner, and Receive the first anchor point settings from the external device via the network interface. The first anchor point setting indicates a first predetermined manner in which the electronic processor, in response to receiving the sensor data, controls the operation of at least one wheel motor to control the movement of the robotic gardening tool, and The first anchor point setting is selected via a first user input on the external device. The electronic processor is configured to control the operation of at least one wheel motor in order to control the movement of the robotic gardening tool in the first predetermined manner: The electronic processor controls the movement of the robotic gardening tool until it receives second sensor data from at least one of the sensors in a group consisting of the sensor, another sensor of the robotic gardening tool, and combinations thereof, indicating that an electromagnetic signal has been sensed from a boundary cable mounted on the work surface. Control the robot's gardening tools to move along the boundary cable; The at least one sensor in the group consisting of the sensor, another sensor of the robotic gardening tool, and combinations thereof receives third sensor data indicating the sensing of a second anchor point mounted on the work surface, wherein the second anchor point is different from the first anchor point; and In response to receiving data from the third sensor, the robot gardening tool is controlled to move away from the boundary cable.

16. The robotic gardening tool as claimed in claim 15, wherein, At least one sensor in the group consisting of the sensor, another sensor of the robotic gardening tool, and combinations thereof is configured to sense electromagnetic signals from a boundary cable mounted on the work surface; The electronic processor is configured as follows: Second sensor data is received from at least one sensor in a group consisting of the sensor, another sensor of the robotic gardening tool, and combinations thereof, wherein the second sensor data corresponds to an electromagnetic signal from the boundary cable, and Based on the data from the second sensor, the operation of at least one wheel motor is controlled to control the movement of the robotic gardening tool, so that the robotic gardening tool remains within the boundary defined by the boundary cable.

17. The robotic gardening tool as claimed in claim 15, wherein, The electronic processor is further configured as follows: The second anchor point setting is received from the external device via the network interface to replace the first anchor point setting. The second anchor point setting is selected via a second user input on the external device, and The second anchor point setting indicates a second predetermined mode in which the electronic processor, in response to receiving the sensor data, controls the operation of at least one wheel motor to control the movement of the robotic gardening tool. This second predetermined mode differs from the first predetermined mode and is configured to replace the first predetermined mode. In response to receiving sensor data indicating that the first anchor point has been sensed, the operation of the at least one wheel motor is controlled to control the movement of the robotic gardening tool in the second predetermined manner.

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