Navigate a robotic lawn mower by wire

Abstract

A method for navigating a robotic lawn mower (2) via a wire (4, 8). The robotic lawn mower (2) includes at least one sensor (12, 14). The method includes controlling the robotic lawn mower (2) to leave a parking position of a station (11), wherein, in the parking position, the robotic lawn mower (2) is at least partially arranged inside a loop (10) of the charging station (11), detecting at least one signal of the loop (10) by the at least one sensor (12, 14) to determine that the robotic lawn mower (2) has moved further outside the loop (10). Detecting at least one signal of the wire (4, 8) by the at least one sensor (12, 14) and controlling the robotic lawn mower (2) to cross along the wire.

Description

Technical Field

[0001] The present invention generally relates to a method for navigating a robotic lawn mower via signal lines, for example, returning to a charging station when the robotic lawn mower's battery needs to be charged, or navigating out of a charging station when the robotic lawn mower begins mowing after recharging its battery. Background Art

[0002] Robotic lawn mowers, also known as self-propelled lawn mowers, are well-known. These robotic lawn mowers are equipped with rechargeable batteries. When the remaining battery charge falls below a certain level, the robotic lawn mower is configured to return to a charging station to recharge the battery. There are various methods for controlling the robotic lawn mower to return to the charging station. One possible method is for the robotic lawn mower, upon receiving the command to return to the charging station, to continue moving until it detects a boundary line and then follow the boundary line to a charging station located somewhere along the boundary line.

[0003] Another option when returning to the charging station is to use a guide line, which the robot mower follows back to the charging station. In some cases, using a guide line can often shorten the return journey compared to following a boundary line. Using a guide line is also beneficial when the robot mower needs to navigate narrow passages. In other cases, the robot mower can first find the boundary line and then follow it more quickly, rather than searching further for the guide line.

[0004] Particularly when leaving and returning to a charging station, it is desirable to reduce tracks formed on the lawn that may result from driving over the same location multiple times, and to improve mowing and navigation efficiency. Summary of the Invention

[0005] The object of the present invention is to provide a method for improving the navigation of a robotic lawn mower by means of a guide wire.

[0006] According to one aspect of the present invention, this object is achieved by a method for navigating a robotic lawn mower via a wire. The lawn mower robot includes at least one sensor. The method includes controlling the robotic lawn mower to leave a parking position at a station (e.g., a charging station). The parking position may be a charging position. For example, in the parking position, the robotic lawn mower is at least partially positioned inside a conductive loop of the charging station. For example, the loop may be made of conductive wire, but for ease of reference, is referred to herein as the loop, when viewed from above. The method may also include determining that the robotic lawn mower has moved and further outside the loop compared to the parking position, for example, such that it is at least substantially, for example, at least mostly, or completely outside the loop. For example, in a top view, at least one signal from the loop is detected by the at least one sensor, for example, by detecting that a direction of a perpendicular magnetic field component of the signal from the loop has changed to an opposite direction. The method may include detecting at least one signal from the conductive wire, by the at least one sensor, wherein the conductive wire is different from the loop. The method may include controlling the robotic lawn mower to stride along the conductive wire, for example, by moving the robotic lawn mower along the conductive wire using a sensor (e.g., a sensor disposed directly on the conductive wire). The steps of the method may be performed in the order described.

[0007] This is based on the idea that the guide wire improves the navigation of the robotic lawn mower by effectively guiding the robotic lawn mower out of the station and to a location where the robotic lawn mower will begin mowing.

[0008] The method may further include controlling the robotic mower to increase the distance between the robotic mower and the wire, thereby causing the robotic mower to displace, and then displace from the wire by traveling a displacement distance. The method may then include measuring a signal level of at least one signal from the wire using the at least one sensor, and controlling the robotic mower to follow the wire based on the measured signal level, for example, by following the wire at a distance that maintains the measured signal value at a constant level. This allows for effective reduction of track in the lawn.

[0009] In an exemplary embodiment, the displacement distance is random. For example, the displacement distance is randomly selected between a minimum displacement distance and a maximum displacement distance. This effectively avoids markings on the lawn. The minimum displacement distance and / or the maximum displacement distance can be user-adjustable. Alternatively or additionally, the minimum displacement distance and / or the maximum displacement distance can be based on the geometric characteristics of the station. The minimum displacement distance can be greater than zero.

[0010] Optionally, the method further comprises controlling the robotic lawn mower to return to the station, for example when it is detected that the battery needs to be recharged.

[0011] In another exemplary embodiment, the method further comprises controlling the robotic lawn mower to follow the guide wire within a minimum distance when returning to the station, in particular in each return cycle of a plurality of return cycles. In this way, a very reliable return operation can be achieved with a particularly low risk of missing the station.

[0012] According to an exemplary embodiment, the method further includes, in response to determining that the robotic mower has moved further outside the loop, for example, at least substantially outside the loop, controlling the robotic mower to travel a random distance along a straight line. This can prevent the robotic mower from taking the same subsequent route each time it exits a loop, thereby effectively avoiding tracks in the lawn.

[0013] According to another exemplary embodiment, the guide line is a boundary line defining an area. The robotic lawn mower can navigate within the area but is not allowed to leave the area. The boundary line serves as a boundary for the robotic lawn mower. The station is at least partially positioned within the area, allowing the robotic lawn mower to enter and exit the station as it navigates through the area. This area may also be referred to as a work area.

[0014] According to another exemplary embodiment, the method further includes, after controlling the robotic lawn mower to travel a random distance along the straight line, controlling the robotic lawn mower to rotate by an angle, measuring the signal level of at least one signal from the loop line using at least one sensor, and / or controlling the robotic lawn mower to follow the loop line based on the measured signal level, for example, until at least one signal from a boundary line is detected. In this manner, the robotic lawn mower can be manipulated to travel along an arc or circle defined by a radius of the random distance. Consequently, trajectories around the station can be effectively reduced or even avoided.

[0015] Optionally, the method further includes, before controlling the robotic mower to increase the distance between the robotic mower and the conductive line by traveling the displacement distance, controlling the robotic mower to straddle the boundary line, for example, by moving directly along the conductive line using a sensor, moving in a first direction until a straight portion of the boundary line is detected, and in response to detecting the straight portion, controlling the robotic mower to straddle the boundary line. For example, by moving directly along the conductive line using a sensor in a second direction opposite to the first direction. This makes it possible to avoid the robotic mower approaching or colliding with an obstacle, for example, at a curved portion of the boundary line. Thus, the robotic mower searches for the straight portion to accurately set its displacement to the boundary line.

[0016] According to an exemplary embodiment, the guide wire is a guide wire, for example, arranged within an area defined by a boundary line. The guide wire can guide the robotic mower to the station. The guide wire can connect an area (e.g., a remote portion) with the station so that the robotic mower can quickly find the station, and / or the guide wire can extend through a narrow passage that the robotic mower may not be able to find.

[0017] Optionally, the method further includes rotating the robotic mower based on at least one signal measured by at least one of the two sensors, and / or determining an orientation of the robotic mower relative to the guide wire. For example, the robotic mower may determine the orientation of a perpendicular component of the magnetic field of the guide wire signal using the at least one sensor. If the measured orientation differs between the sensors, the robotic mower may infer that the guide wire is located between the sensors.

[0018] According to one embodiment, the method further includes, before controlling the robotic mower to increase the distance between the robotic mower and the guide line by driving the displacement distance, controlling the robotic mower to cross rows along the guide line, for example, by using a sensor to move directly along the guide line for a predetermined time and / or a predetermined distance. In this way, it is possible to ensure that the displacement of the guide line begins at a location sufficiently far from the charging station.

[0019] Optionally, the method further includes measuring a distance and / or driving time traveled by the robotic lawn mower, and controlling the robotic lawn mower to stop following the guide line or boundary line when the driving distance equals a preset distance and / or when the driving time equals a preset time. The preset time and / or preset distance may be user-adjustable. Thus, the robotic lawn mower may be controlled to navigate to a location within the area.

[0020] According to one embodiment, the method further includes, in response to the driving distance being equal to a preset distance and / or the driving time being equal to a preset time, controlling the robotic mower to mow the grass in the area, thereby mowing the grass at a certain location in the area.

[0021] The aforementioned object is also achieved by a method for navigating a robotic lawn mower using a boundary line defining an area and a loop line at least partially disposed within the area. The robotic lawn mower includes a first sensor and a second sensor. The method comprises: controlling the robotic lawn mower to follow the boundary line within a displacement distance using at least one sensor; and, in response to detecting that the first sensor is disposed inside the loop line, using the second sensor to step along the loop line. This method provides particularly stable navigation toward a parking and / or charging location at a station.

[0022] The method may include any or all of the features and / or steps of the above methods.

[0023] The method may further include detecting another wire portion with the first sensor. The other wire portion may be different from the loop wire. The other wire portion may be at least partially arranged inside the loop wire. The other wire portion may be U-shaped.

[0024] According to one embodiment, the method further comprises, in response to detecting the further wire section, controlling the robotic mower to drive forward in a straight line for a predetermined time and / or a predetermined distance, in particular without following any signal. This allows for particularly stable navigation.

[0025] Optionally, the other conductor portion is electrically connected to the boundary line and / or is a part of the boundary line. This allows for a simple arrangement.

[0026] According to one embodiment, the method further comprises controlling the robotic mower to follow another guide section to occupy a parking position, in which the battery of the robotic mower is charged by the station.

[0027] The above object is also achieved by a method for navigating a robotic lawn mower along a wire, the robotic lawn mower including at least one sensor, the method comprising: controlling the robotic lawn mower to leave a parking position at a station (e.g., a charging station), detecting at least one signal from a wire via the at least one sensor, controlling the robotic lawn mower to cross a row along the wire, controlling the robotic lawn mower to increase the distance between the robotic lawn mower and the wire so that the robotic lawn mower moves a displacement distance from the wire, measuring a signal level of at least one signal from the wire via the at least one sensor, and controlling the robotic lawn mower to follow the wire based on the measured signal level. The method may include any or all of the features and / or steps of the above methods.

[0028] According to another aspect, the above object is achieved by a robotic lawn mower for navigating along a wire and comprising at least one sensor and configured to: leave a parking position of a station, wherein in the parking position the robotic lawn mower is at least partially arranged inside a loop of the station, determine that the robotic lawn mower is at least substantially arranged outside the loop by detecting at least one signal of the loop by the at least one sensor, detect at least one signal of the wire by the at least one sensor, cross a row along the wire, increase the distance between the robotic lawn mower and the wire so that the robotic lawn mower moves a displacement distance from the wire, measure a signal level of at least one signal from the wire by the at least one sensor, and follow the wire based on the measured signal level.

[0029] The above object is achieved by a robotic lawn mower for navigating along a boundary line defining an area and a loop line at least partially arranged within the area, the robotic lawn mower including a first sensor and a second sensor, and configured to: follow the boundary line within a displacement distance using at least one sensor, and in response to detecting by the first sensor that the first sensor is arranged inside the loop line, cross rows along the loop line using the second sensor.

[0030] The above object is achieved by a robotic lawn mower for navigating along a wire, comprising at least one sensor, and configured to: leave a parking position of a station, detect at least one signal of the wire through the at least one sensor, stride along the wire, increase the distance between the robotic lawn mower and the wire so that the robotic lawn mower moves a displacement distance from the wire, measure a signal level of at least one signal from the wire through the at least one sensor, and follow the wire based on the measured signal level.

[0031] Optionally, the robotic lawn mower of any aspect described herein is configured to perform the method of any aspect or embodiment described herein.

[0032] According to one aspect, a system is provided comprising a guide wire according to any aspect or embodiment described herein and a robotic lawn mower, wherein the guide wire may be a guide wire arranged within a boundary line or within an area defined by the boundary line.

[0033] Thus, a method, a robotic lawn mower and a system for navigating a robotic lawn mower along a guide wire are provided, which allow for improved navigation of the robotic lawn mower via the guide wire. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The exemplary embodiments will be described below with reference to the accompanying drawings, in which:

[0035] Figure 1 is a schematic diagram of a robotic lawn mower system.

[0036] Figure 2 is a schematic diagram of an exemplary embodiment of a robotic lawn mower.

[0037] Figure 3 is a schematic diagram of an exemplary embodiment of a charging station for a robotic lawn mower system.

[0038] Figure 4 is a schematic block diagram of the control unit in a robotic lawn mower.

[0039] Figure 5 It is a schematic block diagram of a signal generator.

[0040] Figures 6.1 to 6.22The different steps are shown as the robotic lawn mower navigates along the guide wires of the robotic lawn mower system.

[0041] Figures 7.1 to 7.42 Different steps are shown as the robotic mower navigates along a boundary line of the robotic mower system. DETAILED DESCRIPTION

[0042] In the following description, an exemplary embodiment of a robotic lawn mower for navigation along a wire will be described in detail.

[0043] Figure 1 A schematic diagram of a system for carrying out a method of an embodiment for navigating a robotic lawn mower 2 by means of a guide wire 8, in particular towards and away from a predetermined location, such as a charging station 11. The robotic lawn mower 2, or self-propelled lawn mower as it may also be called, is battery powered and requires regular charging. The robotic lawn mower 2 is configured to move through an area A surrounded by a boundary wire 4 during operation. Obviously, the robotic lawn mower 2 is depicted slightly enlarged for the sake of clarity. The boundary wire 4 can be configured in many different ways so that it defines an area A in which the robotic lawn mower 2 is allowed to move. The boundary wire 4 is preferably arranged below the ground of the lawn so that it is not visible, but may also be arranged on or above the ground. The boundary wire 4 may be an ordinary single core copper wire. Of course, there are other options which are well known to those skilled in the art, such as multi-strand wire types. As Figure 1 As shown, the boundary line 4 forms a boundary loop line 4a in the charging station 11. The boundary loop line 4a will be used to guide the robotic lawn mower 2 to make charging contact with the charging station 11, which will be further described below.

[0044] The system also includes the aforementioned charging station 11. The charging station itself 11 can be considered as a place where the robotic lawn mower 2 is charged and, for example, can be provided with a charging station plate 24 onto which the robotic lawn mower 2 is guided when docking is performed. The charging station plate 24 will make the docking process more precise, as the robotic lawn mower 2 will be on a flat and predictable surface during the docking process. In addition, a charging station loop 10 is provided at the charging station 11. Figure 1 As shown, the boundary line loop 4a is narrower than the charging station loop 10 and (optionally) passes through the charging station loop 10. Therefore, the charging station loop 10 has an extension that is smaller than or at most as large as the charging station 11. The signal transmitted by the charging station loop 10 is different from the signal transmitted by the boundary line 4. Therefore, the robotic lawn mower 2 can distinguish between the charging station loop 10 and the boundary line 4.

[0045] The system according to the present disclosure also includes one or more guide lines 8. The guide lines 8 are lines that the robotic mower 2 can follow when returning to the charging station 11, when leaving the charging station 11 to start a mowing cycle, and / or along paths that are otherwise difficult to move. Figures 6.1 to 6.22 The robotic mower may also be configured to return to the charging station 11 along the boundary line 4, and / or to leave the charging station 11 to begin a mowing cycle, which will be referred to in detail. Figures 7.1 to 7.42 Describe in more detail.

[0046] The boundary wire 4, the charging station loop wire 10, and the one or more guide wires 8 are all connected to a signal generator that feeds a (particularly wire-specific) current signal, particularly an alternating current (AC) signal, to each wire and loop wire, so that the robotic mower 2 can identify the wire or loop wire it is detecting when it is within detection range. Typically, the robotic mower 2 can be configured to detect the magnetic fields of the different signal wires.

[0047] Now go to Figure 2 , an exemplary embodiment of the robot lawn mower 2 will be described in more detail. The robot lawn mower 2 comprises a control unit 22, wheels 20, at least one sensor 12, 14, in particular two sensors 12 and 14, optionally three or four sensors 12, 14, 12', 14', for example, two sensors 12 and 14 at the front and one or two sensors 12', 14' at the rear, and a battery 18. Each of the sensors 12, 14, 12', 14' is configured to sense a magnetic field. In the present embodiment, the robot lawn mower 2 comprises exactly two sensors 12, 14, but, as mentioned above, in an alternative embodiment, the robot lawn mower 2 may comprise more than two, for example three or four sensors. Will be combined Figure 4 The control unit 22 is described in more detail. The control unit 22 includes a processor 80 for controlling the movement of the robotic lawn mower 2. When the robotic lawn mower 2 is in operation, the sensors 12 and 14 can detect the magnetic fields generated by the boundary wire 4, the charging station loop wire 10, and the one or more guide wires 8. The signals of the different wires 4, 8 and loop wire 10 can be encoded differently. The detected magnetic field, i.e., the signal, is decoded in the control unit 22 to determine which loop wire or guide wire it was received from. The robotic lawn mower 2 also includes a charging connector 16.

[0048] It is noteworthy that the robotic lawn mower 2 has a front-to-rear axis, along which it moves when traveling in a straight line forward or backward. In this embodiment, the robotic lawn mower 2 has a longitudinal extension that coincides with the front-to-rear axis. The two sensors 12, 14 are arranged so as to be staggered relative to each other in a direction orthogonal to the front-to-rear axis. In this embodiment, the sensors 12, 14 are arranged in the front region of the robotic lawn mower 2 and may be referred to as front sensors 12, 14. The two rear sensors 12', 14' may optionally be arranged at the rear of the robotic lawn mower 2 and arranged so as to be staggered relative to each other in a direction orthogonal to the front-to-rear axis.

[0049] Figure 3 FIG. 1 shows an exemplary embodiment of a charging station 11. The charging station 11 comprises a charging station plate 24 on which the charging station loop 10 (which may also be referred to as a far-field loop) and the boundary loop 4a (which may also be referred to as a near-field loop) are arranged. The charging station 11 further comprises a signal generator 6. Figure 3 As shown, charging station 11 includes a charging connector 26 that is arranged to contact charging connector 16 of robotic lawn mower 2 when docked to charging station 11. Charging connector 26 is mounted on a tower 28 of charging station 11. When charging station 11 is placed on the ground so that robotic lawn mower 2 can enter charging station 11 by driving on charging station plate 24, tower 28 is higher than charging station plate 24, i.e., tower 28 has a greater vertical extension than charging station plate 24. Optionally, signal generator 6 is arranged in tower 28.

[0050] See also Figure 4 , the control unit 22 of the robotic lawn mower 2 will be described in more detail. As described above, the control unit 22 includes a processor 80 and a memory 82. The memory 82 may include a computer program 84 of computer program code (i.e., instructions). When the computer program code is executed on the processor 80, the computer program code is configured to perform the method steps performed by the robotic lawn mower 2. The control unit 22 also includes an interface 86 for communicating with the sensors 12, 14 and one or more drive motors that control the drive of the robotic lawn mower 2.

[0051] The processor 80 may include one, two, or more central processing units (CPUs). For example, the processor 80 may include a general-purpose microprocessor, an instruction set processor and / or an associated chipset and / or a specialized microprocessor, such as an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a complex programmable logic device (CPLD). The processor 80 may also include a memory for caching purposes.

[0052] Figure 5Signal generator 6 is shown to further include a processor 60 and a memory 62. Memory 62 includes a computer program 64, which includes computer program code, i.e., instructions. The computer program code is configured to implement the method steps performed by signal generator 6 when the code is executed on processor 60. Signal generator 6 also includes an interface 66 for transmitting the generated AC signal to boundary line 4, charging station loop line 10, and one or more guide lines 8.

[0053] Like processor 80, processor 60 also includes one, two, or more central processing units (CPUs). For example, processor 60 may include a general-purpose microprocessor, an instruction set processor and / or associated chipset, and / or a specialized microprocessor, such as an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a complex programmable logic device (CPLD). Processor 60 may also include memory for caching purposes.

[0054] See also Figures 6.1 to 6.22 , an exemplary embodiment will be described in more detail.

[0055] First, a command is triggered, instructing the robotic lawn mower 2 to navigate to a predetermined location, in this embodiment, the charging station 11. This command can be triggered by the signal generator 6 or the control unit 22. The robotic lawn mower 2 then begins searching for the guide line 8. To find the guide line 8, the robotic lawn mower 2 drives over area A, and the sensors 12 and 14 are used to detect the signal of the guide line 8. The signal of the guide line 8 can be detected by the sensors 12 and 14 within a certain range, such as several meters. Once one or both of the sensors 12 and 14 receive the signal of the guide line 8, the robotic lawn mower 2 is commanded to drive to the guide line 8, for example, simply by continuing to drive in a straight line until the robotic lawn mower 2 crosses the guide line 8.

[0056] To generate a signal for guide wire 8, signal generator 6 directs current through guide wire 8, thereby generating a magnetic field with a polarity around guide wire 8. Consequently, the polarity of the signal on one side of guide wire 8 is opposite to the polarity on the other side of guide wire 8. For example, when measuring its vertical component, once the robotic mower 2 crosses the guide wire 8, one or both of sensors 12 and 14 detects the change in polarity. By detecting this change in polarity, the robotic mower 2 (more specifically, its control unit 22) is configured to determine that the robotic mower 2 has crossed the guide wire 8.

[0057] Figure 6.1 The figure shows a situation where the robotic mower 2 detects the guide line 8. One of the sensors 12, 14, 12, has crossed the guide line 8, while the other sensor 14 has not, so the robotic mower 2 can infer that it is directly above the guide line 8.

[0058] In this embodiment, the robotic lawn mower 2 reaches the guide line 8 at a certain angle. Figure 6.1 In the illustrated situation, first sensor 12 has crossed guide wire 8, while the other, second sensor 14, of sensors 12 and 14 has not yet crossed guide wire 8. By measuring the polarity of the signal from guide wire 8 using sensors 12 and 14, for example, by measuring the perpendicular component of the magnetic field of the signal from guide wire 8, the robotic mower 2 determines that it is directly above guide wire 8. When the robotic mower 2 approaches guide wire 8 in a direction perpendicular to guide wire 8, both sensors 12 and 14 will simultaneously detect a change in polarity, and the robotic mower 2 can therefore infer that it is directly above guide wire 8 in this situation.

[0059] Furthermore, one end of guide wire 8 is electrically connected to signal generator 6, and the other end is electrically connected to boundary wire 4, wherein boundary wire 4 is connected to signal generator 6. By determining the polarity of the signal from guide wire 8, robotic mower 2 can infer which side of guide wire 8 the corresponding sensors 12, 14 are located. Furthermore, depending on whether the two sensors are on the left or right side of guide wire 8, or one sensor is on the left and the other is on the right (or vice versa), robotic mower 2 can infer whether it is moving along guide wire 8 toward or away from charging station 11, or facing left or right relative to guide wire 8. Thus, by simply and stably measuring the two polarity signals, robotic mower 2 can quickly and reliably determine the direction of its current flow relative to guide wire 8 and charging station 11.

[0060] like Figure 6.2 As shown, in response to detecting that it is above the guide line 8, the robotic mower 2 is configured to travel further (specifically, straight ahead) across the guide line 8 by a predetermined distance. The predetermined distance may be the length of the robotic mower 2 or a portion thereof, or the turning radius of the robotic mower 2 or a portion thereof. After traveling the predetermined distance, two sensors 12 and 14 are respectively arranged on the same side of the guide line 8. Based on the signal polarity of the guide line 8, the robotic mower 2 determines the direction to the charging station 11 (along the guide line 8). Next, the robotic mower 2 turns left or right toward the determined direction to the charging station 11. While the robotic mower 2 rotates relative to the guide line 8, the signal polarity of the guide line 8 is analyzed. Once one of the sensors 12 and 14 (the second sensor 14 on the left in the figure) detects a change in polarity, the robotic mower 2 determines that the guide line 8 is substantially aligned with the robotic mower 2, in this embodiment, aligned with the front-to-back axis of the robotic mower 2.

[0061] In other words, the robotic lawn mower 2 can use the two front sensors 12, 14 to determine which direction to travel along the guide line 8 in order to reach the charging station 11, or in order to travel away from the charging station 11. Figures 6.10 to 6.22 Described in more detail. Based on the polarity of the signal from the guide wire 8, the robotic mower 2 can distinguish whether the charging station 11 is located behind, to the left, to the right, or in front of the robotic mower 2. Alignment with the charging station 11 can serve as a trigger for when to begin following the guide wire 8. Furthermore, the robotic mower 2 can use this information to take different actions to optimize the alignment process, such as turning at different angles and / or at different speeds (e.g., at a speed and / or angle dependent on the determined direction). Furthermore, failure detection after crossing the guide wire 8 can be provided. For example, if alignment is not determined, the robotic mower 2 can abort the alignment process and immediately restart a new search for the guide wire 8, rather than trying for a while to find a solution or attempting to locate the guide wire 8. In contrast, conventional robotic mowers must turn a large angle until the front sensor crosses the wire again to determine its relative position to the wire. Turning a large angle carries an inherent risk of slipping on the grass, so the robotic mower may continue turning until it eventually gives up. The method described herein allows for calculated actions to be performed, thereby reducing unnecessary search time and improving battery life.

[0062] Figure 6.3 The robotic lawn mower 2 is shown after being aligned with the guide line 8. The robotic lawn mower 2 is now facing in a direction along the guide line 8 towards the charging station 11.

[0063] Next, if Figure 6.4 As shown, the robotic lawn mower 2 navigates by detecting signals of the guide line 8 via the sensors 12 , 14 , such that one sensor (here, the first right sensor 12 ) is directly located above the guide line 8 .

[0064] The robotic lawn mower 2 then begins to stride over the guide line 8 with one of the sensors 12, 14 located directly above the guide line 8, towards the charging station 11. In this example, this is the right sensor 12. The other sensor 14 (here, as an example, the left sensor) is a sensor located outside the guide ring, at Figure 6.4 In the middle are sensors located below the guide wire 8. When crossing rows along the guide wire 8, the robotic mower 2 maintains the same distance from the guide wire 8. Crossing rows can be performed by controlling the robotic mower 2 so that the sensors are directly arranged on the corresponding wires or loops, for example, by monitoring the signal polarity.

[0065] Figure 6.5 、 6.6and 6 . 7 show the robotic lawn mower 2 after it has traveled along a portion of the guide line 8 and reached the charging station 11 .

[0066] Next, the robotic lawn mower 2 detects that one or both of the sensors 12 and 14 have entered the charging station loop 10 by detecting a change in the signal polarity of the charging station loop 10. Figure 6.8 .

[0067] In response to detecting entry into the charging station loop 10 , the robotic mower 2 continues to travel straight ahead for a predetermined distance.

[0068] Next, the robotic mower 2 positions itself relative to the near-field loop (in this embodiment, the boundary loop 4a). The boundary loop 4a is a fixed portion of the boundary loop 4 and contains the same signals as the boundary loop 4a. To determine its orientation relative to the boundary loop 4a, the robotic mower 2 rotates until one of the front sensors 12, 14 enters the boundary loop 4a. When one of the front sensors 12, 14 enters or is already within the boundary loop 4a, the robotic mower 2 continues rotating until the rear sensor 12, 14 (if one sensor 12, 14 enters the boundary loop 4a first, the rear sensor is the other sensor 12, 14) also enters the boundary loop 4a.

[0069] The near-field loop alignment that the robotic mower 2 is configured to perform may also include a fault detection process to detect if the robotic mower 2 initially turns in the wrong direction, for example, by detecting the boundary loop 4a using the maximum steering angle without using any of the front sensors 12, 14 before turning in another direction. This fault detection is only used when there is no loop signal within the boundary loop 4a before the initial turn. If the sensors 12, 14 are located inside the boundary loop 4a, the robotic mower 2 can infer which direction to turn.

[0070] Figure 6.9The robot mower 2 is shown after it has initially aligned with the boundary loop 4a. Next, the robot mower 2 continues the docking process. The robot mower 2 drives forward (slowly) and turns slightly to the left or right depending on the information from the sensors 12, 14 regarding the boundary loop 4a signal (typically a near-field signal). Optionally, the following procedure is used: (a) if the left sensor 14 is within the boundary loop 4a and the right sensor 12 is outside the boundary loop 4a, the robot mower 2 turns to the left, for example, using a steering speed (and / or time) that depends on the signal level of the boundary loop 4a measured by the left sensor 14; (b) if the right sensor 12 is within the boundary loop 4a and the left sensor 12 is outside the boundary loop 4a, the robot mower 2 turns to the right, for example, using a steering speed (and / or time) that depends on the signal level of the boundary loop 4a measured by the right sensor 12; (c) if neither sensor 12, 14 is within the boundary loop 4a, or both sensors 12, 14 are within the boundary loop 4a, the robot mower 2 drives directly forward without turning. Steps (a) to (c) may be performed continuously until the robotic mower 2 reaches a charging position, where the charging connector 16 of the robotic mower 2 is electrically connected to the charging connector 26 of the charging station 11 .

[0071] Figure 6.10 The robotic lawn mower 2 is shown in a charging position. In this position, the charging station 11 can charge the battery 18 of the robotic lawn mower 2. It is worth noting that a different type of charging station can be used instead of the charging station 11, so that the charging position can be more generally referred to as a parking position.

[0072] When the battery 18 of the robotic mower 2 has been charged and / or when other conditions are met, such as at a specific time and / or date, the robotic mower 2 leaves the charging station 11 to begin a mowing cycle. It may be necessary to mow a specific portion of the area A. In order to navigate the robotic mower 2, the robotic mower 2 may be commanded by the user, the charging station 11, and / or by the robotic mower 2 to follow the guide line 8 a predetermined distance away from the charging station 11. Optionally, various profiles containing different values ​​for the predetermined distance may be stored. As just one example, the robotic mower 2 may be controlled to follow the guide line 8 a first predetermined distance, such as 50 m, in a first mowing cycle (e.g., on Monday), and to follow the guide line 8 a second predetermined distance, such as 100 m, in a second mowing cycle (e.g., on Tuesday).

[0073] When the robotic lawn mower 2 is arranged in the charging position, in a top view, the robotic lawn mower 2 is arranged at least partially within the charging station loop 10. The robotic lawn mower 2 travels backward in a straight line. At the same time, the robotic lawn mower 2 detects the polarity of the signal of the charging station loop 10, for example by measuring the vertical signal component. When the sensors 12, 14 detect that the polarity of both sensors 12, 14 or one of the sensors 12, 14 changes to the opposite direction, the robotic lawn mower 2 concludes that the sensors 12, 14 and at least a major part thereof are arranged outside the charging station loop 10 and the charging station 11, see Figure 6.11 .

[0074] Next, the robot mower 2 continues to drive straight backward for an additional random distance. Figure 6.12 .

[0075] When the random distance is reached, the robotic mower 2 stops and uses the polarity measured by each sensor 12, 14 to determine the position of the guide wire 8 relative to the robotic mower 2. Figure 6.12 In FIG, the signal polarity of the guide line 8 measured by the sensor 12 indicates that the robotic mower 2 is facing the charging station 11. Then, the robotic mower 2 will turn in one direction, for example, to the left to a maximum angle, for example, 270 degrees, until the sensors 12 and 14 are located on opposite sides of the guide line 8, respectively, thereby detecting opposite polarities, see FIG. Figure 6.13 、 Figure 6.14 and Figure 6.15 .

[0076] exist Figure 6.15 At this point, the sensors 12, 14 are located on opposite sides of the guide line 8 and the robotic mower 2 determines that it is oriented out of the charging station 11, i.e., oriented in the correct way when leaving the charging station 11. At this point, the robotic mower 2 starts measuring its travel distance, for example, by means of an odometer.

[0077] Next, the robotic mower 2 begins to travel across the rows on the guide line 8 for a predetermined time and / or a predetermined distance, for example, by utilizing one of the sensors 12, 14, for example, the left sensor 14, to travel along the guide line 8. For example, using the signal polarity of the guide line 8, the robot is directly above the guide line 8, see Figure 6.16 .

[0078] After a predetermined time and / or a predetermined distance traveled by the robot mower 2, the robot mower 2 stops. Figure 6.17 .

[0079] Next, the robotic mower 2 is turned in a direction away from the guide line 8, for example, to the right. For example, until the distance between the guide line 8 and one of the sensors 12, 14, for example, the left sensor 14, is the same as the random corridor distance, see Figure 6.18 .

[0080] Then, the robot mower 2 uses the sensors 12 and 14 to sample the current signal amplitude from the guide line 8. When following the guide line 8, for example, the left sensor 14, the robot mower 2 will use the sensors 12 and 14 and start following the guide line 8 using the signal amplitude, see Figure 6.19 、 Figure 6.20 and Figure 6.21 .

[0081] like Figure 6.21 As shown, when the robot mower 2 detects that it has traveled a predetermined distance, the robot mower 2 stops.

[0082] Next, the robot mower 2 rotates to any angle and starts a mowing cycle. Figure 6.22 If not already activated, the robotic lawn mower 2 will begin rotating the cutting blades.

[0083] Now turn Figures 7.1 to 7.42 , the operations of the robot mower 2 returning to the charging station 11 and leaving the charging station 11 will be described in more detail.

[0084] from Figure 7.1 Initially, the robotic lawn mower 2 begins returning to the charging station 11, for example, to charge the battery 18 as described above. First, the robotic lawn mower 2 detects the boundary line 4, for example, by measuring the perpendicular magnetic field component of the signal using the sensors 12 and 14 to detect a change in the polarity of the signal at the boundary line 4. Alternatively, the boundary line 4 can be detected using the same method as described above for the guide line 8.

[0085] Returning through the boundary line 4 may be initiated directly upon detection of the boundary line 4. Alternatively, the robotic mower 2 may be configured or configurable to return through the boundary line 4 before it finds the guide line 8, and / or when no guide line 8 is installed, and / or when no guide line 8 is found after searching for the guide line 8 for a preset time.

[0086] Next, if Figure 7.2 As shown, the robotic mower 2 strides along the boundary line 4, for example, by having one of the sensors 12, 14 follow the boundary line 4 directly on the boundary line 4. For example, when striding along the boundary line 4 in a clockwise direction, the robotic mower 2 is configured to stride along the boundary line 3 using the left sensor 14. Alternatively or additionally, the robotic mower 2 is configured to stride along the boundary line 4 in a counterclockwise direction, and in this case, the right sensor 12 is used.

[0087] The robot mower 2 searches for a straight portion of the boundary line 4. When the robot mower 2 finds a straight portion having a preset length, it stops.

[0088] Next, the robotic lawn mower 2 is driven directly backward, for example, for a distance corresponding to a predetermined factor multiplied by a predetermined fixed corridor distance, see Figure 7.3 The robotic lawn mower 2 then determines and records the signal level of the signal of the boundary line 4 using the sensor 12 farthest from the boundary line 4 as a reference.

[0089] Then, the robot mower 2 turns toward the area A by a predetermined angle, for example, 45 degrees. Figure 7.4 .

[0090] As a next step, the robot mower 2 moves forward in a straight line for a predetermined distance, for example, a predetermined coefficient (e.g., 1.41) multiplied by the fixed corridor distance, so as to assume a distance from the boundary line 4, see Figure 7.5 In this way, collisions with obstacles near the boundary line 4 can be avoided.

[0091] Next, the robotic lawn mower 2 turns the same angle as before, for example 45 degrees, but in the opposite direction, see Figure 7.6 Thus, the robotic mower 2 is now placed parallel to the boundary line 4 and moves relative to the boundary line 4. The robotic mower 2 then determines the signal level of the boundary line 4 signal, for example using the same sensor as before, and starts following the boundary line 4 at this signal level, see Figure 7.7 .

[0092] like Figure 7.8 As shown, the robot mower 2 detects the far-field signal of the charging station loop 10 at a predetermined distance. Figures 7.6 to 7.8 As shown, the robotic lawn mower 2 continues to move along the boundary line 4, see Figure 7.9 .

[0093] Next, the robotic lawn mower 2 continues to move along the boundary line 4 until it enters the charging station loop 10, for example, from a top view, the sensor 14 is closest to the boundary line 4, in this case the left sensor 14, see Figure 7.10 For example, the entry into the charging station loop 10 is detected by measuring the magnetic field component of the signal when the charging station loop 10 is flipped vertically.

[0094] The robotic lawn mower 2 then begins to traverse the charging station loop 10 using the sensor 12 furthest from the boundary line 4, in this case the right sensor 12, see Figure 7.11 Therefore, when the first sensor 14 detects entry into the charging station loop 10 , the second sensor 12 is used to execute the crossover.

[0095] The robotic lawn mower 2 then continues to stride along the charging station loop 10 with the second sensor 12 and detects, for example by measuring a change in polarity, that the first sensor 14 is arranged outside the boundary line 4 area A, i.e. within the U-shaped boundary loop 4a portion at the charging station 11, see Figure 7.12 .

[0096] Afterwards, the robotic lawn mower 2 continues to cross along the charging station loop 10 together with the second sensor 12 until the first sensor 14 returns to the inner side of the boundary line 4 area A, see Figure 7.13 .

[0097] Then, the robotic lawn mower 2 starts to run straight ahead, for example, for a preset time and / or a preset distance without following any signal. Figure 7.14 In this position, the rear wheels of the robotic lawn mower 2 are arranged in the center of the charging station plate 24. In this arrangement, collision with the tower 28 can be avoided.

[0098] The robotic lawn mower 2 is then rotated 90 degrees away from the charging connector 26 of the charging station 11, see Figure 7.15 .

[0099] Next, the robotic lawn mower 2 moves forward in a straight line for a preset distance. Figure 7.16 , and rotate until the drag sensor (where drag refers to rotation) is arranged outside the boundary line 4, that is, inside the U-shape formed by the boundary loop line 4a, see Figure 7.17 Optionally, this rotation is limited to a maximum of 270 degrees. Thereafter, the robotic mower 2 enters the charging position 10 as described above with reference to Figure 6.9 and 6.10 As mentioned, see Figure 7.18 .

[0100] When the robotic mower 2 is in the charging position 10 , for example, due to the reasons described above with respect to the guide wires 8 , the robotic mower 2 may leave the charging station 11 as described below using the boundary wires 4 .

[0101] First, the robotic lawn mower 2 starts to leave the charging station 11 and travels directly backwards, see Figure 7.19 When the robotic lawn mower 2 detects that it has left the charging station 11, for example, by determining that the front sensors 12, 14 have entered the outside of the charging station loop 10, for example, by measuring the polarity of the vertical component of the signal, it continues to travel backward in a straight line for a random distance. Thereafter, the robotic lawn mower 2 stops, see Figure 7.20 .

[0102] Next, the robot mower 2 turns left or right by an angle, for example, a predetermined angle (for example, 45 degrees), see Figure 7.21The steering direction may be preconfigured or preconfigurable, or may be selected based on the lawn and / or schedule (e.g., time of day, day of the week, or the like). For example, several profiles with different directions may be stored along with probabilities for selecting each profile, wherein the profile to be executed may be randomly selected based on these probabilities. The schedule or profile may also include a total distance traveled. At this point, the robotic lawn mower 2 begins measuring the distance traveled, for example using an odometer.

[0103] Next, the robotic lawn mower 2 determines and records the current signal level detected from the charging station loop 10 via one of the front sensors 12, 14 and begins to follow the charging station loop 10 at this signal level via this sensor 12, 14, see Figures 7.22 to 7.26 .

[0104] Then, if Figure 7.26 As shown, one of the front sensors 12, 14 enters outside the area A of the boundary line 4, which is detected, for example, by measuring the polarity of the vertical signal component. In this case, the robot mower 2 stops.

[0105] Then, the robot mower 2 turns backward in the same direction as after exiting the charging station 11 until the drag sensor 12 returns to the inner side of the area A of the boundary line 4. Figure 7.27 Next, the robotic mower 2 begins to stride along the boundary line 4 with the sensor 12 for a preset time, or until it finds a straight portion of the boundary line 4, see Figure 7.28 .

[0106] When the robotic lawn mower 2 finds a straight line segment (eg, a straight line segment with a certain length), it stops, see Figure 7.29 , and travels in a straight line backward, for example, for a predetermined multiple of the random corridor distance. Then stops, see Figure 7.30 . Optionally, the specific length of the straight line segment can also be determined based on a random corridor distance. The random corridor distance can be a random value between a minimum corridor distance and a maximum corridor distance. The minimum corridor distance can roughly correspond to the width of the tower 28 measured in the entry and exit direction of the robotic mower 2. The maximum corridor distance can depend on the width of the charging station 11 and / or the width of the charging station loop 10 measured in the entry and exit direction. It is worth noting that in order to return to the charging station 11 along the boundary line 4, the minimum corridor distance is always used. This increases the chance of finding the charging station 11 and not missing it.

[0107] Next, the robotic lawn mower 2 rotates toward the inner side of the boundary line 4 area A by an angle, for example, 45 degrees. Figure 7.31Then, the robotic mower 2 moves forward in a straight line for a predetermined distance, for example, a predetermined coefficient (for example, 1.41) multiplied by the random corridor distance, see Figure 7.32 The robotic lawn mower 2 then returns to the same angle as before, for example 45 degrees, but in the opposite direction.

[0108] Then, the robotic lawn mower 2 measures and records the signal level of the boundary line 4 signal with one of the sensors 12, 14 and starts to follow the boundary line 4 at this signal level, see Figures 7.33 to 7.37 Here, the left or right sensor can be used, for example, based on the distance to the boundary line 4, for example, determined by comparing signal levels. Optionally, sensors that are closer to the boundary line 4 than the predetermined distance are not used to follow the boundary line 4 with signal levels. In this way, it is possible to avoid the situation where the used sensor crosses the boundary line 4, thereby causing the signal polarity to be flipped, which would be difficult for the robotic lawn mower 2 to interpret.

[0109] When the robotic mower 2 detects that the total distance traveled is the same as the preconfigured or preconfigurable total distance traveled, it will stop following the boundary line 4 and start the cutting cycle, see Figures 7.38 to 7.42 During a cutting cycle, the movements of the robotic lawn mower 2 may be random.

[0110] It is worth noting that the robotic lawn mower 2 can be configured according to the reference Figures 6.1 to 6.10 Some or all of the steps described above are performed, and / or according to reference Figures 6.10 to 6.22 Part or all of the steps described are performed, and / or, according to reference Figures 7.1 to 7.18 Some or all of the steps described are performed, and / or according to reference Figures 7.18 to 7.42 The same applies to the corresponding method for navigating the robotic lawn mower 2 .

[0111] Although the present invention has been described above with reference to specific embodiments, it is not to be limited to the specific forms set forth herein. Rather, the present invention is limited only by the scope of the appended claims.

[0112] In the claims, the term "comprises / comprising" does not exclude the presence of other elements or steps. Furthermore, although listed separately, a plurality of means or elements may be implemented by, for example, a single unit or processor. Furthermore, although individual features may be included in different claims, these features may be advantageously combined, and the inclusion in different claims does not mean that a combination of features is not feasible and / or advantageous. Furthermore, singular references do not exclude plurality. The terms "one", "first", "second" etc. do not exclude plurality. Reference signs in the claims are provided merely as a clarifying example and shall not be construed as limiting the scope of the claims in any way.

[0113] Reference Signs List

[0114] 2Robot lawn mowers

[0115] 4 Boundary Line

[0116] 4a Boundary loop (conductor cross section)

[0117] 6Signal generator

[0118] 8. Leading Lines

[0119] 10 Charging Station Loop

[0120] 11 charging stations

[0121] 12, 12' sensor

[0122] 14, 14' sensor

[0123] 16 charging connectors

[0124] 18 batteries

[0125] 20 wheels

[0126] 22 control unit

[0127] 24 charging station panels

[0128] 26 charging connectors

[0129] 28 towers

[0130] 60 processors

[0131] 62 memory

[0132] 64 computer programs

[0133] 80 processors

[0134] 82 memory

[0135] 84 Computer Programs

[0136] Area A

Claims

1. A method for navigating a robotic lawn mower (2) by means of a wire (4, 8), said robotic lawn mower (2) comprising at least one sensor (12, 14), characterized in that The method comprises: controlling the robotic lawn mower (2) to leave a parking position of a station (11), wherein, in the parking position, the robotic lawn mower (2) is at least partially arranged inside the loop (10) of the station (11), detecting the polarity of at least one signal of the loop (10) by the at least one sensor (12, 14), and determining that the robotic lawn mower (2) has moved further out of the loop (10) when the polarity of the signal detected by the at least one sensor (12, 14) changes to an opposite direction, determining the position of the wire (4, 8) relative to the robotic lawn mower (2) by detecting the polarity of at least one signal of the wire (4, 8) via the at least one sensor (12, 14); and Based on a change in signal polarity of a wire (4, 8) monitored by at least one sensor (12, 14) or at least one sensor (12, 14) arranged directly on the wire (4, 8), the robotic lawn mower (2) is controlled to stride along the wire (4, 8).

2. The method according to claim 1, characterized in that Further including: controlling the robotic lawn mower (2) to increase the distance between the robotic lawn mower (2) and the wire (4, 8) so that the robotic lawn mower (2) moves a displacement distance from the wire (4, 8), measuring a signal level of at least one signal from the conductor (4, 8) by the at least one sensor (12, 14), and The robotic lawn mower (2) is controlled to follow the wire (4, 8) based on the measured signal level.

3. The method according to claim 2, characterized in that The displacement distance is randomly determined between a minimum displacement distance and a maximum displacement distance.

4. The method according to claim 1, wherein The method also includes controlling the robotic lawn mower (2) to return to the station (11).

5. The method according to claim 3, characterized in that Also includes: The robotic lawn mower (2) is controlled to return to the station (11), and the robotic lawn mower (2) is controlled to follow the guide wires (4, 8) within the minimum distance when returning to the station (11).

6. The method according to claim 1, characterized in that The method further includes, in response to determining that the robotic lawn mower (2) has moved further outside the loop (10), controlling the robotic lawn mower (2) to travel a random distance in a straight line.

7. The method according to claim 1, characterized in that The conductive line (4) is a boundary line defining the area (A).

8. The method according to claim 7, characterized in that The method further includes, after controlling the robot mower (2) to travel a random distance in a straight line, controlling the robot mower (2) to rotate a certain angle, measuring the signal level of at least one signal from the loop line (10) by at least one sensor (12, 14), and controlling the robot mower (2) to follow the loop line (10) based on the measured signal level until at least one signal from the boundary line (4) is detected.

9. The method according to claim 1, characterized in that The guide wire (4) is a boundary line defining an area (A), and further includes, before controlling the robot mower (2) to increase the distance between the robot mower (2) and the boundary line (4) by traveling a displacement distance, controlling the robot mower (2) to cross along the boundary line (4) in a first direction until a straight line portion on the boundary line (4) is detected, and in response to detecting the straight line portion, controlling the robot mower (2) to cross in a second direction opposite to the first direction.

10. The method according to claim 1, characterized in that The conductive line (8) is a guide line arranged within an area (A) defined by a boundary line (4).

11. The method according to claim 10, characterized in that The method also includes rotating the robotic mower (2) and using at least one signal measured by at least one of two sensors (12, 14) of the robotic mower (2) to determine the direction of the robotic mower (2) relative to the guide line (8).

12. The method according to claim 11, characterized in that The method further includes controlling the robotic mower (2) to cross a row along the guide line (8) for a predetermined time or over a predetermined distance before controlling the robotic mower (2) to increase the distance between the robotic mower (2) and the guide line (8) by traveling a displacement distance.

13. The method according to claim 1, wherein The method also includes measuring the travel distance of the robot mower (2), and controlling the robot mower (2) to stop following the guide wire (4, 8) when the travel distance is equal to a predetermined distance and / or when the travel time is equal to a predetermined time.

14. The method according to claim 13, characterized in that The method further comprises controlling the robot mower (2) to mow grass in the area (A) in response to the travel distance being equal to a predetermined distance and / or the travel time being equal to a predetermined time.

15. A method for navigating a robotic lawn mower (2), said method navigating by means of a boundary line (4) defining an area (A) and a loop line (10) at least partially arranged within the area (A), said robotic lawn mower (2) comprising a first sensor (14) and a second sensor (12), characterised in that: The method comprises: using at least one of the sensors (12, 14) to control the robotic lawn mower (2) to follow the boundary line (4) within a displacement distance, and By detecting a change in the polarity of a signal of the loop line (10) detected by the first sensor (14), it is confirmed that the first sensor (14) is disposed inside the loop line (10), Based on the change of the signal polarity of the loop line (10) detected by the second sensor (12), or the second sensor (12) is directly arranged on the loop line (10), the robot mower (2) is controlled to cross the line along the loop line (10).

16. The method according to claim 15, characterized in that Further comprising the steps of the method according to any one of claims 1 to 13.

17. The method according to claim 15, characterized in that The method also includes detecting another wire portion (4a) by the first sensor (14).

18. The method according to claim 17, characterized in that The method further comprises, in response to detecting the other wire portion (4a), controlling the robotic lawn mower (2) to travel straight forward for a predetermined time and / or a predetermined distance.

19. The method according to claim 17, wherein The other conductor portion (4a) is a part of the boundary line (4).

20. The method according to claim 17, wherein The method also includes controlling the robotic lawn mower (2) to follow the other guide wire portion (4a) into a parking position, in which the battery (18) of the robotic lawn mower (2) is charged by the station (11).

21. A method for navigating a robotic lawn mower (2) by means of a wire (4, 8), said robotic lawn mower (2) comprising at least one sensor (12, 14), characterized in that The method comprises: controlling the robotic lawn mower (2) to leave a parking position of a station (11); determining the position of the wire (4, 8) relative to the robotic lawn mower (2) by detecting the polarity of at least one signal of the wire (4, 8) via the at least one sensor (12, 14); Based on a change in signal polarity of a wire (4, 8) monitored by at least one sensor (12, 14) or at least one sensor (12, 14) arranged directly on the wire (4, 8), the robotic lawn mower (2) is controlled to move across rows along the wire (4, 8); controlling the robotic lawn mower (2) to increase the distance between the robotic lawn mower (2) and the wire (4, 8) so that the robotic lawn mower (2) travels a displacement distance from the wire (4, 8); measuring a signal level of at least one signal from the conductor (4, 8) by the at least one sensor (12, 14); and The robotic lawn mower (2) is controlled to follow the wire (4, 8) based on the measured signal level.

22. A robotic lawn mower (2) for navigation via a guide wire (4, 8), characterized in that The invention comprises at least one sensor (12, 14) and is configured to: leaving a parking position of the station (11), wherein, in the parking position, the robotic lawn mower (2) is at least partially arranged inside the loop (10) of the station (11), detecting the polarity of at least one signal of the loop line (10) by the at least one sensor (12, 14), and determining that the robotic lawn mower (2) is at least substantially arranged outside the loop line (10) when the polarity of the signal detected by the at least one sensor (12, 14) changes to an opposite direction, determining the position of the wire (4, 8) relative to the robotic lawn mower (2) by detecting the polarity of at least one signal of the wire (4, 8) via the at least one sensor (12, 14); and Based on a change in signal polarity of a wire (4, 8) monitored by at least one sensor (12, 14) or at least one sensor (12, 14) arranged directly on the wire (4, 8), the robotic lawn mower (2) is controlled to stride along the wire (4, 8).

23. A robotic lawn mower (2) for navigating via a boundary line (4) defining an area (A) and a loop line (10) at least partially arranged within said area (A), characterized in that The robotic lawn mower (2) comprises a first sensor (14) and a second sensor (12), and is configured to: following the boundary line (4) over a displacement distance using at least one of the sensors (12, 14), and confirming that the first sensor (14) is disposed inside the loop line (10) by detecting a change in polarity of a signal of the loop line (10) detected by the first sensor (14); Based on the change of the signal polarity of the loop line (10) detected by the second sensor (12), or the second sensor (12) is directly arranged on the loop line (10), the robot mower (2) is controlled to stride along the loop line (10).

24. A robotic lawn mower (2) for navigation via a guide wire (4, 8), characterized in that The invention comprises at least one sensor (12, 14) and is configured to: Departure from the parking position of station (11), determining the position of the wire (4, 8) relative to the robotic lawn mower (2) by detecting the polarity of at least one signal of the wire (4, 8) via the at least one sensor (12, 14); Based on a change in signal polarity of a wire (4, 8) monitored by at least one sensor (12, 14) or at least one sensor (12, 14) arranged directly on the wire (4, 8), the robotic lawn mower (2) is controlled to move across the wire (4, 8), Increasing the distance between the robotic lawn mower (2) and the wire (4, 8) so that the robotic lawn mower (2) travels a displacement distance from the wire (4, 8), measuring a signal level of at least one signal from the conductor (4, 8) by the at least one sensor (12, 14), and The conductors (4, 8) are followed based on the measured signal levels.

25. The robotic lawn mower (2) according to any one of claims 22 to 24, characterized in that Configured to perform the method of any one of claims 1 to 19.

26. A system, characterized in that It comprises a wire (4, 8) and a robotic lawn mower (2) according to any one of claims 22 to 25.

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