Method for controlling an irrigation system of a ground and related control system

Abstract

The invention relates to a method (400, 400', 400'') and a system (1000) for controlling an irrigation system (100) of a ground (1) by means of a robotic lawnmower (R1). The control method comprises the steps of: positioning (401) a robotic lawnmower in a point of interest (PI) of a ground; detecting (402), by means of a first sensor of the robotic lawnmower, a numeric value (N) representative of an initial irrigation condition of the ground in such a point of interest; for at least one irrigation valve (EVj) of a plurality of valves of the system, the method further comprises the steps of: actuating (403), by an electronic control unit, such an irrigation valve to enable dispensing water through at least one connected irrigation device; detecting (404), by means of the first sensor of the robotic lawnmower, a first numeric value (N1) representative of a current irrigation condition of the ground in the point of interest upon the actuation of the irrigation valve; comparing (405) the numeric value with such a first numeric value; storing (406) the identification code (Idj) of the actuated irrigation valve in a table (Tab) associated with the point of interest of the ground if the first numeric value is greater than such a numeric value.

Description

[0001] DESCRIPTION

[0002] METHOD FOR CONTROLLING AN IRRIGATION SYSTEM OF A GROUND AND RELATED CONTROL SYSTEM

[0003] TECHNOLOGICAL BACKGROUND OF THE INVENTION

[0004] Field of application

[0005] The present invention generally relates to automated systems for controlling irrigation systems of grounds. In particular, the invention relates to an innovative method for controlling an irrigation system of a ground, such as a garden annexed to a residential building, which employs a lawnmower or robotic lawnmower autonomously movable in such a garden.

[0006] The invention also relates to a system for controlling the irrigation system implementing the aforesaid method.

[0007] Prior art

[0008] As known, in automatic control systems of irrigation systems of grounds, gardens and the like, an irrigation control unit is configured to control the dispensing of the water by irrigation devices or irrigators, connected to the control unit through switchable irrigation valves. In order to control the dispensing of water to groups of irrigation devices defining stations or irrigation zones, the conventional irrigation control unit is programmable to define the days of the week in which the activation of the irrigation system is required, as well as the start and end schedules of the water dispensing through the irrigation devices. Once an irrigation program is defined, the system control station is configured to implement such an irrigation program by activating / deactivating the switchable irrigation valves.

[0009] In the case of a garden annexed to a residential building, the desire to keep a lawn as green and well- irrigated as possible is difficult to reconcile with the need to conserve water, avoiding excessive consumption and waste, especially in those geographical areas characterized by excessive drought for long periods of the year.

[0010] Moreover, the environmental conditions which can affect the state of health of the turf of a garden are difficult to estimate zone by zone. Moreover, such environmental conditions, such as exposure to the wind, the presence / absence of shade from homes or plants, the penetration coefficient of water in the ground, can change over time.

[0011] Indeed, today a new automatic irrigation system of a garden is installed and implemented to face contingent irrigation needs and only based on the installer's experience. It results that such systems have static operating properties, which are difficult to modify to obviate the above-mentioned change in the environmental conditions which affect the state of health of the turf.

[0012] A drawback of such garden irrigation systems of the known type is that in order to irrigate the garden zones more subject to dryness to a greater extent, the garden zones in which the grass is more lush are often simultaneously irrigated too much, resulting in waste of water, with evaporation dispersions thereof.

[0013] Moreover, for many irrigation systems already installed, it is not possible to obtain a map of the irrigation zones, if not at a purely conceptual level in the design phase. Indeed, in practice, the obstructions of the nozzles, the design variants in the installation step, the presence of lime, wear, the presence of obstacles for the water jets, such as growing plants, for example, the system pressure being different from the nominal pressure (small leaks or obstructions), as well as the partial malfunctioning of the system, make the real irrigation system quite different from the ideal one defined in the design phase.

[0014] To obviate the aforesaid drawbacks, a solution including the distribution over the lawn of an extensive network of sensors adapted to estimate the quality of the grass and constantly monitor the quality of the irrigation system would be difficult to implement due to the excessive costs that such a type of sensor network would involve. Moreover, the idea of delegating the residential user with the activity of mapping the lawn and the system is not even feasible, considering the excessive time that such an activity would require.

[0015] Therefore, the need is increasingly felt to control an irrigation system which allows the garden zones most subject to drought to be sprinkled more, and simultaneously the flow of irrigation water of the garden zones less involved in such a phenomenon to be reduced, as well as the operating conditions of the system to be monitored. SUMMARY OF THE INVENTION Therefore, it is the object of the present invention to provide a method for controlling an irrigation system of a ground, such as a garden annexed to a residential building which, employing a robotic lawnmower autonomously movable in such a garden and operatively associated with the irrigation system, allows at least partially obviating the drawbacks described with reference to the solutions of irrigation systems of the known type.

[0016] In particular, it is an object of the invention to constantly monitor the operating conditions of the system by identifying the actual capacity for action of each irrigation valve, or solenoid valve, of the system, i.e., the set of irrigation devices or irrigators connected to each of such solenoid valves.

[0017] This object is achieved by a method for controlling an irrigation system of a ground according to claim 1.

[0018] A further object of the invention includes periodically detecting a vegetation index associated with the garden zones to modify the irrigation activity of the system by acting on the solenoid valves thereof. The corrective action includes irrigating more the zones of the garden with a vegetation index lower than a preset threshold and irrigating less the garden zones with a vegetation index greater than a preset threshold.

[0019] It is a further object of the invention to periodically detect the position of the robotic lawnmower moving over the ground to obtain a map of the health of the grass and a map of the points reached by the irrigation system.

[0020] In general, the suggested invention aims to devise a method for actuating the irrigation system in a selective and dynamic manner over time, which considers the actual capacity of the system to irrigate the ground and the state of wellness of each portion of the garden and which modulates the irrigation based on the actual need for water. In other words, a control method and a related system which balances, zone by zone, the right water amount, just enough to achieve the quality standards expected by the user, but without incurring waste, is suggested.

[0021] Alternative preferred and advantageous embodiments of the method are the subject of the dependent claims.

[0022] The present invention also relates to a system which includes the irrigation system of the ground and a robotic lawnmower movable over the ground and configured to implement the aforesaid method, according to claim 18.

[0023] BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Further features and advantages of the method and system for controlling an irrigation system of a ground according to the invention will become apparent from the following description of preferred embodiments, given by way of non-limiting indication, with reference to the accompanying drawings, in which:

[0025] - Figure 1 diagrammatically shows a system for controlling an irrigation system of a ground implementing the method of the invention, comprising a robotic lawnmower movable autonomously over such a ground and configured to communicate with an electronic control station of the irrigation system; - Figure 2 shows, by means of a block diagram, an example of electronic control station of the irrigation system in Figure 1 connected to solenoid valves for activating / deactivating irrigators of the system;

[0026] - Figure 3 shows, by means of a block diagram, an example of a robotic lawnmower of the system in Figure 1 movable over such a ground;

[0027] - Figure 4 shows, by means of a flow chart, a general embodiment of the method for controlling an irrigation system of a ground of the invention;

[0028] - Figure 5 shows, by means of a flow chart, a first particular embodiment of the method for controlling an irrigation system of a ground in Figure 4;

[0029] - Figure 6 shows, by means of a flow chart, a second particular embodiment of the method for controlling an irrigation system of a ground in Figure 4.

[0030] Similar or equivalent elements in the aforesaid figures are indicated by the same reference numerals.

[0031] DETAILED DESCRIPTION

[0032] With reference to Figures 1-3, reference numeral 1000 is used to indicate a system for controlling an irrigation system 100 of a ground 1 implementing the control method 400, 400', 400'' according to the present invention.

[0033] In particular, such a system 1000 comprises the aforesaid irrigation system or, more simply, system 100 provided with at least one electronic control unitC1 and a lawnmower or robotic lawnmower Rl, movable autonomously over ground 1 and configured to communicate with such an electronic control unitC1 of the irrigation system 100. In the example in Figure 1, the irrigation system 100 comprises a single electronic control unitC1 .

[0034] Preferably, but not by way of limitation, the aforesaid ground 1 is a garden, or vegetable garden or a similar green area annexed to a residential building. Such a garden can include trees, plants and turf or a lawn.

[0035] The irrigation system 100 comprises, in particular, a plurality of irrigation valves, or solenoid valves, EVI, EV2, EV3, ..., EV10, each of which is driven, by means of a respective independent electric command, by the electronic control unitC1 of system 100. In the example in Figure 1, system 100 comprises ten solenoid valves EVI, EV2, EV3, ..., EV10.

[0036] Each solenoid valve EVI, EV2, EV3, ..., EV10 of the plurality is identified by a unique identification code Idl, Id2, Id3, ..., IdlO.

[0037] Moreover, the irrigation system 100 comprises a plurality of irrigation devices or irrigators 2, in particular fifty-eight irrigators 2. The garden 1 can be divided into a plurality of irrigation zones Zl, Z2, Z3, ..., Z10, in particular ten irrigation zones, each under the responsibility of one of the ten solenoid valves. Each of such irrigation zones Zl, Z2, Z3, ..., Z10 can be irrigated by one or more of the aforesaid irrigators 2 of system 100. The one or more irrigators 2 operating in the same irrigation zone of the aforesaid irrigation zones Zl, Z2, Z3, ..., Z10 of garden 1 and associated with such a zone form a group of irrigators.

[0038] All the irrigators 2 of the same group of irrigators operating in the same irrigation zone Zl, Z2, Z3, ..., Z10 of the garden are connected to one another and to one of the aforesaid solenoid valves EVI, EV2, EV3, ..., EV10 of system 100 through a respective pipe Tl, T2, T3, ..., T10.

[0039] With reference to the example in Figure 2, the electronic control uniCt1 of system 100 comprises a processing block 20, for example, a microprocessor or microcontroller (CPU), a respective memory 21 (MEM), a timing block (clock) 22 and a communication block 23 (RF).

[0040] The electronic control unitC1 of system 100 has, by way of example, ten outlet connections, each of which is connected to one of the solenoid valves EVI, EV2, EV3, ..., EV10 of system 100 to control the activation / deactivation of the solenoid valves.

[0041] In greater detail, the electronic control unitC1 is connected, through the aforesaid communication block 23, by cable or wirelessly to a data communication network 39, for example, the Internet, to receive remote activation / deactivation instructions of the solenoid valves EVI, EV2, EV3, ..., EV10. In a preferred embodiment, such a communication block 23 is a radio frequency block (RF) operating according to the Bluetooth Low Energy, BLE, Wi-Fi standard or according to the 3G, 4G, 5G mobile radio communication standard or in LoRa (Long Range) and LoRaWAN technology.

[0042] With reference to Figure 3, the following is a description of an embodiment of the lawnmower or robotic lawnmower R1 of system 1000 for controlling an irrigation system 100 of a ground 1 implementing the control method of the invention. Such a robotic lawnmower R1 includes a suitable locomotion member 30 and a grass cutting member 31.

[0043] The above-mentioned locomotion member 30 includes, by way of example, a propulsion unit with one or more wheels, powered by a respective energy source, a steering unit (also differential), a stability and safety control unit and a power supply unit (e.g., a battery). The grass cutting member 31 includes one or more blades, e.g., circular blades, which are movable through a respective motor, and further input / output communication interfaces for receiving command signals and returning signals indicating the work performed by robot R1.

[0044] The robotic lawnmower R1 further comprises an electronic processing unit 32 connected to the above- mentioned locomotion member 30 and grass cutting member 31.

[0045] In greater detail, the electronic processing unit 32 comprises at least one processor 33 and a memory block 34, 34' associated with the processor to store instructions. In particular, such a memory block 34, 34' is connected to processor 33 through a data line or communication bus 36 (e.g., PCI) and consists of a service memory 34 of the volatile type (e.g., of the SDRAM type), and of a system memory 34' of a non-volatile type (e.g., of the SSD or eMMC type).

[0046] Moreover, the electronic processing unit 32 comprises a respective timing block 35 (clock) connected to processor 33 through the data communication bus 36.

[0047] Moreover, such an electronic processing unit 32 comprises input / output interface means 37 connected to the at least one processor 33, to the memory block 34 34' and to the timing block 35 through the communication bus 36 to allow an operator close to robot R1 to directly interact with the processing unit itself.

[0048] Moreover, the electronic processing unit 32 is associated with a data communication interface of the wired or wireless type 38 configured to connect such a processing unit 32 to a data communication network 39, e.g., the Internet, to allow an operator to remotely interact with the processing unit 32 or to receive updates. In an embodiment, such a data communication interface 38 is a radio frequency block (RF), operating according to the Bluetooth Low Energy, BLE, Wi-Fi standard or according to the 3G, 4G, 5G mobile radio communication standard or in LoRa (Low Range) and LoRaWAN technology.

[0049] Moreover, the robotic lawnmower R1 comprises a first sensor 41 for detecting an irrigation condition of ground 1, i.e., a wet / dry state associated with ground 1. Such a first sensor 41 is embodied by, for example:

[0050] - one or more cameras installed on the robotic lawnmower R1 to acquire at least one digital image of ground 1;

[0051] - a rain sensor fastened to an external casing of the robotic lawnmower R1 or fastened to a portion of robot R1 close to ground 1. The robotic lawnmower Rl is configured, through the first sensor 41, to detect the occurrence of water precipitation (irrigation condition) in the zone in which robot Rl itself is positioned.

[0052] If the rain sensor is implemented by a camera and related image processing software, lawnmower Rl is adapted to recognize the presence of water drops in the immediate vicinity of robot R1. For example, use can be made of neural networks suitably trained to process the digital images originating from the camera and to recognize the wet grass.

[0053] Instead, if such a first sensor 41 is implemented by a rain sensor fastened to an external casing of the robotic lawnmower Rl, robot Rl is configured to detect the presence of water on ground 1 on the basis of the detection of a different electrical resistor, as known by a those skilled in the art. In the case of a first sensor 41 fastened to a portion of robot Rl close to ground 1, robot Rl is configured to detect, by sliding, a surface moisture of the ground itself.

[0054] In a further embodiment, the first sensor 41 is embodied by a hygrometer including a suitable probe for measuring the moisture associated with the ground.

[0055] According to a preferred aspect, the rain sensor 41 is positioned on the upper part of the robotic lawnmower Rl facing the sky and consists in a pair of metal contacts placed very close to each other (1-2 mm). When precipitation is underway, a water drop remains viscously trapped between the two contacts; since water is conductive, it closes the circuit and said closing circuit is detected by the control unit of robot Rl. The exposure to the sun, ventilation due to the movement of the robotic lawnmower Rl, heat of the plastics forming the body of the robot, cause such a water drop to evaporate in a few minutes.

[0056] To facilitate the measurement, the robotic lawnmower can be configured to perform one or more turns on itself or another movement close to the point of interest to promote the precipitation of the water potentially emitted by the irrigator in the area measured by the rain sensor 41.

[0057] The cameras implementing the first sensor 41 of the robotic lawnmower Rl can acquire a more or less broad portion of the surrounding ground based on the number thereof, position thereof and geometry of the lens characterizing the visual field (Field of View) thereof. Such cameras and similar image acquisition means can receive images in gray scale, or preferably, in the visible spectrum with color coding (e.g., RGB). Such image acquisition means can be configured to operate in the infrared, ultraviolet or thermal spectrum, or complete the optical information with a channel dedicated to depth (e.g., RGB-D).

[0058] Moreover, the robotic lawnmower R1 comprises a second sensor 40 for detecting a vegetation index VI of ground 1 representative of a state of health of the vegetation, e.g., grass, in garden 1.

[0059] As known to those skilled in the art, such a vegetation index VI could be the NDVI (Normalized Difference Vegetation Index), which is a metric widely used to quantify the health and density of the vegetation using the data provided by the sensors, in particular spectrometric data on two specific frequency bands: red and near-infrared. Such spectrometric data is usually provided by the remote sensors, for example, installed on satellites. Due to increased accuracy, such a metric is popular in the industry. Indeed, the vegetation index VI has an increased correlation with the actual state of the vegetation on the ground.

[0060] In an embodiment, the detection of the vegetation index VI includes an analysis of the color of the grass of garden 1. An estimate can thus be obtained from the visual analysis (by means of an RGB camera) alone. Once it has been recognized that there is grass in a given portion of garden 1, for example, by means of processing the images of garden 1 with convolutional neural networks, it is possible to proceed with the detection of the vegetation index VI, which represents a numeric value assigned to the grass. By processing with neural networks, it is avoided to erroneously detect a value of vegetation index VI associated with a path of garden 1 or a sidewalk, which would have a low VI.

[0061] In yet a further embodiment, the detection of the vegetation index VI includes quantifying and assigning a numeric value to an effort in cutting the grass performed by the robotic lawnmower R1.

[0062] Alternatively, according to a preferred aspect, blade effort and RGB image analysis can be combined to reach a more robust and complete vegetation index VI.

[0063] The vegetation index VI can take, for example, but not by way of limitation, numeric values between a value of 0, indicative of a poor state of health of the grass in the garden, and a value of 10, indicative of lush grass.

[0064] Such a second sensor 40 is embodied by, for example:

[0065] - one or more cameras installed on robot R1 to acquire at least one digital image of ground 1;

[0066] - a sensor associated with the grass cutting member 31 for detecting an effort in the cut performed.

[0067] The sensor associated with the cutting member 31 operates so as to discriminate if the grass has grown or not since the last cut performed, which is indicative of a good state of health of the vegetation in garden 1.

[0068] By detecting the vegetation index VI of garden 1 or of a part thereof, the robotic lawnmower R1 is configured to detect the current state of health of the grass of garden 1 in order to compare it with values detected previously in the same point with threshold values defining an acceptable state of health.

[0069] If such a second sensor 40 is a camera and an image processing software, in addition to the vegetation index VI, the robotic lawnmower R1 is capable of discriminating between tall grass and short grass. In particular, robot R1 is capable of recognizing the presence of tall grass also on the basis of a variation in effort in cutting the grass exerted by the blade of the cutting member 31: the cutting member absorbs more current in case of tall grass. This means the grass is growing.

[0070] Moreover, the robotic lawnmower R1 comprises a third sensor 42 or position detection sensor. Such a third sensor 42 is embodied by, for example:

[0071] - a position sensor operating according to a global positioning and global navigation and radio navigation satellite system (GPS, GNSS, GLONASS); an odometer associated with the locomotion member 30 of the robotic lawnmower Rl;

[0072] - SLAM (Simultaneous Location and Mapping) visual system;

[0073] - low frequency radio transmitters (beacons) which exploit the Bluetooth Low Energy technology (beacons);

[0074] - any combination of the devices mentioned above.

[0075] Note that the electronic processing unit 32 of the robotic lawnmower Rl and the control unitC1 of the irrigation system 100 operate synergistically with each other, forming a distributed processing unit of system 1000.

[0076] The electronic processing unit 32 of the robotic lawnmower Rl and the control unitC1 of the irrigation system 100 are configured to communicate with each other, up to a maximum given distance, for example, by means of the above-mentioned radio frequency blocks 23 and 38, exchanging suitable APIs (Application Procedure Interfaces).

[0077] Moreover, in an embodiment, the electronic processing unit 32 of the robotic lawnmower Rl and the control unitC1 can communicate with each other using one or more routers, gateways, repeaters. In a further embodiment, the communication might not be direct, rather can occur through a data communication network, e.g., the Internet 39, or by means of one or more server units, even remote from each other, mutually communicating with each other. With reference to the example of Figure 1, the aforesaid one or more server units of system 1000 are indicated by reference numeral 50. Such a one or more server units 50 is connected to the electronic processing unit 32 of the robotic lawnmower R1 and to the electronic control unitC1 of the irrigation system 100 through the data communication network 39, e.g., the Internet. The server unit 50 also belongs to the above-mentioned distributed processing unit of system 1000.

[0078] In particular, the electronic processing unit 32 of the robotic lawnmower R1 is configured to communicate with the electronic control unitC1 of the irrigation system 100 to request the activation of a specific actuation command of one of the solenoid valves EVI, EV2, ..., EV10 in almost real time. Moreover, such an electronic processing unit 32 of robot R1 is adapted to communicate a modification, increase or decrease, of the activity of one or more actuation commands of the solenoid valves EVI, ..., EV10 of system 100, to the electronic control unitC1 . Such a modification is embodied by a variation in the times and / or of the frequency of the ignitions of the individual solenoid valves, but could be associated with a variation in water flow if the solenoid valves allow it. In all cases, the final effect of the aforesaid modification is always attributable to the alteration of the number of liters of water passing through the solenoid valve in a given period of time, e.g., one week.

[0079] Moreover, since both the robotic lawnmower R1 and the electronic control unitC1 are equipped with a timing block 35 and 22, respectively, such a robotic lawnmower R1 and the electronic control unitC1 can know the status of the solenoid valves EVI, EV2, ..., EV10 of the system also in the absence of a direct connection therebetween (for example, in the case of a very large garden) by programming the irrigation activity in advance by means of a suitable API. The robotic lawnmower R1 can thus know the sequence and exact ignition and shutdown schedules of the solenoid valves EVI, ..., EV10, therefore, it can apply the control method of the invention also in the case of a temporary absence of communication with the electronic control unitC1 of the irrigation system 100.

[0080] With reference to Figures 4, 5 and 6, the following is a description in greater detail of the operating steps of the method 400, 400', 400'' for controlling an irrigation system 100 of a ground 1, e.g., a garden, implemented through system 1000.

[0081] In an embodiment, the electronic processing unit 32 of the robotic lawnmower R1 and / or the electronic control unitC1 of system 100 and / or the aforesaid one or more server units 50 are prepared to the condition that e the codes of an application program implementing the method 400, 400', 400'' of the present invention.

[0082] In a particular embodiment, processor 33 of the electronic processing unit 32 and / or CPU 20 of the electronic control unitC1 and / or of the server unit 50 are configured to load and execute the codes of the application program implementing the method of the present invention.

[0083] Moreover, reference is also made below to a "distributed processing unit", meaning a set or sum of the processing units of the robotic lawnmower Rl, of the control unit C1 of the irrigation system 100 and of the aforesaid server unit 50, because the method of the invention can be performed in part by each of such units. Indeed, since robot Rl, the control unitC1 and server 50 are put into communication with one another, no logic step of the method described below is necessarily the competence of one or the other units alone. It should be noted that the steps of the method can be performed also by the remote server 50, which receives the sensorial data from the robotic lawnmower Rl and transforms them into actuation commands of the solenoid valves EVI, ..., EV10.

[0084] The control method 400, 400', 400'' of the invention comprises a step 401 of positioning the robotic lawnmower R1 in a point of interest PI of ground 1. Point of interest means, for example:

[0085] - a point selected randomly: in this case, the selection made by the distributed processing unit of system 1000 is random with respect to the movement performed;

[0086] - a sample point selected by following a distribution logic, for example, of equal distance between the points of interest to construct a grid of points of interest on ground 1 by the distributed processing unit of system 1000;

[0087] - a point in which a vegetation index different from a threshold value representing an average vegetation index of ground 1 is detected.

[0088] The method includes detecting 402, by means of the first sensor 41 of the robotic lawnmower Rl, a numeric value N representative of an initial irrigation condition of ground 1 in the point of interest PI.

[0089] Moreover, for at least one irrigation valve EVj, (where j= 1, 2, ..., 10) of the plurality of valves EVI, EV2, EV3, ..., EV10 of the irrigation system 100, the method includes performing the following steps:

[0090] - actuating 403, by the electronic control unitC1 of system 100, the irrigation valve EVj to enable dispensing water through the at least one connected irrigation device 2; detecting 404, by means of the first sensor 41 of the robotic lawnmower Rl, a first numeric value Nl representative of a current irrigation condition of ground 1 in the point of interest PI upon the actuation of the aforesaid irrigation valve EVj;

[0091] - comparing 405 the numeric value N with the first numeric value Nl; such a comparison is performed by the electronic processing unit 32 of the robotic lawnmower Rl and / or by the electronic control unitC1 of system 100 and / or by the server unit 50;

[0092] - storing 406 the identification code Idj of the actuated irrigation valve EVj in a solenoid valve list LisEV associated with the point of interest PI of ground 1 if the first numeric value Nl is greater than the numeric value N. Note that the aforesaid storing step is performed by the electronic processing unit 32 of the robotic lawnmower Rl and / or by the electronic control unitC1 of system 100 and / or by the server unit 50.

[0093] The above description concerns the implementation of the method 400 in a point of interest PI of ground 1. However, the operating steps of the method of the invention can be replicated in many points of interest.

[0094] Moreover, in an embodiment, the above-mentioned steps of the method can be performed for all the irrigation valves EVI, EV2, EV3, ..., EV10 of the irrigation system 100.

[0095] Therefore, the method 400 described above allows the operating conditions of system 100 to be constantly monitored by identifying the actual capacity for action of each solenoid valve EVj of system 100, and accordingly, of the set of irrigation devices 2 connected to each of such solenoid valves. In a particular embodiment, the method 400' of the invention comprises detecting 407', by means of a second sensor 40 of the robotic lawnmower Rl, a second numeric value N2 representative of a vegetation index VI of ground 1 in the point of interest PI.

[0096] Moreover, the method 400' includes comparing 408' the second numeric value N2 with at least one preset reference threshold value TH, TH1. Note that the aforesaid comparison step is performed by the electronic processing unit 32 of the robotic lawnmower Rl and / or by the electronic control unitC1 of system 100 and / or by the server unit 50.

[0097] The method 400' also includes modifying 409', by the electronic control unitC1 and / or the electronic processing unit 32 of the robotic lawnmower Rl and / or the server unit 50, operating parameters of the irrigation valves EVj (con j= 1, 2, ..., 10) of the irrigation system 100 the identification number Idj of which is stored in the solenoid valve list LisEV associated with the point of interest PI of ground 1 if the second numeric value N2 is different from the at least one reference threshold value TH, TH1.

[0098] Therefore, the method 400' of the invention allows a vegetation index associated with zones of garden 1 to be periodically detected to modify the irrigation activity of system 100 by acting on the solenoid valves thereof.

[0099] In a particular example, the at least one preset reference threshold value TH, TH1 is programmable by a user or is generated automatically, for example, by the electronic processing unit 32 of the robotic lawnmower R1 and / or by the electronic control unitC1 and / or by the server unit 50.

[0100] In even greater detail, the at least one preset reference threshold value TH, TH1 is selected from the group consisting of:

[0101] - a parameter preset by the user,

[0102] - a parameter preset by the manufacturer of the robotic lawnmower R1 or of the electronic control unitC1 of system 100,

[0103] - an arithmetic average of a plurality of threshold values, each associated with a robotic lawnmower R1 of a plurality of robotic lawnmowers, each robotic lawnmower of said plurality operating on a ground 1 of a plurality of grounds belonging to the same geographical area, for example, a neighborhood.

[0104] In a further embodiment of the invention, the method 400'' comprises detecting 407'', by means of the position detection sensor 42 of the robotic lawnmower R1 or third sensor 42, a data DI indicative of the geographical coordinates of the robotic lawnmower R1 positioned in the point of interest PI of ground 1.

[0105] The method 400'' includes associating 408'', by the electronic processing unit 32 of the robotic lawnmower R1 and / or by the electronic control unit CI of system 100 and / or by the server unit 50, such a detected geographical coordinate data DI with the solenoid valve list LisEV associated with the point of interest PI of ground 1.

[0106] Moreover, the method 400'' includes storing 409'' such a detected geographical coordinate data DI in a geographical coordinate vector including a plurality of geographical coordinate data Di where i=l, 2, ..., n, each representative of a point of interest Pli of ground 1. Such a storing step is performed by the electronic processing unit 32 of the robotic lawnmower R1 and / or by the electronic control unit CI and / or by server 50.

[0107] Note that the geographical coordinate data DI is, for example, a pair of coordinates, such as an X;Y pair or a latitude;longitude pair.

[0108] Therefore, with the method 400'' of the invention, it is possible to periodically detect the position of the robotic lawnmower R1 moving over ground 1 in order to obtain a map of the zones of the garden actually reached by the irrigation system 100.

[0109] In a particular embodiment, the method 400'' comprises the further steps of:

[0110] - detecting, by means of the position detection sensor 42, a further data D2 representative of current geographical coordinates of the robotic lawnmower R1 following one or more movements performed by the robotic lawnmower R1 on ground 1;

[0111] - reading, by the electronic processing unit 32 of the robotic lawnmower R1 and / or by the electronic control unitC1 and / or by the server unit 50, the geographical coordinate vector to compare said further current geographical coordinate data D2 with one or more of the geographical coordinate data Di, each representative of one of the stored points of interest Pli of ground 1;

[0112] - when the further current geographical coordinate data D2 equals one of the data Di stored in the geographical coordinate vector, the current geographical coordinates of the robotic lawnmower R1 are associated with the solenoid valve list LisEVi of the point of interest Pli of ground 1 corresponding to the aforesaid geographical coordinate data Di.

[0113] Associating the current geographical coordinates D2 with the solenoid valves acting in a point of interest Pli of the ground avoids the need to periodically perform the step of identifying the solenoid valves associated with the point. It will be sufficient to recover the identification code Idj of the corresponding solenoid valve EVj from the memory using the coordinates as a search index.

[0114] In a further embodiment, the method of the invention comprises the further steps of:

[0115] - detecting 407', by means of the second sensor 40, a second numeric value N2 representative of a vegetation index VI of ground 1 in the point of interest PI;

[0116] - detecting 407'', by means of the position detection sensor 42, a data DI indicative of the geographical coordinates of the robotic lawnmower R1 positioned in the point of interest PI of ground 1;

[0117] - associating 408'' such a detected geographical coordinate data DI with the second numeric value N2 associated with the point of interest PI of ground 1;

[0118] - storing 409'' such a detected geographical coordinate data DI in a geographical coordinate vector including a plurality of geographical coordinate data Di, each representative of a point of interest Pli of ground 1;

[0119] - storing such a second numeric value N2 in a vegetation index list LisVI associated with the point of interest PI of ground 1.

[0120] The aforesaid associating and storing steps are performed by the electronic control unitC1 and / or by the electronic processing unit 32 of the robotic lawnmower Rl and / or by the server unit 50.

[0121] In a further embodiment, the method of the invention further comprises the steps of:

[0122] - acquiring, by the electronic processing unit 32 of the robotic lawnmower Rl, information representative of a probability for a natural irrigation condition of ground 1 to occur within a preset time interval;

[0123] - stopping, by the electronic control unitC1 and / or by the electronic processing unit 32 of the robotic lawnmower Rl and / or by the server unit 50, the above- mentioned step of modifying 409' the operating parameters of the irrigation valves EVj of the irrigation system 100 if such a probability is greater than a preset threshold value, for example, of 80%.

[0124] In other words, the action of modifying the operating parameters is not necessarily instantaneous, rather it can be programmed to be performed in a subsequent irrigation cycle. Indeed, such a modifying action can be associated with other input information to system 1000, and be performed only on provided that the conditions defined by such input information are met.

[0125] For example, electronic control units of irrigation systems exist, which stop the activity if imminent rain is expected. Therefore, it is possible, once a zone with a low vegetation index VI has been identified, for the robotic lawnmower R1 to command the modification of the operating parameters of the irrigation valves EVj of the system in order to increase the irrigation; however, if the information provided by the weather forecast includes rain, for example, with a probability greater than 80%, the irrigation activity is stopped because it is superfluous.

[0126] However, such a functionality does not affect the fact that the robotic lawnmower R1 signaled that a zone of the garden needs more water.

[0127] In a further embodiment, the method 400 further comprises a step of counting, by the electronic processing unit 32 of the robotic lawnmower R1 and / or by the electronic control unitC1 of system 100 and / or by the server unit 50, the number of elements of said solenoid valve list LisEV associated with the point of interest PI of ground 1 in order to detect the unique identification codes Idl, Id2, Id3, ..., IdlO of the irrigation valves EVI, EV2, EV3, EV10 actuated in the point of interest PI.

[0128] The method 400 then includes generating a warning signal, for example for a user, if no unique identification code Idl, Id2, Id3, ..., IdlO of the irrigation valves EVI, Ev2, EV3, ..., EV10 is stored in the solenoid valve list LisEV. For example, the robotic lawnmower R1 can perform the method in a point of interest PI not covered by any irrigator 2 and send a notification to an application on a device of the user, signaling that the point of interest PI where it is located is not covered by an irrigator 2.

[0129] The method 400 of the invention thus ensures a periodic monitoring of the configuration of the irrigation system 100 and the related effectiveness of action. For example, if an irrigator 2 breaks down or is not capable of reaching a certain zone of garden 1, system 1000 would recognize this and warn the user accordingly. Indeed, malfunctions of the irrigation system 100 can occur, which the user is unlikely to notice.

[0130] In a further embodiment, the comparison step 408' of the method 400' further comprises the steps of:

[0131] - comparing, by the electronic processing unit 32 of the robotic lawnmower R1 and / or by the electronic control unitC1 and / or by the server unit 50, the second numeric value N2 with a first preset reference threshold value TH1;

[0132] - increasing, by the electronic control unitC1 and / or the electronic processing unit 32 and / or the server unit 50, operating parameters of the irrigation valves EVj of the irrigation system 100 the identification code Idj of which is stored in the solenoid valve list LisEV associated with the point of interest PI of ground 1 if such a second numeric value N2 is smaller than such a first reference threshold value TH1.

[0133] In an alternative embodiment, the comparison step 408' of the method 400' further comprises the steps of:

[0134] - comparing, by the electronic processing unit 32 of the robotic lawnmower R1 and / or by the electronic control unitC1 and / or by the server unit 50, the second numeric value N2 with a first preset reference threshold value TH1;

[0135] - decreasing, by the electronic control unitC1 and / or the electronic processing unit 32 and / or the server unit 50, operating parameters of the irrigation valves EVj of the irrigation system 100 the identification code Idj of which is stored in the solenoid valve list LisEV associated with the point of interest PI of ground 1 if such a second numeric value N2 is greater than or equal to the first reference threshold value TH1.

[0136] Therefore, the corrective action includes irrigating more the zones of garden 1 with vegetation index VI below the first preset threshold TH1 and irrigating less the zones of garden 1 with a vegetation index VI greater than or equal to the aforesaid first threshold.

[0137] In an embodiment, the step of positioning 401 the robotic lawnmower Rl of the method 400 comprises the further steps of:

[0138] - positioning the robotic lawnmower Rl in a random position of ground 1;

[0139] - detecting, by means of the second sensor 40 of the robotic lawnmower Rl, a further second numeric value N2 representative of a vegetation index VI of ground 1 in such a random position;

[0140] - comparing, by the electronic processing unit 32 of the robotic lawnmower Rl and / or by the electronic control unitC1 and / or by the server unit 50, the further second numeric value N2' with a further first preset reference threshold value TH1';

[0141] - classifying, by the electronic processing unit 32 of the robotic lawnmower Rl and / or by the electronic control unitC1 and / or by the server unit 50, the aforesaid random position of ground 1 as point of interest PI if the further second numeric value N2' is smaller than the further first reference threshold value TH1';

[0142] - moving the robotic lawnmower Rl to position it in a further random position on ground 1 if the further second numeric value N2' is greater than or equal to the aforesaid further first reference threshold value TH1'. According to this latter embodiment, in other words, only- points of interest in which the state of health of the grass is not adequate are considered points of interest PI.

[0143] In a further embodiment, the method 400' of the invention comprises a step of moving the robotic lawnmower Rl to position it in a plurality of points of interest PI1, PI2, ..., Pin of ground 1.

[0144] It is also possible to detect, by means of the second sensor 40 of the robotic lawnmower Rl, a plurality of third numeric values N31, N32, ..., N3n, each representative of a vegetation index VI of ground 1 in one of the points of interest PI1, PI2, ..., Pin of said plurality.

[0145] The method 400' includes calculating, by the electronic processing unit 32 of the robotic lawnmower Rl and / or by the electronic control unitC1 and / or by the server unit 50, a fourth numeric value N4 by averaging the third detected numeric values N31, N32, ..., N3n. Such an average can also be obtained by several robots in several different gardens in the same geographical area.

[0146] The at least one preset reference threshold value TH, TH1 is then modified as a function of the calculated fourth numeric value N4.

[0147] According to the latter embodiment, in other words, the thresholds are dynamically set on the basis of the average health of the lawn and the lawns in the zone. According to the simplest embodiment, the thresholds TH and TH1 are set exactly equal to the calculated average value N4. By doing this, the corrective action of the activity of the system is concentrated only on the lawn zones deviating from the average.

[0148] Again with reference to the example of the method 400' in Figure 5, the step of modifying 409' the operating parameters of the irrigation valves EVj of the irrigation system 100 comprises, in greater detail, the further steps of:

[0149] - modifying a time interval ta for enabling the dispensing of water through the at least one irrigation device 2 connected to the irrigation valve EVj, and / or

[0150] - modifying a time interval ti for inhibiting the dispensing of water between two successive time intervals for enabling the dispensing of water, and / or

[0151] - modifying the water flow dispensed through the at least one connected irrigation device 2.

[0152] Moreover, the method of the invention allows the vegetation index VI associated with each coordinate to be stored in order to measure the evolution thereof over time. The control action of the solenoid valves in that point can thus follow logics other than a simple correction proportional to the vegetation index.

[0153] In this respect, in a further embodiment, the method of the invention includes, for each of the points of interest Pli of ground 1, the further steps of:

[0154] - detecting 407', by means of the second sensor 40, a fifth numeric value N2i representative of a further vegetation index Vli of ground 1 in said point of interest Pli;

[0155] - storing said fifth numeric value N2i in the vegetation index list LisVIi associated with the point of interest Pli of ground 1; such a step is performed by the electronic processing unit 32 of the robotic lawnmower R1 and / or by the electronic control unitC1 and / or by the server unit 50;

[0156] - associating said fifth numeric value N2i with the geographical coordinate data Di representative of the point of interest Pli of ground 1.

[0157] Moreover, the method comprises the steps of: comparing such a fifth numeric value N2i with the above-mentioned second numeric value N2;

[0158] - modifying operating parameters of the irrigation valves EVj of the irrigation system 100 the identification number Idj of which is stored in the solenoid valve list LisEVi associated with the point of interest Pli of ground 1 based on the difference between such a fifth numeric value N2i and the second numeric value N2.

[0159] Such steps are performed by the electronic control unit Cl and / or by the electronic processing unit 32 of the robotic lawnmower R1 and by the server unit 50.

[0160] Such a difference quantifies the improvement or worsening of the state of health of the grass in the point of interest PI.

[0161] In even greater detail, the difference of the fifth numeric value N2i from the second numeric value N2 is usable as a derivative contribution in a discrete time control logic. Therefore, the step of modifying the water flow can consider such a derivative contribution in order to react promptly to sudden climate changes or conditions of the turf. Therefore, by providing the derivative contribution, the step of modifying the water flow of a solenoid valve Evi is performed with a control selected from the group consisting of: derivative control, D, proportional-derivative control, PD, proportional-integral-derivative control, PID.

[0162] In other words, the derivative component of the control action D, PD, PID consists of the difference between the fifth N2i and the second N2 numeric value.

[0163] Note that the system 1000 including the robotic lawnmower R1 is configured to repeat the above-described procedure in several points of interest of the garden in different moments, not necessarily close to one another.

[0164] APPLICATION EXAMPLES

[0165] EXAMPLE 1

[0166] In a first application example, the robotic lawnmower R1 is in a first point of interest PI1 selected randomly during the motion of such a robot in garden 1. The robotic lawnmower R1 estimates, on a scale from 1 to 10, that the presence of irrigation in such a point of interest is equal to 0.

[0167] Robot R1 then controls the electronic control unit CI of system 100 to actuate the first solenoid valve EVI. If, following such an actuation, the rain sensor 41 of the robotic lawnmower R1 still returns irrigation of garden 1 equal to 0, robot R1 controls the actuation of the second solenoid valve EV2.

[0168] If, again after such an actuation, the rain sensor

[0169] 41 still returns irrigation of garden 1 equal to 0, the robotic lawnmower R1 actuates the third solenoid valve

[0170] EV3.

[0171] If the detection of the rain sensor 41 is still 0, the fourth solenoid valve EV4 is actuated.

[0172] If the robotic lawnmower R1 detects irrigation of garden 1 equal to 10 through the rain sensor 41, robot R1 adds the fourth solenoid valve EV4 as an element of the solenoid valve list associated with the current point of interest PI1.

[0173] The robotic lawnmower R1 then detects, through the second sensor 40, that the vegetation index VI in such a point PI1 is equal to 6 on a scale from 1 to 10. Supposing that the threshold value TH is set equal to 7, and since 6 is less than 7, the action follows of modifying the solenoid valve EV4, in the sense of increasing the activity thereof, for example, by extending the daily time it is open.

[0174] EXAMPLE 2

[0175] In a second application example, the robotic lawnmower R1 reaches a point PI2 of garden 1 in which the vegetation index VI=3 on a scale from 1 to 10 and the average of the garden is VI=7. Such a point PI2 is elected as a point of interest because the grass has a lower state of health than the average and therefore requires attention. The robotic lawnmower R1 estimates, on a scale from 1 to 10, that the presence of irrigation in the point of interest is equal to 0. Robot R1 then commands the electronic control unit CI of system 100 to actuate the first solenoid valve EVI.

[0176] If, following such an actuation, the rain sensor 41 of the robotic lawnmower R1 still returns irrigation of garden 1 equal to 0, robot R1 controls the actuation of the second solenoid valve EV2.

[0177] If the robotic lawnmower R1 detects irrigation equal to 10 through the rain sensor 41, robot R1 adds the second solenoid valve EV2 as an element of the solenoid valve list associated with the current point of interest PI2.

[0178] EXAMPLE 3

[0179] In a third application example, the robotic lawnmower R1 reaches a randomly selected point PI3 having two-dimensional coordinates (X, Y) in the plane of ground 1 expressed in meters with respect to an origin equal to (18, -6).

[0180] The robotic lawnmower R1 estimates, on a scale from 1 to 10, that the presence of irrigation of garden 1 is equal to 0.

[0181] Robot R1 then commands the electronic control unit CI of system 100 to actuate the first solenoid valve EVI. If, following such an actuation, the rain sensor 41 of the robotic lawnmower R1 still returns 0, robot R1 controls the actuation of the second solenoid valve EV2.

[0182] If, following such an actuation, the rain sensor 41 of the robotic lawnmower R1 still returns 0, robot R1 controls the actuation of the third solenoid valve EV3.

[0183] If the robotic lawnmower R1 detects 10 through the rain sensor 41, robot R1 adds the third solenoid valve EV3 as an element of the solenoid valve list associated with the current point of interest PI3 and stores it in a respective table Tabl, having the coordinate of the current point PI3 as index.

[0184] An example of such a table Tabl is shown below.

[0185] It should be noted that said Tabl represents a map of the actual irrigation capacity of the system; indeed, each surface unit of a point of interest identified by a pair of coordinates in the first column is associated with the list of none, one or more solenoid valves wetting that surface.

[0186] Seven days later, moving about in garden 1, the robotic lawnmower R1 detects that the vegetation index VI of garden 1 is equal to 5 at the coordinates (18, -6), which is less than a preset minimum threshold TH=7.

[0187] At this point, the robotic lawnmower R1 queries table Tabl of the database, looking for the values (18; - 6) as an index in the coordinate column and finding that the solenoid valve acting on the coordinates (18; -6) is the solenoid valve EV3.

[0188] The method proceeds with the step of modifying the variation of the solenoid valve EV3.

[0189] This is followed by the action of modifying the solenoid valve of EV3, in the sense of increasing the activity thereof, for example, by extending the daily time it is open.

[0190] EXAMPLE 4

[0191] In a fourth application example, the robotic lawnmower R1 prepares a table Tab2, for each surface unit, for example, for each square meter of garden 1, complete with values of corresponding vegetation index

[0192] VI. An example of such a table is shown below.

[0193] It should be noted that said Tab2 represents a map of the actual state of health of the lawn; indeed, each surface unit of a point of interest identified by a pair of coordinates in the first column is associated with the list of none, one or more measurements of the vegetation index in that point.

[0194] An average of garden 1 is calculated by adding all the vegetation index values in column VI and dividing the sum thus obtained by the number of rows in the table. The result of such an operation represents the average value of vegetation index of garden 1 and can be set as threshold value TH or TH1. The method 400, 400', 400'' for controlling an irrigation system of a ground and the related control system 1000 of the present invention have the above- mentioned advantages and achieve the preset objects.

[0195] Indeed, the method of the invention balances an irrigation system 100 for keeping the garden lush while conserving water on the basis of a feedback of the electronic control unitC1 of system 100. Indeed, the irrigation system 100 is constantly reassessed on the actual capacity thereof to meet the water requirements of each point of interest PI of garden 1 with a dual control in real continuous time between the state of the turf of the garden and the operating capacity of the irrigation system 100. Such a dual control is obtainable due to the employment of the robotic lawnmower R1 which is movable in the garden and constantly operating.

[0196] In order to meet contingent needs, those skilled in the art may make changes and adaptations to the embodiments of the method described above or can replace elements with others which are functionally equivalent, without departing from the scope of the following claims. Each of the features described as belonging to a possible embodiment can be made irrespective of the other embodiments described.

[0197] ~k~k~k ~k ~k~k~k

Claims

CLAIMS1. A method (400, 400', 400'') for controlling an irrigation system (100) of a ground (1) by means of a robotic lawnmower (Rl) autonomously movable over the ground, said irrigation system (100) comprising:- a plurality of irrigation devices (2),- an electronic control unit (Cl),- a plurality of irrigation valves (EVI, EV2, EV3, ..., EV10), each connected to at least one of said irrigation devices (2) and identified by a unique identification code (Idl, Id2, Id3, ..., IdlO); said robotic lawnmower (Rl) comprising:- an electronic processing unit (32) configured to communicate with the electronic control unit (Cl) of the irrigation system (100),- a first sensor (41) for detecting an irrigation condition of the ground (1) connected to said electronic processing unit (32); each of said irrigation valves (EVI, EV2, EV3, ..., EV10) being actuated by the electronic control unit (Cl) to enable / inhibit the dispensing of water through the at least one connected irrigation device (2), the control method (400, 400', 400'') comprising the steps of:- positioning (401) the robotic lawnmower (Rl) in a point of interest (PI) of the ground (1);- detecting (402), by means of said first sensor (41) of the robotic lawnmower (Rl), a numeric value (N) representative of an initial irrigation condition of the ground (1) in said point of interest (PI); for at least one irrigation valve (EVj) of the plurality of valves (EVI, EV2, EV3, ..., EV10) of the system, the method further comprising the steps of:- actuating (403), by the electronic control unit (Cl), said irrigation valve (EVj) to enable dispensing water through the at least one connected irrigation device (2);- detecting (404), by means of said first sensor (41) of the robotic lawnmower (Rl), a first numeric value (Nl) representative of a current irrigation condition of the ground (1) in the point of interest (PI) upon the actuation of said irrigation valve (EVj);- comparing (405) said numeric value (N) with said first numeric value (Nl);- storing (406) the identification code (Idj) of the actuated irrigation valve (EVj) in a solenoid valve list (LisEV) associated with the point of interest (PI) of the ground (1) if said first numeric value (Nl) is greater than said numeric value (N).

2. A method (400, 400', 400'') for controlling anirrigation system (100) of a ground (1) by means of a robotic lawnmower (Rl) according to claim 1, wherein said robotic lawnmower (Rl) further comprises a second sensor (40) for detecting a vegetation index (VI) of the ground (1), the method (400') comprising the further steps of:- detecting (407'), by means of the second sensor (40), a second numeric value (N2) representative of a vegetation index (VI) of the ground (1) in said point of interest (PI);- comparing (408') said second numeric value (N2) with at least one preset reference threshold value (TH, TH1);- modifying (409') the operating parameters of the irrigation valves (EVj) of the irrigation system (100) the identification number (Idj) of which is stored in said solenoid valve list (LisEV) associated with the point of interest (PI) of the ground (1) if said second numeric value (N2) is different from said at least one reference threshold value (TH, TH1).

3. A method (400, 400', 400'') for controlling an irrigation system (100) of a ground (1) by means of a robotic lawnmower (Rl) according to claim 1, wherein said robotic lawnmower (Rl) further comprises a position detection sensor (42), the method (400'') comprising the further steps of: detecting (407''), by means of said position detectionsensor (42), a data (DI) indicative of the geographical coordinates of the robotic lawnmower (Rl) positioned in the point of interest (PI) of the ground (1);- associating (408'') said detected geographical coordinate data (DI) with said solenoid valve list (LisEV) associated with the point of interest (PI) of the ground (1);- storing (409'') said detected geographical coordinate data (DI) in a geographical coordinate vector including a plurality of geographical coordinate data (Di), each representative of a point of interest (Pli) of the ground (1)•4. A method (400, 400', 400'') for controlling an irrigation system (100) of a ground (1) by means of a robotic lawnmower (Rl) according to claim 1, wherein said robotic lawnmower (Rl) further comprises a second sensor (40) for detecting a vegetation index (VI) of the ground (1) and a position detection sensor (42), the method comprising the further steps of:- detecting (407'), by means of the second sensor (40), a second numeric value (N2) representative of a vegetation index (VI) of the ground (1) in said point of interest (PI);- detecting (407''), by means of said position detection sensor (42), a data (DI) indicative of the geographicalcoordinates of the robotic lawnmower (Rl) positioned in the point of interest (PI) of the ground (1);- associating (408') said detected geographical coordinate data (DI) with said second numeric value (N2) associated with the point of interest (PI) of the ground (1);- storing (409'') said detected geographical coordinate data (DI) in a geographical coordinate vector including a plurality of geographical coordinate data (Di), each representative of a point of interest (Pli) of the ground (1);- storing said second numeric value (N2) in a vegetation index list (LisVI) associated with the point of interest (PI) of the ground (1).

5. A method (400, 400', 400'') for controlling an irrigation system (100) of a ground (1) by means of a robotic lawnmower (Rl) according to claim 2, further comprising the steps of:- acquiring, by the electronic processing unit (32) of the robotic lawnmower (Rl), information representative of a probability for a natural irrigation condition of the ground (1) to occur within a preset time interval;- stopping said step (409') of modifying the operating parameters of the irrigation valves (EVj) of the irrigation system (100) if said probability is greaterthan a preset threshold value.

6. A method (400, 400', 400'') for controlling an irrigation system (100) of a ground (1) by means of a robotic lawnmower (Rl) according to claim 3, further comprising the further steps of:- detecting, by means of said position detection sensor (42), a further data (D2) representative of current geographical coordinates of the robotic lawnmower (Rl) following one or more movements performed by the robotic lawnmower (Rl) on the ground (1);- reading the geographical coordinate vector to compare said further current geographical coordinate data (D2) with one or more of the current geographical coordinate data (Di), each representative of one of the stored points of interest (Pli) of the ground;- when the further current geographical coordinate data (D2) equals one of the data (Di) stored in the geographical coordinate vector, associating the current geographical coordinates of the robotic lawnmower (Rl) with the solenoid valve list (LisEVi) of the point of interest (Pli) of the ground (1) corresponding to said geographical coordinate data (Di).

7. A method (400, 400', 400'') for controlling an irrigation system (100) of a ground (1) by means of a robotic lawnmower (Rl) according to claim 1, furthercomprising the steps of:- counting the number of elements in said solenoid valve list (LisEV) associated with the point of interest (PI) of the ground (1) to detect the unique identification codes (Idl, Id2, Id3, ..., IdlO) of the irrigation valves (EVI, EV2, EV3, EV10) actuated in said point of interest (PI);- generating a warning signal if no unique identification code (Idl, Id2, Id3, ..., IdlO) of the irrigation valves (EVI, EV2, EV3, ..., EV10) is stored in the solenoid valve list (LisEV).

8. A method (400, 400', 400'') for controlling an irrigation system (100) of a ground (1) by means of a robotic lawnmower (Rl) according to claim 2, wherein said comparison step (408') further comprises the steps of:- comparing said second numeric value (N2) with a first preset reference threshold value (TH1);- increasing operating parameters of the irrigation valves (EVj) of the irrigation system (100) the identification code (Idj) of which is stored in said solenoid valve list (LisEV) associated with the point of interest (PI) of the ground (1) if said second numeric value (N2) is smaller than said first reference threshold value (TH1).

9. A method (400, 400', 400'') for controlling anirrigation system (100) of a ground (1) by means of a robotic lawnmower (Rl) according to claim 2, wherein said comparison step (408') further comprises the steps of:- comparing said second numeric value (N2) with a first preset reference threshold value (TH1);- decreasing operating parameters of the irrigation valves (EVj) of the irrigation system (100) the identification code (Idj) of which is stored in said solenoid valve list (LisEV) associated with the point of interest (PI) of the ground (1) if said second numeric value (N2) is greater than or equal to said first reference threshold value (TH1).

10. A method (400, 400', 400'') for controlling an irrigation system (100) of a ground (1) by means of a robotic lawnmower (Rl) according to claim 1, wherein said robotic lawnmower (Rl) further comprises a second sensor (40) for detecting a vegetation index (VI) of the ground (1), wherein said step (401) of positioning the robotic lawnmower (Rl) comprises the further steps of:- positioning said robotic lawnmower (Rl) in a random position on the ground (1);- detecting, by means of said second sensor (40), a further second numeric value (N2') representative of a vegetation index (VI) of the ground (1) in said random position;- comparing said further second numeric value (N2') with a further first preset reference threshold value (TH1');- classifying said random position of the ground (1) as a point of interest (PI) if said further second numeric value (N2') is smaller than said further first reference threshold value (TH1');- moving said robotic lawnmower (Rl) to position it in a further random position on the ground (1) if said further second numeric value (N2') is greater than or equal to said further first reference threshold value (TH1').

11. A method (400, 400', 400'') for controlling an irrigation system (100) of a ground (1) by means of a robotic lawnmower (Rl) according to claim 2, further comprising a step of moving said robotic lawnmower (Rl) to position it in a plurality of points of interest (PI1, PI2, ..., Pin) of the ground (1);- detecting, by means of said second sensor (40), a plurality of third numeric values (N31, N32, ..., N3n), each representative of a vegetation index (VI) of the ground (1) in one of the points of interest (PI1, PI2, ..., Pin) of said plurality;- calculating a fourth numeric value (N4) by calculating an average of the detected third numeric values (N31, N32, ..., N3n);- modifying said at least one preset reference thresholdvalue (TH, TH1) as a function of the calculated fourth numeric value (N4).

12. A method (400, 400', 400'') for controlling an irrigation system (100) of a ground (1) by means of a robotic lawnmower (Rl) according to claim 2, wherein said step (409') of modifying operating parameters of the irrigation valves (EVj) of the irrigation system (100) comprises the further steps of:- modifying a time interval (ta) for enabling the dispensing of water through the at least one irrigation device (2) connected to said irrigation valve (EVj), and / or- modifying a time interval (ti) for inhibiting the dispensing of water between two successive time intervals for enabling the dispensing of water, and / or- modifying the water flow dispensed through the at least one connected irrigation device (2).

13. A method (400, 400', 400'') for controlling an irrigation system (100) of a ground (1) by means of a robotic lawnmower (Rl) according to at least one of the preceding claims, wherein said at least one preset reference threshold value (TH, TH1) is programmable by a user or is generated in an automatic manner.

14. A method (400, 400', 400'') for controlling an irrigation system (100) of a ground (1) by means of arobotic lawnmower (Rl) according to at least one of the preceding claims, wherein said at least one preset reference threshold value (TH, TH1) is selected from the group consisting of:- a parameter preset by a user,- a parameter preset by the manufacturer of the robotic lawnmower (Rl) or by the manufacturer of the electronic control unit (Cl),- an arithmetic average of a plurality of threshold values, each associated with a robotic lawnmower (Rl) of a plurality of robotic lawnmowers, each robotic lawnmower of said plurality operating on a ground (1) of a plurality of grounds belonging to the same geographical area.

15. A method (400, 400', 400'') for controlling an irrigation system (100) of a ground (1) by means of a robotic lawnmower (Rl) according to claim 4, wherein for each of the points of interest (Pli) of the ground (1), the method comprising the further steps of:- detecting (407'), by means of the second sensor (40), a fifth numeric value (N2i) representative of a further vegetation index (Vli) of the ground (1) in said point of interest (Pli);- storing said fifth numeric value (N2i) in thevegetation index list (LisVIi) associated with the point of interest (Pli) of the ground (1);- associating said fifth numeric value (N2i) with the geographical coordinate data (Di) representative of the point of interest (Pli) of the ground (1).

16. A method (400, 400', 400'') for controlling an irrigation system (100) of a ground (1) by means of a robotic lawnmower (Rl) according to claim 15, further comprising the steps of:- comparing said fifth numeric value (N2i) with said second numeric value (N2);- modifying operating parameters of the irrigation valves (EVj) of the irrigation system (100) the identification number (Idj) of which is stored in said solenoid valve list (LisEVi) associated with the point of interest (Pli) of the ground (1) based on the difference between said fifth numeric value (N2i) and the second numeric value (N2).

17. A method (400, 400', 400'') for controlling an irrigation system (100) of a ground (1) by means of a robotic lawnmower (Rl) according to claim 16, wherein the step of modifying the operating parameters follows a control logic selected from the group consisting of: derivative control, D, proportional-derivative control, PDproportional-integral-derivative control, PID.

18. A system (1000) comprising:- an irrigation system (100) of a ground (1) comprising:- a plurality of irrigation devices (2),- an electronic control unit (Cl),- a plurality of irrigation valves (EVI, Ev2, EV3, ..., EV10), each connected to at least one of said irrigation devices (2) and identified by a unique identification code (Idl, Id2, Id3, ..., IdlO);- a robotic lawnmower (Rl) autonomously movable over the ground (1), said robotic lawnmower (Rl) comprising:- an electronic processing unit (32) configured to communicate with the electronic control unit (Cl) of the irrigation system (100);- a first sensor (41) for detecting an irrigation condition of the ground (1) connected to said electronic processing unit (32); each of said irrigation valves (EVI, EV2, EV3, ..., EV10) being actuated by the electronic control unit (Cl) to enable / inhibit the dispensing of water through the at least one connected irrigation device (2);- at least one server unit (50) connected to the electronic processing unit (32) of the robotic lawnmower (Rl) and to the electronic control unit (Cl) of the irrigation system (100) through a data communicationnetwork (39), said electronic processing unit (32) and / or said electronic control unit (Cl) and / or said at least one server unit (50) comprising at least one processor (33, 20) and a memory block (34, 34', 21) associated with the processor to store instructions, said processor and said memory block being configured to cause the system to carry out the steps of the method according to any one of claims 1-17.

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