Robotic Lawn Mower Boundary Teaching With Geospatial Perimeter Data

The patent extracts the boundary definition from a continuous physical wire system and represents it as discrete geospatial data points stored in robot memory. Instead of using a continuous boundary wire that requires physical installation around the entire perimeter, the system uses a simplified set of reference points (corners and key locations) that the robot uses to reconstruct and follow the boundary path, thereby reducing system complexity while maintaining confinement reliability

The patent creates a digital copy of the boundary path by storing geospatial coordinates of perimeter points in the robot's memory during a teaching phase. This digital representation replaces the need for physical continuous boundary wires, allowing the robot to navigate along the reproduced boundary path using onboard sensors and memory, thus simplifying the physical system while maintaining boundary definition accuracy

The patent implements a preliminary teaching phase where the boundary path is recorded and stored in the robot's memory before actual mowing begins. During this teaching phase, the robot is manually guided along the desired perimeter path and the geospatial coordinates are captured and stored. In subsequent autonomous mowing operations, the robot retrieves this pre-stored path data and follows it systematically, eliminating random bouncing behavior and enabling efficient, purposeful navigation along the boundary

The patent employs feedback mechanisms where the robot continuously monitors its position relative to the stored boundary path using onboard sensors (such as magnetic sensors detecting guide posts or GPS/RTK systems). When the robot approaches the boundary, it receives feedback about its position and adjusts its navigation accordingly, allowing systematic boundary following rather than random bouncing, thereby improving both boundary adherence and mowing efficiency

The patent segments the continuous boundary into discrete geospatial data points representing key locations such as corners and turning points. Instead of requiring continuous physical boundary markers, the system uses a series of discrete coordinate points stored in memory that collectively define the boundary path. This segmentation approach simplifies installation (only key points need to be identified and marked) while maintaining sufficient precision for effective boundary following through systematic path reconstruction algorithms

The patent transitions from two-dimensional physical boundary markers ( wires or posts on the ground) to three-dimensional geospatial coordinate data with precise positioning information. By using RTK-GPS or other high-precision positioning systems, the boundary is defined in three-dimensional space with accurate latitude, longitude, and elevation data, providing superior positional precision compared to traditional ground-based markers while maintaining installation simplicity