Method and System for Enhancing a Coverage Distribution of a Robotic Garden Tool

• US 20150250097A1
• Filed: 10/09/2012
• Published: 09/10/2015
• Est. Priority Date: 10/09/2012
• Status: Active Grant

• Current Assignee: Husqvarna AB (HUSQVARNA)
• Original Assignee: Husqvarna AB (HUSQVARNA)
• Inventors: Jgenstedt, Patrik, Kamfors, Mattias
• Granted Patent: US 9,363,945 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/0265 using buried wires

Abstract

A method for enhancing a coverage distribution of a robotic garden tool (100) operating within a predetermined working area (200), wherein the robotic garden tool (100) is provided with steering control means operable to change a movement direction of the robotic garden tool (100), and a positioning device (120). The method comprises the steps of providing (301) working area related data, defining (302) a temporary working area (500), based on the working area related data, which temporary working area (500) at least partly extends within the working area (200), estimating (303) a current position (600) of the robotic garden tool (100), evaluating (304) the estimated current position (600), selectively adapting (305) the temporary working area (500), in response to the step of evaluating (304) the estimated current position, selectively adapting (306) a movement direction of the robotic garden tool (100), in response to the step of evaluating (304) the estimated current position. The steps of selectively adapting (305) the extension of the temporary working area (500) and selectively adapting (306) a movement direction of the robotic garden tool are performed so as to push the robotic garden tool towards the temporary working area or so as to keep the robotic garden tool within the temporary working area (500).

Claims

1. A method for enhancing a coverage distribution of a robotic garden tool operating within a predetermined working area,

wherein the robotic garden tool is provided with steering control means, operable to change a movement direction of the robotic garden tool, and a positioning device,

the method comprising:

providing working area related data,

defining a temporary working area, based on the working area related data, the temporary working area at lest partly extending within the working area,

estimating a current position of the robotic garden tool via the positioning device,

evaluating the estimated current position with respect to the temporary working area,

selectively adapting the temporary working area, in response to evaluating the estimated current position,

selectively adapting a movement direction of the robotic garden tool, in response to evaluating the estimated current position,

wherein selectively adapting the extension of the temporary working area and selectively adapting a movement direction of the robotic garden tool are performed so as to push the robotic garden tool towards the temporary working area or so as to keep the robotic garden tool within the temporary working area.

2. The method according to claim 1, wherein the robotic garden tool is adapted to move in an irregular pattern within the working area.

3. The method according to claim 1, wherein the positioning device comprises a GNSS receiver.

4. The method according to claim 1, wherein providing working area related data comprises providing coordinate data and statistical data regarding a plurality of zones into which the working area is divided.

5. The method according to claim 4, wherein the statistical data comprises information regarding a number of times that a zone has been visited by the robotic garden tool.

6. The method according to claim 4, wherein the statistical data comprises information about a grade of effort needed to perform a maintenance operation within different zones.

7. The method according to claim 1, wherein, in estimating a current position of the robotic garden tool, an odometer is used to supplement the positioning device.

8. The method according to claim 1, wherein selectively adapting the temporary working area comprises enlarging the temporary working area if the estimated current position is outside the temporary working area.

9. The method according to claim 1, wherein evaluating involves comparing the current estimated position with a preceding estimated position.

10. The method according to claim 9, wherein selectively adapting the temporary working area comprises decreasing an extension of the temporary working area provided that the estimated current position is within the temporary working area and provided that one or several predetermined conditions are fulfilled.

11. The method according to claim 10, wherein a predetermined condition is that a predetermined minimum size of the temporary working area is not reached.

12. The method according to claim 10, wherein a predetermined condition is that a predetermined time has passed since a border crossing was recognized.

13. The method according to claim 1, wherein the steps of

estimating a current position,

evaluating the estimated current position,

selectively adapting the extension of the temporary working area, and

selectively adapting a movement direction of the robotic garden tool, are repeated until a predetermined stop condition is fulfilled.

14. A system for enhancing a coverage distribution of a robotic garden tool operating within a predetermined working area,

the system comprising:

steering control means operable to change a movement direction of the robotic garden tool,

a positioning device operable to estimate a current position of the robotic garden tool,

data providing means for providing data related to the working area, temporary working area defining means, operable to define a temporary working area, based on the working area related data,

evaluating means operable to evaluate an estimated current position with respect to the temporary working area,

control means for selectively adapting the temporary working area and for selectively adapting a movement direction of the robotic garden tool, in response to data generated from the evaluating means.

15. The system according to claim 14, wherein the robotic garden tool is adapted to move in an irregular pattern within the working area.

16. The system according to claim 14, wherein the positioning device comprises a low accuracy GNSS receiver.

17. The system according to claim 14, wherein the working area related data comprises coordinate data and statistical data regarding a plurality of subareas into which the working area is divided.