Method for generating a representation of a working area of an autonomous lawn mower and autonomous lawn mower system
First Claim
1. A method for generating a representation of a working area of an autonomous lawn mower, the method comprising the steps of:
- positioning the autonomous lawn mower in a home position at a base station;
leaving the home position and determining that the home position has been left;
following a boundary wire until the base station is reached again;
recording measured values from movement sensors of the autonomous lawn mower while moving;
maneuvering the autonomous lawn mower into the home position and determining that the home position in the base station is reached again on the basis of an interaction between the base station and the autonomous lawn mower;
generating a trajectory of the autonomous lawn mower on the basis of the recorded measured values, the trajectory being defined by positions and corresponding orientations of the autonomous lawn mower;
correcting the positions and corresponding orientations by a position error and an orientation error respectively in two successive computational steps, wherein correction of orientations along the trajectory is performed before correction of the positions along the trajectory is performed on positions calculated on the basis of the corrected orientations, andwherein correction is performed by weighting each orientation and position according to some criteria, including orientation changes, acceleration or a combination of multiple criteria;
storing the corrected trajectory as the representation of the working area.
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Accused Products
Abstract
A method and a system can generate a representation of a working area of an autonomous lawn mower. The system can include an autonomous lawn mower and a base station, and a boundary wire forming a closed loop which can be connected with the base station. The lawn mower and the base station interact such that the lawn mower can determine whether it is in its home position, a predetermined position that is taken when the mower returns to the base station. The lawn mower further includes a memory, for storing values from a movement sensor. A trajectory is generated based on the values, wherein a processor is configured to calculate an error between the position and orientation according to the trajectory and the home position. This total position error and total orientation error is then used to correct the position and corresponding orientations of the trajectory.
10 Citations
15 Claims
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1. A method for generating a representation of a working area of an autonomous lawn mower, the method comprising the steps of:
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positioning the autonomous lawn mower in a home position at a base station; leaving the home position and determining that the home position has been left; following a boundary wire until the base station is reached again; recording measured values from movement sensors of the autonomous lawn mower while moving; maneuvering the autonomous lawn mower into the home position and determining that the home position in the base station is reached again on the basis of an interaction between the base station and the autonomous lawn mower; generating a trajectory of the autonomous lawn mower on the basis of the recorded measured values, the trajectory being defined by positions and corresponding orientations of the autonomous lawn mower; correcting the positions and corresponding orientations by a position error and an orientation error respectively in two successive computational steps, wherein correction of orientations along the trajectory is performed before correction of the positions along the trajectory is performed on positions calculated on the basis of the corrected orientations, and wherein correction is performed by weighting each orientation and position according to some criteria, including orientation changes, acceleration or a combination of multiple criteria; storing the corrected trajectory as the representation of the working area. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A system including an autonomous lawn mower with at least one movement sensor, a base station and a boundary wire forming a closed loop and being connected with the base station, the autonomous lawn mower and the base station being capable to interact with each other such that the autonomous lawn mower can determine whether it is in its home position, the autonomous lawn mower further comprising a memory, for storing measured values from its at least one movement sensor and a processor to generate a trajectory based on the measured values, wherein the processor is further configured to calculate a total error between the position and orientation according to the trajectory and the home position after reaching the home position again and to correct the position and corresponding orientations of the trajectory by a position error and an orientation error respectively in two successive computational steps,
wherein correction of orientations along the trajectory is performed before correction of the positions along the trajectory is performed on positions calculated on the basis of the corrected orientations, and wherein correction is performed by weighting each orientation and position according to some criteria, including orientation changes, acceleration or a combination of multiple criteria.
Specification