Robotic lawn mowing boundary determination

  • US 9,516,806 B2
  • Filed: 10/10/2014
  • Issued: 12/13/2016
  • Est. Priority Date: 10/10/2014
  • Status: Active Grant
First Claim
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1. A method of mowing an area with an autonomous mowing robot, the method comprising:

  • storing, in non-transient memory of the robot, a set of geospatially referenced perimeter data corresponding to positions of the mowing robot as the mowing robot is guided about a perimeter of an area to be mowed;

    comparing, via a controller communicably coupled to the non-transient memory of the robot, at least two adjacent data points from the set of geospatially referenced perimeter data to determine which point corresponds to a position that is adjacent both mowable and unmowable portions and that is directly adjacent other points separating mowable and unmowable portions;

    removing, via the controller, one or more of the at least two adjacent data points from the set of perimeter data, thereby creating a redacted data set; and

    controlling the mowing robot to autonomously mow an area bounded by a boundary corresponding to the redacted data set, including altering direction of the mowing robot at or near a position corresponding to data in the redacted data set so as to redirect the robot back into the bounded area.

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