Robotic lawn mowing boundary determination
First Claim
1. A method of mowing an area with an autonomous mowing robot, the method comprising:
 storing, in nontransient 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 nontransient 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.
1 Assignment
0 Petitions
Accused Products
Abstract
A method of mowing an area with an autonomous mowing robot comprises storing, in nontransient 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, removing from the set of perimeter data one or more data points 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.
325 Citations
25 Claims

1. A method of mowing an area with an autonomous mowing robot, the method comprising:

storing, in nontransient 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 nontransient 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.  View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)


20. An autonomous mowing robot comprising:

a robot body carrying a grass cutter; a drive system including a motorized wheel supporting the robot body; a controller operably coupled to the motorized wheel for maneuvering the mowing robot to traverse a bounded lawn area while cutting grass, the controller configured to; in a teaching mode, store in nontransient memory a set of geospatially referenced boundary data corresponding to positions of the mowing robot as the mowing robot is guided about a border of the bounded lawn area; in the teaching mode, store reference data corresponding to a reference position within the bounded lawn area; compare at least two adjacent data points from the set of geospatially referenced boundary data to determine which point corresponds to a position that is furthest from the reference position of the bounded lawn area; remove from the set of boundary data one or more of the at least two adjacent data points corresponding to positions spatially closer to the reference position than another adjacent position represented by another data point of the set of boundary data, thereby creating a redacted boundary data set; and
then,in an autonomous operating mode, control the mowing robot to autonomously mow an area bounded by a path corresponding to the redacted boundary 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.  View Dependent Claims (21, 22, 23, 24, 25)

1 Specification