Robotic work tool system and method for defining a stay-out area within a work area

Patent metadata

Field	Value
Publication number	US-12213402-B2
Application number	US-202117799802-A
Country	US
Kind code	B2
Filing date	Feb 22, 2021
Priority date	Mar 3, 2020
Publication date	Feb 4, 2025
Grant date	Feb 4, 2025

Abstract

A robotic work tool system (200) for defining a stay-out area (120) within a work area (150). The stay-out area (120) is an area which is to be excluded from the work area (150) in which a robotic work tool (100) is subsequently intended to operate. The robotic work tool system (200) comprises a boundary definition unit (130) comprising at least one position unit (175) configured to receive position data and at least one controller (110, 210). The controller (110, 210) is configured to receive a stay-out area definition trigger signal, which indicates that the boundary definition unit (130) has approached the stay-out area to be defined. The controller (110, 210) is further configured to receive, based on the received signal, position data indicating the present position of the boundary definition unit (130) from the position unit (175). The controller (110, 210) is further configured to define the stay-out area (120) as an area centered at an offset from the received position data.

First claim

The invention claimed is:

1. A robotic work tool system for defining a stay-out area within a work area, wherein the stay-out area is an area which is to be excluded from the work area in which a boundary definition unit is intended to operate, the robotic work tool system comprising:
the boundary definition unit comprising a position unit configured to receive position data;
a controller configured to:
receive a stay-out area definition trigger signal, wherein the stay-out area definition trigger signal is a signal that indicates that the boundary definition unit has approached the stay-out area to be defined;
receive, based on the received stay-out area definition trigger signal, position data from the position unit, wherein the position data indicates a present position of the boundary definition unit; and
define the stay-out area as an area centered at an offset from the received position data.

2. The robotic work tool system according to claim 1 , wherein the controller is configured to position an outer perimeter of the stay-out area at the present position of the boundary definition unit.

3. The robotic work tool system according to claim 1 , wherein said offset comprises an offset direction.

4. The robotic work tool system according to claim 3 , wherein said offset direction is based on a heading of the boundary definition unit.

5. The robotic work tool system according to claim 1 , wherein said offset comprises an offset distance.

6. The robotic work tool system according to claim 5 , wherein said offset distance is set based on a size of the stay-out area.

7. The robotic work tool system according to claim 1 , wherein said offset is a predefined offset.

8. The robotic work tool system according to claim 1 , wherein the robotic work tool system further comprises a user interface configured to receive user input from a user during the user's operation and interaction with said user interface, wherein the user interface is configured to receive input related to the stay-out area.

9. The robotic work tool system according to claim 8 , wherein the controller further is configured to define the stay-out area based on the received user input.

10. The robotic work tool system according to claim 9 , wherein said offset comprises an offset distance that is adjustable via the user interface and the received user input determines the offset distance.

11. The robotic work tool system according to claim 9 , wherein the received user input determines a shape of the stay-out area.

12. The robotic work tool system according to claim 11 , wherein the shape of the stay-out area is selectable from a set of predefined shapes in the user interface.

13. The robotic work tool system according to claim 12 , wherein the shape of the stay-out area is at least one from a group comprising: a circle, a square and a rectangle.

14. The robotic work tool system according to claim 11 , wherein an orientation of the shape of the stay-out area is adjustable via the user interface and the received user input determines the orientation of the shape of the stay-out area.

15. The robotic work tool system according to claim 11 , wherein an aspect ratio of the shape of the stay-out area is adjustable via the user interface and the received user input determines the aspect ratio of the shape of the stay-out area.

16. The robotic work tool system according to claim 8 , wherein the stay-out area definition trigger signal is based on input received via the user interface.

17. The robotic work tool system according to claim 1 , wherein the boundary definition unit further comprises a sensor unit configured to receive sensor data indicating that an object is located in front of the boundary definition unit and wherein the stay-out area definition trigger signal is based on the received sensor data.

18. The robotic work tool system according to claim 1 , wherein the stay-out area definition trigger signal is based on a signal indicating that the boundary definition unit is not moving, and wherein the signal indicating that the boundary definition unit is not moving is received from at least one from a group comprising: a motor, an odometer and an accelerometer.

19. The robotic work tool system according to claim 1 , wherein the boundary definition unit is a robotic work tool, and the robotic work tool is a robotic lawn mower.

20. A method performed by a robotic work tool system for defining a stay-out area within a work area, wherein the stay-out area is an area which is to be excluded from the work area in which a robotic work tool is intended to operate, wherein the method comprises:
receiving a stay-out area definition trigger signal, wherein the stay-out area definition trigger signal is a signal that indicates that a boundary definition unit has approached the stay-out area to be defined;
receiving, based on the received stay-out area definition trigger signal, position data, wherein the position data indicates the present position of the boundary definition unit; and
defining the stay-out area as an area centered at an offset from the received position data.

Assignees

• Husqvarna Ab

Inventors

• Mårtensson Anton
• Glimberg Tommy
• Gazrawi Sarkan

Classifications

• G06N3/08

  Learning methods · CPC title

• G05D1/246

  using environment maps, e.g. simultaneous localisation and mapping [SLAM] · CPC title

• G05D1/617

  Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards (arrangements for controlling the position or course of two or more vehicles for avoiding collisions therebetween G05D1/693; arrangements for reacting to or preventing system or operator failure G05D1/80) · CPC title

• A01D2101/00

  Lawn-mowers · CPC title

• G05D1/0274

  using mapping information stored in a memory device (navigation using map-matching G01C21/30) · CPC title