Robotic Mowing of Separated Lawn Areas

Patent metadata

Field	Value
Publication number	US-2016174459-A1
Application number	US-201414579080-A
Country	US
Kind code	A1
Filing date	Dec 22, 2014
Priority date	Dec 22, 2014
Publication date	Jun 23, 2016
Grant date	—

Abstract

A method of mowing multiple areas includes training the robotic mower to move across a space separating at least two areas, and initiating a mowing operation. Training the robotic mower to move across the space separating the areas includes moving the robotic mower to a traversal launch point of a first of the areas, storing data indicative of location of the traversal launch point, moving the robotic mower to a traversal landing point of a second of the areas, and storing data indicative of location of the traversal landing point. The mowing operation causes the robotic mower to autonomously and in sequence mow the first of the areas, move to the traversal launch point, move from the traversal launch point across the space to the traversal landing point, and then mow the second of the areas.

First claim

1 . A method of mowing multiple areas, the method comprising:
training a robotic mower to mow at least two areas separated by a space, including moving the robotic mower about the areas while storing data indicative of location of boundaries of each area relative to boundary markers; training the robotic mower to move across the space separating the areas, including:
moving the robotic mower to a traversal launch point of a first of the areas;
storing data indicative of a location of the traversal launch point;
moving the robotic mower to an intermediate traversal point;
storing data indicative of a location of the intermediate traversal point;
moving the robotic mower to a traversal landing point of a second of the areas; and
storing data indicative of a location of the traversal landing point; and then
initiating a mowing operation causing the robotic mower to autonomously and in sequence:
mow the first of the areas;
move to the traversal launch point;
move along a traversal path by moving from the traversal launch point, to the intermediate traversal point, and then to the traversal landing point; and then
mow the second of the areas.

2 . The method of claim 1 , wherein training of the robotic mower to move across the space separating the areas is performed after training the robotic mower to mow the first of the areas and before training the robotic mower to mow the second of the areas.

3 . (canceled)

4 . (canceled)

5 . The method of claim 1 , wherein the traversal launch point is on the boundary of the first area.

6 . (canceled)

7 . The method of claim 1 , wherein during the mowing operation the robotic mower automatically disables a mowing function while moving across the space and then reactivates the mowing function in the second area.

8 . (canceled)

9 . The method of claim 1 , wherein initiating the mowing operation causes the robotic mower to mow the first area according to a mowing pattern determined in part by a shape of the first area.

10 . The method of claim 9 , wherein the mowing pattern is a corn row pattern.

11 . The method of claim 1 , wherein initiating the mowing operation causes the robotic mower to automatically conclude the mowing operation after mowing the second of the areas, without again mowing within the first of the areas.

12 . The method of claim 1 , further comprising:
training the robotic mower to move across a second space separating the second area from a third area to be mowed;

13 . The method of claim 1 , further comprising:
generating a 2D grid of cells representing one or more of the areas and the space, and assigning a value to each of the cells, wherein the value indicates whether a cell is mowable.

14 . The method of claim 13 , wherein the value further indicates whether the cell is on one or more of the boundaries.

15 . The method of claim 13 , wherein the value further indicates whether the cell is along a path between the traversal launch point and the traversal landing point.

16 . A robotic mower, comprising:
a wheeled chassis; a motorized grass cutter carried by the wheeled chassis; and a controller carried by the chassis and configured to:
(i) store data indicative of a location of boundaries of each of at least two areas to be mowed, wherein the at least two areas are separated by a space not to be mowed;
(ii) store data indicative of a traversal path across the space not to be mowed, wherein a traversal launch point of a first of the areas, an intermediate traversal point, and a traversal landing point of a second of the areas are located along the traversal path; and
(iii) control the robotic mower to perform a mowing operation in which the robotic mower autonomously and in sequence:
mows the first of the areas;
moves to the traversal launch point;
moves along the traversal path by moving from the traversal launch point, to the intermediate traversal point, and to the traversal landing point; and
mows the second of the areas.

17 . The mower of claim 16 , wherein the traversal launch point is on the boundary of the first area.

18 . The mower of claim 16 , wherein the controller is configured to move the robotic mower in a straight line from the traversal launch point to the traversal landing point.

19 . The mower of claim 16 , wherein the controller is configured to automatically disable the grass cutter while the robotic mower moves along the traversal path, and to reactivate the grass cutter once the robotic mower is in the second area.

20 - 22 . (canceled)

23 . The mower of claim 16 , wherein during the mowing operation the robotic mower automatically concludes the mowing operation after mowing the second of the areas without again mowing within the first of the areas.

24 . The mower of claim 16 , wherein the controller is further configured to:
train the robotic mower to move across a second space separating the second area from a third area to be mowed;

25 . The mower of claim 16 , wherein the controller is further configured to:
generate a 2D grid of cells representing one or more of the areas and the space, and assign a value to each of the cells, wherein the value indicates whether a cell is mowable.

26 . (canceled)

27 . (canceled)

28 . A method of mowing at least two areas separated by a space, the method comprising:
training a robotic mower to mow at least a first area and a second area, the first area separated from the second area by the space, including moving the robotic mower about the first and second areas while storing data indicative of a location of boundaries of each area relative to boundary markers; storing data indicative of a traversal route between the first area and the second area; storing data indicative of a bypass route that provides a path for the robotic mower to follow to traverse the first area; and then initiating a mowing operation causing the robotic mower to autonomously and in sequence:
disable a mowing function;
traverse the first area by following the bypass route without mowing the first area;
move from the first area to the second area across the space separating the first area from the second area by following the traversal route between the first area and the second area without mowing the traversal route;
activate the mowing function; and
mow the second area.

29 . The method of claim 28 , wherein initiating the mowing operation further comprises causing the robotic mower to
traverse the first area by following the bypass route at a first drive speed; and mow the second area at a second drive speed; wherein the first drive speed is greater than the second drive speed.

30 . The method of claim 28 , further comprising:
determining the data indicative of the bypass route by computing a shortest route between the first area and the second area.

31 . The method of claim 1 , wherein:
moving the robotic mower to the intermediate traversal point comprises moving the robotic mower to an intermediate position within the space separating the areas, the intermediate position corresponding to the intermediate traversal point, and initiating the mowing operation causes the robotic mower to move along the traversal path by moving through the intermediate position and through the space separating the areas.

32 . The mower of

Assignees

• Irobot Corp

Inventors

• Balutis Paul
• Beaulieu Andrew
• Yamauchi Brian

Classifications

• A01D34/008 Primary

  for automated or remotely controlled operation · CPC title

• Y10S901/01

  Mobile robot · CPC title

• B25J9/0081

  with leader teach-in means · CPC title

• B25J5/007

  mounted on wheels · CPC title

• A01D2101/00

  Lawn-mowers · CPC title