Robot lawnmower mapping

Patent metadata

Field	Value
Publication number	US-9420741-B2
Application number	US-201414570616-A
Country	US
Kind code	B2
Filing date	Dec 15, 2014
Priority date	Dec 15, 2014
Publication date	Aug 23, 2016
Grant date	Aug 23, 2016

Abstract

A method of mapping an area to be mowed with an autonomous mowing robot comprises receiving mapping data from a robot lawnmower, the mapping data specifying an area to be mowed and a plurality of locations of beacons positioned within the area to be mowed, and receiving at least first and second geographic coordinates for first and second reference points that are within the area and are specified in the mapping data. The mapping data is aligned to a coordinate system of a map image of the area using the first and second geographic coordinates. The map image is displayed based on aligning the mapping data to the coordinate system.

First claim

What is claimed is:

1. A robot lawnmower system comprising:
a plurality of beacons positioned with respect to an area to be mowed;
a robot lawnmower comprising:
a detection system configured to detect the beacons; and
a controller configured to, while controlling the robot lawnmower to traverse a first reference point, a second reference point, and a path within the area to be mowed, detect the beacons using the detection system and collect mapping data; and

one or more computer readable mediums storing instructions that, when executed by a system of one or more computing devices, cause the system to perform operations comprising:
receiving the mapping data from the robot lawnmower;
receiving first and second geographic coordinates for the first and second reference points traversed by the robot lawnmower;
receiving a map image of the area from a mapping server;
aligning the mapping data to a coordinate system of the map image of the area using the first and second geographic coordinates, the mapping data corresponding to the first reference point, the second reference point, and the path traversed by the robot lawnmower; and
causing a mobile device to display the map image of the area based on aligning the mapping data to the coordinate system.

2. The robot lawnmower system of claim 1 , the operations comprising receiving confirmation by a user of the area to be mowed.

3. The robot lawnmower system of claim 1 , the operations comprising configuring the controller to control the robot lawnmower to autonomously mow the area.

4. The robot lawnmower system of claim 1 , wherein the robot lawnmower comprises a global positioning system (GPS) receiver, and wherein the controller is configured to move the robot lawnmower to the first and second reference points within the area and determine the first and second geographic coordinates for the first and second reference points using the GPS receiver at the first and second reference points.

5. The robot lawnmower system of claim 1 , wherein receiving the first and second geographic coordinates for the first and second reference points comprises:
causing the mobile device to display instructions to a user to move the mobile device to the first reference point;
in response to receiving user input indicating that the mobile device is at the first reference point, receiving the first geographic coordinates from the mobile device;
causing the mobile device to display instructions to the user to move the mobile device to the second reference point; and
in response to receiving user input indicating that the mobile device is at the second reference point, receiving the second geographic coordinates from the mobile device.

6. The robot lawnmower system of claim 1 , comprising a docking station for the robot lawnmower at the first or second reference point.

7. The robot lawnmower system of claim 6 , wherein:
the robot lawnmower comprises a first global positioning system (GPS) receiver;
the docking station comprises a second GPS receiver;
receiving the first geographic coordinates comprises receiving the first geographic coordinates from the robot lawnmower using the first GPS receiver; and
receiving the second geographic coordinates comprises receiving the second geographic coordinates from the docking station using the second GPS receiver.

8. The robot lawnmower system of claim 6 , wherein:
the docking station comprises a first global positioning system (GPS) receiver;
receiving the first geographic coordinates comprises receiving the first geographic coordinates from the docking station using the first GPS receiver; and
receiving the second geographic coordinates comprises receiving the second geographic coordinates from the mobile device.

9. The robot lawnmower system of claim 1 , wherein:
receiving the mapping data from the robot lawnmower comprises receiving the mapping data over a wired or wireless communications link between the robot lawnmower and the mobile device.

10. The robot lawnmower system of claim 1 , wherein causing the mobile device to display the map image comprises causing the mobile device to display the map image with an overlaid visual indicator of the path traversed by the robot lawnmower.

11. The robot lawnmower system of claim 10 , wherein causing the mobile device to display the map image comprises displaying beacon indicators of locations of the beacons within the area using the mapping data.

12. The robot lawnmower system of claim 1 , wherein aligning the mapping data to the coordinate system of the map image comprises one or more of: shifting, rotating, and scaling the mapping data so that first and second locations on the map image of the area match the first and second reference points.

13. The robot lawnmower system of claim 1 , wherein the controller is configured to cause the robot lawnmower to traverse the area starting from the first or second reference point.

14. The robot lawnmower system of claim 1 , the operations comprising:
for at least one beacon, determining first and second distances to first and second nearest neighbor beacons to the at least one beacon;
determining that a difference between the first and second distances is greater than a threshold distance;
determining a suggested beacon location for the at least one beacon at a mid-point between the first and second nearest neighbor beacons along a perimeter of the area to be mowed; and
causing the mobile device to display, on the map image, an indicator for the suggested beacon location of the at least one beacon.

15. The robot lawnmower system of claim 1 , wherein the detection system comprises an emitter/receiver configured to emit a signal, and wherein the beacons are configured to reflect an emitted signal from the detection system back onto the detection system.

16. A method of providing mowing map data, the method comprising:
receiving mapping data from a robot lawnmower, the mapping data specifying an area to be mowed and a plurality of locations of beacons positioned within the area to be mowed, the mapping data corresponding to first and second reference points and a path traversed by the robot lawnmower within the area to be mowed;
receiving first and second geographic coordinates for the first and second reference points;
receiving a map image of the area from a mapping server;
aligning the mapping data to a coordinate system of the map image of the area using the first and second geographic coordinates; and
providing data formatted to cause a mobile device to, in response to receiving the provided data, display the map image of the area based on aligning the mapping data to the coordinate system.

17. The method of claim 16 , further comprising:
receiving tracking data from the robot lawnmower while the robot lawnmower is mowing the area; and
providing data formatted to cause the mobile device to display, on the map image, a graphic overlay indicating progress of the robot lawnmower.

18. The method of claim 16 , further comprising:
plotting a projected path of the robot lawnmower to complete mowing the area; and
providing data formatted to cause the mobile device to display, on the map image, a graphic overlay indicating the projected path of the robot lawnmower.

19. The method of claim 18 , further comprising:
estimating an amount of time to completion based on a remaining area to be mowed within the area to be mowed; and
providing data formatted to cause the mobile device to display a user interface element indicating the estimated amou

Assignees

• Irobot Corp

Inventors

• Balutis Paul C
• Beaulieu Andrew
• Yamauchi Brian
• Karlson Karl Jeffrey
• Jones Dominic Hugh

Classifications

• G01C21/20 Primary

  Instruments for performing navigational calculations (G01C21/24, G01C21/26 take precedence) · CPC title

• A01D2101/00

  Lawn-mowers · CPC title

• A01D34/008 Primary

  for automated or remotely controlled operation · CPC title

• Y10S901/01

  Mobile robot · CPC title

• G01S19/13

  Receivers · CPC title