A method navigates a robotic mower (2) comprising at least one sensor (12; 14). The method comprises detecting (S101), by means of the at least one sensor (12, 14), at least one signal from a wire (8) as a first signal source; controlling (S106) the robotic mower (2) to follow the wire (8) at a first distance (D1) to the wire (8); detecting (S108), by means of the at least one sensor (12, 14), at least one signal from a second signal source; detecting (S109) a second distance (D2) based on the at least one signal from the second signal source; and navigating (S110) the robotic mower (2) along a path determined based on the first distance (D1) and the second distance (D2).

A robotic garden tool may include a first sensor configured to sense an electromagnetic signal from a boundary cable installed on an operating surface, and a second sensor configured to sense a first anchor installed on the operating surface. The robotic garden tool may also include an electronic processor configured to control, based on first sensor data received from the first sensor, operation of at least one wheel motor to control movement of the robotic garden tool such that the robotic garden tool remains within a boundary defined by the boundary cable. The electronic processor may also be configured to, in response to receiving second sensor data from the second sensor that indicates a sensing of the first anchor, control operation of the at least one wheel motor to control movement of the robotic garden tool in a first predetermined manner.

The present invention provides an autonomous vehicle, comprising: a housing; a driving module, mounted on the housing; a limit detecting module, mounted on the housing and detecting a distance between the autonomous vehicle and a limit; an energy module, mounted on the housing and providing energy for the autonomous vehicle; a control module, electrically connected to the driving module and the limit detecting module, the control module enables to the driving module to execute steering according to a signal representing an angle relationship between the autonomous vehicle and the limit and sent by the limit detecting module, such that an acute angle or right angle is always formed between the central axis of the autonomous vehicle and one lateral side of the limit when the steering is finished, and an acute angle or right angle is formed between the central axis of the autonomous vehicle and another lateral side of the limit when the steering begins; and if judging that the driving of the autonomous vehicle meets a preset condition, then the control module reduces an upper limit of an angle value range of an acute angle or right angle formed between the central axis of the autonomous vehicle and one lateral side of the limit when the steering is finished. The efficiency of passing by a narrow passage is higher.

In a method and system for position capture of a vehicle along a driving route, situated on a concrete floor having a reinforcement: the vehicle carries out a reference drive along the driving route, the vehicle records measuring points along the driving route, and each measuring point allocates a signal from the reinforcement to a position on the driving route; a reference profile of the driving route is determined based on the measuring points ascertained during the reference drive; the vehicle drives along the driving route and records further measuring points; a profile segment is determined from the further measuring points; the profile segment is uniquely allocated to a segment of the reference profile, e.g., using a correlation method; a position on the driving route is uniquely allocated to the vehicle with the aid of the profile segment allocated to the reference profile.

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.

A method for controlling an autonomous mobile device, an autonomous mobile device, and a computer storage medium are provided. The method includes: determining a plurality of candidate positions based on a first coordinate set; determining one of the candidate positions satisfying a safety condition for rotating the autonomous device as a first position; controlling the autonomous mobile device to turn at the first position so that the autonomous mobile device is perpendicular to a first boundary corresponding to the first coordinate set, and a tail of the autonomous mobile device is closer to the first boundary than a head of the autonomous mobile device; controlling the autonomous mobile device to move backward to a second position; and controlling the autonomous mobile device to turn at the second position so that the autonomous mobile device is parallel to the first boundary.

Proximity detection systems and proximity detections methods are disclosed herein. In one aspect of the disclosure the systems and methods include measuring and analyzing the vector components of a generated magnetic field. In another aspect of the present disclosure, the results of the vector component measurements are used to take safety actions which may result in an alert to an operator or pedestrian, and/or automatic action by a vehicle or machine.

A robotic work tool (100) comprising a controller (110) and at least one magnetic sensor (170) arranged to sense a magnetic boundary signal emitted by a boundary wire, and a first magnetic guide signal emitted by a first guide wire (261), wherein the controller (110) is configured to: detect an at least partial crossing of the first guide wire (261) from a first work zone to a second work zone, determine an operating status and if the operating status indicates that a crossing is allowed, allow the robotic work tool to cross the first guide wire (261) to the second work zone, and if not, control the operation of the robotic work tool so that the first guide wire (261) is not crossed.

A robotic lawnmower system (200) comprising a robotic lawnmower (100) comprising a grass cutting device (160), the robotic lawnmower (100) being arranged to enter a feature marking mode (1010) indicating a feature to be marked; find the feature (1020); adjust a cutting height (h1, h2) of the grass cutting device (160) to generate a mowing pattern (MP) marking the feature.

An automatic working system includes a robotic mower automatically moving and mowing in a working area, and a charging station for docking and charging of the robotic mower; the charging station includes: a charging support and a charging contact mounted on the charging support; and the robotic mower includes a housing, and a charging connector disposed on a lateral side of the housing and connected to the charging contact to receive electric energy when the robotic mower is in a docking position where the robotic mower is docked with the charging station. When the robotic mower is in the docking position, the charging support is located on a lateral side of the robotic mower, and the charging station is open in a front and back direction of the robotic mower to form a passage for the robotic mower to enter and exit the charging station approximately along a same direction.