A autonomous moving device, moving and working in a working region limited by a boundary wire, and including at least one boundary sensor, detecting boundary signal and outputting boundary signal output; a control module, electrically connected to the boundary sensor, and judging type of the boundary signal output, wherein the control module comprises an estimation unit, estimating whether the type of the boundary signal output in a predetermined estimation period is consistent or not, and if consistent, the control module judges that the boundary signal output is stable; the control module judges position relation of the boundary sensor relative to the boundary wire based on the type of the stable boundary signal output.

A robotic lawnmower system comprising a robotic lawnmower (100) and a signal generator (240) to which a cable (250, 260) is to be connected, the signal generator (240) being configured to transmit a signal (245) through the cable (250, 260). The robotic lawnmower (100) comprises: a sensor (170) configured to pick up magnetic fields generated by the signal (245) in the cable (250, 260) thereby receiving the signal (245) being transmitted and a controller (110). The controller (110) is configured to follow the cable (250, 260) at a distance by determining a received signal quality level and adapting the distance at which the robotic lawnmower (100) is following the cable at according to the determined signal quality level.

A system comprising an autonomous mobile device and a base station connected to a boundary wire is configured to transmit information from the base station to the autonomous mobile device. The base station is configured to generate a radio signal to be emitted by the boundary wire, wherein the autonomous mobile device is configured to autonomously drive within a working area based on the signal emitted by the boundary wire. The base station on the other hand is configured to encode data and/or commands into the radio signal which is then emitted by the boundary wire. The autonomous mobile device receive the emitted radio signal and is configured to decode the encoded data and/or commands in order to retrieve the original information.

A method navigates a robotic mower (2) by means of a wire (4, 8). The robotic mower (2) comprises at least one sensor (12, 14). The method comprises controlling the robotic mower (2) to exit a parking position at a station (11), wherein in the parking position the robotic mower (2) is at least partially arranged at an inside of a loop (10) of the station (11), determining that the robotic mower (2) has moved further outside of the loop (10) by detecting at least one signal of the loop (10) by means of the at least one sensor (12, 14), detecting at least one signal of the wire (4, 8) by means of the at least one sensor (12, 14) and controlling the robotic mower (2) to straddle along the wire (4, 8).

A vehicle and a method for controlling a vehicle including a current collector transmitting electric power from a current conductor located in a predetermined position in the surface of a road a distance from one side of the road; a first detecting means generating a signal indicative of the position of the current collector relative to a current conductor reference point; where the current collector is displaceable to track the current conductor in response to the signal; and a second detecting means detecting the position of the current collector are provided. The method involves determining a first distance representing the position of the current collector relative to the current conductor reference point; determining a second distance representing the position of the current collector relative to a vehicle reference point; and determining a distance between the vehicle reference point and the current conductor reference point using the first and second distances to determine a current vehicle position on the road.

A system, for cutting a plurality of lawns, including: A) two or more robotic lawn mowers which each has a rechargeable energy storage, and B) a carrier, which includes: a) at least two holders, each of which is capable of retaining one of the two or more robotic lawn mowers and b) a charging system for the rechargeable energy storage. Also provided is the carrier as such and a method in which the system and the carrier can be used. The mowers are typically battery powered.

A method for use in a robotic work tool system (200) comprising a charging station (210), a wire (220) leading to/from the charging station (210) and a robotic work tool (100) arranged to operate in an operational area (205), the robotic work tool (100) comprising one or more magnetic sensors (170), and a satellite navigation sensor (175), wherein the method comprises: exiting the charging station (210); following the wire (220) navigating based on the one or more magnetic sensors (170); determining that a release point (RP) has been reached, and in response thereto navigating in the operational area (205) based on the satellite navigation sensor (175).

A charging station capable of guiding a self-driving device to interface includes a base plate installed in a working area to fix the self-driving device; a first wire surrounding on the base plate and connected to a signal generator independently of a boundary; a second wire surrounding on the base plate and connected to the signal generator independently of the boundary and the first wire; and the signal generator sending a guide signal to the first wire and/or the second wire; where multiple areas surrounded by the first wire and the second wire include at least a first area having a first magnetic field signal, a second area having a second magnetic field signal, and a third area having a third magnetic field signal.

An automatic parking system which controls a vehicle so as to cause the vehicle to be moved to a parking place and accommodated in a parking frame provided in the parking place includes a route where magnetic marker is laid so as to be detectable by using a magnetic sensor array provided to the vehicle, RFID tag providing tag information capable of identifying laying position of the magnetic marker, and a control server device which identifies a vehicle position based on the laying positions of the magnetic markers, allowing highly-accurate identification of the position of the vehicle to be forwarded and allowing operation with high reliability.

A method and guidance system guides a land vehicle along a pathway using a downward-looking, lateral position-sensing, radar guidance apparatus on the vehicle and microwave reflectors distributed along the pathway. A radar sensor transmits radar signals downward towards the pathway surface along which the vehicle travels. The signals are reflected back to the vehicle by the microwave reflectors distributed along the pathway.