METHOD, SYSTEM, COMPUTER PROGRAM AND COMPUTER PROGRAM PRODUCT FOR CONTROLLING A ROBOTIC GARDEN TOOL

Abstract

A method performed by a robotic garden system for controlling a robotic garden tool (1). The system comprises the robotic garden tool (1), a control unit, and a database. The method comprises the steps of: A. Retrieving a predetermined route (3) for a working area (4). The predetermined route (3) is based on a travel angle (6). The travel angle (6) is an angle extending from a starting point (7). The working area (4) delimits the travel of the robotic garden tool (1). A route data set comprises a plurality of predetermined routes. Each predetermined route has a travel angle substantially being different from all other travel angles of all other predetermined routes. B. Controlling the robotic garden tool (1) to start from the starting point (7) and move along the retrieved predetermined route (3).

Claims

1. A method performed by a robotic garden system (15) for controlling a robotic garden tool (1), wherein the system (15) comprises the robotic garden tool (1), a control unit (13), and a database (2), wherein the method comprises the steps of: A. retrieving, from the database (2) by means of the control unit (13), a predetermined route (3) for the robotic garden tool (1), wherein the predetermined route (3) is within a working area (4), wherein the predetermined route (3) is stored in a route data set (5) in the database (2), wherein the predetermined route (3) is based on a travel angle (6), wherein the travel angle (6) is an angle extending from a starting point (7) for the robotic garden tool (1) located within the working area (4), and wherein the working area (4) delimits the travel of the robotic garden tool (1), wherein the route data set (5) comprises a plurality of predetermined routes (3a . . . n), and wherein each predetermined route (3) has a travel angle (6) substantially being different from all other travel angles of all other predetermined routes, B. controlling by means of the control unit (13) the robotic garden tool (1) to start from the starting point (7) and move along the retrieved predetermined route (3).

2. Method for controlling a robotic garden tool (1) according to claim 1, wherein the method is preceded by the steps of: defining the working area (4), and storing in the database (2) a plurality of geographical data points (8) defining the working area (4).

3. Method for controlling a robotic garden tool (1) according to claim 2, wherein the method further comprises the step of: controlling the robotic garden tool (1) by means of the control unit (13) to follow the defined and stored working area (4) before conducting any further activities, such that the user can confirm that the stored working area (4) is correct.

4. Method for controlling a robotic garden tool (1) according to claim 2, wherein the defining of the working area comprises: defining the boundary (9) of the working area (4).

5. Method for controlling a robotic garden tool (1) according to claim 4, wherein the defining of the boundary step comprises: controlling the robotic garden tool (1) by means of the control unit (13) to follow the boundary (9) of the working area (4).

6. Method for controlling a robotic garden tool (1) according to claim 2, wherein the defining step of the working area comprises: defining the boundary (9) of an obstacle (10) of the working area (4).

7. Method for controlling a robotic garden tool (1) according to claim 1, wherein in the retrieving step of a predetermined route, the predetermined route (3) is selected based on the criteria of minimising the number of turns of the robotic garden tool (1) within the working area (4).

8. Method for controlling a robotic garden tool (1) according to claim 1, wherein the travel angle (6) is in the range of 0 to 180° or in the range of 0 to 360°.

9. Method for controlling a robotic garden tool (1) according to claim 1, wherein a positioning unit (11) is in combination with the control unit used for controlling the robotic garden tool to follow the retrieved predetermined route (3), and/or the positioning unit (11) is used for providing a plurality of geographical data points (8) so that the working area (4) can be defined.

10. Method for controlling a robotic garden tool according to claim 1, wherein the method further comprises to: A. retrieve a signal (12) by the control unit (13), wherein the signal (12) indicates that the robotic garden tool (1) should move to a predetermined position (14), B. store in the database (2) a geographical data point (8) corresponding to the current geographical position of the robotic garden tool (1), C. control the robotic garden tool (1) by means of the control unit (13) to move to the predetermined position (14), D. control the robotic garden tool (1) by means of the control unit (13) to conduct a certain activity at the predetermined position (14), E. control the robotic garden tool (1) by means of the control unit (13) to return to the geographical position corresponding to stored geographical data point after said certain activity at the predetermined position (14) has been completed, and F. control the robotic garden tool (1) by means of the control unit (13) to continue to move along the retrieved predetermined route (3).

11. Method for controlling a robotic garden tool according to claim 4, wherein the controlling step of the robotic garden tool (1) to follow the retrieved predetermined route (3) comprises for the robotic garden tool (1) by means of the control unit (13) to: A. move along the travel angle (5) in a straight line, B. turn when reaching the boundary (9) of the working area (4), C. move opposite the travel angle (5) in a straight line, D. turn when reaching the boundary (9) of the working area (4), E. move along the travel angle (5) in a straight line, and F. continue with said steps, such that the robotic garden tool (1) covers the working area (4) lane by lane.

12. A robotic garden system (15) for controlling a robotic garden tool (1), wherein the system (15) comprises the robotic garden tool (1), a control unit (13), and a database (2), wherein the system (15) is arranged to: A. retrieve, from the database (2) by means of the control unit (13), a predetermined route (3) for the robotic garden tool (1), wherein the predetermined route (3) is within a working area (4), wherein the predetermined route (3) is stored in a route data set (5) in the database (2), wherein the predetermined route (3) is based on a travel angle (6), wherein the travel angle (6) is an angle extending from a starting point (7) for the robotic garden tool (1) located within the working area (4), and wherein the working area (4) delimits the travel of the robotic garden tool (1), wherein the route data set (5) comprises a plurality of predetermined routes (3a . . . n), and wherein each predetermined route (3) has a travel angle (6) substantially being different from all other travel angles of all other predetermined routes, B. control by means of the control unit (13) the robotic garden tool (1) to start from the starting point (7) and move along the retrieved predetermined route (3).

13. A computer program, comprising computer readable code means, which when run on a control unit according to claim 12 causes the system (15) to perform a method by a robotic garden system (15) for controlling a robotic garden tool (1), wherein the system (15) comprises the robotic garden tool (1), the control unit (13), and a database (2), the method comprising: A. retrieving, from the database (2) by means of the control unit (13), a predetermined route (3) for the robotic garden tool (1), wherein the predetermined route (3) is within a working area (4), wherein the predetermined route (3) is stored in a route data set (5) in the database (2), wherein the predetermined route (3) is based on a travel angle (6), wherein the travel angle (6) is an angle extending from a starting point (7) for the robotic garden tool (1) located within the working area (4), and wherein the working area (4) delimits the travel of the robotic garden tool (1), wherein the route data set (5) comprises a plurality of predetermined routes (3a . . . n), and wherein each predetermined route (3) has a travel angle (6) substantially being different from all other travel angles of all other predetermined routes, B. controlling by means of the control unit (13) the robotic garden tool (1) to start from the starting point (7) and move along the retrieved predetermined route (3).

14. A computer program product, comprising a computer readable medium and a computer program according to claim 13, wherein the computer program is stored on the computer readable medium.

Description

BRIEF DESCRIPTION OF DRAWINGS

[0045] The invention is now described, by way of example, with reference to the accompanying drawings, in which:

[0046] FIG. 1 is a flow chart of a procedure according to an embodiment.

[0047] FIG. 2 is a flow chart of a procedure according to an embodiment.

[0048] FIG. 3 is a flow chart of a procedure according to an embodiment.

[0049] FIG. 4 is a flow chart of a procedure according to an embodiment.

[0050] FIG. 5 is a flow chart of a procedure according to an embodiment.

[0051] FIG. 6 is a block diagram illustrating a control unit, according to a possible embodiment.

[0052] FIG. 7 is a block diagram illustrating a robotic garden system in connection with a user, according to a possible embodiment.

[0053] FIG. 8 shows a robotic garden tool in connection with its surroundings in a schematic view, according to an embodiment of the invention, and

[0054] FIG. 9 shows a predetermined route in a perspective view, according to an embodiment of the invention, and

[0055] FIG. 10 shows a predetermined route in a perspective view, according to an embodiment of the invention, and

[0056] FIG. 11 shows a predetermined route in a perspective view, according to an embodiment of the invention, and

[0057] FIG. 12 shows a predetermined route in a perspective view, according to an embodiment of the invention.

DESCRIPTION OF EMBODIMENTS

[0058] In the following, a detailed description of a method, system, computer program and computer program product for controlling a robotic garden tool, is provided.

[0059] FIG. 1 shows a flow chart illustrating a procedure in a system. The various actions may come in different orders than presented in this description, or in a different order than shown in this or other flowcharts related to this description, or some steps may be performed in parallel.

[0060] In a step S100 a predetermined route 3 for the robotic garden tool 1 is retrieved from the database 2 by means of the control unit 13. The predetermined route 3 is within a working area 4. The predetermined route 3 is stored in a route data set 5 in the database 2. The predetermined route 3 is based on a travel angle 6. The travel angle 6 is an angle extending from a starting point 7 for the robotic garden tool 1 located within the working area 4, and the working area 4 delimits the travel of the robotic garden tool 1. The route data set 5 comprises a plurality of predetermined routes 3a . . . n, and each predetermined route 3 has a travel angle 6 substantially being different from all other travel angles of all other predetermined routes. Further the robotic garden tool 1 is controlled by means of the control unit 13 to start from the starting point 7 and move along the retrieved predetermined route 3. In a step S110 the robotic garden tool 1 is controlled by means of the control unit 13 to start from the starting point 7 and to move along the retrieved predetermined route 3.

[0061] FIG. 2 shows a flow chart illustrating a procedure in a system. The various actions may come in different orders than presented in this description, or in a different order than shown in this or other flowcharts related to this description, or some steps may be performed in parallel.

[0062] In a step S200 the working area 4 is defined. In a step S210a plurality of geographical data points 8 defining the working area 4 is stored in the database 2.

[0063] FIG. 3 shows a flow chart illustrating a procedure in a system. The various actions may come in different orders than presented in this description, or in a different order than shown in this or other flowcharts related to this description, or some steps may be performed in parallel.

[0064] In a step S300a signal 12 is retrieved by the control unit. The signal 12 indicates that the robotic garden tool 1 should move to a predetermined position 14. In a step S310a geographical data point 8 corresponding to the current geographical position of the robotic garden tool 1 is stored in the database 2. In a step S320 the robotic garden tool 1 is controlled by means of the control unit 13 to move to the predetermined position 14. In a step S330 the robotic garden tool 1 is controlled by means of the control unit 13 to conduct a certain activity at the predetermined position 14. In a step S340 the robotic garden tool 1 is controlled by means of the control unit 13 to return to the geographical position corresponding to stored geographical data point after said certain activity at the predetermined position 14 has been completed. In a step S350 the robotic garden tool 1 is controlled by means of the control unit 13 to continue to move along the retrieved predetermined route 3.

[0065] FIG. 4 shows a flow chart illustrating a procedure in a system. The various actions may come in different orders than presented in this description, or in a different order than shown in this or other flowcharts related to this description, or some steps may be performed in parallel.

[0066] In a step S400 the robotic garden tool 1 is controlled by means of the control unit 13 to move along the travel angle 5 in a straight line. In a step S410 the robotic garden tool 1 is controlled by means of the control unit 13 to turn when reaching the boundary 9 of the working area 4. In a step S420 the robotic garden tool 1 is controlled by means of the control unit 13 to move opposite the travel angle 5 in a straight line. In a step S430 the robotic garden tool 1 is controlled by means of the control unit 13 to turn when reaching the boundary 9 of the working area 4. In a step S440 the robotic garden tool 1 is controlled by means of the control unit 13 to move along the travel angle 5 in a straight line and continue with said steps such that the robotic garden tool 1 covers the working area 4 lane by lane.

[0067] FIG. 5 shows a flow chart illustrating a procedure in a system. The various actions may come in different orders than presented in this description, or in a different order than shown in this or other flowcharts related to this description, or some steps may be performed in parallel.

[0068] In a step 1.1a predetermined route 3 for the robotic garden tool 1 is retrieved from the database 2 by means of the control unit 13. The predetermined route 3 is within a working area 4. The predetermined route 3 is stored in a route data set 5 in the database 2. The predetermined route 3 is based on a travel angle 6. The travel angle 6 is an angle extending from a starting point 7 for the robotic garden tool 1 located within the working area 4, and the working area 4 delimits the travel of the robotic garden tool 1. The route data set 5 comprises a plurality of predetermined routes 3a . . . n, and each predetermined route 3 has a travel angle 6 substantially being different from all other travel angles of all other predetermined routes. In a step 1.2 the robotic garden tool 1 is controlled by means of the control unit 13 to start from the starting point 7 and to move along the retrieved predetermined route 3.

[0069] FIG. 6 shows a control unit 13, including components such as a processor 13.a, a user interface 13.b, a memory 13.c and communication gateways 13.d.

[0070] FIG. 7 shows a user interface 13.b of a control unit 13, a database 2, a robotic garden tool 1, and a user. The database 2, the robotic garden tool 1, and the user being connected to a control unit 13.

[0071] FIG. 8 shows a robotic garden system 15 and a robotic garden tool 1, in relation to a predetermined route 3, a working area 4, a travel angle 6, a starting point of the robotic garden tool 7, a boundary of the working area 9, an obstacle of the working area 10, and a predetermined position 14.

[0072] FIG. 9-12 show different types of predetermined routes based on different types of travel angels and different types of working widths of different robotic garden tools.

LIST OF COMPONENTS

[0073] 1=robotic garden tool [0074] 2=database [0075] 3=predetermined route [0076] 3a . . . n=a plurality of predetermined routes [0077] 4=working area [0078] 5=route data set [0079] 6=travel angle [0080] 7=starting point of the robotic garden tool [0081] 8=geographical data points [0082] 9=boundary of the working area [0083] 10=obstacle of the working area [0084] 11=positioning unit [0085] 12=a signal by a control unit [0086] 13=a control unit [0087] 14=predetermined position [0088] 15=robotic garden system