CONTROL ARRANGEMENT FOR ROBOTIC LAWNMOWER AND METHOD OF OPERATING ROBOTIC LAWNMOWER

Abstract

The present invention relates to a control arrangement (1) for a self-propelled robotic lawnmower (3) having a cutting unit (5, 6) configured to rotate during operation of the lawnmower (3). The control arrangement (1) is configured to navigate the lawnmower (3) along a navigation path (7) comprising adjacent mowing strokes (S, Sp, Su). The control arrangement (1) is configured to set a rotation direction (rl, r2) of the cutting unit (5, 6) based on the navigation path (7), or is configured to select the navigation path (7) based on a rotation direction (rl, r2) of the cutting unit (5, 6). By adapting the rotation direction (rl, r2) or the navigation path (7), the direction (d1, d2) to which grass clippings are ejected, i.e. towards the previous mowing stroke (Sp) or to a future mowing stroke (Su) is controlled thereby reducing energy consumption or grass decomposition time.

Claims

1. A control arrangement for a self-propelled robotic lawnmower, the lawnmower comprising a cutting unit configured to rotate during operation of the lawnmower, wherein the control arrangement is configured to navigate the lawnmower along a navigation path comprising adjacent mowing strokes, wherein the control arrangement is configured to set a rotation direction of the cutting unit based on the navigation path, or is configured to select the navigation path based on the rotation direction of the cutting unit.

2. The control arrangement according to claim 1, wherein the control arrangement is configured to set the rotation direction of the cutting unit based on a location of a previous adjacent mowing stroke or an upcoming adjacent mowing stroke relative to a side of the lawnmower.

3. The control arrangement according to claim 1, wherein the navigation path comprises substantially parallel adjacent mowing strokes.

4. The control arrangement according to claim 1, wherein the control arrangement is configured to trigger a reversal of the rotation direction of the cutting unit based on the lawnmower making a 180 degrees turn.

5. The control arrangement according to claim 1, wherein the control arrangement is configured to operate in a first operational mode in which the control arrangement sets the rotation direction of the cutting unit, or selects the navigation path causing a leading edge of the cutting unit, seen in a forward travel direction, to move in a first direction towards a side of the lawnmower at which a previous adjacent mowing stroke is located.

6. The control arrangement according to claim 5, wherein the control arrangement is configured to operate in a second operational mode in which the control arrangement sets the rotation direction of the cutting unit, or selects the navigation path causing the leading edge of the cutting unit, seen in the forward travel direction, to move in a second direction away from the side of the lawnmower at which the previous adj acent mowing stroke is located.

7. The control arrangement according to claim 56, wherein the lawnmower comprises an input unit, and wherein the control arrangement is controllable to operate in one of the first and second operational modes based on data from the input unit.

8. The control arrangement according to claim 1, wherein the control arrangement is configured to further set the rotation direction of the cutting unit, or select the navigation path, based on data representative of at least one of an energy level of a battery of the lawnmower and an estimated energy consumption for mowing along the navigation path.

9. The control arrangement according to claim 1, wherein the lawnmower comprises a second cutting unit configured to rotate during operation of the lawnmower, and wherein the control arrangement is configured to set a rotation direction of the second cutting unit based on the navigation path, or is configured to select the navigation path based on the rotation direction of the second cutting unit.

10. A self-propelled robotic lawnmower comprising a control arrangement according to claim 1.

11. A method of operating a self-propelled robotic lawnmower, the lawnmower comprising a cutting unit configured to rotate during operation of the lawnmower, wherein the method comprises: - setting a rotation direction of the cutting unit based on a navigation path, or - selecting the navigation path based on the rotation direction of the cutting unit, and - navigating the lawnmower along the navigation path.

12. The method according to claim 11, wherein the method comprises: - setting the rotation direction of the cutting unit based on a location of a previous adjacent mowing stroke or an upcoming adjacent mowing stroke relative to a side of the lawnmower.

13. The method according to claim 11, wherein the method further comprises: - triggering a reversal of the rotation direction of the cutting unit based on the lawnmower making a 180 degrees turn.

14. The method according to claim 11, wherein the method further comprises, in a first operational mode: - setting the rotation direction of the cutting unit, or - selecting a the navigation path, causing a leading edge of the cutting unit, seen in a forward travel direction to move in a first direction towards a side of the lawnmower at which a previous adjacent mowing stroke is located.

15. The method according to claim 14, wherein the method further comprises, in a second operational mode: - setting the rotation direction of the cutting unit, or - selecting a the navigation path, causing a leading edge of the cutting unit, seen in the forward travel direction, to move in a second direction away from the side of the lawnmower at which the previous adjacent mowing stroke is located.

16. The method according to claim 15, wherein the lawnmower comprises an input unit, and wherein the method comprises: - selecting between one of the first and second operational modes based on data from the input unit.

17. The method according to claim 11, wherein the method comprises: - setting the rotation direction of the cutting unit, or - selecting the navigation path, based on data representative of at least one of an energy level of a battery of the lawnmower and an estimated energy consumption for mowing along the navigation path.

18. A computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the method according to claim 1.

19. A computer-readable medium comprising instructions which, when executed by a computer, cause the computer to carry out the method according to claim 1.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Various aspects of the invention, including its particular features and advantages, will be readily understood from the example embodiments discussed in the following detailed description and the accompanying drawings, in which:

[0062] FIG. 1 illustrates a self-propelled robotic lawnmower, according to some embodiments of the present disclosure, mowing a lawn along a navigation path,

[0063] FIG. 2 illustrates the self-propelled robotic lawnmower according to the embodiments illustrated in FIG. 1, mowing a lawn along a navigation path according to some further embodiments,

[0064] FIG. 3 illustrates a self-propelled robotic lawnmower according to some further embodiments, mowing a lawn along a navigation path,

[0065] FIG. 4 illustrates a method of operating a self-propelled robotic lawnmower according to some embodiments, and

[0066] FIG. 5 illustrates computer-readable medium, according to some embodiments.

DETAILED DESCRIPTION

[0067] Aspects of the present invention will now be described more fully. Like numbers refer to like elements throughout. Well-known functions or constructions will not necessarily be described in detail for brevity and/or clarity.

[0068] FIG. 1 illustrates a self-propelled robotic lawnmower 3, according to some embodiments of the present disclosure, mowing a lawn along a navigation path 7. The robotic lawnmower 3 is a self-propelled autonomous robotic lawnmower 1 capable of navigating and cutting grass in an autonomous manner in an area without the intervention or the direct control of a user. For the reason of brevity and clarity, the self-propelled autonomous robotic lawnmower 1 is in some places herein referred to as “the robotic lawnmower 1” or simply the “lawnmower 1”. According to the illustrated embodiments, the robotic lawnmower 1 is configured to be used to cut grass in areas used for aesthetic and recreational purposes, such as gardens, parks, city parks, sports fields, lawns around houses, apartments, commercial buildings, offices, and the like.

[0069] The robotic lawnmower 3 comprises a cutting unit 5 configured to rotate around a rotation axis ax during operation of the lawnmower 3. The robotic lawnmower 3 may comprise an electric motor configured to rotate the cutting unit 5 during operation of the lawnmower 3. The electric motor is not illustrated in FIG. 1 for the reason of brevity and clarity. Moreover, the robotic lawnmower 3 comprises wheels configured to abut against a ground surface during operation of the robotic lawnmower 3. The rotation axis ax of the cutting unit 5 is transversal to the ground plane. According to the illustrated embodiments, the rotation axis ax of the cutting unit 5 is substantially vertical relative to the ground surface meaning that the angle between the rotation axis ax and a surface normal of the ground surface is less than 7 degrees. One or more of the wheels of the robotic lawnmower 3 may be powered by an electrical propulsion motor. The wheel/wheels and the electrical propulsion motor/motors are not illustrated in FIG. 1 for the reason of brevity and clarity. The robotic lawnmower 3 comprises a battery 9 configured to supply electricity to electrical components of the robotic lawnmower 3, such as an electric motor configured to rotate the cutting unit 5 and one or more electrical propulsion motors.

[0070] The robotic lawnmower 3 further comprises a control arrangement 1. The control arrangement 1 is configured to navigate the robotic lawnmower 3 along a navigation path 7 comprising adjacent mowing strokes S, Sp, Su. The control arrangement 1 may navigate the robotic lawnmower 3 by controlling rotation of one or more wheels of the robotic lawnmower 3. The control arrangement 1 may be configured to control rotation of the one or more wheels by controlling the power and direction of one or more propulsion motors. According to further embodiments, the robotic lawnmower 3 may comprise one or more steered wheels. According to such embodiments, the control arrangement 1 may be configured to turn, steer, and navigate the robotic lawnmower 3 by controlling a steering angle of the one or more steered wheels. Moreover, according to some embodiments, the robotic lawnmower 3 may comprise articulated body portions. According to such embodiments, the control arrangement 1 may be configured to turn, steer, and navigate the robotic lawnmower 3 by controlling an angle between the articulated body portions.

[0071] The control arrangement 1 may be configured to navigate the robotic lawnmower 3 along the navigation path 7 using input from a sensor arrangement. Such a sensor arrangement may comprise one or more positioning units configured to estimate a current position of the robotic lawnmower 3, such as for example a space based satellite navigation system such as a Global Positioning System (GPS), The Russian GLObal NAvigation Satellite System (GLONASS), European Union Galileo positioning system, Chinese Compass navigation system, or Indian Regional Navigational Satellite System. As an alternative, or in addition, the sensor arrangement may comprise one or more positioning units utilizing a local reference source, such as a local sender or a wire, to estimate or verify a current position of the robotic lawnmower 3. Moreover, such a sensor arrangement may comprise one or more impact sensors configured to detect collision events between the robotic lawnmower 3 and another object.

[0072] According to embodiments herein, the control arrangement 1 is configured to set a rotation direction r1, r2 of the cutting unit 5 based on the navigation path 7 or is configured to select the navigation path 7 based on a rotation direction r1, r2 of the cutting unit 5. According to the embodiments illustrated in FIG. 1, the navigation path 7 is spiral-shaped, wherein the lawnmower 3 is traveling towards a centre of the spiral. According to these embodiments, the navigation path 7 may also comprise straight sections, such as four straight sections, wherein the robotic lawnmower 3 may make a 90 degrees turn after each straight section. The navigation path 7 comprises adjacent mowing strokes S, Sp, Su, wherein the mowing stroke S denotes a current mowing stroke S, the mowing strokes Sp denotes a previous mowing stroke Sp, i.e. a mowing stroke Sp already cut by the robotic lawnmower 3, and the mowing stroke Su denotes an upcoming mowing stroke Su, i.e. a future mowing stroke Sp that the robotic lawnmower 3 will cut.

[0073] The rotation direction r1, r2 of the cutting unit affects the side s1, s2 of the robotic lawnmower 3 at which grass clippings will be thrown during cutting. Mainly, the grass clippings will be ejected along a tangent of a moving direction d1, d2 of a leading edge 5' of the cutting unit 5 seen in a forward travel direction fd. The forward travel direction fd of the robotic lawnmower 3 coincides with a longitudinal direction of the robotic lawnmower 3. The moving direction d1, d2 of the leading edge 5' of the cutting unit 5 seen in the forward travel direction fd thus coincides with a lateral direction of the robotic lawnmower 3. Accordingly, by setting the rotation direction r1, r2 of the cutting unit 5 based on the navigation path 7 or by selecting the navigation path 7 based on a rotation direction r1, r2 of the cutting unit 5, a control arrangement 1 is provided capable of controlling whether the grass clippings are to be ejected toward the side s1 of the robotic lawnmower 3 where the robotic lawnmower 3 has already mowed or if grass clippings are to be ejected toward the side s2 of the robotic lawnmower 3 where the robotic lawnmower 3 will mow. In other words, by setting the rotation direction r1, r2 of the cutting unit 5 based on the navigation path 7, or by selecting the navigation path 7 based on a rotation direction r1, r2 of the cutting unit 5, the control arrangement 1 can control whether the grass clippings are to be ejected toward the previous mowing stroke Sp or toward the upcoming mowing stroke Su.

[0074] By ejecting the grass clippings toward the previous mowing stroke Sp, the energy consumption of the robotic lawnmower 3 can be lowered and the cutting result can be improved. By ejecting the grass clippings toward the upcoming mowing stroke Su, a more mulched cutting result can be obtained.

[0075] The control arrangement 1 may be configured to select the navigation path 7 based on a rotation direction r1, r2 of the cutting unit 5 such that a navigation path 7 is selected ensuring that grass clippings are ejected toward a previous mowing stroke Sp, or such that grass clippings are ejected toward an upcoming mowing stroke Su. As an example, if the rotation direction r1 of the cutting unit 5 is in a clockwise rotation direction r1 seen from above, the control arrangement 1 may select a navigation path 7 in which the robotic lawnmower 3 moves in a spiral pattern counterclockwise towards a centre of the spiral pattern. Such a navigation path 7 is illustrated in FIG. 1. As an alternative, the control arrangement 1 may select a navigation path 7 in which the robotic lawnmower 3 moves in a spiral pattern clockwise from a centre of the spiral pattern. In this manner, it can be ensured that the grass clippings are ejected toward a previous mowing stroke Sp. As another example, if the rotation direction r2 of the cutting unit 5 is in a counterclockwise rotation direction r2 seen from above, the control arrangement 1 may select a navigation path 7 in which the robotic lawnmower 3 moves in a spiral pattern clockwise towards a centre of the spiral pattern, or may select a navigation path 7 in which the robotic lawnmower 3 moves in a spiral pattern counterclockwise from a centre of the spiral pattern. In this manner, it can be ensured that the grass clippings are ejected toward a previous mowing stroke Sp.

[0076] FIG. 2 illustrates the self-propelled robotic lawnmower 3 according to the embodiments illustrated in FIG. 1, mowing a lawn along a navigation path 7 according to some further embodiments. In FIG. 2, the navigation path 7 comprises substantially parallel adjacent mowing strokes S, Sp, Su. As indicated above, the control arrangement 1 may be configured to set the rotation direction r1, r2 of the cutting unit 5 based on the location of a previous adjacent mowing stroke Sp, or an upcoming adjacent mowing stroke Su, relative to a side s1, s2 of the lawnmower 1.

[0077] According to some embodiments, the control arrangement 1 is configured to trigger a reversal of the rotation direction r1, r2 of the cutting unit 5 based on the lawnmower 3 making a 180 degrees turn St. In this manner, the control arrangement 1 can ensure that grass clippings are ejected toward a previous mowing stroke Sp, or to toward an upcoming mowing stroke Sp, also when the robotic lawnmower 3 is navigating along a navigation path 7 comprising a back and forth pattern comprising substantially parallel adjacent mowing strokes S, Sp, Su.

[0078] According to some embodiments, the control arrangement 1 is configured to operate in a first operational mode in which the control arrangement 1 sets a rotation direction r1 of the cutting unit 5, or selects a navigation path 7, causing a leading edge 5' of the cutting unit 5, seen in a forward travel direction fd, to move in a direction d1 towards a side s1 of the lawnmower 3 at which a previous adjacent mowing stroke Sp is located.

[0079] Moreover, the control arrangement 1 may be configured to operate in a second operational mode in which the control arrangement 1 sets a rotation direction r2 of the cutting unit 5, or selects a navigation path 7, causing a leading edge 5' of the cutting unit 5, seen in a forward travel direction fd, to move in a direction d2 away from a side s1 of the lawnmower 3 at which a previous adjacent mowing stroke Sp is located.

[0080] When the robotic lawnmower 3 illustrated in FIG. 2 is operating in the first operational mode and the robotic lawnmower 3 is moving along a mowing stoke S having a previous mowing stroke Sp to the right side s1 of the robotic lawnmower 3 seen in a forward direction fd of the lawnmower 3, the control arrangement 1 will control the cutting unit 5 to rotate in a clockwise rotation direction r1 seen from above in a direction towards the ground surface. In this manner, the grass clippings will be ejected toward the right side s1 of the robotic lawnmower 3 seen in a forward direction fd of the lawnmower 3, i.e. toward the previous mowing stroke Sp. When the lawnmower 3 has made a 180 degrees turn St, the previous mowing stroke will be to the left side s2 of the robotic lawnmower 3 seen in a forward direction fd of the lawnmower 3. Thus, by reversing the rotation direction from the clockwise direction r1 to a counter clockwise direction r2 seen from above in a direction towards the ground surface, the grass clippings will be ejected toward the left side s2 of the robotic lawnmower 3 seen in a forward direction fd of the lawnmower 3, i.e. toward the previous mowing stroke Sp. By ejecting the grass clippings toward the previous mowing stroke Sp, a lowered energy consumption of the robotic lawnmower 3 can be provided, a longer battery life of the battery 9 can be provided, and an improved cutting result can be obtained also when the robotic lawnmower 3 is navigating along a navigation path 7 comprising a back and forth pattern comprising substantially parallel adjacent mowing strokes S, Sp, Su.

[0081] When the robotic lawnmower 3 illustrated in FIG. 2 is operating in the second operational mode and the robotic lawnmower 3 is moving along a mowing stoke S having a previous mowing stroke Sp to the right of the robotic lawnmower 3 seen in a forward direction fd of the lawnmower 3, the control arrangement 1 will control the cutting unit 5 to rotate in a counterclockwise rotation direction r2 seen from above in a direction towards the ground surface. In this manner, the grass clippings will be ejected toward the left side S2 of the robotic lawnmower 3 seen in a forward direction fd of the lawnmower 3, i.e. toward the upcoming mowing stroke Su. When the lawnmower 3 has made a 180 degrees turn St, the previous mowing stroke will be to the left side s2 of the robotic lawnmower 3 seen in a forward direction fd of the lawnmower 3. Thus, by reversing the rotation direction from the counterclockwise direction r2 to a clockwise direction r1 seen from above in a direction towards the ground surface, the grass clippings will be ejected toward the right side s1 of the robotic lawnmower 3 seen in a forward direction fd of the lawnmower 3, i.e. toward an upcoming mowing stroke Su. In this manner, a more mulched cutting result can be obtained also when the the robotic lawnmower 3 is navigating along a navigation path 7 comprising a back and forth pattern comprising substantially parallel adjacent mowing strokes S, Sp, Su.

[0082] According to the illustrated embodiments, the lawnmower 3 comprises an input unit 11. The control arrangement 1 is controllable to operate in one of the first and second operational modes based on data from the input unit 11.

[0083] According to some embodiments, the input unit 11 may comprise a unit allowing input from a user, such as a button, switch, touch sensitive display, or the like. According to such embodiments, the control arrangement may allow a user to select between the first and second operational modes.

[0084] As an alternative, or in addition, the input unit 11 may comprise a communication unit configured to receive data from an external communication unit. According to such embodiments, the control arrangement may allow a wireless selection between the first and second operational modes by a user or by an external control system.

[0085] As a further alternative, or in addition, the input unit 11 may be configured to obtain operational data from other components or systems of the robotic lawnmower 3, such as one or more batteries 9 of the robotic lawnmower 3, or a navigation control arrangement 1 of the robotic lawnmower 3. According to such embodiments, the control arrangement 1 may be configured to determine whether to operate in the first and second operational modes based on such operational data. According to some embodiments, the input unit 11 is a data input unit 11. According to such embodiments, the input unit 11 may also be referred to as a data input unit 11.

[0086] According to some embodiments, the control arrangement 1 is configured to further set the rotation direction r1, r2 of the cutting unit 5, 6, or select the navigation path 7, based on data representative of at least one of an energy level of a battery 9 of the lawnmower 3 and an estimated energy consumption for mowing along the navigation path 7. According to such embodiments, the control arrangement 1 may set a rotation direction r1 of the cutting unit 5, or may select a navigation path 7, causing a leading edge 5' of the cutting unit 5, seen in a forward travel direction fd, to move in a direction d1 towards a side s1 of the lawnmower 3 at which a previous adjacent mowing stroke Sp is located, if the energy level of the battery 9 is below a threshold value or if the estimated energy consumption for mowing along the navigation path 7 exceeds a threshold value.

[0087] FIG. 3 illustrates a self-propelled robotic lawnmower 3 according to some further embodiments, mowing a lawn along a navigation path 7. The robotic lawnmower 3 according to the embodiments illustrated in FIG. 3 comprises the same features, functions, and advantages as the robotic lawnmower 3 explained with reference to FIG. 1 and FIG. 2, with some differences explained below. According to the embodiments illustrated in FIG. 3, the lawnmower 3 comprises a first and a second cutting unit 5, 6. That is, according to the illustrated embodiments, the lawnmower comprises two cutting units 5, 6, wherein each cutting unit 5, 6 is configured to rotate around a respective rotation axis ax during operation of the lawnmower 3. According to further embodiments, the robotic lawnmower 3 may comprise more than two cutting units 5, 6, such as three, four, or five cutting units 5, 6. The rotation axes ax of the first and second cutting units 5, 6 are transversal to the ground plane. According to the illustrated embodiments, the rotation axes ax of the first and second cutting units 5, 6 are substantially vertical relative to the ground surface meaning that the angle between each rotation axis ax and a surface normal of the ground surface is less than 7 degrees. The robotic lawnmower 3 may comprise one electric motor per cutting unit 5, 6, or may comprise one electric motor configured to rotate the cutting units 5, 6 of the robotic lawnmower 3. Such electric motor/motors is/are not illustrated in FIG. 3 for the reason of brevity and clarity.

[0088] According to these embodiments, wherein the control arrangement 1 is configured to set a rotation direction r1, r2 of the first and second cutting unit 5, 6 based on the navigation path 7, or is configured to select the navigation path 7 based on a rotation direction r1, r2 of the first and second cutting unit 5, 6. Moreover, according to these embodiments, first and second cutting unit 5, 6 are rotated in the same rotational direction r1, r2. As an example, if the robotic lawnmower 3 according to the illustrated embodiments is operating in the first operational mode and the robotic lawnmower 3 is navigated along the navigation path 7 illustrated in FIG. 3, the first and second cutting units 5, 6 are rotated in a clockwise rotation direction r1. In this manner, the grass clippings from the first and second cutting unit 5, 6 are ejected in a direction d1 towards a previous mowing stroke Sp. As another example, if the robotic lawnmower 3 according to the illustrated embodiments is operating in the second operational mode and the robotic lawnmower 3 is navigated along the navigation path 7 illustrated in FIG. 3, the first and second cutting units 5, 6 are rotated in a counterclockwise rotation direction r2. In this manner, the grass clippings from the first and second cutting unit 5, 6 are ejected in a direction d2 towards an upcoming mowing stroke Su.

[0089] A cutting unit 5, 6, as referred to herein, may comprise a cutting disc with a number of cutting members arranged at a periphery of the cutting disc. The cutting members may be pivotally arranged at the periphery of the cutting disc. As an alternative, a cutting unit 5, 6, as referred to herein, may comprise an elongated cutting arm provided with cutting edges.

[0090] FIG. 4 illustrates a method 100 of operating a self-propelled robotic lawnmower. The self-propelled robotic lawnmower may be a robotic lawnmower 3 according to the embodiments explained with reference to FIG. 1 and FIG. 2, or a robotic lawnmower 3 explained with reference to FIG. 3. Therefore, below, simultaneous reference is made to FIG. 1 - FIG. 4. The method 100 is a method 100 of operating a self-propelled robotic lawnmower 3, the lawnmower 3 comprising a cutting unit 5, 6 configured to rotate during operation of the lawnmower 3, wherein the method 100 comprises the steps of: [0091] setting 110 a rotation direction r1, r2 of the cutting unit 5, 6 based on a navigation path 7, or [0092] selecting 120 a navigation path 7 based on a rotation direction r1, r2 of the cutting unit 5, 6, and [0093] navigating 130 the lawnmower 3 along the navigation path 7.

[0094] As illustrated in FIG. 4, the method 100 may comprise: [0095] setting 111 the rotation direction r1, r2 of the cutting unit 5, 6 based on the location of a previous adjacent mowing stroke Sp or an upcoming adjacent mowing stroke Su relative to a side s1, s2 of the lawnmower 1.

[0096] Moreover, as illustrated in FIG. 4, the method 100 may comprise: [0097] triggering 112 a reversal of the rotation direction r1, r2 of the cutting unit 5, 6 based on the lawnmower 3 making a 180 degrees turn St.

[0098] Moreover, as illustrated in FIG. 4, the method 100 may comprise, in a first operational mode: [0099] setting 114 a rotation direction r1 of the cutting unit 5, 6 causing a leading edge 5', 6' of the cutting unit 5, 6, seen in a forward travel direction fd, to move in a direction d1 towards a side s1 of the lawnmower 3 at which a previous adjacent mowing stroke Sp is located, or [0100] selecting 124 a navigation path 7 causing a leading edge 5', 6' of the cutting unit 5, 6, seen in a forward travel direction fd, to move in a direction d1 towards a side s1 of the lawnmower 3 at which a previous adjacent mowing stroke Sp is located.

[0101] Furthermore, as illustrated in FIG. 4, the method 100 may comprise the method 100 further comprises, in a second operational mode: [0102] setting 115 a rotation direction r2 of the cutting unit 5, 6 causing a leading edge 5', 6' of the cutting unit 5, 6, seen in a forward travel direction fd, to move in a direction d2 away from a side s1 of the lawnmower 3 at which a previous adjacent mowing stroke Sp is located, or [0103] selecting 125 a navigation path 7 causing a leading edge 5', 6' of the cutting unit 5, 6, seen in a forward travel direction fd, to move in a direction d2 away from a side s1 of the lawnmower 3 at which a previous adjacent mowing stroke Sp is located.

[0104] According to some embodiments, the lawnmower 3 comprises an input unit 11, and as illustrated in FIG. 4, the method 100 may comprise: [0105] selecting 113 between one of the first and second operational modes based on data from the input unit 11.

[0106] Moreover, as illustrated in FIG. 4, the method 100 may comprise: [0107] setting 116 the rotation direction r1, r2 of the cutting unit 5, 6 based on data representative of at least one of an energy level of a battery 9 of the lawnmower 3 and an estimated energy consumption for mowing along the navigation path 7, or [0108] selecting 126 the navigation path 7 based on data representative of at least one of an energy level of a battery 9 of the lawnmower 3 and an estimated energy consumption for mowing along the navigation path 7.

[0109] It will be appreciated that the various embodiments described for the method 100 are all combinable with the control arrangement 1 as described herein. That is, the control arrangement 1 may be configured to perform any one of the method steps 110, 111, 112, 113, 114, 115, 116, 120, 124, 125, 126, and 130 of the method 100.

[0110] FIG. 5 illustrates computer-readable medium 200 comprising instructions which, when executed by a computer, cause the computer to carry out the method 100 according to some embodiments of the present disclosure.

[0111] According to some embodiments, the computer-readable medium 200 comprises a computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the method 100 according to some embodiments.

[0112] One skilled in the art will appreciate that the method 100 of operating a self-propelled robotic lawnmower 3 may be implemented by programmed instructions. These programmed instructions are typically constituted by a computer program, which, when it is executed in the control arrangement 1, ensures that the control arrangement 1 carries out the desired control, such as the method steps 110, 111, 112, 113, 114, 115, 116, 120, 124, 125, 126, and 130 described herein. The computer program is usually part of a computer program product 200 which comprises a suitable digital storage medium on which the computer program is stored.

[0113] The control arrangement 1 may comprise a calculation unit which may take the form of substantially any suitable type of processor circuit or microcomputer, e.g. a circuit for digital signal processing (digital signal processor, DSP), a Central Processing Unit (CPU), a processing unit, a processing circuit, a processor, an Application Specific Integrated Circuit (ASIC), a microprocessor, or other processing logic that may interpret and execute instructions. The herein utilised expression “calculation unit” may represent a processing circuitry comprising a plurality of processing circuits, such as, e.g., any, some or all of the ones mentioned above.

[0114] The control arrangement 1 may further comprise a memory unit, wherein the calculation unit may be connected to the memory unit, which may provide the calculation unit with, for example, stored program code and/or stored data which the calculation unit may need to enable it to do calculations. The calculation unit may also be adapted to store partial or final results of calculations in the memory unit. The memory unit may comprise a physical device utilised to store data or programs, i.e., sequences of instructions, on a temporary or permanent basis. According to some embodiments, the memory unit may comprise integrated circuits comprising silicon-based transistors. The memory unit may comprise e.g. a memory card, a flash memory, a USB memory, a hard disc, or another similar volatile or non-volatile storage unit for storing data such as e.g. ROM (Read-Only Memory), PROM (Programmable Read-Only Memory), EPROM (Erasable PROM), EEPROM (Electrically Erasable PROM), etc. in different embodiments.

[0115] The control arrangement 1 is connected to components of the robotic lawnmower 3 for receiving and/or sending input and output signals. These input and output signals may comprise waveforms, pulses, or other attributes which the input signal receiving devices can detect as information and which can be converted to signals processable by the control arrangement 1. These signals may then be supplied to the calculation unit. One or more output signal sending devices may be arranged to convert calculation results from the calculation unit to output signals for conveying to other parts of the robotic lawnmower’s control system and/or the component or components for which the signals are intended. Each of the connections to the respective components of the robotic lawnmower 3 for receiving and sending input and output signals may take the form of one or more from among a cable, a data bus, e.g. a CAN (controller area network) bus, or some other bus configuration, or a wireless connection.

[0116] In the embodiments illustrated, the robotic lawnmower 3 comprises a control arrangement 1 but might alternatively be implemented wholly or partly in two or more control arrangements or two or more control units.

[0117] The computer program product 200 may be provided for instance in the form of a data carrier carrying computer program code for performing at least some of the method steps 110, 111, 112, 113, 114, 115, 116, 120, 124, 125, 126, and 130 according to some embodiments when being loaded into one or more calculation units of the control arrangement 1. The data carrier may be, e.g. a CD ROM disc, as is illustrated in FIG. 5, or a ROM (read-only memory), a PROM (programable read-only memory), an EPROM (erasable PROM), a flash memory, an EEPROM (electrically erasable PROM), a hard disc, a memory stick, an optical storage device, a magnetic storage device or any other appropriate medium such as a disk or tape that may hold machine readable data in a non-transitory manner. The computer program product may furthermore be provided as computer program code on a server and may be downloaded to the control arrangement 1 remotely, e.g., over an Internet or an intranet connection, or via other wired or wireless communication systems.

[0118] It is to be understood that the foregoing is illustrative of various example embodiments and that the invention is defined only by the appended claims. A person skilled in the art will realize that the example embodiments may be modified, and that different features of the example embodiments may be combined to create embodiments other than those described herein, without departing from the scope of the present invention, as defined by the appended claims.

[0119] As used herein, the term “comprising” or “comprises” is open-ended, and includes one or more stated features, elements, steps, components, or functions but does not preclude the presence or addition of one or more other features, elements, steps, components, functions, or groups thereof.