Method and system for guiding a robotic garden tool

摘要

Method and system for guiding a robotic garden tool (100) is disclosed. The robotic garden tool (100) may include at least two sensing means (108, 110, and 202). The robotic garden tool (100) is equipped to follow along a guiding wire (402) on a lawn (400). While the robotic garden tool (100) moves along the guiding wire (402), the sensing means (108, 110, and 202) may detect a magnetic field strength generated from current carrying guiding wire (402). The method (500) and the system (300) is equipped to provide instructions to the robotic garden tool (100) to follow the guiding wire (402) based on the difference of magnetic field strength sensed by at least two sensing means (108, 110, and 202).

主权项

1. A guiding system for a robotic garden tool, the guiding system comprising:
at least one guiding wire configured to conduct electric current such that a magnetic field is generated adjacent to the guiding wire, and a robotic garden tool configured to follow the guiding wire at a variable offset from the guiding wire, wherein the robotic garden tool further comprises a first sensor, a second sensor, and a third sensor placed on the robotic garden tool such that they have different distances to the guiding wire when the robotic garden tool moves along the guiding wire, wherein each of the first sensor, second sensor, and third sensor are configured to detect a strength of the magnetic field, wherein the first sensor is placed along a longitudinal axis of the robotic garden tool and the second and third sensors are on opposite respective sides of the longitudinal axis, wherein the first sensor is separated by a distance from the second sensor and the third sensor along the longitudinal axis of the robotic garden tool, the distance extending parallel to the longitudinal axis and the longitudinal axis being parallel to a driving direction of the robotic garden tool, wherein the robotic garden tool is configured to select one of the second sensor or the third sensor based on a magnitude of magnetic field strength detected at each of the second sensor and the third sensor, and wherein the robotic garden tool is configured to be steered along the variable offset from the guiding wire based on a relative difference between detected magnetic field strengths of the first sensor and the selected one of the second sensor or the third sensor.