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1. (WO2018160114) IMPROVED REDUCTION OF WHEEL TRACKS FOR ROBOTIC LAWNMOWER
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CLAIMS

1. 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), and the robotic lawnmower (100) comprising:

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) configured to

follow the cable (250, 260) at a distance by

detennining a received signal amplitude level of the received signal and

steering the robotic lawnmower so that the received amplitude level corresponds (substantially equal to) to a set amplitude level;

determine a received signal quality level;

determine if the received signal quality level has changed, and in response thereto adapt the set amplitude level thereby adapting the distance at which the robotic lawnmower (100) is following the cable at according to the deterrained signal quality level.

2. The robotic lawnmower system according to claim 1, wherein the controller is further configured to adapt the set amplitude level proportionately to the change in received signal quality level.

3. The robotic lawnmower system according to claim 1 or 2, wherein the controller is further configured to adapt the set amplitude level step wise.

4. The robotic lawnmower system according to any of claims 1 to 3, wherein the controller is further configured to adapt the set amplitude based on a reference amplitude leveL

5. The robotic lawnmower system according to claim 4, wherein die reference amplitude level is the previously set amplitude level.

6. The robotic lawnmower system according to any of claims 1 to 5, wherein the controller is further configured to determine that the signal quality level has changed by determining that the signal quality level has passed a threshold level.

7. The robotic lawnmower system according to any of claims 1 to 5, wherein the controller is further determine that the signal quality level has changed by comparing the signal quality level with a reference signal quality level.

8. The robotic lawnmower system according to claim 7, wherein the reference signal quality level is the previously determined signal quality level.

9. The robotic lawnmower system according to any of claims 1 to 8, wherein the controller is further configured to adapt the set amplitude level by increasing the set amplitude level when it is determined that the received signal quality level is decreasing thereby decreasing the distance, and

adapt the set amplitude level by decreasing the amplitude when it is determined that the received signal quality level is increasing thereby increasing the distance.

10. The robotic lawnmower system according to claim 1, wherein the controller is further configured to follow the cable (250, 260) at a distance by steering the robotic lawnmower so that the received signal quality level corresponds

(substantially equal to) to a set signal quality level.

11. The robotic lawnmower system according to any previous claim, wherein the controller is further configured to adapt the distance by adapting a corridor.

12. The robotic lawnmower system according to claim 11, wherein the controller is further configured to adapt the distance at substantially the same time as adapting the corridor.

13. The robotic lawnmower system according to claim 12, wherein the controller is further configured to adapt the distance by selecting a new distance within the adapted corridor.

14. The robotic lawnmower system according to any previous claim, wherein the signal generator (240) is configured to adapt the amplitude of the transmitted signal and thereby changing the distance at which the robotic lawnmower (100) follows the cable (250, 260) at.

15. The robotic lawnmower system according to any previous claim, wherein the cable is a boundary cable (250).

16. A method for use in 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), and the robotic lawnmower (100) comprising:

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,

wherein the method comprises: following the cable (250, 260) at a distance by

determining a received signal amplitude level of the received signal and steering the robotic lawnmower so that the received amplitude level corresponds (substantially equal to) to a set amplitude level;

determining a received signal quality level;

determining if the received signal quality level has changed, and in response thereto adapt the set amplitude level thereby adapting the distance at which the robotic lawnmower (100) is following the cable at according to the determined signal quality level.

17. The method according to claim 16, wherein the method further comprises following the cable (250, 260) at a distance by steering the robotic lawnmower so that the received signal quality level corresponds (substantially equal to) to a set signal quality level.