Domestic robotic system and method
A domestic robotic system includes a robot and data storage operable to store data defining a boundary of a working area, the robot includes a payload actuable to perform work on a portion of the working area adjacent the robot, at least one processor, a first positioning system, one or more sensors operable to sense directly the boundary of the working area and a current distance of the robot thereto, a second positioning system, which uses data from the sensors. The processor is programmed to operate in (i) an area coverage mode, wherein the processor, using the first positioning system and the stored data defining the boundary of the working area, navigates the robot around the working area, with the payload active, and (ii) a boundary proximity mode, wherein the processor, using the second positioning system, navigates the robot around the working area, in proximity to the boundary.
1. A domestic robotic system comprising a robot and data storage operable to store data defining a boundary of a working area, the robot comprising:
a payload actuable to perform work on a portion of the working area adjacent the robot;
at least one processor;
a first positioning system;
one or more sensors operable to sense directly the boundary of the working area and a current distance of the robot thereto;
a second positioning system, which uses data from said one or more sensors;
wherein the at least one processor is programmed to operate in modes comprising:
(i) an area coverage mode, wherein the at least one processor, using said first positioning system and said stored data defining the boundary of the working area, navigates the robot around the working area, with said payload active;
(ii) a boundary proximity mode, wherein the at least one processor, using said second positioning system, navigates the robot around the working area, in proximity to the boundary;
wherein the at least one processor is further programmed to switch from said area coverage mode to said boundary proximity mode, when said second positioning system detects the boundary of the working area with a confidence level greater than a predetermined value; and
wherein the at least one processor is further programmed such that said switching from said area coverage mode to said boundary proximity mode is additionally contingent upon the at least one processor determining, based on data received from said first positioning system and said stored data defining the boundary of the working area, that the robot is within a predetermined distance of the boundary.
2. A system according to claim 1 , wherein the at least one processor is further programmed such that said switch from said area coverage mode to said boundary proximity mode is additionally contingent upon the at least one processor determining, based on data received from said first positioning system, that the robot is approaching the boundary.
3. A system according to claim 1 , the at least one processor is further programmed so as to, in said boundary proximity mode, update said data defining the boundary of a working area, in accordance with data concerning a distance of the robot from the boundary that has been received from said second positioning system.
4. A system according to claim 1 , wherein the robot additionally comprises a camera, and said one or more sensors operable to sense directly the boundary of the working area are provided by said camera.
5. A system according to claim 4 , wherein data from said camera is also used by said first positioning system.
6. The system according to claim 1 , wherein said first positioning system comprises at least one of: a satellite navigation system receiver; and a local positioning system receiver.
7. A system according to claim 6 , wherein the robot additionally comprises a camera, and said one or more sensors operable to sense directly the boundary of the working area are provided by said camera.
8. The system according to claim 1 , wherein the robot is a robotic lawnmower and said payload comprises a cutting blade.
9. A garden-based robotic system including a robot and data storage operable to store data defining a boundary of a working area within a garden, the robot comprising:
a payload actuable to perform work on a portion of the garden adjacent the robot;
one or more positioning systems;
at least one processor;
wherein the at least one processor is programmed to operate in modes comprising:
(i) a perimeter coverage mode, wherein the at least one processor causes the robot to move around the working area with said payload active such that, according to said one or more positioning systems, the robot remains within a perimeter area, which is adjacent to and generally follows the boundary of the working area; and
(ii) an internal area coverage mode, wherein the at least one processor causes the robot to move around the working area with said payload active such that, according to data received from said one or more positioning systems and said data defining the boundary of the working area, the robot remains within an interior area, which is defined so as to be generally located within said perimeter area;
wherein an accuracy of said one or more positioning systems during said perimeter coverage mode is greater than an accuracy of said one or more positioning systems during said internal area coverage mode;
wherein said at least one processor is further programmed such that the interior area approaches to or overlaps with said perimeter area sufficiently to substantially avoid gaps between an area that is in practice covered by said payload during said internal area coverage mode, taking into account said accuracy of the one or more positioning systems during said internal area coverage mode, and an area that is in practice covered by said payload during said perimeter coverage mode, taking into account said accuracy of the one or more positioning systems during said perimeter coverage mode; and
wherein said at least one processor is further programmed such that said interior area is defined so as to be sufficiently distant from said boundary of the working area to substantially avoid the robot in practice moving beyond the boundary during said internal area coverage mode, taking into account the accuracy of said one or more positioning systems during said internal area coverage mode.
10. The system of claim 9 , wherein the at least one processor is further programmed so as to, in said perimeter coverage mode, cause the robot to move according to a first scanning pattern, and, in said internal area coverage mode, cause the robot to move according to a second, different, scanning pattern.
11. The system of claim 9 , wherein the at least one processor is further programmed so as to, in said perimeter coverage mode, using said one or more positioning systems, cause the robot to follow one or more paths upon each of which the robot is a respective, substantially constant distance from said boundary of the working area.
12. The system of claim 11 , wherein said paths are spaced one from another by a substantially constant distance.
13. The system of claim 11 , wherein the at least one processor is further programmed so as to, in said internal area coverage mode, cause the robot to carry out a plurality of crossings of the internal area.
14. The system of claim 13 , wherein the at least one processor is further programmed such that, in said internal area coverage mode, upon the robot completing each crossing of the internal area, the at least one processor causes the robot to execute a turn as the robot approaches an outer edge of the internal area and, thereafter, causes the robot to carry out a further crossing of the internal area.
15. The system of claim 11 , wherein the at least one processor is further programmed so as to, in said internal area coverage mode, cause the robot to move according to a movement pattern that is at least partially randomly-determined.
16. The system of claim 9 , wherein said at least one processor is further programmed such that the perimeter area is defined so that an outer edge thereof is offset from said boundary by an amount sufficient to substantially avoid the robot in practice applying said payload beyond the boundary, taking into account the accuracy of said one or more positioning systems during said perimeter coverage mode.
17. The system of claim 9 , wherein the robot additionally comprises one or more sensors operable to sense directly the boundary of the working area and a distance from the robot thereto;
wherein said one or more positioning systems comprise a first positioning system that uses said one or more sensors; and
wherein the at least one processor is further programmed so as to, during said perimeter coverage mode update said data defining the boundary of the working area, in accordance with data concerning a distance of the robot from the boundary that is received from said first positioning system.
18. The system according to claim 9 , wherein the robot is a robotic lawnmower and said payload comprises a cutting blade.