Abstract: A method controls a robotic lawnmower in a working environment. The robotic lawnmower includes a locomotion member, a grass cutting member, and vibration sensors for detecting mechanical vibrations generated in the working environment. The method includes detecting a mechanical vibration to generate an electrical signal representative of the mechanical vibration. An electronic processing unit processes the generated electrical signal to extract a feature of the signal to generate a vibrometric mark of the signal. The generated vibrometric mark is classified to obtain a class identifier associated with the vibrometric mark. The identifier may have a first value indicating a desirable activity performed by the robotic lawnmower or a second value indicating an undesirable activity. A control signal is generated to control the locomotion member or the grass cutting member when the class identifier has the second value to bring the robotic lawnmower back to a condition of desirable activity.

Abstract: The invention relates to a method for controlling a soil working means, based on an image processing. Such a soil working means comprises a locomotion member and a working member. The method comprises the steps of acquiring at least one digital image of the soil by means of digital image acquisition means installed on the working means; processing, by means of an electronic processing unit, the at least one digital image acquired by performing at least one convolution operation on the digital image by means of a trained neural network; obtaining, by means of the electronic processing unit, at least one synthetic soil descriptor based on such a processing; generating, by means of the electronic processing unit, at least one control signal of the locomotion member or of the working member based on the synthetic soil descriptor.

Abstract: Please replace the Abstract originally filed with the following: The invention relates to a method for controlling a soil working means, based on an image processing. Such a soil working means comprises a locomotion member and a working member. The method comprises the steps of acquiring at least one digital image of the soil by means of digital image acquisition means installed on the working means; processing, by means of an electronic processing unit, the at least one digital image acquired by performing at least one convolution operation on the digital image by means of a trained neural network; obtaining, by means of the electronic processing unit, at least one synthetic soil descriptor based on such a processing; generating, by means of the electronic processing unit, at least one control signal of the locomotion member or of the working member based on the synthetic soil descriptor.