Method for determining robot position, method for operating robot, and green field processing system

Abstract

The present invention relates to a method for determining the robot position of an autonomous mobile green space processing robot on a surface to be processed, wherein the method comprises the following steps: a) determining at least one robot position of the green space processing robot by receiving at least one global positioning signal of a global positioning system by the autonomous mobile green space processing robot, b) determining a station position for at least one local positioning station based on at least one determined robot position and by exchanging at least one local positioning signal between the green space processing robot and the at least one local positioning station, and c) determining the robot position of the green space processing robot on the surface to be processed based on the at least one determined station position and by exchanging at least one local positioning signal between the green space processing robot and the at least one positioning station.

Description

Technical Field

[0001] The present invention relates to a method for determining the robot position of an autonomous mobile green space treatment robot on a surface to be treated, a method for operating an autonomous mobile green space treatment robot on a surface to be treated, the method having such a method for determining the robot position of the green space treatment robot on the surface, and a green space treatment system for determining the robot position of an autonomous mobile green space treatment robot, in particular the autonomous mobile green space treatment robot on a surface to be treated, in particular the surface to be treated, in particular the robot position. Summary of the invention

[0002] The object on which the invention is based is to provide a method for determining the robot position of an autonomous mobile green space treatment robot on a surface to be treated, and a green space treatment system for determining the robot position of an autonomous mobile green space treatment robot, in particular the robot position of the autonomous mobile green space treatment robot on a surface to be treated, in particular the robot position on the surface to be treated, the method and the system each having improved properties. Furthermore, the object on which the invention is based is to provide a method for operating an autonomous mobile green space treatment robot on a surface to be treated, the method having such a method for determining the robot position of the green space treatment robot on the surface.

[0003] The invention achieves these objects by providing a method with the features of claim 1, a method with the features of claim 11 and a green area treatment system with the features of claim 12. Advantageous developments and / or embodiments of the invention are described in the dependent claims.

[0004] The method according to the invention is designed or configured to determine, in particular automatically, a robot position of an autonomous mobile green space treatment robot on a surface to be treated. The method comprises the following steps: a) determining, in particular automatically determining, at least one, in particular global, robot position of the autonomous mobile green space treatment robot, in particular a robot position on the surface to be treated, by receiving, in particular automatically, at least one global positioning signal of a global positioning system by the green space treatment robot. b) determining, in particular automatically determining, a station position, in particular associated and / or global, for the at least one local positioning station based on at least one determined, in particular global robot position and by in particular automatically exchanging at least one local positioning signal between the green space treatment robot (in particular at the at least one determined robot position) and at least one local positioning station. c) determining, in particular automatically determining, a robot position, in particular different and / or local, of the green space treatment robot on the surface to be treated, based on the at least one determined station position and by in particular automatically exchanging at least one local positioning signal between the green space treatment robot (in particular at the robot position to be determined) and the at least one positioning station.

[0005] The method, in particular step c), makes it possible to determine the robot position with the aid of the at least one positioning station, if this is not possible with the aid of step a) or a global positioning system. This may be the case in at least one area of ​​the surface in which the green area processing robot cannot receive (in particular not with minimal quality) the at least one global positioning signal, in particular not sufficiently for positioning, or in which the at least one area is not covered by a global positioning system, in particular not sufficiently for positioning. In particular, in the at least one area the at least one global positioning signal may be obscured or shielded or disrupted by objects at the boundary edge of the surface and / or on the surface. The method, in particular steps a) and c), therefore, makes it possible to locate in all areas of the surface or to completely cover the surface, in particular with minimal quality. This thus makes it possible to autonomously process the entire surface with the aid of the green area processing robot or in all areas.

[0006] Furthermore, the method, in particular step b), makes it possible to determine or know at least one, in particular global, station position based on step a), if this can be achieved with the aid of step a) or a global positioning system. This may be the case in at least one, in particular different area of ​​the surface in which the green area treatment robot can receive (in particular with minimum quality and / or sufficient for positioning) the at least one global positioning signal, or in which the at least one area can be covered by a global positioning system, in particular sufficient for positioning. Thus, step b) can implement step c).

[0007] Autonomous processing may mean that the green space processing robot can move and / or operate and / or select at least one parameter (such as in particular a section parameter) and / or a reversal point independently, automatically, self-determiningly, self-controlled and / or independently of the user. Additionally or alternatively, autonomous processing may mean that the green space processing robot can independently start processing and / or end processing. Additionally or alternatively, during autonomous processing, the green space processing robot does not need to or may not be controlled by a user, in particular not remotely controlled. In other words: during autonomous processing, the green space processing robot can perform processing, in particular without manual control and / or guidance. Additionally or alternatively, the green space processing robot may be referred to as a service robot and / or service robot. Additionally or alternatively, the green space processing robot may have a processing tool.

[0008] The surface may be an open surface, in particular an unenclosed ground surface, or may be a green area, such as a grass field or lawn.

[0009] The at least one global positioning signal and the at least one local positioning signal may be different.

[0010] The global positioning system and the at least one positioning station may be different.

[0011] Global may be referred to as absolute. Additionally or alternatively, local may be referred to as relative.

[0012] The exchange may be contactless, in particular wireless.

[0013] The at least one positioning station does not need to or may not receive at least one global positioning signal, in particular not directly or with the aid of the green space handling robot.

[0014] The determination of the at least one robot position and / or the at least one station position may comprise determining position coordinates.

[0015] Step b) can be performed simultaneously with step a) and / or after step a) in time. Additionally or alternatively, step c) can be performed after step b) in time. Additionally or alternatively, step a) can be repeated, in particular, together with step b) in time and / or after step b) and / or after step c). Additionally or alternatively, step b) can be repeated, in particular, together with step a) in time and / or after step a) and / or after step c). Additionally or alternatively, step c) can be repeated, in particular, after step a) and / or step b). Additionally or alternatively, step a) or step c) can be performed at one moment.

[0016] In an extension of the invention, the green area treatment robot has, in particular, at least one, in particular electrical, and / or at least two GNSS receivers (GNSS: Globales Navigation-Satelliten-System). Step a) comprises: determining the robot position by receiving a global positioning signal in the form of a GNSS, in particular a global positioning system, by the GNSS receiver. In particular, the GNSS can have NAVSTAR, GPS, GLONASS, Galileo and / or BeiDou, in particular the GNSS can be NAVSTAR, GPS, GLONASS, Galileo and / or BeiDou. Additionally or alternatively, the GNSS can have satellites, in particular and have pseudo-satellites. Pseudo-satellites can in particular refer to ground transmitters, wherein the pseudo-satellites or ground transmitters can emit signals that can imitate satellite signals. Additionally or alternatively, the GNSS can be a D-GNSS (D-GNSS: Differential-GNSS), in particular a D-GPS (D-GPS: Differential-GPS) and / or an rtk-GNSS. Furthermore, additionally or alternatively, the global positioning signal may comprise a radio signal, in particular the global positioning signal may be a radio signal.Furthermore, additionally or alternatively, the at least one positioning station does not need or may not comprise a GNSS receiver.

[0017] In one embodiment of the invention, step a) is performed if the GNSS receiver simultaneously receives global positioning signals with minimum quality from a minimum number of GNSS transmitters (in particular for positioning), in particular four GNSS transmitters.

[0018] Additionally or alternatively, step c) is performed if the GNSS receiver does not receive global positioning signals with minimum quality simultaneously from a minimum number of GNSS transmitters (in particular for positioning), in particular four GNSS transmitters.

[0019] In particular, at a moment, the GNSS receiver can simultaneously receive global positioning signals from a minimum number of GNSS transmitters with minimum quality, or cannot simultaneously receive global positioning signals from a minimum number of GNSS transmitters with minimum quality. In this regard, in particular with respect to the minimum quality and / or the minimum number, reference is also made to the relevant professional literature.

[0020] In one embodiment of the invention, step c) comprises: if the GNSS receiver receives a global positioning signal of the GNSS, in particular with a minimum quality, determining the robot position by receiving a global positioning signal of the GNSS by the GNSS receiver. This makes it possible to determine the robot position more accurately. In particular, the GNSS receiver can simultaneously receive global positioning signals, in particular with a minimum quality, from less than a minimum number of GNSS transmitters but greater than zero.

[0021] In one development of the invention, step b) includes determining, in particular at least one station position, by measuring, in particular automatically, at least one distance and / or at least one direction between the green area treatment robot and in particular at least one positioning station based on at least one exchanged local positioning signal.

[0022] Additionally or alternatively, step c) comprises determining the robot position by measuring, in particular automatically, at least one distance and / or at least one direction between the green area processing robot and the at least one positioning station based on at least one exchanged local positioning signal.

[0023] In particular, the at least one distance may be measured by measuring a runtime of the at least one exchanged local positioning signal.

[0024] In one development of the invention, step a) comprises determining, in particular, three different robot positions. Step b) comprises determining, in particular, at least one station position based on the different determined robot positions and by performing edge measurements (in particular at least trilateration) and / or angle measurements (in particular triangulation) based on different exchanged local positioning signals.

[0025] Additionally or alternatively, step b) comprises determining, for in particular three different positioning stations, in particular three different station positions. Step c) comprises determining the robot position based on the different determined station positions and by performing edge measurements (in particular at least trilateration) and / or angle measurements (in particular triangulation) based on the different exchanged local positioning signals.

[0026] In particular, the edge measurement can be performed based on the measured distance. Additionally or alternatively, an angle measurement can be performed based on the measured direction. Additionally or alternatively, different robot positions can be reached by the greenfield processing robot movement. Additionally or alternatively, the positioning stations can have different identifications for distinguishing them, in particular by the greenfield processing robot.

[0027] In a development of the invention, exchanging, in particular at least one local locating signal comprises: the green space processing robot sending, in particular automatically sending, the local locating signal and the locating station receiving, in particular automatically receiving, the sent local locating signal.

[0028] Additionally or alternatively, the exchange, in particular of at least one local positioning signal, comprises: sending, in particular automatically sending, the local positioning signal by the green field processing robot, reflecting, in particular automatically reflecting the sent local positioning signal by the positioning station, and receiving, in particular automatically receiving the reflected local positioning signal by the green field processing robot.

[0029] Additionally or alternatively, exchanging, in particular at least one local locating signal comprises: sending, in particular automatically sending, the local locating signal by the locating station, and receiving, in particular automatically receiving, the sent local locating signal by the green space processing robot.

[0030] Furthermore, additionally or alternatively, the exchange, in particular of at least one local positioning signal, comprises: sending, in particular automatically sending, the local positioning signal by the positioning station, reflecting, in particular automatically reflecting, the sent local positioning signal by the green field processing robot, and receiving, in particular automatically receiving, the reflected local positioning signal by the positioning station.

[0031] In particular, the green space handling robot and / or the at least one positioning station can in particular respectively have an LPS transmitter for sending a local positioning signal (LPS: Local Positioning System), an LPS reflector for reflecting the local positioning signal, in particular an LPS transponder, and / or an LPS receiver for receiving a local positioning signal.

[0032] The local positioning signal may be a light signal or an acoustic signal, in particular, the local positioning signal may be a light signal or an acoustic signal.

[0033] In an extension of the present invention, the local positioning signal has a radio signal, in particular the local positioning signal is a radio signal. In particular, the green space processing robot and / or the at least one positioning station can have in particular a radio transmitter for sending radio signals, a radio reflector for reflecting radio signals, in particular a radio transponder, and / or a radio receiver for receiving radio signals. In particular, the at least one positioning station can be in particular referred to as a radio beacon (English: Beacon) and / or a local positioning transmitter. Additionally or alternatively, the radio signal can have or can be an electromagnetic wave or oscillation in the radio frequency range. The radio signal can have or can be an ultra-wideband signal (UWB signal), a Bluetooth signal and / or a WLAN signal or a WiFi signal.

[0034] In an extension of the invention, the green area processing robot is constructed or configured as a mowing robot with a mowing tool. In particular, the green area processing robot can be constructed as a mulch harvesting robot. Additionally or alternatively, the mowing tool can include at least one mowing line, at least one plastic knife, at least one metal knife and / or a metal cutting blade with at least one cutting edge and / or with at least one cutting tooth. In addition or alternatively, the mowing tool can be constructed as a rotary mowing tool and is constructed to harvest the crops to be harvested in a so-called free cutting method without a blade back, in particular the cutting process is generated by the centrifugal force of the mowing tool.

[0035] In an extension of the invention, the at least one local positioning station is located at a boundary edge of the surface, in particular on the boundary edge and / or on the surface. This allows the green space processing robot to receive the at least one local positioning signal, in particular with the lowest quality, in at least one area of ​​the surface in which the green space processing robot cannot receive (in particular cannot receive with the lowest quality) the at least one global positioning signal, in particular not sufficient for positioning. In particular, at the boundary edge can mean that the maximum distance from the boundary edge outside the surface is 10 meters (m), in particular a maximum of 5m, in particular a maximum of 2m, in particular a maximum of 1m. Additionally or alternatively, the boundary edge can be defined by a wall, a fence, a hedge, etc.

[0036] The global positioning system, in particular the transmitter of the global positioning system, in particular the GNSS transmitter, may be located outside the surface more than 10 m from the boundary edge.

[0037] The method according to the present invention is constructed or configured to automatically run an autonomous mobile green space treatment robot (in particular the autonomous mobile green space treatment robot) on a surface to be treated (in particular the surface to be treated). The method has a method for determining the robot position (in particular the robot position) of the autonomous mobile green space treatment robot on the surface to be treated as described above. In addition, the method has the following steps: based on the determined, in particular global or local, robot position, control, in particular automatically control the movement of the green space treatment robot on the surface, so that the green space treatment robot remains on the surface, in particular remains within the boundary edge of the surface. In particular, the control can be additionally performed based on a defined boundary edge position sequence of the boundary edge, in particular a boundary edge position coordinate sequence.

[0038] The green space treatment system according to the present invention is constructed or configured to, in particular, automatically determine the robot position (in particular, the robot position) of an autonomous mobile green space treatment robot (in particular, the autonomous mobile green space treatment robot) on a surface to be treated (in particular, the surface to be treated), and in particular, is constructed or configured to perform the above method. The green space treatment system has the autonomous mobile green space treatment robot and at least one local positioning station, in particular, the at least one local positioning station. In addition, the green space treatment system is constructed or configured to, in particular, automatically determine at least one robot position (in particular, the at least one robot position) of the green space treatment robot, in particular, at least one robot position on the surface to be treated, by receiving at least one global positioning signal (in particular, the at least one global positioning signal) of a global positioning system (in particular, the global positioning system) by the green space treatment robot, in particular, automatically. In addition, the green space treatment system is constructed or configured to, based on at least one determined robot position and by, in particular, automatically exchanging at least one local positioning signal (in particular, the at least one local positioning signal) between the green space treatment robot and the at least one positioning station, in particular, automatically determine a station position (in particular, the station position) for the at least one local positioning station. Furthermore, the green area treatment system is constructed or configured to, based on at least one determined station position and by exchanging at least one local positioning signal, in particular the at least one local positioning signal, in particular the at least one local positioning signal, between the green area treatment robot and the at least one positioning station, in particular automatically, determine the robot position of the green area treatment robot on the surface to be treated (in particular the robot position). The green area treatment system can achieve the same advantages as previously described for the method. In particular, the green area treatment robot and / or the at least one positioning station can be constructed partially or completely as described above for the method.

[0039] In one development, the green area treatment system has a control device, in particular an electrical one. The control device is constructed or configured to control the movement of the green area treatment robot on the surface, in particular the movement, based on the determined robot position, in particular automatically, so that the green area treatment robot remains on the surface. In particular, the green area treatment system, in particular the control device, can be constructed to carry out the method for operating the green area treatment robot on the surface as described above. Additionally or alternatively, the green area treatment robot can have the control device. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Further advantages and aspects of the invention are apparent from the claims and the following description of preferred exemplary embodiments of the invention, which are explained below based on the drawings.

[0041] Figure 1 A schematic diagram of the method according to the invention and the green space treatment system according to the invention is shown based on a top view of the surface to be treated, wherein the green space treatment system has an autonomous mobile green space treatment robot. Figure 1 Greenfield processing robots for processing, and

[0042] Figure 2 Shows Figure 1 Schematic diagram of the greenfield handling robot and global positioning system. DETAILED DESCRIPTION

[0043] Figure 1 and Figure 2 A method according to the invention for operating an autonomous mobile green area processing robot 60 on a surface to be processed 100 is shown. The method has a method for determining the robot position PRa, PRb, PRc, PRd, PRe, PRf, PRg, PRh, PRx of the green area processing robot 60 on the surface 100.

[0044] The method for determining a robot position PRa-h, PRx of a green area handling robot 60 on a surface 100 has the following steps: a) determining at least one, in particular global, robot position PRa-h of the green area handling robot 60 on a surface 100 by receiving at least one global positioning signal SGa, SGb, SGc, SGd of a global positioning system PBS by the green area handling robot 60. b) determining, based on the at least one determined, in particular global, robot position PRa-h and by exchanging at least one local positioning signal SLa, SLb, SLc, SLd, SLe, SLf, SLg, SLh between the green area handling robot 60 (in particular at the at least one determined robot position PRa-h) and at least one positioning station 36a-h, a station position PSa, PSb, PSc, PSd, PSe, PSf, PSg, PSh, in particular associated, and / or global, is determined for at least one local positioning station 36a, 36b, 36c, 36d, 36e, 36f, 36g, 36h. c) determining a robot position PRx, in particular a different and / or local robot position PRx, of the green area processing robot 60 on the surface 100 to be processed, based on the at least one determined station position PSa-h and by exchanging at least one local positioning signal SLx, SLy, SLz between the green area processing robot 60 (in particular at the robot position PRx to be determined) and at least one positioning station 36a-h.

[0045] also, Figure 1 and Figure 2A green space processing system 10 according to the present invention is shown, which is used to determine the robot positions PRa-h, PRx of a green space processing robot 60 on a surface 100, in particular for performing the method as described above. The green space processing system 10 has a green space processing robot 60 and at least one local positioning station 36a-h. In addition, the green space processing system 10 is configured to determine at least one robot position PRa-h of the green space processing robot 60, in particular at least one robot position PRa-h on the surface 100, by receiving at least one global positioning signal SGa-d of a global positioning system PBS by the green space processing robot 60. In addition, the green space processing system 10 is configured to determine a station position PSa-h for at least one local positioning station 36a-h based on at least one determined robot position PRa-h and by exchanging at least one local positioning signal SLa-h between the green space processing robot 60 and at least one positioning station 36a-h. Furthermore, the green space processing system 10 is configured to determine a robot position PRx of the green space processing robot 60 on the surface 100 based on at least one determined station position PSa-h and by exchanging at least one local positioning signal SLx-z between the green space processing robot 60 and at least one positioning station 36a-h.

[0046] In detail, the green space processing robot 60 has a GNSS receiver 71 . Step a) includes: determining the robot position PRa-h by receiving a global positioning signal SGa-d of GNSS through the GNSS receiver 71 .

[0047] In particular, step a) is performed if the GNSS receiver 71 receives global positioning signals SGa-d with minimum quality simultaneously from a minimum number of GNSS transmitters, in particular four GNSS transmitters GNSSa, GNSSb, GNSSc, GNSSd.

[0048] In the embodiment shown, at the robot position PRa-h or on the surface 100 Figure 1 This is the case in the unmarked area 100a in FIG. 1. In other words: the area 100a is covered by a global positioning system PBS (in particular GNSS), in particular sufficiently for positioning.

[0049] If the GNSS receiver 71 does not receive global positioning signals SGa-d with minimum quality simultaneously from a minimum number of GNSS transmitters GNSSa-d, in particular four GNSS transmitters GNSSa-d, step c) is performed.

[0050] In the embodiment shown, at the robot position PRx or on the surface 100 Figure 1This is the case in the area 100b indicated by the dashed line in FIG. 1. In other words: the area 100b is not covered by the global positioning system PBS (in particular GNSS), in particular not sufficiently for positioning.

[0051] In particular, in the area 100b at least one global positioning signal SGc-d is located at the boundary edge 101 of the surface 100. Figure 1 An object 200 in the form of a building is shown in hatched lines to block the view.

[0052] In detail, step c) comprises determining the robot position PRx by receiving the GNSS global positioning signal SGa-b by the GNSS receiver 71 , if the GNSS receiver 71 receives the GNSS global positioning signal SGa-b, in particular with minimum quality.

[0053] In the exemplary embodiment shown, the GNSS has satellites, in particular as GNSS transmitters GNSSa-d. In alternative exemplary embodiments, the GNSS may additionally have pseudolites, in particular as GNSS transmitters.

[0054] Furthermore, step b) comprises determining a station position PSa-h, in particular at least one station position PSa-h, by measuring at least one distance DIa, DIb, DIc and / or at least one direction RIa, RIb, RIc between the green space processing robot 60 and a positioning station 36a-h, in particular at least one positioning station 36a-h, based on at least one exchanged local positioning signal SLa-h.

[0055] Furthermore, step c) comprises determining the robot position PRx by measuring at least one distance DIx, DIy, DIz and / or at least one direction RIx, RIy, RIz between the green area handling robot 60 and at least one positioning station 36a-h based on at least one exchanged local positioning signal SLx-z.

[0056] Furthermore, step a) comprises determining, in particular, three different robot positions PRa-h. Step b) comprises determining, in particular, at least one station position PSa-h based on the different determined robot positions PRa-h and by performing side measurements (in particular at least trilateral measurements) and / or angle measurements (in particular triangulation) based on the different exchanged local positioning signals SLa-h.

[0057] In addition, step b) comprises determining, for in particular three different positioning stations 36a-h, in particular three different station positions PSa-h. Step c) comprises determining the robot position PRx based on the different determined station positions PSa-h and by performing an edge measurement (in particular at least trilateration) and / or an angle measurement (in particular triangulation) based on the different exchanged local positioning signals SLx.

[0058] In the exemplary embodiment shown, eight different robot positions PRa-h are determined in step a).

[0059] In step b), eight different station positions PSa-h are determined for eight different positioning stations 36a-h.

[0060] For example, in step b) the station position PSh is determined by measuring three distances DIa-c and / or three directions RIa-c between the greenfield handling robot 60 (in particular at the three determined robot positions PRa, PRc, Pre) and the positioning station 36h based on the three determined robot positions PRa, PRc, PRe and the three exchanged local positioning signals SLa, SLc, SLe and by triangulation based on the measured distances DIa-c and / or triangulation based on the measured directions RIa-c.

[0061] In step c), the robot position PRx is determined by measuring three distances DIx-z and / or three directions RIx-z between the green space handling robot 60 (in particular at the robot position PRx to be determined) and the three positioning stations 36a-c based on the three different determined station positions PSa-c and the three exchanged local positioning signals SLx-z and by triangulation based on the measured distances DIx-z and / or triangulation based on the measured directions RIx-z.

[0062] In an alternative embodiment, it can be determined by measuring at least one distance or at least one direction. Additionally or alternatively, in an alternative embodiment, it can be determined by means of edge measurement or angle measurement.

[0063] In addition, in the illustrated embodiment, the exchange, in particular, of at least one local positioning signal SLa-h, SLx-z includes: the local positioning signal SLa-h, SLx-z is sent by the positioning station 36a-h and the sent local positioning signal SLa-h, SLx-z is received by the green space processing robot 60.

[0064] In an alternative embodiment, exchanging local positioning signals may include: the local positioning signal is sent by the green field processing robot and the sent local positioning signal is received by the positioning station, and / or the local positioning signal is sent by the green field processing robot, the sent local positioning signal is reflected by the positioning station and the reflected local positioning signal is received by the green field processing robot, and / or the local positioning signal is sent by the positioning station, the sent local positioning signal is reflected by the green field processing robot and the reflected local positioning signal is received by the positioning station.

[0065] In the embodiment shown, at least one positioning station 36a-h has in particular an LPS transmitter for transmitting a local positioning signal SLa-h, SLx-z. The green area processing robot 60 has an LPS receiver 75 for receiving the local positioning signal SLa-h, SLx-z.

[0066] Furthermore, the local positioning signals SLa-h, SLx-z have radio signals SF, in particular the local positioning signals SLa-h, SLx-z are radio signals SF.

[0067] Furthermore, at least one local positioning station 36 a - h is located at, in particular on, a boundary edge 101 of the surface 100 .

[0068] In an alternative embodiment, the at least one local positioning station may be located on the surface.

[0069] In the embodiment shown, positioning stations 36a-h, in particular in the form of LPS transmitters and / or radio beacons, are located at the corners of the surface 100. Thus, positioning stations 36a-h, in particular in the form of LPS transmitters and / or radio beacons, establish an LPS.

[0070] This enables the green area processing robot 60 to receive at least one local positioning signal SLx-z in the area 100b, in particular and in the area 100a or in all areas, in particular of the complete surface 100. In other words: the area 100b, in particular and the area 100a or all areas or surfaces 100 are covered by at least one local positioning station 36a-h, in particular LPS, in particular sufficient for positioning or complete coverage.

[0071] In the illustrated embodiment, the green space treatment system 10 has a reference GNSS receiver 95. The reference GNSS receiver 95 is fixed in the area of ​​the surface 100. The GNSS receiver 71 and the reference GNSS receiver 95 are configured to be in signal connection with each other in order to enable relatively accurate positioning.

[0072] Furthermore, in the embodiment shown, the green space treatment system 10 has a base station 90 for the green space treatment robot 60. In particular, the base station 90 is arranged at a boundary edge 101 of the surface 100. In the embodiment shown, the base station 90 is configured as a charging station for recharging the battery of the green space treatment robot 60.

[0073] In detail, the base station 90 has a reference GNSS receiver 95 .

[0074] In addition, the green space processing system 10 has a control device 80. The control device 80 is configured to control the movement of the green space processing robot 80 on the surface 100 based on the determined robot positions PRa-h, PRx, so that the green space processing robot 60 remains on the surface 100, in particular, remains within the boundary edge 101 of the surface 100.

[0075] In the illustrated embodiment, the green space treatment robot 60 has a control device 80 .

[0076] The method for operating a green area processing robot 60 on a surface 100 comprises the following steps: based on the determined robot positions PRa-h, PRx controls the movement of the green area processing robot 60 on the surface 100 so that the green area processing robot 60 remains on the surface 100, in particular with the aid of a control device 80.

[0077] Furthermore, the green space processing robot 60 is configured as a mowing robot 61 having a mowing tool 62 .

[0078] In an alternative embodiment, the greenfield handling robot may have an inertial measurement unit (IMU) and / or an odometry unit, in particular as a backup, for determining the position of the robot.

[0079] Additionally or alternatively, if at least one station position is determined for a local positioning station, in particular if at least three station positions are determined for three local positioning stations, further station positions can be determined for the at least one other local station based on the at least one determined station position and by exchanging at least one local positioning signal between the at least one positioning station and at least one other positioning station, in particular in step b).

[0080] Additionally or alternatively, in an alternative embodiment, step a) and / or step b) may include: determining the robot position, the robot velocity of the greenfield processing robot, the robot orientation of the greenfield processing robot, GNSS phase ambiguity, acceleration deviation and / or ranging error by means of an estimation method. Additionally or alternatively, step b) may include: determining the station position and its squared norm by means of a Kalman filter or a Kalman filter method. In particular, the robot orientation may be determined as a quaternion. Additionally or alternatively, the estimation method may be a Kalman filter or a Kalman filter method or an extended Kalman filter or an extended Kalman filter method.

[0081] As the embodiments shown and explained above clearly show, the present invention provides an advantageous method for determining the robot position of an autonomous mobile green space treatment robot on a surface to be treated and an advantageous green space treatment system for determining the robot position (in particular the robot position) of an autonomous mobile green space treatment robot (in particular the autonomous mobile green space treatment robot) on a surface to be treated (in particular the surface to be treated), the method and the green space treatment system respectively having improved characteristics. In addition, the present invention provides an advantageous method for operating an autonomous mobile green space treatment robot on a surface to be treated, the method having such a method for determining the robot position of the green space treatment robot on the surface.

Claims

1. A method for determining a robot position (PRa-h, PRx) of an autonomous mobile green space treatment robot (60) on a surface to be treated (100), wherein the method comprises the following steps: a) determining at least one robot position (PRa-h) of the autonomous mobile green space processing robot (60) by receiving at least one global positioning signal (SGa-d) of a global positioning system (PBS) by the green space processing robot (60), b) determining a station position (PSa-h) for at least one local positioning station (36a-h) based on at least one determined robot position (PRa-h) and by exchanging at least one local positioning signal (SLa-h) between the greenfield processing robot (60) and at least one local positioning station (36a-h), and c) determining a robot position (PRx) of the green area treatment robot (60) on the surface to be treated (100) based on the at least one determined station position (PSa-h) and by exchanging at least one local positioning signal (SLx-z) between the green area treatment robot (60) and the at least one positioning station (36a-h), - wherein the green area processing robot (60) has a GNSS receiver (71), and - wherein step a) comprises: determining the robot position (PRa-h) by receiving a global positioning signal (SGa-d) of a GNSS (GNSS) by means of the GNSS receiver (71), - wherein step a) is performed if the GNSS receiver (71) simultaneously receives global positioning signals (SGa-d) with the lowest quality from a minimum number of GNSS transmitters (GNSSa-d) of the GNSS (GNSS), and / or - wherein step c) is performed if the GNSS receiver (71) does not simultaneously receive global positioning signals (SGa-d) with minimum quality from a minimum number of GNSS transmitters (GNSSa-d) of the GNSS (GNSS).

2. The method of claim 1, wherein the minimum number is four.

3. The method according to claim 1, - wherein step c) comprises: if the GNSS receiver (71) receives a global positioning signal (SGa-b) of the GNSS (GNSS), then determining the robot position (PRx) by receiving the global positioning signal (SGa-b) of the GNSS (GNSS) by the GNSS receiver (71).

4. The method according to claim 3, wherein the global positioning signal (SGa-b) of the GNSS (GNSS) received by the GNSS receiver (71) is received with a minimum quality.

5. The method according to any one of the preceding claims, - wherein step b) comprises: determining the station position (PSa-h) by measuring at least one distance (DIa-c) and / or at least one direction (RIa-c) between the green area processing robot (60) and the positioning station (36a-h) based on at least one exchanged local positioning signal (SLa-h), and / or Wherein step c) comprises: determining the robot position (PRx) by measuring at least one distance (DIx-z) and / or at least one direction (RIx-z) between the green area processing robot (60) and at least one positioning station (36a-h) based on at least one exchanged local positioning signal (SLx-z).

6. The method according to any one of claims 1 to 4, - wherein step a) comprises: determining different robot positions (PRa-h), and wherein step b) comprises: determining the station position (PSa-h) based on the different determined robot positions (PRa-h) and by side measurements and / or angle measurements based on different exchanged local positioning signals (SLa-h), and / or Wherein step b) comprises: determining different station positions (PSa-h) for different positioning stations (36a-h), and wherein step c) comprises: determining the robot position (PRx) based on the different determined station positions (PSa-h) and by performing edge measurements and / or angle measurements based on different exchanged local positioning signals (SLx-z).

7. A method according to claim 6, wherein the different robot positions (PRa-h) are three different robot positions (PRa-h), wherein the different positioning stations (36a-h) are three different positioning stations (36a-h) and the different station positions (PSa-h) are three different station positions (PSa-h), wherein the side measurement is at least three-side measurement, and wherein the angle measurement is a triangulation measurement.

8. The method according to any one of claims 1 to 4, - wherein exchanging the local positioning signal (SLa-h, xz) has: - the green space processing robot (60) sends the local positioning signal (SLa-h, xz), and the positioning station (36a-h) receives the sent local positioning signal (SLa-h, xz), and / or - the green space processing robot (60) sends the local positioning signal (SLa-h, xz), the positioning station (36a-h) reflects the sent local positioning signal (SLa-h, xz), and the green space processing robot (60) receives the reflected local positioning signal (SLa-h, xz), and / or - the local positioning signal (SLa-h, xz) is sent by the positioning station (36a-h), and the sent local positioning signal (SLa-h, xz) is received by the green space processing robot (60), and / or -The local positioning signal (SLa-h, xz) is sent by the positioning station (36a-h), the sent local positioning signal (SLa-h, xz) is reflected by the green space processing robot (60), and the reflected local positioning signal (SLa-h, xz) is received by the positioning station (36a-h).

9. The method according to any one of claims 1 to 4, - wherein the local positioning signal (SLa-h, xz) comprises a radio signal (SF).

10. The method according to claim 9, wherein the local positioning signal (SLa-h, xz) is a radio signal (SF).

11. The method according to any one of claims 1 to 4, - wherein the green space processing robot (60) is configured as a lawn mowing robot (61) having a lawn mowing tool (62).

12. The method according to any one of claims 1 to 4, - wherein the at least one local positioning station (36a-h) is located at a boundary edge (101) of the surface (100) and / or on the surface (100).

13. A method for operating an autonomous mobile green area treatment robot (60) on a surface to be treated (100), - wherein the method has a method for determining a robot position (PRa-h, PRx) of an autonomous mobile green area treatment robot (60) on a surface to be treated (100) according to any one of the preceding claims 1 to 12, and - wherein the method comprises the following steps: controlling the movement of the green space processing robot (60) on the surface (100) based on the determined robot position (PRa-h, PRx) so that the green space processing robot (60) remains on the surface (100).

14. A green area treatment system (10) for determining a robot position (PRa-h, PRx) of an autonomous mobile green area treatment robot (60) on a surface to be treated (100), for carrying out a method according to any one of the preceding claims 1 to 13, - wherein the green space treatment system (10) comprises: - the autonomous mobile green space treatment robot (60), and - at least one local positioning station (36a-h), - wherein the green space processing system (10) is configured to - determine at least one robot position (PRa-h) of the green space processing robot (60) by receiving at least one global positioning signal (SGa-d) of a global positioning system (PBS) by the green space processing robot (60), - determining a station position (PSa-h) for the at least one local positioning station (36a-h) based on at least one determined robot position (PRa-h) and by exchanging at least one local positioning signal (SLa-h) between the greenfield processing robot (60) and the at least one local positioning station (36a-h), and - Based on at least one determined station position (PSa-h) and by exchanging at least one local positioning signal (SLx-z) between the green area processing robot (60) and at least one positioning station (36a-h), determining the robot position (PRx) of the green area processing robot (60) on the surface to be processed (100).

15. The green space treatment system (10) according to claim 14, which is used to perform the method according to claim 13, wherein the green space treatment system (10) has: - A control device (80), wherein the control device (80) is configured to control the movement of the green space processing robot (60) on the surface (100) based on the determined robot position (PRa-h, PRx) so that the green space processing robot (60) remains on the surface (100).

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