Robotic system and method for controlling a driven movable robot of a robotic system

Abstract

The invention relates to a kind of system of robot, especially semi-autonomous robot system, with at least one driven movable robot, especially drivable, at least substantially completely covering at least one work area during a handling cycle; with at least one detection unit detecting at least one route passed by the robot in the work area; with at least one control and / or regulating unit controlling the robot within the work area, having at least one virtual map of the work area and / or generating a virtual map of the work area, transferring the detected passed route of the robot into the virtual map; with at least one user interaction unit. It is proposed that the user interaction unit is configured to enable at least one evaluation of at least one partial section of the route passed by the robot, especially within the virtual map, by a user, especially after one handling cycle of the robot, and to transmit the evaluation to the control and / or regulating unit.

Description

BACKGROUND

[0001] A robot system has been proposed, with at least one driven movable robot, which is set up to cover at least one work area at least substantially completely during a treatment cycle; with at least one detection unit, which is set up to detect at least one route covered by the robot in the work area; with at least one control and / or regulation unit, which is set up at least to control the robot within the work area, wherein the control and / or regulation unit has at least one virtual map of the work area and / or is set up to generate a virtual map of the work area, wherein the control and / or regulation unit is set up to transfer the detected covered route of the robot into the virtual map; and with at least one user interaction unit. SUMMARY

[0002] The invention relates to a robot system, in particular a semi-autonomous robot system, with at least one driven movable, in particular drivable, robot, which is set up to cover at least one work area at least substantially completely during a treatment cycle; with at least one detection unit, which is set up to detect at least one route covered by the robot in the work area, in particular during a treatment cycle; with at least one control and / or regulation unit, which is set up at least to control the robot within the work area, wherein the control and / or regulation unit has at least one virtual map of the work area and / or is set up to generate a virtual map of the work area, wherein the control and / or regulation unit is set up to transfer the detected covered route of the robot into the virtual map; and with at least one user interaction unit.

[0003] It is proposed that the user interaction unit is set up to enable at least one evaluation, in particular of at least one partial section of the route covered by the robot within the virtual map, by a user, in particular after a treatment cycle of the robot, and to transfer the at least one evaluation to the control and / or regulation unit.

[0004] By the design according to the application of the robot system, an advantageous user-specific adaptation of the robot system can be achieved. An advantageous feedback to the solution of the navigation algorithm can be achieved. Thereby an advantageous adaptation of future solutions for the work area, which are user-specific, can be achieved. An advantageous extensive and complex interaction with the robot system can be achieved. An adaptation of the navigation algorithm for controlling the robot and for covering the work area can be achieved advantageously simply and directly. In particular, an interaction with the robot system can be achieved, which advantageously goes beyond the adaptation of the work area and / or the virtual map.

[0005] "Setting" is to be understood in particular as exclusively programming, exclusively designing and / or exclusively equipping. "The object is set for a specific function" is to be understood in particular as the object implementing and / or carrying out the specific function in at least one application- and / or operating state. "User interaction unit" is to be understood in particular as a unit of a device or a system, in particular a robot system, through which an interaction with a user of the device or the system is realized. In particular the user interaction unit is set for detecting and / or processing at least one user input, in particular an evaluation. Preferably the user interaction unit is set for outputting an input request. Preferably the user interaction unit is set for converting a user input, in particular the evaluation, into at least one electrical and / or electronic signal, which is in particular provided for processing by means of a control and / or regulating unit. "Setting" is to be understood in particular as exclusively designing and / or exclusively equipping. "The object is set for a specific function" is to be understood in particular as the object implementing and / or carrying out the specific function in at least one application- and / or operating state. "Evaluation of a partial section" is to be understood in particular as an indicator of a user on a passed route of a robot within a partial section, wherein the indicator is in particular provided for evaluating the passed route within a partial section. Herein the evaluation in particular relates to a previously mentioned previously passed partial section by the robot. The user can give an evaluation, in particular a preferably subjective, in particular with regard to quality, result, time requirement and / or the like, for the passed partial section by means of the evaluation. The evaluation should preferably not be an input, as should be configured for a future advance route of the evaluated partial section, but should enable the control and / or regulating unit by means of at least one quantifiable evaluation parameter to realize a user-specific assignment of a partial section for a future control of the robot. In particular the design of the user interaction unit predefines the design of the evaluation and / or the input type. Preferably the user interaction unit comprises at least one input means for inputting a user input, in particular the evaluation. Preferably the user interaction unit is set for assigning the evaluation to a partial section. In particular the user interaction unit is set for detecting an evaluation of a partial section by marking the partial section by a user. Preferably the user interaction unit is set for outputting a selection of at least two evaluation parameters, in particular before marking the partial section or after marking the partial section, wherein the evaluation of the marked partial section is realized in particular by a selection of one of the evaluation parameters by the user. It is also conceivable that the user interaction unit is set for outputting more than two different evaluation parameters. For example the two evaluation parameters are configured as a positive evaluation, in particular "good", and as a negative evaluation, in particular "bad", of the partial section.It is alternatively or additionally conceivable that the user interaction unit is configured to provide further evaluation parameters for the selection, wherein, for example, the further evaluation parameters prohibit the marked partial section from being reprocessed by the robot, require the marked partial section to be processed in a further processing cycle or require a further entry route for the partial section, wherein, in particular, the entry route within the partial section can be maintained.

[0006] A "control and / or regulating unit" is to be understood as meaning, in particular, a unit with at least one control electronics. A "control electronics" is to be understood as meaning, in particular, a unit with a processor unit, for example, configured as a processor, FPGA and / or microcontroller, and with a memory unit, for example, configured as a physical or virtual memory, and with a program stored in the memory unit. Preferably, the control and / or regulating unit is configured to receive and store the virtual map, in particular, in a transmitted manner, preferably by a user interaction unit of the robot system, a communication unit and / or a further interface of the robot system, preferably by a user. It is alternatively or additionally conceivable that the control and / or regulating unit is configured to produce and store the virtual map by means of data detected by a detection unit of the working area. In particular, the at least one virtual map is stored in or by the control and / or regulating unit. Preferably, the user interaction unit is configured to output, in particular, to show, the virtual map to a user in at least one operating state. Preferably, the virtual map is produced, in particular, in a manner known to the person skilled in the art and appearing sensible, by means of a SLAM-method (Simultaneous Localization and Mapping), preferably by means of a robot and / or detection unit.

[0007] A "processing cycle" is to be understood as meaning, in particular, a period of time within which the robot covers the working area at least substantially completely exactly once. Preferably, the robot is configured to carry out, in particular, in the activated state and / or in a predefined time interval, a predefined number of processing cycles, in particular, exactly one processing cycle, respectively. Preferably, the working area is predefined and stored in the control and / or regulating unit, in particular, by a virtual map or a further delimitation. For example, the working area is configured as a lawn surface or the like within a garden, a floor surface or the like of a dwelling or a region to be monitored. The predefined working area and / or virtual map is preferably configured two-dimensionally and, in particular, by a flat surface. However, it is alternatively conceivable that the predefined working area and / or virtual map is configured three-dimensionally, for example, by a volume. Figure ThreeThe construction of the robot is preferably such that the route, in particular comprising the partial sections, which the robot travels through is configured as the route which the robot travels through / fly through within a treatment cycle. As an alternative or in addition, for example in the case of large-area work areas, it is conceivable that the robot carries out a treatment cycle with interruptions and / or covers, in particular treats, the work area through two time periods which are spaced apart from one another in time.

[0008] The driven movable robot is preferably configured to be able to travel, to be able to swim and / or to be able to fly. The robot is preferably configured to be at least semi-autonomous or fully autonomous. The robot comprises in particular at least one drive unit and at least one advancing means, such as for example wheels or rotors, which are in particular configured to be able to be driven by the drive unit. The drive unit is for example at least partially configured as an electric motor. The robot preferably at least partially comprises the detection unit and / or the control and / or regulating unit. It is also conceivable that the robot at least partially comprises the user interaction unit. It is alternatively conceivable that the robot is configured / arranged separately from the detection unit, the control and / or regulating unit and / or the user interaction unit, wherein in particular control instructions are transmitted to the robot, in particular to the drive unit, by means of a communication unit. The communication unit is preferably configured to transmit electronic data in a wireless manner, for example by means of a radio connection, an optical interface or the like. The communication unit is preferably configured to connect the robot to units of the robot system which are external to the robot. In an exemplary design of the robot system, at least one output device of the user interaction unit is configured / arranged external to the robot and the control and / or regulating unit is configured as a component of the robot, wherein in particular the communication unit is configured to transmit the virtual map, in particular together with the travelled route of the robot, preferably in the form of an electronic signal, to the output device. At least one input device of the user interaction unit is preferably configured / arranged external to the robot, wherein in particular the communication unit is configured to transmit the evaluation of the partial sections, in particular together with the partial sections to which it pertains, preferably in the form of an electronic signal, to the control and / or regulating unit.

[0009] The robot is for example configured as a vacuum cleaning robot, a mowing robot, a surveillance robot, in particular a surveillance drone, a lawn aerator robot, a sweeping robot, a snow removal robot, a scrubbing robot, a work drone, a pool cleaning robot or other robots as will be apparent to the skilled person. Preferably, the robot is provided for treating the work area while covering the work area. In particular, the robot is provided for treating the ground during covering the work area. It is conceivable that the robot system is configured as part of a smart home system and / or comprises more than one robot, wherein in particular the control and / or regulation unit is at least partially configured / arranged outside the robot. It is also conceivable that the detection unit is at least partially configured / arranged outside the robot. Preferably, the detection unit is provided for detecting the position of the robot within the work area. It is conceivable that the detection unit is provided for detecting the work area, in particular by means of objects delimiting the work area. The detection unit comprises preferably at least one sensor element, preferably a plurality of sensor elements. In particular, at least one sensor element of the detection unit is arranged at the robot. The detection unit comprises for example a Lidar-system, a camera system with image analysis, a position detection sensor, such as for example a GPS-sensor, a Galileo sensor or the like, or other sensors as will be apparent to the skilled person for semi-autonomous robots.

[0010] Preferably, the control and / or regulation unit is configured to determine a route for the robot for at least substantially completely covering the work area, wherein the robot is in particular configured to drive the determined route in a future processing cycle. Preferably, the control and / or regulation unit comprises at least one algorithm for determining a route for the robot for at least substantially completely covering the work area. Preferably, the control and / or regulation unit, in particular the algorithm, is configured to divide the work area into a plurality of partial areas which are driven through by the robot one after the other during a processing cycle. In particular, the algorithm is configured to solve a Traveling Salesman Problem, in particular a Generalized Traveling Salesman Problem, in order to determine an order of the partial areas when determining a route for the robot for at least substantially completely covering the work area. Preferably, the control and / or regulation unit, in particular the algorithm, is configured to determine a route for covering by the robot for each partial area separately, preferably by means of Morse theory. For example, the control and / or regulation unit, in particular the algorithm, is configured to divide the work area into partial areas which in particular each have a polygonal, preferably rectangular or triangular, basic shape. For example, the control and / or regulation unit, in particular the algorithm, is configured to drive through the partial areas in straight, at least substantially parallel to each other arranged paths, in particular depending on transition points from other partial areas into the respective partial area, depending on transition points from the respective partial area into further partial areas and / or depending on the basic shape of the respective partial area. Preferably, one of the partial areas of the work area comprises a partial section to be evaluated or an evaluated partial section. "Substantially parallel" is in particular to be understood as a straight, planar orientation or an orientation with respect to a further straight, further planar direction or a reference direction, wherein in particular in a projection plane the straight, the planar or the further straight, further planar direction or the reference direction has a deviation of in particular less than 8°, advantageously less than 5° and particularly advantageously less than 2°.

[0011] It is further proposed that the control and / or regulation unit is set up to take account of an evaluation of the at least one partial region transmitted by means of the user interaction unit for the at least future control of the robot, in particular for a further treatment cycle, at least within the at least one partial region. An advantageous intuitive adaptation of the traveled route of the robot can be achieved. An advantageous user-specific adaptation of the control of the robot and / or the coverage of the work region by the robot can be achieved. In particular, the robot is set up to carry out a further treatment cycle in time after the evaluation by the user. Preferably, the control and / or regulation unit is set up to derive a future course of the robot for at least substantially completely covering the work region during a treatment cycle, in particular in a further treatment cycle and / or at least within the evaluated partial region, from the evaluation of the at least one partial region. By "taking account of the evaluation" by the control and / or regulation unit, it is in particular to be understood that at least one pathfinding parameter of the algorithm and / or at least a part of the future course of the robot is changed by the transmitted evaluation. The algorithm in particular comprises a plurality of pathfinding parameters which are each configured as a framework condition for a solution of the traveling salesman problem or for deriving a route of the robot which covers the partial region. Preferably, the control and / or regulation unit is set up to derive, after each treatment cycle, in particular if an evaluation of a partial region has been transmitted, a future control of the robot, in particular a future course of the robot, for a further treatment cycle at least within the at least one evaluated partial region. In particular, the control and / or regulation unit is set up to carry out the algorithm after each treatment cycle, in particular if an evaluation of a partial region has been transmitted, in which in particular a future course of the robot for at least substantially completely covering the work region during a treatment cycle is derived.

[0012] It is further proposed that the user interaction unit has at least one, in particular the aforementioned, input device for detecting the evaluation, which is designed to detect the evaluation by means of at least one haptic, optical and / or acoustic signal, wherein the control and / or regulating unit is designed to assign to the detected signal at least one position in the work area and / or a point in time in the treatment cycle. An advantageous simple and fast input and / or assignment of the evaluation can be achieved. An advantageous direct input of the evaluation is possible, in particular without having to wait for the end of the current treatment cycle. An advantageous high operating comfort, in particular for inputting the evaluation, can be achieved. The input device is designed, for example, as an application, in particular a computer-implemented application, a keyboard, a touch display, a microphone, a camera device with image analysis or the like. The signal to be detected is designed, for example, as a voice command, a gesture or a contact by the user. In particular for the signal to be detected, at least two, in particular a plurality of reference values are stored, wherein exactly one evaluation parameter is assigned to each reference value. The reference values are designed, for example, as pre-defined voice commands, pre-defined gestures or positions and / or ways of contact by the user, respectively. Preferably, the control and / or regulating unit is designed to assign to the signal detected at a point in time exactly one position of the robot in the work area at the point in time, in particular detected by a detection unit, and in particular to transfer them into a virtual map. As an alternative or in addition, it is conceivable that the control and / or regulating unit is designed to assign the point in time of the detected signal to exactly one point in time in the treatment cycle. For example, it is possible to achieve that the evaluation of a partial section is assigned to the treatment point in time of the partial section by temporally assigning the evaluation.

[0013] Furthermore, it is proposed that the user interaction unit comprises at least one application means which is implemented on an external instrument, such as for example a smartphone, which is set up for enabling the evaluation by the user via the external instrument. The input of the evaluation can advantageously be realized by means of a household and / or already existing instrument of the user. An advantageously high flexibility with regard to the possible range of applications of the robot system can be realized. An advantageously simple integration of the robot system into a smart home system or a home entertainment system can be realized. Preferably, the application means accesses input means, output means and / or a computing unit of the external instrument, preferably for detecting the evaluation and / or for detecting a signal to be detected for detecting the evaluation. Especially in the design variant of the external instrument as a smartphone, the application means is set up for showing a virtual map for the user via the output means of the external instrument which are configured as a display, and / or for detecting the evaluation via a contact detected by means of the input means of the external instrument which are configured as a touch display. Preferably, the external instrument, especially the application means, is connected to the control and / or regulation unit, the detection unit and / or the robot, especially in terms of communication technology, by means of a communication unit. Especially the user interaction unit is set up for transmitting the detected evaluation from the application means, especially via a communication unit and / or a communication interface of the external instrument, to the control and / or regulation unit. Preferably, the external instrument is arranged / configured separately from the robot and / or the control and / or regulation unit.

[0014] Furthermore, the present application relates to a method for controlling, especially navigating, a driven movable, especially drivable, robot of a robot system, especially of a robot system according to the present application, especially of the previously mentioned kind, wherein in at least one method step the robot is controlled by means of at least one control and / or regulation unit, especially of the previously mentioned kind, of the robot system in such a way that the robot covers at least one, especially previously mentioned, work area at least substantially completely during a treatment cycle, wherein in at least one method step a virtual map of the work area is stored in and / or made by the control and / or regulation unit, wherein in at least one method step at least one route covered by the robot in the work area is detected by means of a detection unit, especially of the previously mentioned kind, of the robot system, wherein in at least one method step the detected covered route of the robot is transferred into the virtual map.

[0015] It is proposed that, in at least one method step, in particular after a treatment cycle of the robot, at least one evaluation of at least one partial section of a route traveled by the robot within the virtual map is implemented by a user by means of at least one user interaction unit of the robot system, in particular mentioned before, wherein the at least one evaluation is transmitted to the control and / or regulation unit.

[0016] By the design of the method according to the application, an advantageous user-specific adaptation of the robot system can be achieved. A feedback on the solution of the navigation algorithm can be advantageously achieved. Thereby, a future solution for the work area can be advantageously adapted user-specifically. A broad and complex interaction with the robot system can be advantageously achieved. A simple and direct adaptation of the navigation algorithm for controlling the robot and for covering the work area can be advantageously achieved. In particular, an interaction with the robot system can be achieved, which advantageously goes beyond the adaptation of the work area and / or the virtual map.

[0017] It is preferred that the robot system is provided for carrying out the method for controlling a driven movable robot. It is conceivable that the virtual map, in particular a predefined virtual map stored in the control and / or regulation unit, is adapted by means of the control and / or regulation unit, in particular periodically or continuously, by data detected by the detection unit of the work area and / or objects surrounding the work area. It is preferred that the detected evaluation is transmitted to the control and / or regulation unit, in particular directly in time and automatically after detecting the evaluation, by means of the user interaction unit and / or the communication unit. It is conceivable that an input request for evaluating a route traveled in particular in a previous treatment cycle is implemented by a user by means of the user interaction unit after a treatment cycle. It is alternatively or additionally conceivable that an evaluation is detected during a treatment cycle, wherein in particular the remaining course of the treatment cycle is adapted according to the detected evaluation by means of the control and / or regulation unit.

[0018] Furthermore, it is proposed that, in at least one method step, in particular for a further treatment cycle, a future course of the robot, in particular within at least one evaluated partial section, is derived by means of the control and / or regulation unit from the evaluation. An advantageous intuitive adaptation of the traveled route of the robot can be achieved. An adaptation of the control of the robot and / or the covering of the work area by the robot can be advantageously adapted user-specifically.

[0019] It is preferred that, by means of the control and / or regulating unit, in particular the algorithm, a Moll function of the Moll theory and a path width of the robot are used as input variables for determining the boundaries of the partial areas, in particular of the polygonal shape of the working area. It is preferred that the path width corresponds to the maximum width of a region which the robot can still cover, in particular process, when moving in a straight line, in particular at least substantially perpendicular to the path width. "Substantially perpendicular" is to be understood in particular as an orientation of a straight line, a plane or a direction with respect to another straight line, another plane or a reference direction, wherein, in particular viewed in a projection plane, the straight line, the plane or the direction and the other straight line, the other plane or the reference direction enclose an angle of 90°, and the angle has a maximum deviation of in particular less than 8°, advantageously less than 5° and particularly advantageously less than 2°. By means of a Boustrophedon-Ansatz, a template of at least substantially parallel paths is preferably generated, which respectively at least substantially completely cover one of the partial areas. In particular obstacles are surrounded by the partial areas through the division of the partial areas and are preferably not part of the working area. As an alternative, it is conceivable that, in particular according to a formula which is configured differently from the Boustrophedon-Ansatz, other templates, for example random templates, spiral paths, branched tree templates or the like, are generated. It is preferred that each partial area of the working area can be at least substantially completely covered, in particular driven through, by two different advance types of the robot. In particular a first advance type of the robot is configured as an advance along at least substantially parallel paths. In particular a second advance type of the robot is configured as an advance along obstacles which delimit the working area, in particular the partial areas, wherein the robot preferably alternates between the first advance type and the second advance type within the partial areas. It is preferred that, in the case of the two advance types, there are a plurality of different possibilities, in particular partial movement paths, for covering the partial areas. An exemplary design of the partial movement paths is to drive through the respective partial area in parallel paths, wherein a curve is driven through between the paths, wherein, for example, the paths are arranged parallel or perpendicular to the edges of the edge region and / or of the working area. In particular each of the partial movement paths has a starting point, at which the robot starts covering the partial area, and an exit point, at which the partial movement path ends. In particular the robot changes from the partial area into another partial area at the exit point of the partial movement path. It is preferred that the selection of the partial movement path for each partial area of the working area is achieved by means of the control and / or regulating unit by solving a Traveling Salesman Problem, in particular according to the arrangement of the partial areas within the working area.

[0020] Furthermore, it is proposed that, in at least one method step, in particular in the method step mentioned previously, the evaluation of at least one partial section of the route traveled by the robot is effected by means of a selection and / or marking of the partial section on the image of the virtual map output by means of the user interaction unit. An advantageous intuitive and quick input of the evaluation can be achieved. An advantageous simple input of the evaluation can be achieved in terms of the input means required, since in particular a keyboard or the like for inputting the evaluation can be dispensed with. The virtual map is output as an image, in particular after a treatment cycle which has ended. Preferably, the selection and / or marking of the partial section on the virtual map is effected after a treatment cycle which has ended. Preferably, a partial area comprising the respective partial section selected, marked and / or evaluated is determined by means of the control and / or regulation unit for each selected, marked and / or evaluated partial section. Alternatively or additionally, it is conceivable that the virtual map can be output, in particular at least substantially permanently, during the treatment cycle by means of the user interaction unit. In particular, it is conceivable that the advance of the robot within the work area during the treatment cycle is displayed at least substantially instantaneously by means of the virtual map by means of the user interaction unit.

[0021] Furthermore, it is proposed that, after the selection and / or marking of the at least one partial section in at least one method step, more than two different evaluation parameters are given to the user for the selection by means of the user interaction unit, wherein each of the evaluation parameters is considered differently by the control and / or regulating unit for the determination of the future course of the robot. An advantageous adaptation of the evaluation, which is advantageously specific to the user, can be achieved. An adaptation of the course traveled within the work area to the special user wishes can be achieved advantageously quickly. An advantageous extensive evaluation of the course traveled can be achieved. Thereby, an advantageous targeted adaptation of the future course of travel can be achieved after each processing cycle. The at least two evaluation parameters described above, for example, are configured as "good" and "bad" conclusions, wherein the partial sections are evaluated positively or negatively, in particular without a justification of the type of evaluation. Further design options of the evaluation are also conceivable, wherein, in particular, a plurality of possibilities / justifications for the evaluation are presented to the user upon marking the partial sections. It is conceivable, for example, that evaluation parameters are provided for the "wrong processing time," "wrong direction," "too slow processing," or "too fast processing" of the evaluated partial sections. Preferably, the evaluation is weighted differently in the algorithm or is processed differently by means of the control and / or regulating unit depending on the type of the evaluation and / or the evaluation parameters, or other route-finding parameters are adapted depending on the evaluation / evaluation parameters. "Considered differently" is to be understood in particular as meaning that, depending on the evaluation parameter, not only the value of the route-finding parameter for the determination of the future course of travel is adapted, but also different route-finding parameters are adapted to one another for different evaluation parameters.

[0022] Furthermore, it is proposed that, in at least one method step, the course of advance of the robot within the work area is individually determined for a plurality of different partial areas constituting the work area by means of the control and / or regulating unit, respectively, wherein, in at least one further method step, the course of advance of the robot, in particular future, is adapted only for the partial areas comprising the evaluated partial segments after the evaluation of the partial segments by the user. An advantageous implementation of a local adaptation of the work area is possible, wherein, in particular, only the evaluated partial segments can be adapted. An unintentional adaptation of partial segments of the work area that are satisfactorily covered, which, however, are not evaluated by the user, can be advantageously prevented. As an additional possibility, it is conceivable that, in a further method step, the course of advance, in particular future, is also adapted in other partial areas different from the evaluated partial segments, in particular in accordance with the starting point and / or end point of the course of advance in the respective partial area, in particular subordinate to and / or comprising the partial segments. It is preferred that the adaptation of the course of advance, in particular future, of the robot for the partial areas, in particular comprising the evaluated partial segments, is carried out for the determination of the course of advance, in particular future, of the robot for the work area by the control and / or regulating unit, in particular the algorithm, before the solution of the traveling salesman problem. Alternatively, it is conceivable that the adaptation of the course of advance, in particular future, of the robot for the partial areas, in particular comprising the evaluated partial segments, is carried out in accordance with a plurality of solutions of the traveling salesman problem determined by the control and / or regulating unit, in particular the algorithm, for the determination of the course of advance, in particular future, of the robot for the work area, wherein, in particular, the course of advance of the robot for the partial areas, in particular comprising the evaluated partial segments, is determined in accordance with the course of advance, in particular future, of the robot in at least one partial area of the work area, which adjoins the partial areas, in particular comprising the evaluated partial segments. It is preferred that the courses of advance for the individual partial areas of the work area are individually determined and joined by means of the control and / or regulating unit, in particular the algorithm, preferably by the solution of the traveling salesman problem, into the course of advance, in particular future, of the robot through the work area.

[0023] Furthermore, it is proposed that, in at least one method step, a route of advance of the robot within the work area is individually determined for a plurality of different partial areas constituting the work area by means of the control and / or regulating unit, respectively, wherein, in at least one further method step, a division of the work area into partial areas is adapted after a particularly negative evaluation of a partial segment by a user, wherein, in particular, the evaluated partial segment is arranged within the adapted partial area. An advantageous targeted adaptation of the division of the work area into partial areas can be achieved, in particular for the configuration of the partial area around the partial segment. An advantageous limitation of the adaptation of the future route of advance to the evaluated partial segment can be achieved. An inadvertent adaptation of a positively evaluated partial segment can be advantageously prevented. It is conceivable that the evaluated partial segment is configured as its own partial area, removed from the partial areas and / or the work area and / or removed from the partial areas and added to a further partial area, in particular depending on the type of the evaluation. It is preferred that, in the case of a negative evaluation of a partial segment, at least one change of the future route of advance of the robot, in particular for a further treatment cycle, is carried out by means of the control and / or regulating unit with respect to the route covered by the robot of the previous treatment cycle. It is preferred that, in the case of a positive evaluation of a partial segment, the future route of advance of the robot, in particular for a further treatment cycle, is not changed by means of the control and / or regulating unit within the evaluated partial segment with respect to the route covered by the robot of the previous treatment cycle. It is conceivable, for example, that an area of the work area not covered in a treatment cycle is covered by the robot on the basis of an evaluation in a further treatment cycle; the treatment of a partial segment is carried out at other times by an adaptation of the partial areas and in particular of the order for covering the partial areas; and / or the partial areas are treated in other orders, which can be achieved in particular by an adaptation of the division of the work area into further partial areas, respectively. It is conceivable that a partial area is divided into a plurality of smaller partial areas, wherein, in particular, one of the smaller partial areas comprises the evaluated partial segment; or two partial areas, wherein one of the two partial areas comprises the evaluated partial segment, are grouped into a larger partial area.

[0024] Furthermore, it is proposed that at least one evaluation of at least one partial section of the route traveled by the robot in at least one method step is stored in the control and / or regulating unit, wherein the determination of the future advancement route of the robot within the work area, in particular, is effected by the control and / or regulating unit from a plurality of evaluations stored in the control and / or regulating unit. An advantageous step-by-step adaptation of the advancement route covering the work area can be achieved. An advantageously high user satisfaction can be achieved, in particular, because the necessity of repeating evaluations that have been input previously can be dispensed with. As an additional option, it is conceivable that evaluations of partial sections of the work area and / or changes in the virtual map resulting therefrom are transmitted to or by other robot systems in the surroundings of the robot system and stored in the control and / or regulating unit. It is conceivable, for example, that a plurality of robot systems and / or external instruments in the surroundings, for example, on a construction site, in a home, in a garden, etc., share the virtual map, in particular, by means of a communication unit and / or they are preferably updated with one another.

[0025] Furthermore, it is proposed that the determination of the future advancement route of the robot within the work area, in particular, is effected by means of the control and / or regulating unit from at least one evaluation by means of an algorithm, in particular, mentioned previously, which is implemented periodically after each completed processing cycle of the robot. An advantageous step-by-step adaptation of the advancement route covering the work area can be achieved. It is preferred that the work area is determined by means of the algorithm from the stored and / or produced virtual map. It is preferred that the work area is divided into a plurality of partial areas by means of the algorithm, preferably from the evaluation and / or from the position of the evaluated partial sections. It is preferred that the future advancement route for covering by the robot is determined for each partial area by means of the algorithm from the arrangement of the partial areas relative to one another and from the path width of the robot, and preferably from the evaluation and / or from the position of the evaluated partial sections. It is particularly preferred that the future advancement route of the robot for at least substantially completely covering the work area is determined from the future advancement routes determined for the partial areas by means of the algorithm, preferably from the evaluation and / or from the position of the evaluated partial sections, in particular, for the next processing cycle.

[0026] Furthermore, it is proposed that the determination of the robot's, particularly future, forward path within the work area is achieved by means of a control and / or adjustment unit using a machine learning method based on multiple stored evaluations. Template recognition is possible from evaluations input by the user. This allows for advantageous and rapid adaptation of the forward path covering the work area in terms of the required number of evaluation processing loops, especially because the identified templates for determining the forward path can be considered in other, particularly unevaluated, sections. Preferably, the machine learning method is configured to: identify templates, preferably from multiple detected and stored evaluations, based on the type of the corresponding evaluation, particularly the type of evaluation parameters, based on the shape and / or position of the corresponding evaluated section, and / or based on the forward path within the corresponding evaluated section relative to other, particularly different, evaluated or unevaluated sections or the area of ​​the robot's traversed path. Preferably, in at least one method step, particularly in at least one learning step of the machine learning method, at least one input parameter is transmitted from the detection unit and / or user interaction unit to the control and / or adjustment unit, preferably for processing the at least one input parameter. For example, the at least one input parameter is configured as the type of evaluation, the location of a partial segment, the path of travel within the corresponding evaluated partial area, the path of travel for another partial segment, particularly the positively evaluated segment, or something similar. As an additional option, it is conceivable that additional input parameters, particularly those assigned to the work area and / or partial segments, could be queried by external units, such as other robots and / or robot systems in the surrounding environment of the work area, and transmitted to the control and / or adjustment unit, particularly via a communication unit. At least one analysis step of the machine learning method is performed, particularly after the learning step, wherein, based on the input parameters along with virtual... Figure OneIn at least one evaluation, templates are sought. Preferably, in the evaluation step, at least one path recognition parameter for the algorithm, in particular for the calculation of a future course of travel for a partial section and / or for a work area, is determined on the basis of the identified templates of the at least one evaluation. It is conceivable for the machine learning method to be carried out in such a way that a control and / or regulating unit is combined with an external computing unit, which is connected and / or connectable to the control and / or regulating unit, in particular via a communication unit. It is conceivable for a convolutional neural network to be used for the machine learning method in at least one method step, in particular in at least one learning step. "Convolutional neural network" is to be understood as a convolutional neural network. In an exemplary design, the calculation of a future course of travel for a robot within a work area is carried out by means of a control and / or regulating unit by the machine learning method on the basis of a plurality of stored evaluations, wherein a plurality of evaluations each evaluate at least one partial section in which the robot drives through a plurality of bends one after the other. Preferably, the templates are identified by means of the control and / or regulating unit by the machine learning method from the evaluations, so that a plurality of bends driven through one after the other, for example, by a user, are undesirable. Preferably, a future course of travel for a robot within a work area is thus calculated by means of the control and / or regulating unit, in particular the algorithm, by the machine learning method, so that a plurality of bends driven through one after the other are avoided as far as possible. In particular, at least one control parameter and / or a pathfinding parameter, in particular as an input variable for the algorithm, is adapted by means of the control and / or regulating unit in order to avoid a plurality of bends driven through one after the other within a future course of travel for a robot within a work area. Preferably, by means of the control and / or regulating unit, in particular the algorithm, in the machine learning method, parameters of the movement of the robot within the evaluated partial sections are identified and are assigned, for example positively or negatively, to the type of the respective evaluation. If a plurality of identically or similarly evaluated partial sections have identical parameters for the movement of the robot within the respective evaluated partial sections, for example a rotation with an amplitude of more than 270° or a route driven through by the robot that intersects more than three previously driven routes and / or paths or the like, templates for a negative evaluation are identified by means of the control and / or regulating unit for these parameters, wherein, in particular, these parameters are avoided for the calculation of a future course of travel for the robot for the respective evaluated partial section and / or for the work area or are taken into account with a reduced weight when calculating a future course of travel for the robot for the respective evaluated partial section and / or for the work area.For example, especially in simple design solutions, for a plurality of different, respectively negatively evaluated partial sections of the work area, in which, especially, the evaluation and / or the evaluated partial sections have been stored in the control and / or regulating unit, by means of the control and / or regulating unit, common parameters of the movement of the robot within the evaluated partial sections are identified, for example, a rotation with an amplitude of more than 270° or a crossing of a route traveled by the robot with more than three previously traveled routes and / or paths. It is preferred that, in exemplary design solutions, these identified parameters are avoided, especially immediately following the determination of a future course of movement of the robot for the respective evaluated partial section and / or for the work area, or are taken into account with a reduced weighting, wherein, especially, only in arrangements of the robot, which do not enable other or only low weighted parameters for the future course of movement, for example, when the robot is in a dead end, the identified parameters are taken into account for the determination of the course of movement. As an alternative or additional solution, such a method, in which, especially, the determination of a future course of movement of the robot within the work area by means of the control and / or regulating unit is implemented by a machine learning method from a plurality of stored evaluations, is also conceivable for a positive evaluation, wherein, for example, identified parameters, which are determined by positively evaluated partial sections, are taken into account with a higher weighting for the determination of a future course of movement of the robot within the work area, as, for example, in relation to non-evaluated / non-identified parameters of the movement of the robot within the traveled route. As an additional solution, the machine learning method can also be conceived for an evaluation, which is constructed more complex than a simple positive and / or simple negative evaluation, for example, for an evaluation, which relates to a time period, in which the evaluated partial sections have been processed, includes additional evaluation parameters, or the like.

[0027] Further, it is proposed that in at least one method step, after the selection and / or marking of the at least one partial section, more than two different evaluation parameters are given to the user by means of the user interaction unit for the selection and / or output of at least one input request for inputting at least one value of an evaluation parameter, wherein the at least one, in particular previously mentioned, evaluation parameter comprises at least one temporal indicator which is associated with the arrangement of the robot in the respective partial section. An evaluation of the temporal sequence of the partial areas of the work area within the processing cycle can be advantageously realized. The adaptation of the advance route to the partial areas by the user can be realized, in particular in order to, for example, prevent collisions with the user or harm to the user or in order to advantageously quickly complete the work in the partial areas which occurs at a specific time. For example, the cleaning of a dining area can be realized by the robot directly after the eating time which occurs at a specific time. The evaluation parameter, in particular comprising at least one temporal indicator, is configured, for example, as a desired point in time for the processing of the partial section by the robot. A value / the values of the preferred evaluation parameter are configured, for example, as a time period, a time, a priority of the evaluated partial section within the sequence of the partial areas of the work area or the like. In a further exemplary design, the evaluation parameter, in particular comprising at least one temporal indicator, is configured as a negative or positive evaluation of the evaluated partial section at a processing point in time in a, in particular previous, processing cycle. In a further exemplary design, the evaluation parameter, in particular comprising at least one temporal indicator, is configured as a time window in which the robot should avoid the evaluated partial section or in which the robot should process the evaluated partial section. It is preferred that the input request is output if the selection is made by the user by means of a time-related evaluation of the selected or marked partial section. It is preferred that each detected evaluation by the user is assigned exactly one time and / or exactly one point in time within the processing cycle by means of the control and / or regulation unit. The "temporal indicator which is associated with the arrangement of the robot in the respective partial section" is to be understood, in particular, as one position of the robot being assigned to each temporal indicator, at which the robot is arranged at the point in time given by the temporal indicator. It is conceivable that each detected evaluation by the user is assigned exactly one position within the work area at which the evaluation was detected by means of the control and / or regulation unit.

[0028] Furthermore, it is proposed that in at least one method step the virtual map is adapted by means of the control and / or regulating unit in accordance with at least one evaluation. An advantageous simple and automatic updating of the virtual map can be realized. In particular without interaction with a user, an adaptation of the advance route within a changing work area can be advantageously realized. It is preferably conceivable that a partial area of the virtual map and / or a partial section in an area of the virtual map is evaluated such that the virtual map is adapted by means of the control and / or regulating unit in accordance with the evaluation. It is preferred that in the evaluation of a partial area of the virtual map and / or a partial section in an area of the virtual map, in particular after the selection or marking of the partial area and / or the partial section, at least one evaluation parameter is given to the user by means of the user interaction unit for the selection, which is assigned to the virtual map at the selected / marked location. As an additional option it is conceivable that in particular if the virtual map is adapted by means of data detected by means of the detection unit, in the case of a positive evaluation of a partial area of the virtual map and / or a partial section in an area of the virtual map, the evaluated area remains unchanged in future method steps. It is conceivable, for example, that an object, in particular not included in the virtual map, is detected in the work area and / or on the route traveled through by means of the detection unit, wherein by means of the control and / or regulating unit in the case of a negative evaluation of a partial section around the object, the object is transferred or marked into the virtual map, preferably in order to be able to be better taken into account for the future advance route of the robot in the determination of the robot in future processing cycles.

[0029] Herein, the robot system according to the invention and / or the method according to the invention should not be limited to the above described use scenarios and embodiments. The robot system according to the invention and / or the method according to the invention in order to realize the functional modes described herein can in particular have a different number of the elements, components and units and method steps mentioned herein. For this, values within the range of values specified in the present disclosure at the mentioned boundaries should also be considered as disclosed and can be arbitrarily used. BRIEF DESCRIPTION OF DRAWINGS

[0030] Further advantages result from the following description of the figures. In the figures, embodiments of the invention are shown. The figures, the description and the claims contain a plurality of features in combination. The person skilled in the art will also consider these features individually in a suitable manner and summarize them into meaningful further combinations.

[0031] wherein:

[0032] Figure 1A schematic diagram of a robot system according to the application is shown for performing a method according to the application for controlling a driven movable robot of the robot system;

[0033] Figure 2 A schematic diagram of a work area is shown which is at least substantially completely covered, in particular treated, by means of a robot, the work area having a division into partial areas for controlling the robot;

[0034] Figure 3 A schematic diagram of an exemplary flow of a method according to the application is shown for controlling a driven movable robot of a robot system according to the application;

[0035] Figure 4 A schematic diagram of a control scheme is shown for driving through partial areas of the work area by the robot;

[0036] Figure 5 A schematic diagram of a work area is shown with an advance route through the work area by the robot within a treatment cycle and with partial sections assessed by a user;

[0037] Figure 6 A schematic diagram of an algorithm is shown for determining a future advance route of the robot for covering the work area during a treatment cycle; and

[0038] Figure 7 A schematic diagram of the work area is shown with a division into partial areas adapted according to an assessment transmitted by a user. DETAILED DESCRIPTION

[0039] In Figure 1A robot system 10 with a driven movable robot 12 is shown in Fig. 1. The robot system 10, in particular the robot 12, is configured semi-autonomously. It is however also conceivable that the robot system 10, in particular the robot 12, is configured fully autonomously or non-autonomously, in particular remotely controlled. The robot 12 is configured to be able to travel on a ground surface. It is however also conceivable that the robot 12 is configured to be able to swim and is provided for advancing on water, and / or the robot 12 is configured to be able to fly and is provided for advancing in a flying manner. The robot 12 is configured as a suction robot and is in particular provided for picking up dust, dirt or the like from a ground surface and collecting it for a subsequent cleaning. It is however also conceivable that the robot 12 has other designs, such as a lawnmower robot, a surveillance robot, in particular a surveillance drone, a lawn aerator robot, a sweeper robot, a snow removal robot, a scrubbing robot, a work drone, a pool cleaning robot or other robots for covering a work area 14 which are sensible to a person skilled in the art. The robot 12 is provided for covering the work area 14 at least substantially completely during a treatment cycle, wherein in particular the work area 14 is driven over and sucked at least substantially completely at one time. The robot 12 preferably has a path width 16 (cf. Fig. 1) within which the robot 12 sucks the ground surface at least substantially perpendicularly to a direction of advancement 18 of the robot 12. The robot system 10 is provided for carrying out a method 20 for controlling, in particular for navigating, the driven movable, in particular travelable, robot 12 of the robot system 10. Figure 5

[0040] ​The robot system 10 comprises a detection unit 22 which is provided for detecting a route 24 in the work area 14 which is covered by the robot 12. The detection unit 22 is configured as a component of the robot 12. The detection unit 22 comprises at least one sensor element 26 for a position determination of the robot 12 within the work area 14, wherein in particular the route 24 in the work area 14 which is covered by the robot 12 is determined by a time course of the respectively detected positions of the robot 12 during a treatment cycle. The sensor element 26 is for example configured as a component of a position determination system which is in particular satellite-supported and / or which is configured within the work area 14. For example the sensor element 26 is a component of a smart home system which comprises in particular the work area 14, is configured as a GPS-sensor or as a Galileo-sensor. The detection unit 22 comprises a plurality of further sensor elements 28 for detecting the surroundings which surround the robot 12. It is alternatively or additionally conceivable that the detection unit 22 is provided for determining the route 24 in the work area 14 which is covered by the robot 12 by means of the detected surroundings which surround the robot 12. The further sensor elements 28 are for example configured as Lidar-systems or respectively as camera devices, in particular in combination with an image analysis. Other design solutions of the detection unit 22, in particular of the sensor elements 26, 28 of the detection unit 22, are also conceivable, which are in particular known to the person skilled in the art and which appear sensible in combination with the robot 12 and / or the work area 14 to be covered. It is alternatively or additionally conceivable that the detection unit 22 is configured / arranged at least partially outside the robot, in particular spaced apart from the robot 12. For example the detection unit 22 comprises at least one sensor element 30 which is arranged within the work area 14 or at an object 32 arranged at the work area 14, wherein in particular the robot 12 is detectable by the sensor element 30 within the work area 14.

[0041] The robot system 10 comprises a control and / or regulation unit 34 which is provided at least for controlling the robot 12 within the work area 14. The control and / or regulation unit 34 is configured as a component of the robot 12. It is however also conceivable that the control and / or regulation unit 34 is configured / arranged at least partially or completely outside the robot, wherein in particular control commands of the control and / or regulation unit 34 are transmitted to the robot 12, in particular to a drive unit 38 of the robot 12, by means of a communication unit 36 of the robot system 10. The control and / or regulation unit 34 has a virtual map 40 of the work area 14 (see also Figure 2 and Figure 5The control and / or adjustment unit 34 is configured to transmit the detected route 24 traversed by the robot 12 to the virtual map 40.

[0042] The robot system 10 includes a user interaction unit 42. The user interaction unit 42 is configured to, particularly after a processing cycle of the robot 12, enable the user to evaluate at least one partial segment 44 of the route 24 traversed by the robot 12 within the virtual map 40 (see [link to relevant documentation]). Figure 5 The evaluation is transmitted to the control and / or adjustment unit 34. The user interaction unit 42 includes an input device 46 for detecting the evaluation, configured to detect the evaluation via at least one tactile, optical, and / or acoustic signal, wherein the control and / or adjustment unit 34 is configured to assign the detected signal to at least one location in the working area 14 and / or a point in time within a processing loop. The user interaction unit 42 includes an application device 48 for implementation on an external instrument 50, configured for evaluation to be performed by a user via the external instrument 50. The external instrument 50 is constructed as a smartphone. However, other designs for the external instrument 50 are also conceivable, such as a computer, smartwatch, smart home system console, or similar devices. Preferably, the application device 48 is configured as the input device 46, wherein input commands input by the user at the external instrument 50, for example, at the touchscreen display of the external instrument 50, are detected as signals for the evaluation. It is also conceivable that the user interaction unit 42 includes a separate input element, which is configured as a component of the robot system 10 and preferably forms the input device 46. Alternatively or additionally, it is conceivable that the user interaction unit 42 is at least partially configured as a component of the robot 12, wherein, in particular, the input element and / or input device 46 of the user interaction unit 42 is arranged at the robot 12. Preferably, the user interaction unit 42, and in particular the application device 48, is configured to output the virtual map 40 along with the route 24 traversed by the robot 12, particularly in previous processing loops, via an external instrument 50, preferably via an optical image. Particularly preferred is that the user interaction unit 42, and in particular the application device 48, is configured to detect the evaluation via tactile signals recognized by the user using an external instrument 50, particularly a touchscreen display. Alternatively or additionally, it is conceivable that the user interaction unit 42, and in particular the application device 48, is configured to recognize the user's voice commands or gestures and preferably detect the evaluation via voice commands or gestures.

[0043] The robot system 10 comprises a communication unit 36. The communication unit 36 is configured to wirelessly transmit electronic data, for example via a radio connection, an optical interface or the like. Preferably, the communication unit 36 is configured to connect the robot 12 with units of the robot system 10 that are external to the robot. The communication unit 36 is configured to transfer an evaluation of the partial section 44, in particular together with the partial section 44 from which the evaluation is derived, preferably in the form of an electronic signal, from the application means 48 of the external apparatus 50, in particular the user interaction unit 42, to the control and / or regulating unit 34. The communication unit 36 comprises at least one communication interface 52, which is configured as a component of the robot 12. For example, the communication interface 52 is configured as a radio interface. However, other design options of the communication unit 36, in particular of the communication interface 52, are also conceivable.

[0044] The robot 12 comprises a drive unit 38 and three advancing means (not shown in the figures), in particular configured as wheels or rollers, wherein at least one of the advancing means is drivable by the drive unit 38. The drive unit 38 comprises in particular an electric motor. Preferably, for controlling the robot 12, the advancing means or at least one further advancing means of the advancing means is rotatable about an axis that is oriented at least substantially perpendicular to the ground on which the robot 12 is standing. Preferably, the control and / or regulating unit 34 is configured to actuate the advancing means for controlling the robot 12, for example by actuators of the drive unit 38 and / or by the electric motor. However, other design options of the drive unit 38 and / or of the advancing means are also conceivable, for example having a number of advancing means that is different from three, having other design options of the advancing means or the like. It is conceivable that the robot 12 comprises an energy storage unit, in particular rechargeable, having in particular a battery or the like. As an additional option, it is conceivable that the robot system 10 comprises a base station for recharging the energy storage unit, and / or that the robot 12 comprises at least one energy conversion unit, for example a solar cell, for energy supply and / or for recharging the energy storage unit.

[0045] The control and / or regulation unit 34 is set up to take into account the evaluation of the at least one partial section 44 transmitted by the user interaction unit 42 for controlling, in particular for future controlling, the robot 12 at least within the at least one partial section 44, in particular for a further treatment cycle. In particular, the robot 12 is set up to carry out the further treatment cycle by the user in time after the evaluation. It is conceivable that the control and / or regulation unit 34 is set up to derive a future advancement route 54 (see Figure 5 ) of the robot 12 from the evaluation of the at least one partial section 44 for covering the work area 14 at least substantially completely during one treatment cycle, in particular in a further treatment cycle and / or at least within the evaluated partial section 44. The control and / or regulation unit 34 comprises an algorithm 56 (see Figure 6 ) for deriving a future advancement route 54 of the robot 12 from the evaluation, in particular for a further treatment cycle, in particular a future further treatment cycle. The algorithm 56 comprises in particular a plurality of pathfinding parameters which are each configured as a framework condition for a solution of the traveling salesman problem or for deriving a route of a covered partial area 58, 60, 62 (see Figure 2 ) of the robot 12. Preferably, the control and / or regulation unit 34 is set up to derive, in particular a future advancement route 54 of the robot 12, a future controlling of the robot 12 at least within the at least one evaluated partial section 44 for a further treatment cycle after each treatment cycle, in particular if an evaluation of a partial area 58, 60, 62 is transmitted. The control and / or regulation unit 34 is in particular set up to carry out the algorithm 56 after each treatment cycle, in particular if an evaluation of a partial section 44 is transmitted, in which a future advancement route 54 of the robot 12 is derived for covering the work area 14 at least substantially completely during a treatment cycle. Preferably, the work area 14 is derived by means of the algorithm 56 by means of the stored and / or produced virtual map 40. Preferably, the work area 14 is divided into a plurality of partial areas 58, 60, 62 by means of the algorithm 56, preferably from the evaluation and / or from the position of the evaluated partial section 44. Preferably, a future advancement route 64 (see Figure 4 and Figure 5 ) for covering by the robot 12 is derived for each partial area 58, 60, 62 by means of the algorithm 56 from the arrangement of the partial areas 58, 60, 62 relative to one another and from the path width 16 of the robot 12, and preferably from the evaluation and / or from the position of the evaluated partial section 44.). It is particularly preferred to determine the future course of movement 54 of the robot 12 for at least substantially completely covering the work area 14, in particular for a next processing cycle, from the future course of movement 64 determined for the partial areas 58, 60, 62 by means of the algorithm 56, preferably in accordance with the evaluation and / or in accordance with the position of the evaluated partial sections 44.

[0046] In Figure 2 An exemplary virtual map 40 of a work area 14 is shown in The work area 14 is enclosed at an edge 66 outside the work area 14 by objects or by a delimitation of the robot system 10, for example a conductor cable or the like. It is also conceivable that the work area 14 is delimited by virtual delimitations. The work area 14 encloses a plurality of areas 68 which are not part of the work area 14 and which are preferably not to be covered by the robot 12. The work area 14 is divided into a plurality of partial areas 58, 60, 62 by means of the control and / or regulating unit 34, which are respectively polygonal, in particular rectangular and / or quadrangular or triangular, in construction. The partial areas 58, 60, 62 together constitute the work area 14, preferably without the previously mentioned areas 68. The work area 14 is for example constructed as a room floor. It is however also conceivable that the work area 14 comprises all of the floor of a dwelling. In particular in other designs of the robot system 10 and / or of the robot 12, for example with flyable robots 12 and / or with off-road capable robots 12, a three-dimensional design of the virtual map 40 and / or of the work area 14 is also conceivable. It is preferred that the algorithm 56 is set up to divide the work area 14 into as few partial areas 58, 60, 62 as possible and at the same time as many rectangular partial areas 58, 60, 62 as possible, which preferably together constitute the work area 14 as completely as possible.

[0047] In Figure 3An exemplary flow chart of the method 20 for controlling, in particular navigating, a driven movable, in particular drivable, robot 12 of a robot system 10 is shown in Fig. 1. In a method step 70 of the method 20, a virtual map 40 of the work area 14 is stored in the control and / or regulating unit 34. It is alternatively or additionally conceivable that the virtual map 40 is produced by the control and / or regulating unit 34, in particular in the method step 70 or in a further method step. In a further method step 72 of the method 20, the robot 12 is controlled by means of the control and / or regulating unit 34 of the robot system 10 such that the robot 12 covers the work area 14 at least substantially completely during a treatment cycle. In a method step of the method 20, in particular in the method step 72, a route of advance 64 of the robot 12 within the work area 14 is individually determined for a plurality of different partial areas 58, 60, 62 constituting the work area 14 by means of the control and / or regulating unit 34. In a method step of the method 20, in particular in the method step 72, a route 24 travelled by the robot 12 in the work area 14, in particular during the treatment cycle, is detected by means of a detection unit 22 of the robot system 10. It is preferred that the detected route 24 travelled by the robot 12 within the work area 14 is transmitted to the control and / or regulating unit 34 by means of the detection unit 22. It is alternatively conceivable, in particular in the design variant in which the detection unit 22 and the control and / or regulating unit 34 are arranged separately from one another, that the detected route travelled by the robot 12 within the work area 14 is transmitted from the detection unit 22 to the control and / or regulating unit 34 by means of a communication unit 36.

[0048] In a further method step 74 of the method 20, the detected route 24 of the robot 12, in particular within the working area 14 during the treatment cycle, is transferred into the virtual map 40 by means of the control and / or regulating unit 34. In a further method step 76 of the method 20, the virtual map 40 with the detected route 24 of the robot 12, in particular within the working area 14 during the treatment cycle, is output by means of the user interaction unit 42. Preferably, the virtual map 40 with the detected route 24 of the robot 12, in particular within the working area 14 during the treatment cycle, is output, in particular shown, by means of the application means at the external instrument 50. In a further method step 78 of the method 20, in particular after the treatment cycle of the robot 12, at least one partial section 44 of the route 24 traveled by the robot 12 within the virtual map 40 is evaluated at least once by a user by means of the user interaction unit 42 of the robot system 10, wherein the at least one evaluation is preferably transmitted to the control and / or regulating unit 34 by means of the communication unit 36. The evaluation of the partial section 44 is effected by means of the application means 48 of the user interaction unit 42 on the external instrument 50. Preferably, the signal of the user is recognized by the external instrument 50 and interpreted as an evaluation and / or converted into an evaluation by means of the application means 48. In a method step of the method 20, in particular in the method step 78, the evaluation of the partial section 44 of the route 24 traveled by the robot 12 is effected by means of a selection and / or marking of the partial section 44 on the image output by the user interaction unit 42, in particular at the external instrument 50, of the virtual map 40. In a method step of the method 20, in particular in the method step 78, after the selection and / or marking of the partial section 44, more than two different evaluation parameters are presented to the user by means of the user interaction unit 42, in particular by means of the application means 48, for selection, wherein each of the evaluation parameters is taken into account differently for the determination of the future course of travel 54, 64 of the robot 12, in particular by the control and / or regulating unit 34. In a method step of the method 20, in particular in the method step 78, after the selection and / or marking of the at least one partial section 44, more than two different evaluation parameters are presented to the user by means of the user interaction unit 42 for selection, and / or at least one input request is output for inputting at least one value of an evaluation parameter, wherein at least one evaluation parameter comprises at least one temporal indicator associated with the arrangement of the robot 12 in the respective partial section 44.

[0049] In a further method step 80 of the method 20, an especially future course 54, 64 of the robot 12 at least within the partial section 44 is determined in accordance with the evaluation by means of the control and / or regulating unit 34, especially for a further treatment cycle. The determination of the especially future course 54, 64 of the robot 12 within the work area 14 is effected by means of the control and / or regulating unit 34 in accordance with the evaluation by means of an algorithm 56 which is implemented by means of the control and / or regulating unit 34 periodically after each completed treatment cycle of the robot 12. The determination of the especially future course 54, 64 of the robot 12 within the work area 14 is effected by means of the control and / or regulating unit 34 in accordance with a plurality of stored evaluations by means of a machine learning method.

[0050] It is conceivable that, in a further method step 82 of the method 20, after an especially negative evaluation of the partial section 44 by the user, the division of the work area 14 into partial areas 58, 60, 62 is adapted, wherein especially the evaluated partial section 44 is arranged within the adapted partial area 60, 62. In a further method step 84 of the method 20, after the evaluation of the partial section 44 by the user, only one, especially future course 64 of the robot 12 is adapted for the partial area 60, 62 of the plurality of partial areas 58, 60, 62 which comprises the evaluated partial section 44. In the method steps of the method 20, especially in the method step 84, the virtual map 40 is adapted by means of the control and / or regulating unit 34 in accordance with the evaluation or a plurality of stored evaluations. In a further method step 86 of the method 20, the evaluation of the partial section 44 of the route 24 passed by the robot 12 is stored in the control and / or regulating unit 34, wherein the determination of the especially future course 54, 64 of the robot 12 within the work area 14, preferably for future treatment cycles, is effected by means of the control and / or regulating unit 34 in accordance with a plurality of evaluations stored in the control and / or regulating unit 34.

[0051] In a further method step 88 of the method 20, a further treatment cycle of the robot 12 is carried out along the determined course 54 of the robot 12, wherein the work area 14 is at least substantially completely covered. Preferably in a further method step (not shown in the figures) of the method 20, the determination of the especially future course 54, 64 of the robot 12 within the work area 14 is effected by means of the control and / or regulating unit 34 in accordance with a plurality of evaluations stored in the control and / or regulating unit 34.

[0052] In Figure 4The principle of a control scheme for driving through the partial areas 58 of the work area 14 by the robot 12 is illustrated by means of four different partial areas 58. Each of the four partial areas 58 comprises four transition points 90, which can be used for covering the respective partial area 58 by the robot 12 as a starting point 92 or as an exit point 94, respectively. Preferably, the determination of the advancement route 64 of the robot 12 for each partial area 58 is effected by means of the method of the Moors theory. The future advancement route 54 of the robot 12 for covering the work area 14 is then composed of the advancement routes 64 for each partial area 58 and routes 96, which extend between the exit point 94 of one of the partial areas 58 and the starting point 92 of a further, in particular the next, partial area 58 to be covered. In particular, all partial areas 58 are covered, in particular driven through, in succession after one another. Preferably, the determination of the starting points 92 and the exit points 94 for each partial area 58 and the determination of the sequence of the partial areas 58 is effected by means of the control and / or regulating unit 34, in particular the algorithm 56, in order to solve the Traveling Salesman problem. It is conceivable that the assignment of the transition points 90 as starting points 92 or as exit points 94 and / or the determination of the sequence of the partial areas 58 is effected by means of the control and / or regulating unit 34 depending on the evaluation.

[0053] In Figure 5 In Figure 2 The work area 14, which has been illustrated in Figure 4The diagram shown in Fig. 6 represents an exemplary design of a diagram output to the user by the user interaction unit 42. The robot 12 covers the working area 14, in particular the individual partial areas 58, 60, 62 of the working area 14, by driving through paths 102 which are arranged at least substantially parallel to one another, in particular straight paths. At the edges of the partial areas 58, 60, 62 and at the edges 66 of the working area 14, the robot 12 rotates in a curve onto the next straight path 102. By means of the user interaction unit 42, three partial sections 44, 98 of the route 24 covered by the robot 12 are marked and evaluated by the user. A negative evaluation is carried out for two of the three partial sections 44, 98. A positive evaluation is carried out for the other partial section 98 of the three partial sections 44, 98. It is additionally conceivable that more than two evaluation parameters (positive evaluation and negative evaluation) are given to the user for selection by means of the user interaction unit 42, preferably when selecting and / or marking the partial sections 44, 98. In particular, the evaluation of each of the evaluation parameters is considered differently for the calculation of the future course 54, 64 of the robot 12, in particular, by means of the control and / or regulation unit 34. For example, an additional evaluation parameter provided to the user for selection, in particular by means of the user interaction unit 42, is set up so that the control and / or regulation unit 34 takes into account the partial section marked with the additional evaluation parameter, in particular the course of the robot 12 within this partial section, as a pattern for the coverage of other negatively evaluated partial sections, wherein, preferably, at least one pathfinding parameter pertaining to the partial section is also taken into account by means of the control and / or regulation unit 34 for the calculation of the future course of the robot 12 within the other partial sections. In Figure 5 The path width 16 of the robot 12 is shown exemplarily in Fig. 6. Preferably, the future course 54 of the robot 12 for covering the working area 14 and / or the future course 64 of the robot 12 for covering the individual partial areas 58, 60, 62, in particular the partial movement paths, is calculated in accordance with the path width 16 of the robot 12, wherein, in particular, the distance 100 of the paths 102 arranged at least substantially parallel to one another corresponds at most or at least substantially to the path width 16.

[0054] In Figure 6An exemplary flow chart of the algorithm 56, which can be implemented, inter alia, by means of the control and / or regulating unit 34, is shown in Fig. 6. The algorithm 56 is set up to derive, from the evaluation, a future course 54 of the robot 12 for at least substantially completely covering the work area 14. In a step 104 of the algorithm 56 the virtual map 40 is called up or adapted and called up. Preferably the area of the work area 14, in particular the work area 14 within the virtual map 40, and / or the contour of the work area 14 is queried and taken into account for dividing the partial areas 58, 60, 62. In a further step 106 of the algorithm 56 the stored evaluation or the evaluated partial sections 44, 98 are called up. Preferably the evaluation and / or the evaluated partial sections 44, 98 are assigned to a position within the work area 14 by means of the called-up virtual map 40 and / or the called-up work area 14. In a further step 108 of the algorithm 56 data detected by means of the robot 12 and / or the detection unit 22, such as, for example, obstacles within the work area 14, and / or frame conditions pertaining to the robot 12, such as, for example, a given start time for processing the work area 14 or the like, are called up, in particular stored in the control and / or regulating unit 34.

[0055] In a further step 110 of the algorithm 56, a method for dividing the work area 14 into partial areas 58, 60, 62 is queried, which is predefined and / or stored in the control and / or regulating unit 34. It is conceivable that the method for dividing the work area 14 into partial areas 58, 60, 62 is transmitted, for example, at the start of operation and / or by means of the user interaction unit 42. The method for dividing the work area 14 into partial areas 58, 60, 62, for example, predefines feasible basic shapes, for example, at most quadrangular basic shapes, for the partial areas 58, 60, 62, a minimum area of the individual partial areas 58, 60, 62 or the like. It is also conceivable that a maximum number of parallel paths 102, which the robot 12 should drive over for each partial area 58, 60, 62, is predefined. In a further step 112 of the algorithm 56, the work area 14 is divided into the partial areas 58, 60, 62, preferably in accordance with the called virtual map 40 and / or in accordance with the work area 14, in accordance with the called method for dividing the work area 14 into partial areas 58, 60, 62, in accordance with the stored evaluation and / or the evaluated partial sections 44, 98 and / or in accordance with the called data of the robot 12 and / or of the detection unit 22. The work area 14 is divided, for example, in such a way that the negatively evaluated partial sections 44, which were divided into two partial areas 58, 60, 62 in a previous processing cycle, are included by a single partial area 58, 60, 62. Preferably, a number of partial areas 58, 60, 62 is ascertained in the step 112 of the algorithm 56, which together at least substantially completely constitute the work area 14.

[0056] In a further step 114 of the algorithm 56, a future, in particular partial movement path of the robot 12 is determined for each of the determined partial areas 58, 60, 62 by means of a Morse function of the Morse theory and by means of the stored path width 16 of the robot 12. To this end, a method for covering the partial areas 58, 60, 62 is queried in a further step 116 of the algorithm 56. It is conceivable that the method for covering the partial areas 58, 60, 62 is transmitted, for example, at the start of operation and / or by means of the user interaction unit 42. The method for covering the partial areas 58, 60, 62, for example, prespecifies the arrangement and / or orientation of the paths 102 with respect to a particularly prespecified reference point of the work area 14, with respect to the longest edge of the respective partial area 58, 60, 62 or the like. It is also conceivable that a maximum number of parallel paths 102 that the robot 12 should drive over for each partial area 58, 60, 62 is prespecified. It is alternatively or additionally conceivable that the method for covering the partial areas 58, 60, 62 prespecifies a maximum turning angle of the robot 12 in order to move the robot 12 between the individual paths 102 for covering the respective partial area. The pathfinding parameters transmitted, for example, by the method for covering the partial areas 58, 60, 62 are taken into account, in particular in step 114 of the algorithm 56. It is conceivable that, in step 114 of the algorithm 56, a plurality of future, in particular partial movement paths of the robot 12 are determined for each partial area 58, 60, 62. Preferably, the future, in particular partial movement paths of the robot 12 for the partial areas 58, 60, 62 are determined in each case in accordance with the queried evaluation and / or the evaluated partial sections 44, 98. In a negatively evaluated partial section 44 of a partial area 58, 60, 62 or in the entire partial area 58, 60, 62, for example, a future, in particular partial movement path of the robot 12 is determined which differs from the path 24 travelled by the robot 12 in the processing cycle pertaining to the evaluation. In a positively evaluated partial section 98 of a partial area 58, 60, 62 or in the entire partial area 58, 60, 62, for example, a future, in particular partial movement path of the robot 12 is determined which is constructed at least substantially identically to the path 24 travelled by the robot 12 in the processing cycle pertaining to the evaluation. Preferably, at least one start point 92 and at least one exit point 94 are assigned to each partial area 58, 60, 62 and / or to each determined movement path, in particular to each partial movement path, for covering the partial areas 58, 60, 62.

[0057] In a further step 118 of the algorithm 56, an especially future course 54 of the robot 12 for at least substantially completely covering the work area 14, especially all partial areas 58, 60, 62, is determined, especially in dependence on the feasible start points 92 and exit points 94 of the partial areas 58, 60, 62 and / or the determined course 64. Preferably, in the step 118 of the algorithm 56, a solution of the traveling salesman problem is determined in order to determine the especially future course 54 of the robot 12 for at least substantially completely covering the work area 14, wherein especially the start points 92 and exit points 94 of the partial areas 58, 60, 62 and / or the determined course 64 are considered as basic assumptions of the traveling salesman problem. Especially the entire length of the especially future course 54 of the robot 12 for at least substantially completely covering the work area 14 is minimized in the solution of the traveling salesman problem. It is conceivable that the queried evaluations and / or the evaluated partial sections 44, 98 are considered in order to solve the traveling salesman problem. For example, a partial section 44 that is negatively evaluated, which has included start points 92, exit points 94 and / or intermediate routes of the robot 12 from an exit point 94 of a partial area 58, 60, 62 to a start point 92 of another partial area 58, 60, 62 in the processing cycle to which the evaluation pertains, is considered in solving the traveling salesman problem such that there are no start points 92, exit points 94 and / or intermediate routes in the area of this partial section 44 for the especially future course 54 of the robot 12 for at least substantially completely covering the work area 14. Preferably, especially before the step 118 of the algorithm 56, in a further step 120 of the algorithm 56, a predefined and / or stored method for solving the traveling salesman problem is called in order to determine the especially future course 54 of the robot 12 for at least substantially completely covering the work area 14, which can for example predefine the basic assumptions. For example, the method for solving the traveling salesman problem comprises at least one limit value for considering the evaluations and / or the evaluated partial sections 44, 98, which especially defines a weighting of the evaluations and / or the evaluated partial sections 44, 98 relative to other basic assumptions for solving the traveling salesman problem. It is alternatively or additionally conceivable that the basic assumptions are configured as a maximum number of rotations of the robot 12, a maximum length of the course 54, 64 of the robot 12 within the work area 14, a maximum duration of a processing cycle of the coverage of the work area 14, a maximum length of a straight path 102 traveled in a section, or the like.

[0058] In Figure 7 the algorithm 56 is shown in Figure 2The working area 14 shown in the middle with the partitioning of the working area 14 into exemplary partial areas 58, 60, 62 which are adapted in accordance with the evaluation by means of the control and / or regulating unit 34, in particular the algorithm 56, and with the other exemplary advancement route of the robot 12 for covering the working area 14 in relation thereto. The partial area 60 which comprises the further marked and positively evaluated partial section 98 (cf. Figure 5 ) remains unchanged. In the area of the working area 14 in which the negatively evaluated partial section 44 (cf. Figure 5 ) is arranged respectively, the partitioning of the partial areas 58, 60, 62 is adapted, wherein in particular the partial section 44 is divided into a plurality of different partial areas 62. It is preferred that it is thus possible to implement a change in the future advancement route 64 in the partial section 44. It is preferred that the sought, in particular future, advancement route 54 is driven through in a further processing cycle, wherein the partitioning of the partial areas 58, 60, 62, in particular in Figure 7 , shown in the middle, is taken into account in order to determine the advancement route 54, in particular in order to solve the traveling salesman problem, wherein this can then be reevaluated by the user by means of the user interaction unit 42. It is preferred that the advancement route of the robot 12 for covering the working area 14 is changed by the adapted partitioning of the working area 14, wherein the robot 12 preferably moves on other paths in the changed partial areas 62 which comprise the negatively evaluated partial section 44.

Claims

1. Robot system with at least one driven movable robot (12), which is arranged for covering at least one work area (14) at least substantially completely during a treatment cycle, with at least one detection unit (22), which is arranged for detecting at least one route (24) traveled by the robot (12) in the work area (14), with at least one control and / or regulating unit (34), which is at least set up for controlling the robot (12) within the work area (14), wherein, The control and / or regulating unit (34) has at least one virtual map (40) of the work area (14) and / or is set up to generate a virtual map (40) of the work area (14), wherein the control and / or regulating unit (34) is set up to transfer the detected traveled route (24) of the robot (12) into the virtual map (40); and with at least one user interaction unit (42), characterized in that the user interaction unit (42) is set up to enable at least one evaluation of at least one partial section (44, 98) of the traveled route (24) by a user and to transmit the at least one evaluation to the control and / or regulating unit (34).

2. The robotic system of claim 1, wherein, The robot system is a semi-autonomous robot system.

3. The robotic system of claim 1, wherein, The robot (12) is drivable.

4. The robotic system of claim 1, wherein, The evaluation is made after one processing cycle of the robot (12).

5. The robotic system of claim 1, wherein, The traveled route (24) is within the virtual map (40).

6. The robotic system of claim 1, wherein, The control and / or regulating unit (34) is set up to take into account the evaluation of at least one partial section (44, 98) transmitted by the user interaction unit (42) for controlling the robot (12) at least within the at least one partial section (44, 98).

7. The robotic system of claim 6, wherein, The control and / or regulating unit (34) is set up to take into account the evaluation of at least one partial section (44, 98) transmitted by the user interaction unit (42) for controlling the robot (12) for further processing cycles at least within the at least one partial section (44, 98).

8. The robotic system of claim 7, wherein, The control and / or regulating unit (34) is set up to take into account the evaluation of at least one partial section (44, 98) transmitted by the user interaction unit (42) for controlling the robot (12) in the future for further processing cycles at least within the at least one partial section (44, 98).

9. The robotic system of any one of claims 1 to 8, wherein, The user interaction unit (42) has at least one input device (46) for detecting the evaluation, which is set up to detect the evaluation by at least one haptic, optical and / or acoustic signal, wherein the control and / or regulating unit (34) is set up to assign at least one position in the work area (14) and / or a point in time in the processing cycle to the detected signal.

10. The robotic system of any one of claims 1 to 8, wherein, The user interaction unit (42) comprises at least one application device (48) for implementation on an external instrument (50), which is set up to enable the evaluation by the user by means of the external instrument (50).

11. The robotic system of any of claim 10, wherein, The external instrument (50) is a smartphone.

12. Method for controlling a driven movable robot (12) of a robot system (10) according to any one of claims 1 to 11, wherein In at least one method step (72), the robot (12) is controlled by means of at least one control and / or regulating unit (34) of the robot system (10) in such a way that the robot (12) covers at least one work area (14) at least substantially completely during a treatment cycle, wherein in at least one method step (70) a virtual map (40) of the work area (14) is stored in and / or made by the control and / or regulating unit (34), wherein in at least one method step (72) at least one route (24) traveled by the robot (12) in the work area (14) is detected by means of a detection unit (22) of the robot system (10), wherein in at least one method step (74) the detected traveled route (24) of the robot (12) is transferred into the virtual map (40), characterized in that in at least one method step (78) at least one evaluation of at least one partial section (44, 98) of the traveled route (24) by the robot (12) is effected by a user by means of at least one user interaction unit (42) of the robot system (10), wherein the at least one evaluation is transferred to the control and / or regulating unit (34).

13. The method of claim 12, wherein, The robot (12) is drivable.

14. The method of claim 12, wherein, The method is for navigating the robot (12).

15. The method of claim 12, wherein, The evaluation is effected after one treatment cycle of the robot (12).

16. The method of claim 12, wherein, The traveled route (24) is within the virtual map (40).

17. The method according to any one of claims 12 to 16, characterized in that, In at least one method step (80), a forward route (54, 64) of the robot (12) at least within the at least one partial section (44, 98) is ascertained by means of the control and / or regulating unit (34) from the evaluation.

18. The method of claim 17, wherein, In at least one method step (80), a forward route (54, 64) of the robot (12) at least within the at least one partial section (44, 98) is ascertained by means of the control and / or regulating unit (34) from the evaluation for a further treatment cycle.

19. The method of claim 18, wherein, In at least one method step (80), a future forward route (54, 64) of the robot (12) at least within the at least one partial section (44, 98) is ascertained by means of the control and / or regulating unit (34) from the evaluation for a further treatment cycle.

20. The method of any one of claims 12-16, wherein, In at least one method step (78), the evaluation of at least one partial section (44, 98) of the traveled route (24) by the robot (12) is effected by means of a selection and / or marking of the partial section (44, 98) on an image of the virtual map (40) output by the user interaction unit (42) by the user.

21. The method of any one of claims 12-16, wherein, In at least one method step (78), after the selection and / or marking of the at least one partial section (44, 98), more than two different evaluation parameters are given to the user by means of the user interaction unit (42) for the selection, wherein each of the evaluation parameters is considered differently by the control and / or regulation unit (34) for determining the advancement route (54, 64) of the robot (12).

22. The method of claim 21, wherein, Each of the evaluation parameters is considered differently by the control and / or regulation unit (34) for determining the future advancement route (54, 64) of the robot (12).

23. The method of any one of claims 12-16, wherein, In at least one method step (72), the advancement route (54, 64) of the robot (12) within the work area (14) is determined separately for a plurality of different partial areas (58, 60, 62) constituting the work area (14) by means of the control and / or regulation unit (34), wherein, in at least one further method step (84), after the evaluation of the partial section (44, 98) by the user, the advancement route (54, 64) of the robot (12) is adapted only for the partial area (58, 60, 62) comprising the evaluated partial section (44, 98).

24. The method of claim 23, wherein, In at least one further method step (84), after the evaluation of the partial section (44, 98) by the user, the future advancement route (54, 64) of the robot (12) is adapted only for the partial area (58, 60, 62) comprising the evaluated partial section (44, 98).

25. The method of any one of claims 12-16, wherein, In at least one method step (72), the advancement route (54, 64) of the robot (12) within the work area (14) is determined separately for a plurality of different partial areas (58, 60, 62) constituting the work area (14) by means of the control and / or regulation unit (34), wherein, in at least one further method step (82), after the evaluation of the partial section (44, 98) by the user, the division of the work area (14) into partial areas (58, 60, 62) is adapted.

26. The method of claim 25, wherein, After the negative evaluation of the partial section (44, 98) by the user, the division of the work area (14) into partial areas (58, 60, 62) is adapted.

27. The method of claim 25, wherein, The evaluated partial section (44, 98) is arranged within the adapted partial area (58, 60, 62). The evaluated partial section (44, 98) is arranged within the adapted partial area (58, 60, 62).

28. The method of any one of claims 12-16, wherein, In at least one method step (86), at least one evaluation of at least one partial section (44, 98) of the route (24) traveled by the robot (12) is stored in the control and / or regulating unit (34), wherein the determination of the future course of travel (54, 64) of the robot (12) within the work area (14) is effected by the control and / or regulating unit (34) from a plurality of evaluations stored in the control and / or regulating unit (34).

29. The method of claim 28, wherein, The determination of the future course of travel (54, 64) of the robot (12) within the work area (14) is effected by the control and / or regulating unit (34) from a plurality of stored evaluations.

30. The method of any one of claims 12-16, wherein, The determination of the course of travel (54, 64) of the robot (12) within the work area (14) is effected by means of the control and / or regulating unit (34) from the at least one evaluation by an algorithm (56) which is implemented periodically after each completed processing cycle of the robot (12).

31. The method of claim 30, wherein, The determination of the future course of travel (54, 64) of the robot (12) within the work area (14) is effected by means of the control and / or regulating unit (34) from the at least one evaluation by an algorithm (56).

32. The method of any one of claims 12-16, wherein, The determination of the course of travel (54, 64) of the robot (12) within the work area (14) is effected by means of the control and / or regulating unit (34) from a plurality of stored evaluations by a machine learning method.

33. The method of claim 32, wherein, The determination of the future course of travel (54, 64) of the robot (12) within the work area (14) is effected by means of the control and / or regulating unit (34) from a plurality of stored evaluations by a machine learning method.

34. The method of any one of claims 12-16, wherein, In at least one method step (78), more than two different evaluation parameters are presented to the user for selection and / or at least one input request for inputting at least one value of an evaluation parameter is outputted by means of the user interaction unit (42) for the user after the selection and / or marking of the at least one partial section (44, 98), wherein at least one evaluation parameter comprises at least one temporal indicator which is associated with the arrangement of the robot (12) in the respective partial section (44, 98).

35. The method of any one of claims 12-16, wherein, In at least one method step (84), the virtual map (40) is adapted by means of the control and / or regulating unit (34) from the at least one evaluation.

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