Method for determining trajectory for mobile device

Abstract

The invention relates to a method for determining the trajectory of a mobile device, in particular an at least partially automatically moving vehicle and / or robot, preferably a mowing robot, in particular for better positioning in such a way that the mobile device can carry out an additional loop closure, wherein a mobile device should move along said trajectory in a working area, comprises: determining a trajectory (330) for the working area, in which trajectory segments (331 a-331 f, 332a-332 g) are connected into the trajectory, in which at least some of the trajectory segments are determined such that there is at least one, preferably a plurality of overlaps (334, 434), in which the trajectory segments (331 a-331 f, 332a-332 g) of the trajectory segments (331 a-331 f, 332a-332 g) of the trajectory segments (331 a-331 f, 332 a-332 g); wherein one trajectory section intersects the other trajectory section and / or extends, in particular overlaps, section by section at a distance less than a predetermined distance therefrom, and the trajectory is provided for a drive unit of the mobile device for use by an open-loop or closed-loop control unit.

Description

Technical Field

[0001] The invention relates to a method for determining a trajectory for a mobile device, in particular an at least partially autonomous vehicle and / or a robot, preferably a lawnmower robot, as well as a system for data processing, a mobile device and a computer program for executing the method. Background Art

[0002] Mobile devices such as robots or at least partially autonomous vehicles typically move along trajectories or movement paths in an environment, such as a home, a garden or a road, in the air or in water. If a specific goal is to be achieved or if a specific area is to be covered, the trajectory is planned or determined for this purpose, for example, so that it is as short as possible. Summary of the invention

[0003] According to the invention, a method for determining a trajectory for a mobile device and a system for data processing, a mobile device and a computer program for carrying out the method are proposed with the features of the independent patent claims. Advantageous embodiments are the subject matter of the dependent claims and the following description.

[0004] The present invention generally relates to a mobile device that moves or is to move, for example, along a specific trajectory in a work area (or in general an environment), and in particular to the determination (or planning) of such a trajectory. Such a trajectory may also include a path or a movement path. In this context, one may also speak of trajectory planning or path planning or so-called "motion planning".

[0005] Examples of such mobile devices (or mobile working devices) are, for example, robots and / or drones and / or vehicles that move partially or (fully) automatically (on land, in water or in the air). Robots that come into consideration include, for example, household robots, such as vacuum and / or wiping robots, floor or road cleaning devices or lawn mowing robots, but also other so-called service robots, vehicles that move at least partially automatically, such as passenger vehicles or freight vehicles (also so-called land transport vehicles, for example in warehouses), as well as aircraft, such as so-called drones or ships.

[0006] Such a mobile device has in particular a control and / or regulation unit and a drive unit for moving the mobile device, so that the mobile device can be moved along a trajectory. In addition, the mobile device can have one or more sensors, by means of which the environment or information in the environment or in particular in the working area can be detected.

[0007] The invention will be explained below, in particular, using a lawnmower robot as an example of a mobile device, although the principle can also be transferred to other types of mobile devices. In this context, since the lawnmower robot follows a specific path and mows the lawn there, it is possible to speak of a trajectory or path as a mowing pattern. The result is then a specific mowing pattern. A typical goal when determining such a trajectory is that a specific working area, for example an area with a lawn, is covered (as completely as possible) by the trajectory, so that when the lawnmower robot moves along the trajectory and mows the lawn there, the lawn is mowed (as completely as possible). For example, the working width (or cutting or mowing width) of the lawnmower robot can therefore be taken into account here. Comparable content also applies to other mobile devices, such as suction and / or wiping robots, which are intended to vacuum or wipe specific areas of the ground in a dwelling as completely as possible.

[0008] In the context of such a most complete coverage of a specific working area with a trajectory, it is then useful if the trajectory is as short as possible. The mobile device can thus travel through the working area as quickly as possible, i.e. in the shortest possible time, so that, for example, a lawn can be mowed as quickly as possible or an apartment can be vacuumed as quickly as possible. This also saves energy costs.

[0009] However, as has already been shown, the mobile device usually does not follow the predefined trajectory completely exactly. The longer the mobile device follows the trajectory, the more the actually traveled trajectory deviates from the predefined trajectory. This can be caused, for example, by the mobile device turning or turning an angle not exactly at the angle predefined by the trajectory. This can be the case especially in uneven working areas, such as lawns (e.g. also on uneven terrain or gentle slopes), or the mobile device can also be caused to leave the path by external forces.

[0010] Here we should now take advantage of the fact that mobile devices can use technologies for positioning and mapping for navigation, in particular also for following a pre-given trajectory. An example of this is the so-called SLAM (for example, "Simultane Positionsbestimmung und Kartierung" in German, "Simultaneous Localization and Mapping" in English). This is a method (especially in the case of robotics) in which the mobile device must simultaneously create a map of its environment and estimate its spatial position within the map. The method is thus used to identify obstacles and thus support autonomous navigation. For example, in this case, the sensors already mentioned can be used to identify the environment and in particular the objects or obstacles therein, so that they can be taken into account in the case of mapping and also in positioning. For example, images (using a camera) or distance information (for example, using a laser radar) can be detected and used here. In the case of SLAM, an odometer can also be used, that is, the road section traveled by the mobile device is taken into account.

[0011] The aspect associated with SLAM that plays a role in the scope of the present invention is so-called loop closure (Loop-Closure). In this case, it is based on that when the mobile device moves in the environment or in the working area, the mobile device arrives at a specific position in the environment where it has been previously. From the corresponding position of the mobile device, according to environmental information such as image or distance information and by comparing such environmental information with previous environmental information, it can be determined whether the mobile device has been in a certain position earlier or determine that the mobile device has been in a certain position earlier. If this is determined, the map created in the scope of SLAM or the path of the mobile device marked as passing through must also illustrate that the mobile device is located at the same position again. However, due to the deviation mentioned with the pre-given track, the situation will not be the case usually. On the contrary, in the created map, the current position will deviate from the previous position. Here, the map can now be adapted so that the positions of the two disintegrations are consistent again. In this case, it is mentioned so-called loop closure.

[0012] The idea of ​​the present invention is now to determine or plan trajectories for a mobile device and for the working area of ​​the mobile device, in particular, so that better positioning can be achieved by additional loop closure. For this purpose, trajectory segments are connected (or linked) into trajectories. This is based on, for example, a typical operating method for determining or planning trajectories, whereby a specific trajectory segment is first pre-given, which, for example, covers the working area over a large area; in the scope of the present application, in this case, a first type of trajectory segment can be mentioned. These trajectory segments can, for example, be lines extending parallel to each other, which, for example, have a distance of approximately the mowing width of the mowing robot. Then these trajectory segments separated by themselves are connected to each other, that is, to other trajectory segments (in this case, in the scope of the present application, a second type of trajectory segment can be mentioned) so that a trajectory is formed as a whole, that is, a continuous (and uninterrupted) line that the mobile device can follow. Depending on the situation, a trajectory segment can still be supplemented at the beginning and / or the end, for example, so that the mobile device reaches the first trajectory segment of the first type from the starting point. It should be mentioned that the trajectory segment and the connecting segment differ only in name here.

[0013] Here, the track segments (of the second type) are determined or predetermined such that there is at least one, preferably a plurality of overlaps, wherein one track segment respectively intersects another track segment and / or runs segment by segment at a distance from it that is less than a predetermined distance, in particular superimposed. This predetermined distance can, for example, depend on the size or properties of the mobile device and can, for example, be the mowing width or half the mowing width. The track is then provided to the drive unit of the mobile device for use by the control and / or regulating unit.

[0014] In particular, between two trajectory sections forming an overlap, there is a trajectory section following the trajectory which does not participate in the overlap.

[0015] Furthermore, it is preferred if control information for moving the mobile device is determined, ie based on the trajectory. The control information can then be provided, in particular the mobile device can then also be controlled (and thus moved) based on the control information.

[0016] When traversing the trajectory with the mobile device, loop closures can then occur at these overlaps. This special type of trajectory or this special course thus leads to better positioning of the mobile device during operation. For example, deviations from the trajectory to be traversed can thus be avoided or at least significantly reduced, wherein the further the mobile device has traversed the trajectory, the greater the deviations become.

[0017] Therefore, although the trajectory is (at least usually) not the shortest possible trajectory for a specific working area, it is nevertheless possible, for example, to avoid that a specific area is not mowed in the case of a lawnmower robot. The expenditure thus saved for having to explicitly drive to such a remaining area again then further limits the slightly longer trajectory.

[0018] In particular, in the case of a closed loop, the navigation information, in particular the trajectory, can then be updated based on environmental information detected by means of the mobile device, when the mobile device is located or has been located at one of the overlaps. For example, the environmental information may have been detected by means of one or more sensors, in particular an image sensor (camera), of the mobile device.

[0019] Preferably, the trajectory is created such that overlaps occur at regular and / or predetermined distances. This may be the case, for example, after every two or three or four trajectory segments. It is also possible, for example, to make these distances dependent on the trajectory segments, in particular their length. For example, in the case of shorter trajectory segments, it is sufficient that overlaps occur less frequently than in the case of longer trajectory segments, since, for example, comparable sections between two overlaps are traveled by the mobile device, in which deviations from the trajectory may occur. However, the occurrence of overlaps may also be dependent on the working area, i.e., for example, on its geometrical dimensions and the topography of the working area (e.g., more frequent overlaps in the case of steep slopes).

[0020] Advantageously, the trajectory is created such that it comprises a plurality of trajectory segments extending adjacently at a predetermined distance; this applies in particular to trajectory segments of the first type, for example, as already mentioned, these can be a plurality of straight lines aligned parallel to one another. This is particularly suitable, for example, for rectangular working areas. However, other orientations are also conceivable. Thus, for example, arc-shaped or other irregularly shaped (first type) trajectory segments can also extend adjacently at a predetermined distance. Thus, for example, circular or spiral trajectory segments extending adjacently at a predetermined distance can be provided. For example, the shape or orientation of the trajectory segments can also be dependent on the working area.

[0021] In particular, with regard to the geometric dimensions of the working area, the determination of the trajectory can in principle be carried out without knowledge of the working area or at least without more precise knowledge of the working area. Thus, for example, a trajectory can be predefined with only a few parallel trajectory sections, which are connected accordingly, so that it can be assumed that the trajectory is located in the working area. During the operation of the mobile device, that is, when it moves along the trajectory, information about the working area (e.g. images, distances to obstacles, etc.) can then be detected, for example, by means of suitable sensors. The working area, in particular its geometric dimensions, can then also be detected or surveyed later. Then, the trajectory can also be adapted, in particular extended. In this case, a corresponding overlap can then be provided.

[0022] However, it may also be expedient if such information about the working area is already available or has been available before the trajectory is determined, such as an image, distances to obstacles, dimensions, or a map of the working area. For example, such information may include and / or be based on one or more of the following: an image of the working area, a predefined map of the working area, dimensions of the working area, obstacles and / or objects and / or background in the working area, and position and / or distance information about obstacles and / or objects and / or background.

[0023] This then allows a more precise planning of the trajectory, in particular in order to, for example, cover more than a predefined portion of the working area, in particular to cover the entire working area, ie, for example, to mow the entire working area, in which case, for example, the mowing width can be taken into account.

[0024] Combinations are also conceivable, i.e., for example, information is already available for a portion of the working area before the trajectory is determined, and then further information is detected during operation of the mobile device, which allows the trajectory to be adapted. For example, information about the working area can be detected by means of one or more sensors, in particular image sensors, of the mobile device.

[0025] The system for data processing according to the invention comprises means for carrying out the method according to the invention or its method steps. The system can be a computer or a server, for example in a so-called cloud or cloud environment. From there, in the case of an application for a mobile device, the trajectory or control information can then be transmitted to the mobile device (for example via a wireless data connection). Likewise, for example, information about the working area can be transmitted from the mobile device to the system. However, it is also conceivable that such a system for data processing is a computer or a control device in such a mobile device.

[0026] The invention further relates to a mobile device which is configured to obtain a trajectory or control information which has been determined according to the method according to the invention and to perform navigation based on the trajectory or control information.

[0027] The mobile device preferably has one or more sensors for detecting environmental information, ie in particular information about the working area, further preferably a control and / or regulation unit and a drive unit for moving the mobile device along the trajectory. As mentioned, a system for data processing may also be included by the device.

[0028] The mobile device is preferably constructed as an at least partially autonomous vehicle, in particular as a passenger vehicle or a freight vehicle, and / or as a robot, in particular a household robot, such as a vacuum and / or wiping robot, a floor or road cleaning device or a lawn mowing robot and / or as a drone.

[0029] It is also advantageous to implement the method according to the invention in the form of a computer program or computer program product with a program code for executing all method steps, because this causes particularly low costs, especially if the execution control device is still used for other tasks and therefore originally exists. Finally, a machine-readable storage medium is provided, with a computer program as described above stored thereon. Suitable storage media or data carriers for providing computer programs are especially magnetic, optical and electrical memories, such as hard disks, flash memories, EEPROMs, DVDs, etc. It is also possible to download programs via computer networks (the Internet, intranets, etc.). Such downloading can be done here either wired or cable-connected or wirelessly (e.g., via WLAN networks, 3G, 4G, 5G or 6G connections, etc.).

[0030] Further advantages and embodiments of the invention are apparent from the description and the accompanying drawings.

[0031] The invention is schematically illustrated in the drawings on the basis of exemplary embodiments and is described below with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 The mobile device is schematically shown in a working area for explaining the invention.

[0033] Figure 2 A trajectory which was not determined according to the invention is schematically shown for comparison.

[0034] Figure 3 The trajectories which have been determined according to a preferred specific embodiment of the present invention are schematically shown.

[0035] Figure 4 A trajectory which has been determined according to a further preferred embodiment of the invention is schematically shown.

[0036] Figure 5 The flow of the method in a preferred embodiment of the present invention is schematically shown.

[0037] Figures 6 to 10 Trajectories which have been determined according to a further preferred embodiment of the invention are schematically shown. DETAILED DESCRIPTION

[0038] exist Figure 1 1 shows schematically and exemplarily a mobile device 100 in a working area 120 for explaining the invention. The mobile device 100 is exemplarily a lawnmower robot having a control or regulating unit 102 and a drive unit 104 (with wheels) for moving the lawnmower robot 100, for example, along a trajectory 130. In addition, the lawnmower robot 100 exemplarily has a sensor 106 designed as a camera with a field of view (indicated by dashed lines). For better illustration, the field of view is selected to be relatively small here; in practice, however, the field of view can also be up to 360° (for example, but at least 180° or at least 270°).

[0039] The mowing robot 100 also has a system 108, for example a control device, by means of which data can be exchanged with a superordinate system 110, for example via the indicated radio connection. For example, a trajectory can be determined in the system 110 and then transmitted to the system 108 in the mowing robot 100, which is then to follow the trajectory. However, it can also be provided that the trajectory is determined in the system 108 itself or is obtained there in another way. Instead of the trajectory, however, the system 108 can also, for example, obtain control information, which has been determined based on the trajectory and based on which the control or regulating unit 102 can move the mowing robot 100 via the drive unit 104 in order to follow the trajectory.

[0040] The trajectory 130 is indicated here only by way of example. With regard to trajectories as can be created in a preferred embodiment within the scope of the invention, reference should be made to the following figures.

[0041] As a comparison or as a background relative to the present invention, in Figure 2 The trajectory 230 is schematically shown in FIG. Figure 1 As shown in , the trajectory 230 should be determined or has been determined for the working area 120. Exemplarily, the trajectory 230 should (as far as possible) completely cover the working area, so that if the mowing robot is moved along the trajectory 230 and the lawn is mowed therein, the lawn in the working area 120 (or the working area 120 should be completely present as a lawn) is completely mowed.

[0042] The trajectory is a line with several sections, which will be explained below. In general, the trajectory 230 causes the mowing robot to travel to the upper left of the working area 120 (if it is not already there), then turn 90° to the right, and then zigzag through the working area 120. The trajectory will then continue accordingly at the upper right.

[0043] A typical way to determine or plan this trajectory 230 is to first determine trajectory segments 231a to 231f; these are in particular trajectory segments of the first type, which are straight lines extending parallel to one another and parallel to the edges of the working area 120, for example. The distance between two adjacent trajectory segments is selected, for example, so that it corresponds to the mowing width of the mowing robot or is slightly smaller. If the mowing robot then follows these trajectory segments 231a to 231f, substantially the entire working area is mowed.

[0044] The trajectory segments 231a to 231f must then be connected or linked to one another so that the trajectory is represented as a continuous line along which the mobile device can be moved. Figure 2 As shown in , a common approach to this is to keep the track 230 as short as possible overall and therefore to connect two adjacent track segments of the track segments 231a to 231f alternately again at the other end, that is, to the track segments 232b to 232f; this is in particular a track segment of the second type. The track segments 231a to 231f and the track segments 232b to 232f then form the track 230 overall, wherein in particular the track segment 332a can still be supplemented at the beginning and the track segment 232g can be supplemented at the end.

[0045] Although the transitions between the various segments (eg, from 232a to 231a) are shown at right angles, these transitions may also be smoother or more rounded.

[0046] exist Figure 3 The trajectory that has been determined according to a preferred embodiment of the present invention is schematically shown in FIG. Figure 1 and Figure 2 The working area 120 shown in FIG. 1 should determine the trajectory 330 or has determined the trajectory 330. Exemplarily, the trajectory 330 should (as far as possible) completely cover the working area, so that when the mowing robot is moved along the trajectory 330 and mows the lawn therein, the lawn in the working area 120 (or the working area 120 should be completely present as a lawn) is completely mowed.

[0047] Here, a trajectory is a line with multiple segments, which should be explained below. In general, the trajectory 330 causes the mowing robot to travel to the upper left of the working area 120 (if the mowing robot is not already there), and then travel in a loop. Then, the trajectory will be continued accordingly at the upper right.

[0048] One possibility for determining or planning this trajectory 330 is to first determine (first type) trajectory segments 331a to 331f. By way of example, these are straight lines running parallel to one another and parallel to the edges of the working area 120. The distance between two adjacent trajectory segments is selected, for example, such that it corresponds to the mowing width of the mowing robot or is slightly smaller. If the mowing robot then follows these trajectory segments 331a to 331f, substantially the entire working area is mowed.

[0049] These trajectory segments 331a to 331f correspond to Figure 2 The trajectory segments 231a to 231f of the trajectory 230 may correspond to these trajectory segments. The actions for determining or specifying these trajectory segments 331a to 331f may also correspond to the actions from Figure 2 The trajectory 230 of FIG. However, as can be seen from the arrows along the trajectory sections and as will be explained later, the trajectory is traversed in different directions and also in a different order.

[0050] Then the track segments 331a to 331f must be connected or linked to each other so that the track is represented as a continuous line along which the mobile device can be moved. It should now be noted here that additional loop closures are achieved when traversing the track, which in turn enables better positioning of the mobile device.

[0051] Here, too, a (second type) of track segments is used in order to connect (first type) track segments, namely track segments 332b to 332g. Figure 2 Similarly in the case of the trajectory of , trajectory segment 332a is supplemented at the beginning and trajectory segment 332g is supplemented at the end.

[0052] The trajectory segments are determined such that—in this example—a plurality of overlaps 334 exist, wherein one trajectory segment extends to another trajectory segment at a distance less than a predetermined distance from it, in particular superimposes. In the example shown, trajectory segments 332a and 332c, trajectory segments 332c and 332e, and trajectory segments 332e and 332g extend adjacently at least segment by segment at a small distance. In practice, these trajectory segments can also overlap; here, the small distance is only set for better visibility.

[0053] Track segments 332b, 332d, and 332f do not overlap with other track segments and correspond substantially to the Figure 2 The trajectory segments 232b, 232d and 232f of the trajectory.

[0054] By determining or connecting the trajectory segments in this way, a loop is formed, which the mowing robot must then traverse, whereby loop closure is again possible.

[0055] exist Figure 4 Schematically shows a trajectory determined according to another preferred embodiment of the present invention. A trajectory 430 should be determined or has been determined for the working area 420; illustratively, the working area 420 should be circular. illustratively, the trajectory 430 should (as far as possible) completely cover the working area, so that when the mowing robot is moved along the trajectory 430 and the lawn is mowed there, the lawn in the working area 120 (or the working area 120 should be completely present as a lawn) is completely mowed.

[0056] The trajectory here is a line with a number of segments, which should be explained below. In general, the trajectory 430 causes the mowing robot to travel over the working area 120 (if it is not already there) and then travel in a circle. The trajectory ends in the center, but can then be directed outwards again.

[0057] One possibility for determining or planning this trajectory 430 is to first determine (first type) trajectory segments 431a to 431c. By way of example, these are here concentric circular lines or circles with increasingly smaller radii. They are also concentric with the delimitation of the working area 420. For example, the distance between two adjacent trajectory segments is selected so that the distance corresponds to the mowing width of the mowing robot or is slightly smaller. When the mowing robot then follows these trajectory segments 431a to 431c, substantially the entire working area is mowed.

[0058] Then the track segments 431a to 431c must be connected or linked to each other so that the track is represented as a continuous line along which the mobile device can be moved. It should now be noted here that additional loop closures are achieved when traversing the track, which in turn enables better positioning of the mobile device.

[0059] Here, too, a (second type) track segment is used to connect the (first type) track segments, namely the track segments 432b and 432c. Figure 2 Similarly in the case of the trajectory of , the trajectory segment 432a is supplemented at the beginning.

[0060] The trajectory segments are determined such that - in this example - there are a plurality of overlaps 434, in which one trajectory segment extends to another trajectory segment at a distance less than a predetermined distance from it, in particular superimposed. In the example shown, trajectory segments 431a and 432b as well as trajectory segments 431b and 432c extend adjacently at least section by section at a small distance. In practice, these trajectory segments can also overlap; here, the small distance is only set for better visibility.

[0061] By determining or connecting the trajectory segments in this way, an overlap occurs, which the mowing robot must then travel through (partially traveling, as it were, slightly more than a full circle, ie, further in the circle), whereby loop closure is again possible.

[0062] exist Figure 5 The process of the method according to the present invention in a preferred embodiment is shown in Figure 3 .

[0063] In step 500, information 502 about the work area 120 may first be provided. In step 510, the trajectory 330 may then be determined, as shown in FIG. Figure 3 In step 520 , the trajectory 330 can then be provided to the drive unit of the mowing robot for use by the control and regulating unit.

[0064] In step 530, control information 532 for moving the mowing robot can also be determined based on the trajectory 330, and then the control information 532 is provided in step 540 and used based thereon for controlling the mowing robot. During operation of the mowing robot, the navigation information, in particular the trajectory 330, can then be updated based on, for example, the detected environmental information 502 or other information, at which the mobile device is or has been located at one of the overlaps when detecting the other information.

[0065] exist Figure 6 Schematically shows a trajectory determined according to another preferred embodiment of the present invention. A trajectory 630 should be determined or has been determined for the working area 120. Exemplarily, the trajectory 630 should (as far as possible) completely cover the working area, so that when the mowing robot is moved along the trajectory 630 and the lawn is mowed therein, the lawn in the working area 120 (or the working area 120 should be completely present as a lawn) is completely mowed.

[0066] Here, a trajectory is a line with a plurality of sections, which should be explained below. Generally speaking, the trajectory 630 causes the mowing robot to travel to the upper left of the working area 120 (if the mowing robot is not already located there), and then travels in a loop.

[0067] One possibility for determining or planning this trajectory 630 is to first determine the trajectory segments 631a to 631d (of the first type) and other trajectory segments parallel thereto (these trajectory segments are not indicated). By way of example, these are straight lines extending parallel to one another and parallel to the edges of the working area 120. The distance between two adjacent trajectory segments is selected, for example, so that it corresponds to the mowing width of the mowing robot or is slightly smaller. If the mowing robot then follows these trajectory segments, substantially the entire working area is mowed.

[0068] Then the track segments 631a to 631d and other parallel track segments must be connected or linked to each other so that the track is represented as a continuous line along which the mobile device can be moved. It should now be noted that additional loop closures are achieved when traversing the track, which in turn enables better positioning of the mobile device.

[0069] Here, too, a (second type) track segment is used to connect the (first type) track segments, namely the track segments 632b to 632d and other track segments parallel thereto (the track segments are not indicated). Figure 2 In the case of a trajectory of , trajectory segments are supplemented at the beginning and at the end.

[0070] The trajectory segments are determined in such a way that - in this example - there are a plurality of overlaps, wherein one trajectory segment extends to another trajectory segment at a distance from it that is less than a predetermined distance, in particular superimposed. In the example shown, some of the trajectory segments 632a and 632d and other trajectory segments parallel thereto extend adjacently at least section by section at a small distance. In practice, the trajectory segments can also overlap; here the small distance is only set for better visibility.

[0071] By determining or connecting the trajectory segments in this way, a loop is formed, which the mowing robot must then traverse, whereby loop closure is again possible.

[0072] Following trajectory 630, starting from trajectory segment 631a, the mobile device continues to travel a number of further trajectory segments (in the sense of the lane of the mobile device) at the end of this trajectory segment, and then returns to the other side (above) with trajectory segment 631b. In the further extension, multiple trajectory segments (in the sense of the lane of the mobile device) are always skipped, so that (with respect to the figure) corresponding overlaps occur above and below.

[0073] exist Figure 7Schematically shows a trajectory determined according to another preferred embodiment of the present invention. A trajectory 730 should be determined or has been determined for the working area 120. Exemplarily, the trajectory 730 should (as far as possible) completely cover the working area, so that when the mowing robot is moved along the trajectory 730 and the lawn is mowed therein, the lawn in the working area 120 (or the working area 120 should be completely present as a lawn) is completely mowed.

[0074] Here, the trajectory is a line with a plurality of sections, which should be explained below. Generally speaking, the trajectory 730 causes the mowing robot to travel to the upper left of the working area 120 (if the mowing robot is not already located there), and then travel in a loop.

[0075] One possibility for determining or planning this trajectory 730 is to first determine the trajectory segments (of the first type) 731a to 731d and other trajectory segments parallel thereto (these trajectory segments are not indicated). By way of example, these are straight lines extending parallel to one another and parallel to the edges of the working area 120. The distance between two adjacent trajectory segments is selected, for example, so that it corresponds to the mowing width of the mowing robot or is slightly smaller. If the mowing robot then follows these trajectory segments, substantially the entire working area is mowed.

[0076] Then the track segments 731a to 731d and other parallel track segments must be connected or linked to each other so that the track is represented as a continuous line along which the mobile device can be moved. It should now be noted that additional loop closures are achieved when traversing the track, which in turn enables better positioning of the mobile device.

[0077] Here, too, a (second type) track segment is used to connect the (first type) track segments, namely the track segments 732a to 732d and other track segments parallel thereto (the track segments are not indicated). Figure 2 In the case of a trajectory of , trajectory segments are supplemented at the beginning and at the end.

[0078] The trajectory segments are determined in such a way that - in this example - there are a plurality of overlaps, wherein one trajectory segment extends to another trajectory segment at a distance from it that is less than a predetermined distance, in particular superimposed. In the example shown, some of the trajectory segments 732a to 732d and other trajectory segments parallel thereto extend adjacently at least section by section at a small distance. In practice, the trajectory segments can also overlap; here the small distance is only provided for better visibility.

[0079] By determining or connecting the trajectory segments in this way, a loop is formed, which the mowing robot must then traverse, whereby loop closure is again possible.

[0080] Following trajectory 730, starting from trajectory segment 731a, the mobile device here continues to travel two further trajectory segments (in the sense of the lane of the mobile device) at the end of this trajectory segment, and then returns to the other side (above) with trajectory segment 731b. In the further extension, multiple trajectory segments (in the sense of the lane of the mobile device) are always skipped, so that (with respect to the figure) corresponding overlaps occur above and below.

[0081] exist Figure 6 and 7 As can be seen from the comparison between , trajectories 630 and 730 are very similar. Here, the difference lies in how far away two trajectory segments 631a, etc. (first type, aligned from top to bottom) to be connected by means of trajectory segment 632a, etc. (second type, aligned from left to right) are from each other, that is, how many trajectory segments (in the sense of the lane of the mobile device) are located between them or which trajectory segment should be driven to. This can be done, for example, according to a specific pattern, such as every four, five or six trajectory segments in one direction (for example, looking to the right in the figure), and every two, three or four trajectory segments (one, two or three are located between them) in the other direction (for example, looking to the left in the figure). This can also be changed.

[0082] exist Figure 8 A trajectory determined according to another preferred embodiment of the present invention is schematically shown in : A trajectory 830 is to be determined for the working area 120 or has already been determined.

[0083] Here, a trajectory is a line with a plurality of sections, which should be explained below. In general, the trajectory 830 causes the mowing robot to travel to the right of the working area 120 (if the mowing robot is not already located there), and then travel in a loop.

[0084] One possibility for determining or planning this trajectory 830 is to first determine the trajectory segments (of the first type) 831a to 831d and, if necessary, other trajectory segments parallel thereto (these trajectory segments are not indicated), at least their straight sections. By way of example, these are lines which run parallel to one another and parallel to the edge of the working area 120 at least in their straight sections. The distance between two adjacent trajectory segments is selected, for example, so that it corresponds to the mowing width of the mowing robot or is slightly smaller. If the mowing robot then follows these trajectory segments, substantially the entire working area is mowed.

[0085] Then the track segments 831a to 831d and other parallel track segments must be connected or linked to each other so that the track is represented as a continuous line along which the mobile device can be moved. It should now be noted that additional loop closures are achieved when traversing the track, which in turn enables better positioning of the mobile device.

[0086] Here, too, (second type) track segments are used to connect (first type) track segments, namely track segments 832a to 832c and other track segments parallel thereto (the track segments are not indicated). It should be noted here that (first type) track segments 831a, etc. do not extend angularly in the transition to (second type) track segments 832a, etc., but extend in an arc. This can be taken into account accordingly when connecting the track segments.

[0087] The trajectory segments are determined in such a way that—in this example—a plurality of overlaps are present, wherein one trajectory segment in each case extends to another trajectory segment at a distance therefrom that is less than a predetermined distance, in particular superimposes or two trajectory segments intersect.

[0088] By determining or connecting the trajectory segments in this way, a loop is formed, which the mowing robot must then traverse, whereby loop closure is again possible.

[0089] Following trajectory 830, starting from trajectory segment 831a, the mobile device here travels backwards on trajectory segment 832a at the end of this trajectory segment, and then travels forward again using trajectory segment 831b. In general, the mobile device can travel forward on (first type) trajectory segment 831a, etc. and travel backward on (second type) trajectory segment 832a, etc. This makes maneuvering easier while also allowing many overlaps or intersections for loop closure.

[0090] exist Fig. 9 A trajectory determined according to another preferred embodiment of the present invention is schematically shown in : A trajectory 930 is to be determined for the working area 120 or has already been determined.

[0091] Here, a trajectory is a line with a plurality of sections, which should be explained below. In general, the trajectory 930 causes the mowing robot to travel to the right of the working area 120 (if the mowing robot is not already located there), and then travel in a loop.

[0092] One possibility for determining or planning this trajectory 930 is to first determine the trajectory segments (of the first type) 931a to 931d and, if necessary, other trajectory segments parallel thereto (these trajectory segments are not indicated), at least their straight sections. By way of example, these are lines which run parallel to one another and parallel to the edge of the working area 120 at least in their straight sections. The distance between two adjacent trajectory segments is selected, for example, so that it corresponds to the mowing width of the mowing robot or is slightly smaller. If the mowing robot then follows these trajectory segments, substantially the entire working area is mowed.

[0093] Then the track segments 931a to 931d and other parallel track segments must be connected or linked to each other so that the track is represented as a continuous line along which the mobile device can be moved. It should now be noted here that additional loop closures are achieved when traversing the track, which in turn enables better positioning of the mobile device.

[0094] Here, too, (second type) track segments are used to connect (first type) track segments, namely track segments 932a to 932c and other track segments parallel thereto (the track segments are not indicated). It should be noted here that (first type) track segments 931a, etc. do not extend angularly in the transition to (second type) track segments 932a, etc., but extend in an arc. This can be taken into account accordingly when connecting the track segments.

[0095] The trajectory segments are determined in such a way that—in this example—a plurality of overlaps are present, wherein one trajectory segment in each case extends to another trajectory segment at a distance therefrom that is less than a predetermined distance, in particular superimposes or two trajectory segments intersect.

[0096] By determining or connecting the trajectory segments in this way, a loop is formed, which the mowing robot must then traverse, whereby loop closure is again possible.

[0097] Following trajectory 930, starting from trajectory segment 931a, the mobile device here travels backwards on trajectory segment 932a at the end of this trajectory segment, and then travels forward again using trajectory segment 931b. In general, the mobile device can travel forward on (first type) trajectory segment 931a, etc. and travel backward on (second type) trajectory segment 932a, etc. This makes maneuvering easier while also allowing many overlaps or intersections for loop closure.

[0098] exist Figure 8 and 9As can be seen from the comparison between , the trajectories are similar. However, the difference is how the (first type) trajectory segment 831a or 931a, etc. is transformed into the (second type) trajectory segment 832a or 932a, etc., and vice versa. Figure 8 In , this is done by making a slight right turn with the mobile device when traveling forward on one side of the working area (here above), and by making a slight left turn with the mobile device when traveling forward on the other opposite side of the working area (here below), respectively. Fig. 9 , swap left and right turns relative to the side of the work area.

[0099] exist Fig.10 A trajectory determined according to another preferred embodiment of the present invention is schematically shown in . A trajectory 1030 is to be determined for the working area 120 or has already been determined.

[0100] Here, a trajectory is a line with a plurality of sections, which should be explained below. In general, the trajectory 1030 causes the mowing robot to travel to the right of the working area 120 (if the mowing robot is not already located there), and then travel in a loop.

[0101] One possibility for determining or planning this trajectory 1030 is to first determine the trajectory segments (of the first type) 1031a to 1031d and, if necessary, other trajectory segments parallel thereto (these trajectory segments are not indicated), at least their straight sections. By way of example, these are lines which run parallel to one another and parallel to the edge of the working area 120 at least in their straight sections. The distance between two adjacent trajectory segments is selected, for example, so that it corresponds to the mowing width of the mowing robot or is slightly smaller. If the mowing robot then follows these trajectory segments, substantially the entire working area is mowed.

[0102] Then the track segments 1031a to 1031d and other parallel track segments must be connected or linked to each other so that the track is represented as a continuous line along which the mobile device can be moved. It should now be noted that additional loop closures are achieved when traversing the track, which in turn enables better positioning of the mobile device.

[0103] Here, too, (second type) track segments are used to connect (first type) track segments, namely track segments 1032a to 1032c and other track segments parallel thereto (the track segments are not indicated). It should be noted here that (first type) track segments 1031a, etc. do not extend angularly in the transition to (second type) track segments 1032a, etc., but extend in an arc. This can be taken into account accordingly when connecting the track segments.

[0104] The trajectory segments are determined in such a way that—in this example—a plurality of overlaps are present, wherein one trajectory segment in each case extends to another trajectory segment at a distance therefrom that is less than a predetermined distance, in particular superimposes or two trajectory segments intersect.

[0105] By determining or connecting the trajectory segments in this way, a loop is formed, which the mowing robot must then traverse, whereby loop closure is again possible.

[0106] Following trajectory 1030, starting from trajectory segment 1031a, the mobile device here travels backwards on trajectory segment 1032a at the end of this trajectory segment and then travels forward again using trajectory segment 1031b. In general, the mobile device can travel forward on trajectory segments (of the first type) 1031a, etc. and travel backwards on trajectory segments (of the second type) 1032a, etc. This makes maneuvering easier while also allowing many overlaps or intersections for loop closure.

[0107] exist Figure 8 and 9 and Fig.10 As can be seen from the comparison between , the trajectories are similar. However, the difference is how the (first type) trajectory segments 1031a, etc. turn into (second type) trajectory segments 1032a, etc., and vice versa. Fig.10 In each case, this is accomplished by a slight left turn of the mobile device when driving forward on both (opposite) sides of the working area, which in Figure 8 and 9 It goes without saying that right turns can also be provided on both sides.

[0108] exist Figures 8 to 10 In the case of trajectories of the first type, it is also possible to skip said trajectories if a different number of trajectories are connected to one another, as for example with respect to Figure 6 and 7 As mentioned.

Claims

1. A method for determining a trajectory (330, 430, 630, 730, 830, 930, 1030) for a mobile device (100), in particular an at least partially autonomous vehicle and / or a robot, preferably a mowing robot, in particular for achieving better positioning, by enabling the mobile device (100) to carry out an additional loop closure, wherein the mobile device (100) is to be moved along the trajectory in a working area (120, 420), the method comprising: The trajectory (330, 430, 630, 730, 830, 930, 1030) is determined (510) for the working area, wherein trajectory segments (331a-331f, 332a-332g, 431a-431c, 432a-432c) are connected to form a trajectory, wherein at least some of the trajectory segments are determined in such a way that there is at least one, preferably a plurality of overlaps (334, 434), wherein one trajectory segment respectively intersects another trajectory segment and / or extends segment by segment at a distance from it that is less than a predetermined distance, in particular overlaps, and The trajectory is provided (520) to a drive unit (104) of the mobile device for use by a control or regulation unit (102). 2 . The method according to claim 1 , wherein the trajectories ( 330 , 430 ) are created such that an overlap occurs at regular and / or predetermined distances and / or in predetermined trajectory sections. 3 . The method according to claim 1 , wherein the trajectory ( 330 , 430 ) is created such that it includes a plurality of trajectory sections extending adjacently at a predetermined distance. 4 . The method according to claim 3 , wherein the plurality of trajectory segments extending adjacently at a predetermined distance comprises a plurality of trajectory segments parallel to one another and / or a plurality of circular or spiral trajectory segments concentric to one another.

5. The method according to any one of the preceding claims, further comprising, before determining the trajectory: Information (502) about the work area is provided (500).

6. The method according to claim 5, wherein the information (502) about the working area includes and / or is based on at least one of the following: - an image of the working area, - a pre-given map of the working area, - the dimensions of the working area, - obstacles and / or objects and / or background in the working area, and - Position and / or distance information about obstacles and / or objects and / or background.

7. The method according to claim 5 or 6, wherein the information about the working area is detected by means of one or more sensors (106), in particular image sensors, of the mobile device.

8. The method according to any one of the preceding claims, further comprising: determining (530) control information (532) for moving the mobile device based on the trajectory, and The control information is provided (540) and the mobile device is operated, in particular based on the control information.

9. The method according to any one of the preceding claims, further comprising: Navigation information, in particular a trajectory (330, 430), is updated (550) based on environmental information detected by means of the mobile device, when the mobile device is located or has been located at one of the overlaps when the environmental information is detected, wherein in particular the environmental information has been detected by means of one or more sensors, in particular an image sensor, of the mobile device.

10. A system (108, 110) for data processing, the system comprising means for performing the method according to any of the preceding claims.

11. A mobile device (100) configured to obtain a trajectory (330, 430) or control information that has been determined according to the method according to any one of claims 1 to 10 and to perform navigation based on the trajectory (330, 430) or control information, Preferably, one or more sensors (106) for detecting environmental information are provided, further preferably, a control or regulating unit and a drive unit for moving the mobile device along the trajectory (330, 430), further preferably, a system (108) according to claim 10.

12. The mobile device (100) according to claim 11 is constructed as a vehicle that moves at least partially automatically, in particular as a passenger vehicle or a freight vehicle, and / or as a robot, in particular a household robot, such as a suction and / or wiping robot, a floor or road cleaning device or a lawn mowing robot, and / or as a drone.

13. A computer program comprising instructions which, when the program is executed by a computer, cause the computer to perform the method steps of the method according to any one of claims 1 to 10 when the program is executed on the computer.

14. A computer-readable storage medium having stored thereon the computer program according to claim 13.

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