Method for providing one or more operating area for user interaction on a touch display of an input device

Abstract

The invention relates to a method for providing one or more operating zones for user interaction on a touch display of an input device for generating a control input for moving a mobile working device, in particular an at least partially automatically moving vehicle or robot, in particular a mowing robot, in an environment, comprising: providing orientation information, the direction of the input equipment is indicated; determining one of a plurality of different groups of operating zones as the selected group of operating zones based on a current orientation of the input device, wherein each of the plurality of different groups of operating zones includes one or more motion operating zones for user interaction; controlling the touch display to display the selected operation area group; obtaining one or more control inputs based on one or more user interactions performed via one or at least one of the plurality of displayed motion operation areas; and providing manipulation instructions to the mobile working device based on the one or more control inputs for moving the mobile working device.

Description

Technical Field

[0001] The invention relates to a method for providing one or more operating areas for user interaction on a touch display of an input device for generating control inputs for moving a mobile working device, in particular a transport device or a robot that moves at least partially automatically, such as a lawnmower robot, as well as a computing unit and a computer program for executing the method, and the use of such an input device. Background Art

[0002] Mobile devices or working devices, such as at least partially autonomous vehicles or robots, usually move in an environment, in particular in an environment to be processed or in a work area, such as in a house, a garden, a factory hall or a street, in the air or in water. Summary of the invention

[0003] According to the invention, a method for providing one or more operating fields for user interaction on a touch display of an input device for generating control inputs for moving a mobile working device is proposed, as well as a computing unit and a computer program for carrying out the method, and the use of such an input device, having the features of the independent patent claims. Advantageous developments are the subject matter of the dependent claims and the following description.

[0004] The present invention generally relates to mobile equipment that moves or at least can move in an environment or there, for example in a work area. Thus, mobile working equipment can also be mentioned. Examples of such mobile equipment (or mobile working equipment) are, for example, robots and / or drones and / or vehicles that move partially or (completely) automatically (on land, in water or in the air). As robots, for example, consider: domestic robots, such as cleaning robots (for example in the form of suction robots and / or mopping robots), floor or street cleaning equipment, construction robots or mowing robots, and also consider other so-called service robots, as at least partially automated mobile vehicles, for example consider passenger vehicles or freight vehicles (also so-called land vehicles, for example in warehouses), but also consider aerial vehicles, such as so-called drones, or underwater vehicles.

[0005] Such a mobile device has in particular a control or regulating unit and a drive unit for moving the mobile device so that the mobile device can be moved in an environment, in particular along a movement path. For this purpose, navigation information can be determined based on the movement path, such as specific instructions about the direction in which the mobile device should travel in order to follow the movement path. These instructions can then be implemented by the control or regulating unit and the drive unit.

[0006] For example, an environment map can be used for the navigation, which environment map can be obtained or determined in particular by SLAM. SLAM (“Simultaneous Localization and Mapping”, for example, translated as: synchronous positioning and map construction) refers to a method in robotics, in which a mobile device (such as a robot) can or must simultaneously create a map of its environment and estimate its spatial position within the map. Obstacles are thus identified and autonomous navigation is thus supported.

[0007] Furthermore, the mobile working device may have one or more sensors, by means of which the environment or information in the environment can be detected. These may be, for example, cameras, lidar sensors or even inertial sensors, by means of which the movement of the environment and / or the mobile device can be detected, for example, two-dimensionally or three-dimensionally.

[0008] Furthermore, such mobile devices are usually configured to receive data and / or send data via a communication connection, i.e., to communicate or exchange data in general. In this way, communication with the mobile device can be carried out, for example, instructions can be given to the mobile device, other data can be transmitted to the mobile device, or data or information can be received from the mobile device. Wireless communication connections are particularly suitable here. For this purpose, the mobile device can, for example, have corresponding (possibly different) modules for wireless communication, which can also be integrated into the computing unit, for example.

[0009] For such mobile devices, there are usually also functions that the mobile device can perform, that is, the mobile device is set up to perform one or more, preferably different functions. Instead of a plurality of functions, a plurality of applications can also be mentioned. Such functions can be, for example, working functions or teaching functions.

[0010] The working function includes, for example, that the mobile device moves automatically in an environment and, during the movement in the environment, at least temporarily performs a working process in the environment. In the case of a lawn mower robot, the working function may thus include, for example, mowing the lawn (during the movement). For this purpose, for example, a start instruction for performing the working function may be issued to the mobile device by sending corresponding data via a wireless communication connection.

[0011] The teach-in function includes, for example, manually controlled movement of the mobile device in the environment, in particular when no work process is being performed in the environment. In the case of a mowing robot, the teach-in function can therefore include, for example, (manual) movement or control along the boundaries of the working area in order to teach the mowing robot these boundaries. For this purpose, control instructions for navigating or moving in the environment can be issued to the mobile device, for example (continuously), for example, by sending corresponding data via a wireless communication connection. In this context, so-called "Teach-In" is also mentioned.

[0012] For this mobile working equipment, a training mode for the mobile working equipment can be used In the training mode, the mobile working device can be moved in the environment based on control commands, but it has limited working functionality in the training mode. Thus, for example, in the case of a lawn mower robot, it can be provided that the mowing function (i.e., for example, the rotation or movement of the cutting blade) is inactive or unavailable in the training mode. Instead, the training mode is intended to enable the user to manually move the mobile working device for training purposes, in order to be able to better perform the aforementioned teach-in function later, for example.

[0013] An input device, in particular a mobile input device, such as a smartphone or another input device with a touch display, can be used to move (or control) the mobile working device.

[0014] In this case, the operating area for user interaction can be displayed on the touch display of the input device. Such an operating area can be, for example, a graphically displayed key or button or a joystick (Joystick) or the like. In this way, control inputs can be obtained, and more precisely, based on one or more user interactions performed via the operating area. The control inputs can especially be driving instructions, such as forward, left, right or backward. For example, when a user touches a forward button displayed on the touch display, a driving instruction for forward movement can be generated. The corresponding content also applies to other operating areas.

[0015] As has already been pointed out, the operation of such an input device for moving the mobile working device can be made significantly easier if different operating field groups are displayed depending on the respective current orientation of the input device.

[0016] In this case, orientation information is provided which indicates which orientation the input device currently has. For example, the orientation can be determined by one or more sensors (eg an inertial measurement unit) integrated in the input device.

[0017] Then, one of a plurality of different operating area groups is determined as the selected operating area group, and more precisely, based on the current orientation of the input device, one of a plurality of different operating area groups is determined as the selected operating area group, wherein each of the plurality of different operating area groups includes one or more motion operating areas for user interaction. Then, the touch display is operated to display the selected operating area group.

[0018] In addition, one or more control inputs are then obtained based on one or more user interactions performed via one or at least one of the multiple displayed motion operating areas. To this end, as described above, the user can, for example, touch a forward button or another operating area displayed on the touch display. The control input can be a driving instruction in particular, such as forward, left, right or backward. For example, when the user touches the forward button displayed on the touch display, a driving instruction for forward movement can be generated. The corresponding content also applies to other operating areas. Then, the mobile working device is provided with a control instruction, and more precisely, the mobile working device is provided with a control instruction based on the one or more control inputs for moving the mobile working device. This can be done, for example, via one of the wireless communication connections already mentioned. The mobile working device itself is then correspondingly configured to move in response to such a control instruction.

[0019] In one embodiment, the plurality of operation area groups include a first operation area group and a second operation area group. Here, the first operation area group includes a motion operation area that allows user interaction for the following control inputs, the control inputs including driving forward, driving backward, driving left, and driving right. On the other hand, the second operation area group includes a first motion operation area that allows user interaction for the following control inputs, the control inputs including driving forward and driving backward, and the second operation area group includes a second motion operation area that allows user interaction for the following control inputs, the control inputs including driving left and driving right.

[0020] This is achieved either with two different operating zones for forward and reverse and for left and right travel, i.e. with two hands, or with only one operating zone for forward, reverse, left and right travel, i.e. with only one hand, or even one finger.

[0021] It is particularly advantageous if the first operating field group is determined as the selected operating field group if the current orientation of the input device corresponds to the portrait format of the touch display, and / or if the current orientation of the input device corresponds to the landscape format of the touch display, the second operating field group is determined as the selected operating field group. Thus, the display capabilities of the touch display can be fully utilized particularly effectively.

[0022] In one embodiment, when the touch display is operated to display the selected operating area group and when the changed orientation information is provided, one of the plurality of operating area groups is newly determined as the selected operating area group, and more precisely one of the plurality of operating area groups is newly determined as the selected operating area group based on the current orientation of the input device. The touch display is then operated to display the selected operating area group. In this way, if the user rotates the input device, for example during use, the display can be adapted accordingly.

[0023] In one embodiment, at least one (preferably all) of the plurality of operating field groups comprises a speed selection operating field for user interaction. It is then provided that a speed selection input, for example fast or slow, is obtained based on a user interaction via the displayed speed selection operating field. A speed instruction is then provided to the mobile working device, and more precisely based on the speed selection input, the speed instruction is provided to the mobile working device so that the mobile working device is configured to move at a speed corresponding to the speed selection input when the control instruction is obtained. Thus, the mobile device is provided with the following: at which speed to run when a corresponding control instruction for the mobile working device, for example for forward travel, is obtained. The control instruction itself does not then have to contain any information about the speed.

[0024] However, it can also be provided that, based on one or more control inputs for moving the mobile working device, a control instruction is provided to the mobile working device so that the mobile working device moves at a speed corresponding to the speed selection input. In this case, the control instruction itself can contain information about the speed.

[0025] It is suitable that the speed selection operating area includes at least two different speeds displayed for selection at which the mobile device should move, for example fast and slow as described above. The speed selection input then sets one of the at least two different speeds. The two speeds can be, for example, 2 km / h and 5 km / h. This allows individual practice of moving the mobile working device depending on the user or, for example, on his experience. It will be appreciated that other values ​​and more than two different speeds can also be set.

[0026] The computing unit according to the invention, ie in general a system for data processing, for example an input device, such as a smartphone or its processor, is configured, in particular in terms of programming, to carry out the method according to the invention.

[0027] 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 leads to particularly low costs, especially if the control device that performs the execution is also used for other tasks and therefore exists anyway. Finally, a machine-readable storage medium is provided, on which a computer program as described above is stored. Suitable storage media or data carriers for providing computer programs are particularly magnetic, optical and electrical memories, such as hard disks, flash memory, EEPROM, DVD, etc. The program can also be downloaded via a computer network (Internet, intranet, etc.). Such downloading can be performed here in a wired or cabled manner or in a wireless manner (for example, via a WLAN network, 3G, 4G, 5G or 6G connection, etc.).

[0028] Further advantages and embodiments of the invention are apparent from the description and the drawings.

[0029] The invention is schematically illustrated by means of exemplary embodiments in the drawings and is described below with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1a A mobile device is schematically shown for explaining the invention.

[0031] Figure 1b Another view schematically shows Figure 1a Mobile devices in.

[0032] Figure 1c Schematically shows the larger environment Figure 1a Mobile working equipment in.

[0033] Figure 2a An input device for explaining the present invention is schematically shown.

[0034] Figure 2b Another view schematically shows Figure 2b Input devices in .

[0035] Figure 3 The flow of the method according to the present invention in a preferred embodiment is schematically shown. DETAILED DESCRIPTION

[0036] exist Figure 1a In the figure, a mobile device 100, in particular a working device, is shown schematically and by way of example to explain the present invention. Figure 1b In the figure, the mobile device 100 is shown in different views and different aspects. Figure 1a and 1b as well as Figure 1c .

[0037] The mobile working device 100 is, for example, a lawnmower robot having a control or regulating unit 102 and a drive unit 104 (with wheels) for use in an environment 120 and there, in particular, in a working area 122.

[0038] , for example, in or on a lawn or garden. The mowing robot 100 can move or be moved, for example, along a movement path or trajectory 130. In addition, the mowing robot 100 has a sensor 106, which is designed as a camera, for example. Using the camera 106, images of the environment can be captured, which in turn can be used for navigation. In addition, a docking station 110 is provided, for example, at which the mowing robot can be charged, for example.

[0039] exist Figure 1b Also shown in the environment are buildings 124, trees 126, and people 128, which may be considered as objects or obstacles when navigating the lawn mowing robot.

[0040] Furthermore, the mowing robot 100 has a computing unit 108, for example a control device, via which data can be received and / or sent. As already mentioned, this can be done, for example, via different types of wireless communication connections. These types of wireless communication connections are Figure 1a 170, 172, 174 are shown in the figure. For example, this is a mobile radio connection 170, a Bluetooth connection 172 and a WLAN connection or WiFi connection 174. The computing unit 108 can, for example, have corresponding radio modules or be connected to them, which then become part of the mowing robot 100.

[0041] In addition, 176 denotes a signal of a GPS satellite 180, which can be received by the mowing robot 100 or a correspondingly designed computing unit 108. In particular, the computing unit 108 can have a GPS module, i.e. be designed to use GPS signals to determine the position. It should be understood that for this purpose, the signals of multiple satellites are usually required, but this is only indicated here as an example.

[0042] In addition, Figure 1aIn the robot 100, a mobile input device 140 (e.g. a smartphone), a central computing system 150 (or a server, which can represent a so-called cloud) and a WLAN router 160 in a building 162 (which can be another building different from the building 124, but can also be the same building). Wireless communication connections 170, 172, 174 of the type already mentioned are provided between the mowing robot 100 or its computing unit 108, the mobile input device 140, the computing system 150 and the WLAN router 160. It should be noted that the mobile radio connection 170 is established via a mobile radio transmitter 152, which in turn is connected to the computing system 150.

[0043] A Bluetooth connection 172 is provided between the mowing robot 100 or its computing unit 108 and the mobile input device 140, ie a Bluetooth connection can be established between the mowing robot 100 or its computing unit 108 and the mobile input device 140. It is understood that the mobile input device 140 has a suitable radio module for this purpose.

[0044] A WLAN connection 174 is provided between the mowing robot 100 or its computing unit 108 and the WLAN router, i.e., a WLAN connection can be established between the mowing robot 100 or its computing unit 108 and the WLAN router 160. It should be understood that the WLAN router 160 has a suitable radio module for this purpose. The WLAN router 160 can in turn be connected to the Internet via, for example, a wired connection.

[0045] A mobile radio connection 170 is provided between the mowing robot 100 or its computing unit 108 and the computing system 150, i.e. a mobile radio connection can be established between the mowing robot 100 or its computing unit 108 and the computing system 150. It should be mentioned here that such a mobile radio connection 170 is established by the mowing robot 100 or its computing unit 108 or a radio module therein, for example, with a mobile radio transmitter 152 or a corresponding mobile radio station, to which the computing system 150 is in turn connected, for example also via a mobile radio and / or a wired connection.

[0046] Furthermore, a mobile radio connection 170 is provided between the mobile input device 140 and the computing system 150, i.e. a mobile radio connection can be established between the mobile input device 140 and the computing system 150. It also applies here that such a mobile radio connection 170 is established between the mobile input device 140 or a radio module therein, for example, with a mobile radio transmitter or a corresponding mobile radio station, to which the computing system 150 is in turn connected. It should be mentioned that the mobile input device 140 includes a radio module for WLAN for this purpose, as is usually the case in the case of a typical smartphone.

[0047] Likewise, a WLAN connection 174 may be provided between the mobile input device 140 and the computing system 150, i.e. a WLAN connection may be established between the mobile input device 140 and the computing system 150. For this purpose, a WLAN connection 174 may be provided between the mobile input device 140 and a WLAN router. As already mentioned, the WLAN router 160 in turn may be connected to the Internet, for example, via a wired connection, and via the same to the computing system 150.

[0048] Thus, the mowing robot 100 or its computing unit 108 can send and receive data, i.e. exchange data, via each of the wireless communication connections 170, 172, 174 mentioned. In this case, with the mobile input device 140, data can be exchanged not only via a Bluetooth connection, but also via a mobile radio connection 170 or a WLAN connection 174, i.e. indirectly via the computing system 150. It should be mentioned that in principle a WLAN connection can also be established between the mowing robot 100 or its computing unit 108 and the mobile input device 140.

[0049] The mobile working device or lawn mowing robot 100 is configured to perform one or more functions. In one embodiment, these functions include working functions, such as lawn mowing functions and teaching functions.

[0050] The working functions include, for example: the automatic movement of the mowing robot 100 in the environment 120; and at least temporarily performing a working process in the environment, such as mowing the grass, while moving in the environment (depending on the situation, it is also possible that the mowing robot initially drives to a specific location without mowing the grass in order to start or continue mowing the grass).

[0051] The mobile radio connection 170 can be assigned to the working function. This means that the mowing robot 100 or its computing unit 108 obtains and / or sends data required for performing the working function at least partially via the mobile radio connection. This can, for example, include a start command for starting a mowing process, which is sent from a mobile input device (possibly via the computing system 150) to the mowing robot 100.

[0052] This can also include, for example, obtaining trajectories (or navigation information in general) from the computing system 150, which are determined in the computing system 150 and which the mowing robot should then follow for the mowing process. However, it can also be provided that the trajectories (or navigation information in general) are determined in the mowing robot 100 or its computing unit 108 itself or that the trajectories (or navigation information in general) are obtained there in another way. Instead of trajectories, the computing unit 108 can, for example, also (only) obtain control information that has been determined based on the trajectories (which in turn can have been determined in the computing system 150), and based on this control information, the control or regulating unit 102 can move the mowing robot 100 via the drive unit 104 in order to follow a trajectory, such as the trajectory 130 shown here only as an example.

[0053] The mowing robot 100 can then move autonomously, for example, through the working area 122 or in the surroundings 120 or navigate there and mow the grass in the process. As already mentioned, various objects can be detected by the mowing robot 100 or its camera 106 (i.e., they are visible in the images captured by the camera) and then be taken into account during navigation, i.e., when determining navigation information. For this purpose, the detected images or corresponding data can be transmitted to the computing system 150, for example, via the mobile radio connection 170.

[0054] The teaching function includes, for example, manually controlled movement of the mowing robot in the environment, in particular along the boundary of the working area 122, in order to teach the mowing robot this boundary. As an example, such a boundary is Figure 1b 123 in the figure. In this case, the working function, i.e. mowing, does not have to be used (or should not be used). For this purpose, control instructions (or operating instructions) for navigation or movement can be (continuously) transmitted to the mowing robot 100, for example. Such control instructions or corresponding data are sent from the mobile input device 140 to the mowing robot via the Bluetooth connection 172. Likewise, the mowing robot 100 or its computing unit 108 can send data back to the mobile input device 140 via the Bluetooth connection. In this context, so-called "Teach-In" is also mentioned.

[0055] Furthermore, the mobile working device can be operated in a training mode; the training mode can also be a function. In this case, the mobile working device can be moved in the environment based on control commands in the training mode, and the mobile working device also has limited working functionality in the training mode. For example, in the case of a lawnmower robot, it can be provided that the lawnmowing function or at least the use of the cutting blade is not possible or is not provided in the training mode.

[0056] The basic functionality of the training mode can thus correspond to the basic functionality of the teach function, at least with regard to the manually controlled movement of the mobile working device. However, unlike the teach function, which is applicable in the environment to move the mowing robot along the boundaries of the working area so that the boundaries can be taught there, it is instead about practicing moving (or controlling) the mobile working device or the mowing robot itself. For example, the user can first practice moving (or controlling) the mobile working device in the training mode so that he can later control the mobile working device as skillfully and accurately as possible along the boundaries within the scope of the teach function.

[0057] exist Figure 1c In the Figure 1b 120, but shown in a different type and representation. In the environment there is a house 160 and a work area or lawn 122. For example, a docking station 110 is also arranged in the work area 122.

[0058] also, Figure 1c 1 shows a predetermined area 135, which surrounds the docking station 110 at a certain distance, for example. In a map, for example on a smartphone or a mobile input device 140, the user can, for example, determine the predetermined area 135. Likewise, the predetermined area 135 can be fixedly set, for example, by the position of the docking station. If the docking station 110 is moved, for example, the predetermined area 135 will also change.

[0059] Predetermined area 135 is in particular the area in which mowing robot 100 must be located in order to be able to end the training mode. On the contrary, the training mode should not end outside of predetermined area 135.

[0060] The mowing robot 100 is shown by way of example in a first position P1 within a predetermined area 135 and in a second position P2 outside the predetermined area 135. If the mowing robot 100 is in the second position P2, the training mode should not be terminated, but it is terminated in the first position P1.

[0061] As already mentioned, the position of the mowing robot can be determined, for example, using GPS or other satellite-supported positioning. Likewise, for example, by the mowing robot 100 contacting charging contacts or other contacts on the docking station 110, it can also be indicated that the current position is within the predetermined area 135-in this respect, it depends only on the relative position of the mowing robot 100 relative to the predetermined area 135 or, for example, the docking station 110.

[0062] Figure 2a An input device 200 is schematically shown in FIG. 1 to explain the present invention. The input device 200 may be, for example, Figure 1a A mobile input device 140 or similar device, such as a smart phone.

[0063] As an example, a computing unit 202, such as a processor, of the input device 200 is shown. In addition, a touch display 204 of the input device 200 is shown. With the aid of the computing unit 202, various steps can be performed, such as: operating the touch display 204 to display an operating area for user interaction, obtaining control inputs based on user interactions via the operating area, and communicating with a mobile device, for example via a corresponding radio module (not shown here).

[0064] On the touch display 202, Figure 2a 2 shows a plurality of operating areas, and specifically a motion operating area 210, a motion operating area 212, a speed selection operating area 216, and a confirmation operating area 218. The motion operating area 210 and the motion operating area 212 allow user interaction for control inputs, wherein the motion operating area 210 allows user interaction for control inputs for implementing forward and reverse driving of the mobile device. The motion operating area 212 allows user interaction for control inputs for implementing left and right driving of the mobile device. Depending on the type of mobile device, driving left or right can correspond, for example, to turning left or right, or also to turning left or right (for example, in the case of non-steerable but individually driven wheels).

[0065] Control inputs can be generated and obtained through user interaction via the operating area. For example, the user can drag the button shown in the center on the motion operating area 210 upward or forward when the user touches the touch display with a finger, thereby generating a control input for driving forward. The same applies to driving backward and driving left and right on the motion operating area 212.

[0066] For example, by releasing the touch display or removing the finger from the touch display, the control input is no longer generated. However, as long as, for example, the touch display is touched, the button shown in the center on the motion operating area is pulled upward (or downward or to the left or right), the control input can continue to be generated continuously. It is also conceivable that by releasing the touch display or removing the finger from the touch display, the set situation is retained, that is, the control input continues to be generated. Then, for example, it may be necessary to actively move the button shown in the center to the center again.

[0067] For example, a speed selection input may be generated and obtained via the speed selection operating area 216. On this basis, a speed command may then be generated and obtained in order to move the mobile working equipment at a speed corresponding to the speed selection input.

[0068] For example, the speed selection operating area 216 allows two different speeds, such as slow and fast, to be displayed for selection, at which the mobile device should move. This is indicated by a turtle symbol for slow and a rabbit symbol for fast, wherein fast is set in the illustrated case. Thus, one of the two different speeds can be set via the speed selection input.

[0069] Via confirmation operating area 218 , the user can, for example, enter an end command to end the learning mode, based on which (depending on the situation) an operating command can be generated for the mobile working device, for example, to deactivate the learning mode in the mobile working device.

[0070] exist Figure 2b In the Figure 2a 200, but in a different orientation or situation. Figure 2a The input device 200 in FIG. 1 is shown in a first orientation O1 (here in landscape format), but Figure 2b The input device 200 in FIG. 1 is shown in a further second orientation O2 (here in portrait format).

[0071] In orientation O2, although multiple operation areas are still displayed, some of them are different from orientation O1. Although speed selection operation area 216 and confirmation operation area 218 correspond to those of orientation O1, motion operation area 214 is shown instead of motion operation areas 210 and 212.

[0072] The motion operation area 214 allows user interaction for control inputs that enable the mobile device to travel forward, backward, left and right. Here, user interaction for the control inputs of these two motion operation areas 210 and 212 is therefore combined in the motion operation area 214.

[0073] Thus, two different groups of operating zones can be displayed on the touch display 204 depending on the orientation of the input device 200. For example, the orientation can be determined by one or more sensors (e.g., an inertial measurement unit) integrated in the input device. It is conceivable that when the orientation is changed, one of the groups of operating zones, e.g., based on the orientation of the input device 200, is displayed. Figure 2a The display of the orientation O1 in the image is transformed into another operating area group, for example according to Figure 2b Display of directional O2 in.

[0074] exist Figure 3 The process of the method according to the present invention in a preferred embodiment is schematically shown in FIG. The method is used to provide one or more operating areas for inputting a signal to a user (e.g., according to the input device) Figure 2a , 2b The user interacts with the touch display of the input device 200 to generate a signal for moving the mobile working device, that is, for example, according to Figure 1a , 1b , 1c of the control input of the lawn mowing robot 100. Figure 1a , 1b , 1c and 2a, 2b explain the process.

[0075] In step 300, orientation information 302 is provided, which indicates which orientation the input device currently has. For example, the orientation can be determined by one or more sensors integrated in the input device, such as an inertial measurement unit. For example, it can thus be determined whether the input device, for example in the case of a smartphone, is held in a portrait format or a landscape format. This may require a directional component of the normal to the touch display that is not parallel to gravity in order to be able to distinguish between portrait and landscape formats.

[0076] In step 304, one of the plurality of different operation area groups 306, 308 is then determined as the selected operation area group, and more specifically one of the plurality of different operation area groups 306, 308 is determined as the selected operation area group based on the current orientation of the input device. Each of the plurality of different operation area groups includes one or more motion operation areas for user interaction. The operation area group can be, in particular, Figure 2a and 2b In step 310, the touch display is then manipulated to display the selected operation area group.

[0077] In step 312, one or more control inputs 314 are obtained based on one or more user interactions via one or at least one of the displayed multiple motion operation areas. In step 316, a manipulation instruction 318 is then provided to the mobile working device, and more specifically, a manipulation instruction 318 is provided to the mobile working device based on the one or more control inputs for moving the mobile working device.

[0078] In particular, in step 320 these control instructions 318 are then transmitted, for example via the aforementioned Bluetooth connection, to the mobile working device so that it can be moved accordingly.

[0079] Additionally, at step 322, a speed selection input 320 may be obtained, and more particularly, based on user interaction via the displayed speed selection operation area, the speed selection input 320 may be obtained, for example, as described with respect to Figure 2a , 2b Then, at step 326, a speed instruction 328 may be provided to the mobile working equipment based on the speed selection input so as to configure the mobile working equipment to move at a speed corresponding to the speed selection input when the steering instruction is obtained.

[0080] In other words, the mobile device is then moved directly at the relevant or selected speed based on the mentioned control command 318 , without the control command 318 itself including any information about possible speeds.

[0081] However, it is also conceivable that, based on the one or more control inputs for moving the mobile working device, a control instruction 318 for the mobile working device is provided so that the mobile working device moves at a speed corresponding to the speed selection input. In this case, the control instruction 318 itself already contains information about the selected speed.

[0082] This type of control of a mobile working device is preferably suitable for (manually) moving or controlling a mobile working device such as the mowing robot 100 , in particular for the mentioned teach-in function and training mode.

Claims

1. A method for providing one or more operating areas (210, 212, 214, 216) for user interaction on a touch display (204) of an input device (140, 200) for generating control inputs for moving a mobile working device (100), in particular a transport device or a robot that moves at least partially automatically, in particular a lawn mowing robot, in an environment (120), comprising: providing (300) orientation information (302), the orientation information indicating which orientation the input device (140, 200) currently has; Determining (304) one of a plurality of different operation area groups (306, 308) as a selected operation area group based on a current orientation of the input device, wherein each of the plurality of different operation area groups includes one or more motion operation areas (210, 212, 214) for user interaction; Manipulating (310) the touch display to display the selected operation area group; obtaining (312) one or more control inputs (314) based on one or more user interactions via one or at least one of a plurality of displayed motion operation areas; and A control instruction (318) is provided (316) to the mobile working machine (100) based on the one or more control inputs for moving the mobile working machine (100).

2. The method according to claim 1, wherein: The plurality of operation area groups include a first operation area group and a second operation area group, wherein the first operation area group includes a motion operation area (214), the motion operation area allowing user interaction for the following control inputs, the control inputs including driving forward, driving backward, driving left and driving right, and The second operation area group includes a first motion operation area (310) allowing user interaction for the following control inputs, the control inputs including driving forward and driving backward, and the second operation area group includes a second motion operation area (312) allowing user interaction for the following control inputs, the control inputs including driving left and driving right.

3. The method according to claim 2, wherein the first operating area group is determined as the selected operating area group if the current orientation of the input device corresponds to the portrait format of the touch display; and / or wherein, If the current orientation of the input device corresponds to the landscape format of the touch display, the second set of operating areas is determined as the selected set of operating areas.

4. The method according to any one of the preceding claims, further comprising, when the touch display (204) is manipulated to display the selected operating area group and when providing the changed orientation information: re-determining one of the plurality of operation area groups as a selected operation area group based on a current orientation of the input device; and The touch display is manipulated to display the selected operation area group.

5. A method according to any one of the preceding claims, wherein: Providing the control instruction to the mobile working device includes: controlling the Bluetooth communication connection (172) to send the control instruction to the mobile device.

6. The method according to any one of the preceding claims, wherein at least one of the plurality of operating area groups comprises a speed selection operating area (216) for user interaction, The method further comprises: obtaining (322) a speed selection input (324) based on a user interaction via a displayed speed selection operation area; and providing (326) a speed instruction (328) to the mobile working equipment (100) based on the speed selection input so as to configure the mobile working equipment to move at a speed corresponding to the speed selection input when the steering instruction (318) is obtained, or Based on one or more control inputs for moving the mobile working machine, a control command is provided to the mobile working machine in such a way that the mobile working machine moves at a speed corresponding to the speed selection input.

7. The method of claim 6, wherein the speed selection operation area (216) displays at least two different speeds at which the mobile device should move for selection, and wherein the speed selection input sets one of the at least two different speeds.

8. A method according to any one of the preceding claims, wherein: The mobile working device (100) is designed as a lawnmowing robot.

9. A computing unit (202) comprising means for performing the method according to any of the preceding claims.

10. An input device (200) having a computing unit (202) according to claim 9 and a touch display (204).

11. Use of the input device (200) according to claim 10, wherein the input device is used for moving a mobile working device (100) in an environment (120).

12. A computer program comprising instructions which, when executed by a computer, cause the computer to perform the method steps of the method according to any one of claims 1 to 8 when the program is executed on the computer.

13. A computer-readable storage medium having stored thereon the computer program according to claim 12.

Images