Method for safely performing a function using a mobile work device

Abstract

The invention relates to a method for safely executing a function by a mobile work device, in particular a vehicle or robot that moves at least partially automatically, especially a robotic lawnmower, comprising: receiving (228) from an input device a security code (226) and an instruction (222) for a function to be performed by the mobile work device (100); performing (230) a verification (232) of the received security code (226); and if the verification (232) is positive, sending (240) an execution command (242) for the function to be performed to the mobile work device so that the mobile work device performs the function.

Description

[0001] The present invention relates to a method for safely performing a function by a mobile work device, in particular a vehicle or robot that moves at least partially automatically, e.g. a robotic lawnmower, a computing unit, a system and a computer program for carrying it out. Background of the invention

[0002] Mobile devices or work equipment, such as vehicles or robots that move at least semi-automatically, typically move in an environment, in particular an environment to be processed or a work area, such as an apartment, in a garden, in a factory hall or on the street, in the air or in water. Disclosure of the invention

[0003] According to the invention, a method for the safe execution of a function by a mobile device, a computing unit, and a computer program for its execution, as well as a mobile device with the features of the independent claims, are proposed. Advantageous embodiments are the subject of the dependent claims and the following description.

[0004] The invention relates generally to mobile devices that move, or at least can move, within an environment, for example, within a work area. These can also be referred to as mobile work equipment. Examples of such mobile devices (or mobile work equipment) include robots and / or drones and / or vehicles that move semi-automatically or (fully) automatically (on land, water, or in the air). Examples of robots include household robots such as cleaning robots (e.g., vacuuming and / or mopping robots), floor or street cleaning equipment, construction robots, or robotic lawnmowers, as well as other so-called service robots. Examples of vehicles that move at least partially automatically include passenger transport vehicles or goods transport vehicles (also known as industrial trucks, e.g., in warehouses), but also aircraft such as drones or watercraft.

[0005] Such a mobile device includes, in particular, a control unit and a drive unit for moving the device, enabling it to be moved within its environment, especially along a path. Navigation information can be determined based on this path, such as specific instructions on the direction the device should travel to follow it. These instructions can then be implemented by the control unit and the drive unit.

[0006] For navigation, an environmental map can be used, which may have been obtained or determined using SLAM. SLAM (Simultaneous Localization and Mapping) is a robotics technique in which a mobile device, such as a robot, can simultaneously create a map of its environment and estimate its spatial position within that map. This facilitates obstacle detection and thus supports autonomous navigation.

[0007] Furthermore, a mobile device can have one or more sensors that can detect its surroundings or information within them. These can be, for example, cameras, lidar sensors, or inertial sensors, which can be used to capture the environment and / or the movement of the mobile device, e.g., in two or three dimensions.

[0008] Furthermore, such a mobile device is typically configured to receive and / or send data via a communication connection, in general, to communicate and exchange data. This allows communication with the mobile device, for example, giving instructions to the mobile device, transmitting other data to the mobile device, or receiving data or information from the mobile device.

[0009] With such a mobile device, it is also common for it to have various functions that it can perform; that is, the mobile device can be configured to carry out or execute different tasks. Instead of functions, one can also speak of applications. Such functions might include, for example, one or more different work functions, a simple driving function, an activation function, or one or more setting functions.

[0010] A work function includes, for example, the automated movement of the mobile device within an environment and the execution of a work process within that environment, at least temporarily during this movement. In the case of a robotic lawnmower, such a work function could, for example, include mowing (while moving). For this purpose, the mobile device can be given a start command to perform the work function, for example, by sending corresponding data via the wireless communication link. Another work function could, for example, only include mowing a specific part of the work area or for a specific duration. A driving function could, for example, involve the mobile device moving to a specific position; for instance, the robotic lawnmower might be designed to drive to a docking station. An activation function could, for example,This could include unlocking additional functions for the mobile device; accordingly, there may be a deactivation function. A settings function could, for example, allow changes to certain settings of the mobile device; for instance, it could be used to change the default start time for the robotic lawnmower.

[0011] In order for the mobile device or work device to perform such functions, corresponding instructions can be transmitted to the mobile device. This can be done, for example, using an input device, especially a mobile input device such as a smartphone. The aforementioned communication connection of the mobile device can be used for this purpose, specifically a wireless communication connection. A mobile network connection, particularly 4G and / or 5G and / or 6G, is particularly suitable for this.

[0012] The mobile device can be configured to receive and / or send data via a wireless communication connection. For this purpose, the mobile device may, for example, have a corresponding wireless communication module, which may also be integrated into a processing unit.

[0013] Similarly, the input device can be configured to receive and / or send data via a wireless communication connection. For this purpose, the input device can, for example, have a corresponding wireless communication module. It should be noted that input devices other than mobile devices are also possible, such as desktop computers. In these cases, as well as with mobile devices, a wired communication connection can also be used.

[0014] Particularly in the case of mobile network connections, which are used for data transmission on the mobile device side, data is not transferred directly between the mobile device and the input device, but typically via a computing system such as a server or the cloud. For this purpose, the data can be transmitted from the input device to the computing system via a wireless or wired communication connection, and from there, at least partially, via the mobile network connection or possibly another wireless communication connection such as Wi-Fi, to the mobile device.

[0015] Furthermore, it has become apparent that certain functions that the mobile device can or should perform should not be carried out by just any user, depending on the situation. These might include, for example, safety-related functions that should not be performed by unauthorized persons such as children. For instance, it may be desirable that a work function like mowing on a robotic lawnmower, or generally any function that activates the mower's cutting mechanism, should not be accessible to everyone.

[0016] It is now proposed that a security code can be used to perform certain functions. An input device, such as the aforementioned smartphone, receives a security code and an instruction for a function to be performed by the mobile device. This data can be received (or stored) in the aforementioned computing system (e.g., the cloud).

[0017] The security code can be, for example, a PIN (Personal Identification Number), or another number, word, or something similar. On the input device, a PIN might have been entered via a keypad. Alternatively, the security code could be a graphic representation, obtained, for example, by performing a gesture while touching a smartphone's touchscreen.

[0018] The instruction for the function to be performed by the mobile device could be, for example, an activation command, such as instructing the robotic lawnmower to start a mowing cycle. Such an instruction can be received, for example, by clicking or tapping a symbol displayed on the smartphone's touchscreen, processed by the input device, and then sent to the computer system. There, the security code and the instruction, primarily in the form of data, are received.

[0019] It is advantageous for the security code and the instruction for the function to be performed to be received together by the input device; this means that both are received simultaneously or in a single data packet, e.g., by the computer system, and thus also sent simultaneously by the input device. However, the security code and the instruction do not necessarily have to be entered into the input device at the same time. It is conceivable that the instruction is entered first (e.g., by selecting a function). The input device can then prompt the user to enter the security code. Alternatively, the security code could have been entered earlier, e.g., when an application is initially started on the input device. In this case, the security code can be stored on the input device until it is sent.

[0020] A verification of the received security code is now performed (e.g., in the computer system), at least when necessary. If the verification is successful, meaning the received security code has been determined to be valid or correct, an execution command for the function to be performed is sent to the mobile device so that the device can carry out the function. This can be done, for example, via the aforementioned mobile network connection. The mobile device or its processing unit can then receive the instruction (typically in the form of data) and, based on this, execute the corresponding function, such as starting a mowing operation.

[0021] The verification of the security code therefore takes place not on the input device or the mobile device, but on the computing system, such as the cloud. This allows the verification process to be decoupled from the input device. In this way, other input devices can be used to execute protected functions of the mobile device. Furthermore, this prevents manipulation, as the execution command is only sent from the computing system to the mobile device if the security code has been verified there. The verification process cannot be bypassed, or at least not easily.

[0022] If the verification fails, an error message (e.g., from the computer system) can be sent to the input device. This message can then be displayed, for example, as an error message. Furthermore, the user may be prompted to re-enter the security code, or other measures may be taken. However, the execution command will not be sent if and as long as the verification fails.

[0023] In one embodiment, an initial security code is also received or provided, for example, also in the computing system. This initial security code can also be transmitted from the input device to the computing system, or in particular, initially received in the input device. The verification of the received security code then takes place based on the initial security code. The initial security code, which is preferably of the same type as the security code, is therefore the security code against which the security code received to execute the function is checked. A user can, for example, initially set the initial security code when configuring the mobile device, and may also change it later if necessary.

[0024] As mentioned earlier, there may also be functions that anyone is authorized to perform. This could include, for example, switching off or performing an emergency shutdown of the mobile device. In such cases, it must be determined whether verification is required at all. In one embodiment, therefore, function verification information for one or more selected functions is provided or received, for example, in the computing system. This function verification information determines whether verification is required for the mobile device to execute one or more of the selected functions (or, in other words, whether the security code is required to perform the function).

[0025] Accordingly, if verification is required for the function to be performed according to the function verification information, verification can be carried out for a received instruction and security code. However, if verification is not required for the function to be performed according to the function verification information, the execution command for the function can be sent to the mobile device without performing the verification. In this case, for example, an incorrect security code might be received; however, since this is not checked, it has no effect on the execution.

[0026] Such function verification information can be determined by a user, for example, through selection and entry on the input device. The user can thus specify which functions (or whether any functions at all) should be protected with the security code. Even if verification is not required for any function, a security code can still be transmitted to the computer system with each instruction. In this case, the security code can be any value or code (e.g., a predefined default value), as it is not checked anyway.

[0027] It is also conceivable that for functions that do not require a security code, no security code is transmitted to the computer system at all; in this case, only the instruction for the function to be executed is received by the computer system. A security code is then not needed, as no verification takes place.

[0028] A computing system according to the invention (i.e., generally a system for data processing), e.g., a computer or server, is, in particular in terms of programming, equipped to carry out a method according to the invention.

[0029] The invention also relates to a system comprising such a computing system, an input device, and a mobile work device. The mobile work device is, in particular, a vehicle or robot that moves at least partially automatically, especially a robotic lawnmower; the mobile work device is configured to perform one or more functions. The mobile work device may include a control unit and a drive unit for moving the mobile work device.

[0030] Preferably, the system is configured such that data communication between the computing system and the mobile device takes place at least partially (i.e., at least the final leg from, for example, a mobile phone tower to the mobile device) via a mobile network connection, in particular 4G and / or 5G and / or 6G. Alternatively or additionally, the system is preferably configured such that data communication between the input device and the computing system optionally takes place at least partially via a mobile network connection, in particular 4G and / or 5G and / or 6G, or at least partially via a WLAN connection.

[0031] Implementing a method according to the invention in the form of a computer program or computer program product with program code for carrying out all method steps is also advantageous, as this incurs particularly low costs, especially if an executing control unit is already available for other tasks. Finally, a machine-readable storage medium is provided with a computer program stored on it as described above. Suitable storage media or data carriers for providing the computer program are, in particular, magnetic, optical, and electrical storage media, such as hard drives, flash memory, EEPROMs, DVDs, etc. Downloading a program via computer networks (Internet, intranet, etc.) is also possible. Such a download can be wired or wireless (e.g., via a WLAN network, a 3G, 4G, 5G, or 6G connection, etc.).

[0032] Further advantages and embodiments of the invention will become apparent from the description and the accompanying drawing.

[0033] The invention is schematically illustrated in the drawing using an exemplary embodiment and is described below with reference to the drawing. Brief description of the drawings Fig. Figure 1a schematically shows a system with a mobile device to illustrate the invention. Fig. Figure 1b schematically shows the mobile device. Fig. 1a in a different view. Fig. Figure 2 schematically shows a process according to the invention in a preferred embodiment. embodiment(s) of the invention

[0034] In Fig. Figure 1a schematically and exemplarily illustrates a system with a mobile device, in particular a work device, 100, to explain the invention. Fig. Figure 1b shows the mobile device 100 in a different view and with different aspects. The following are intended to... Fig. 1a and Fig. 1b can be described comprehensively.

[0035] The mobile device or work device 100 is, for example, a robotic lawnmower with a control unit 102 and a drive unit 104 (with wheels) for navigating or moving the robotic lawnmower 100 in an environment 120, and in particular in or on a work area 122, e.g., a lawn. The robotic lawnmower 100 can, for example, move or be moved along a movement path or trajectory 130. Furthermore, the robotic lawnmower 100 has, for example, a sensor 106 designed as a camera. Images of the environment can be captured by means of the camera 106 and used for navigation. In addition, a docking station 110 is provided, for example, where the robotic lawnmower can be charged.

[0036] In Fig. 1b further illustrates in the surroundings a building 124, a tree 126 and a person 128, which may be taken into account as objects or obstacles in the navigation of the robotic lawnmower.

[0037] Furthermore, the robotic lawnmower 100 has a processing unit 108, e.g., a control unit, by means of which data can be received and / or sent. As already mentioned, this can be done via a wireless communication connection. Two types of wireless communication connections are available in Fig. 1a is designated with 170 and 174. For example, this refers to a mobile network connection 170 and a WLAN or WiFi connection 174. The processing unit 108 can, for example, have a corresponding radio module for the mobile network connection or be connected to such modules, which are then part of the robotic lawnmower 100. Likewise, corresponding radio modules can also be provided for the WLAN connection and / or a Bluetooth connection (not shown here).

[0038] Furthermore, in Fig. 1a, a mobile input device 140, e.g., a smartphone, a central computing system 150 (or a server, which can represent the so-called cloud), and a WLAN router 160 in a building 162 (it can be a different building than building 124 or the same one). The two types of wireless communication connections 170 and 174 already mentioned are provided between the robotic lawnmower 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 connection 170 is established via a mobile transmitter 152, which in turn is connected to the computing system 150. Likewise, the WLAN router 160 can be connected to the computing system 150, e.g., via the internet.

[0039] A mobile communication connection 170 is provided between the robotic lawnmower 100, or rather its processing unit 108, and the computer system 150. This means that a mobile communication connection can be established between the robotic lawnmower 100, or rather its processing unit 108, and the computer system 150. It should be noted that this mobile communication connection 170 is established by the robotic lawnmower 100, or rather its processing unit 108, or a radio module there, for example, with the mobile transmitter 152 or a corresponding mobile base station, to which the computer system 150 is in turn connected, for example, via mobile and / or wired connection.

[0040] Furthermore, a mobile communication connection 170 is also provided between the mobile input device 140 and the computing system 150; that is, a mobile communication connection can be established between the mobile input device 140 and the computing system 150. Here, too, such a mobile communication connection 170 is established by the mobile input device 140, or by a radio module within it, for example, with a mobile communication transmitter or a corresponding mobile communication base station, to which the computing system 150 is in turn connected. It should be noted that the mobile input device 140 includes a radio module for WLAN, which is usually the case with a typical smartphone.

[0041] Similarly, a WLAN connection 174 can be established between the mobile input device 140 and the computer system 150. This means that a WLAN connection can be established between the mobile input device 140 and the computer system 150. For this purpose, a WLAN connection 174 can be established between the mobile input device 140 and the WLAN router. The WLAN router 160, as already mentioned, can in turn be connected to the internet via, for example, a wired connection, and thus to the computer system 150.

[0042] The robotic lawnmower 100, or rather its computing unit 108, can therefore exchange data with the computing system 150 via the mobile communication connection 170. The mobile input device 140, in turn, can exchange data with the computing system 150 via the mobile communication connection 170 and / or the WLAN connection 174, as well as any other necessary communication connection.

[0043] The mobile device, or the robotic lawnmower 100, is designed to perform one or more (different) functions. These functions include, for example, a work function, a driving function, an activation function, and a setting function.

[0044] A work function includes, for example, the automated movement of the mobile device within an environment and the execution of a work process within that environment, at least temporarily during this movement. In the case of a robotic lawnmower, such a work function could therefore include, for example, mowing (while moving). (Depending on the situation, the robotic lawnmower might also initially travel to a specific location without mowing, in order to begin or continue mowing there.) For this purpose, the mobile device can be given an instruction to perform the work function, for example, by sending corresponding data via the wireless communication link. Another work function could, for example, only include mowing a specific part of the work area or for a specific duration.

[0045] The execution of the work instructions can also include receiving, for example, trajectories (or navigation information in general) from the computer system 150. These trajectories (or navigation information) are determined in the computer system 150, and the robotic lawnmower is then to follow them during the mowing process. However, it is also possible for a trajectory (or navigation information in general) to be determined or otherwise obtained within the robotic lawnmower 100 itself, or by its computer unit 108. Instead of a trajectory, the computer unit 108 can also receive, for example, (only) control information that has been determined based on a trajectory (which in turn may have been determined in the computer system 150). According to this information, the control unit 102 can move the robotic lawnmower 100 via the drive unit 104 to follow a trajectory, such as the trajectory 130, which is only mentioned here as an example.

[0046] The robotic lawnmower 100 can then, for example, move independently within the working area 122 or the surrounding area 120, navigating and mowing the lawn. As already mentioned, various objects can be detected by the robotic lawnmower 100 or its camera 106 (i.e., they are visible in images captured by the camera) and then taken into account during navigation, i.e., when determining navigation information. For this purpose, the captured images or corresponding data can be transmitted to the computer system 150, for example, via the mobile network connection 170.

[0047] A driving function can, for example, include the mobile device driving to a specific position; for example, it can be intended that the robotic lawnmower 100 drives to the docking station 110.

[0048] An activation function might, for example, unlock the mobile device for additional functions; similarly, there might be a deactivation function. Likewise, there might be a power-off or emergency power-off function that completely shuts down the mobile device, or that, for example, only shuts down the mower deck.

[0049] A setting function can, for example, include changing certain settings of the mobile device; for example, it can be intended to change a usual start time at which the robotic lawnmower begins mowing.

[0050] It goes without saying that the robotic lawnmower 100, or any mobile device in general, can also perform other functions, e.g., other work functions.

[0051] In Fig. Figure 2 schematically illustrates the sequence of a method according to the invention in a preferred embodiment. The method serves to reliably execute a function by a mobile work device, e.g., the robotic lawnmower 100 according to [reference missing]. Fig. 1a, Fig. 1b. This process will also be described below with reference to the Fig. 1a, Fig. 1b will be explained.

[0052] In step 200, a user can, for example, use the input device 140 to define one or more functions 201 that require a security code for the robotic lawnmower to perform. This can be done, for example, in an application (so-called app) on the input device. A function verification information 202 is thus generated, for example, in the form of a data record, which is then sent from the input device 140 to the computer system 150 and received there (step 204), stored, and made available as needed.

[0053] For example, a security code should be required for a work function in which the robotic lawnmower cuts the lawn (mowing function), or for its execution or initiation. However, a security code should not be required for a shutdown function of the robotic lawnmower.

[0054] Furthermore, in step 210, the user can enter and thus define an initial security code 212, for example, in the input device 140, after specifying the functions for which a security code is required. This code can then be sent from the input device 140 to the computer system 150, for example, in the form of a data record, and received there in step 214, stored, and made available as needed.

[0055] The initial security code 212 can be, for example, a sequence of numbers or a gesture performed on a touchscreen of the input device, which is then processed into a data record.

[0056] If, for example, at a later time the user or another user wants the robotic lawnmower to perform a function, such as mowing function 2, they can, for example, enter an instruction 222 in the input device (step 220) to execute the mowing function. This could involve, for example, tapping a corresponding icon in an application on the input device. The application might then also prompt the user to enter a security code. The user then enters a security code 226 (step 224). The security code 226 and the instruction 222 can then be sent from the input device 140 to the computer system 150 (step 228), for example, in the form of a data record, and received there.

[0057] The security code 226, like the initial security code, can be, for example, a sequence of numbers or a gesture performed on a touchscreen of the input device, which is then processed into a data record.

[0058] The computer system can then, for example, use the available function verification information 202 to check whether verification is necessary for the function for which instruction 222 was received, in this case the mowing function, which is the case in the present example. Then, in step 230, a verification 232 of the previously received security code 226 is performed.

[0059] Verification 232 of security code 226 is based on the initial security code 212; that is, it is checked, for example, whether security code 226 matches the initial security code 212. If so, the verification can be considered successful. Other conditions under which verification is considered successful are also conceivable.

[0060] If the verification is successful, in step 240, an execution command 242 for the function to be performed (here, the mowing function) is sent from the computer system to the robotic lawnmower so that it can carry out the function; in other words, the robotic lawnmower then begins to mow. This can also include, for example, the robotic lawnmower first leaving the docking station.

[0061] If the verification fails, an error message (252) is sent from the computer system to the input device in step 250. This message may indicate, for example, that the security code was incorrect or that the user is not authorized.

Claims

[1] Method for safely executing a function by a mobile working device (100), in particular an at least partially automated vehicle or robot, in particular a robotic lawnmower, comprising: Receiving (228), from an input device (140), a security code (226), and an instruction (222) for a function (221) to be performed by the mobile work device (100); Performing (230) a verification (232) of the received security code (226); and if the verification (232) is positive, sending (240) an execution command (242) for the function (221) to be performed to the mobile work device (100) so that the mobile work device (100) performs the function. [2] The method of claim 1, further comprising, if the verification (232) is negative: Sending (250) error information (252) to the input device. [3] The method of claim 1 or 2, wherein the security code (226) and the instruction (222) for the function to be performed are received jointly from the input device. [4] Method according to one of the preceding claims, further comprising: Obtaining (214) or providing an initial security code (212), which has in particular been initially obtained in the input device, wherein the verification (232) of the received security code (226) is based on the initial security code (204). [5] Method according to one of the preceding claims, further comprising: Obtaining (204) or providing function verification information (202) for one or more selected functions (201) that determines whether verification is required for the mobile work device (100) to perform the one or each of the selected functions; and Perform verification if verification is required for the function to be performed according to the function verification information. [6] The method of claim 5, further comprising, when the verification according to the function verification information is not required: Sending the execution command for the function to be performed to the mobile work device without performing verification. [7] Computing system (150), in particular a central computing system, comprising means for carrying out the method according to one of the preceding claims. [8] System comprising the computing system (150) according to claim 7, an input device (140) and a mobile working device (100), in particular an at least partially automated moving vehicle or robot, in particular a robotic lawnmower, wherein the mobile working device (100) is configured to perform a function. [9] System according to claim 8, which is designed such that data communication between the computing system (150) and the mobile work device (100) takes place at least partially via a mobile radio connection (170), in particular 4G and / or 5G and / or 6G, and / or that a data communication between the input device (140) and the computing system (150) optionally at least partially via a mobile radio connection (170), in particular 4G and / or 5G and / or 6G, or at least partially via a WLAN connection (174). [10] System according to claim 8 or 9, wherein the mobile work device (100) further comprises a control or regulating unit (102) and a drive unit (104) for moving the mobile work device. [11] A computer program comprising instructions which, when executed by a computer, cause the computer to carry out the method according to any one of claims 1 to 6. [12] A computer-readable storage medium on which the computer program according to claim 11 is stored.

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