Method for operating a mobile work device

Abstract

The invention relates to a method for operating a mobile work device (100), in particular a vehicle or robot that moves at least partially automatically, especially a robotic lawnmower, wherein the mobile work device (100) is configured to perform one or more functions, comprising: providing information about a current position (P1, P2) of the mobile work device (100), determining whether the current position (P1, P2) of the mobile work device is within a predetermined area (135), and causing the mobile work device (100) to lock one or at least one of the several functions if the current position (P2) of the mobile work device is not within the predetermined area (135).

Description

[0001] The present invention relates to a method for operating a mobile device, in particular a vehicle or robot that moves at least partially automatically, e.g. a robotic lawnmower, a computing unit and a computer program for carrying it out, as well as a mobile device. 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 operating a mobile work 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, to give instructions to the mobile device, transmit other data to the mobile device, or receive data or information from the mobile device.

[0009] With such a mobile device or work tool, it is also common for it to have various functions that it can perform; that is, the mobile device is configured to carry out one or more, preferably different, functions. Instead of functions, one can also speak of applications. Such functions could be, for example, a work function, a training function, an update function, or a driving function.

[0010] The 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 while moving. In the case of a robotic lawnmower, the work function could therefore include, for example, 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.

[0011] The learning function includes, for example, manually moving the mobile device within its environment, particularly without performing any work within that environment. In the case of a robotic lawnmower, the learning function can therefore include, for example, manually moving or steering along the perimeter of the working area to teach the robotic lawnmower to follow the boundaries. For this purpose, the mobile device can be given (continuous) control commands to navigate or move within its environment, for example, by sending corresponding data via the wireless communication link. This is also referred to as a "teach-in" process.

[0012] The update function includes, for example, a software and / or firmware update of a processing unit of the mobile device, such as the aforementioned control or regulation unit, possibly also the drive unit, or any other processing unit within the mobile device. For this purpose, data containing the new software and / or firmware can be transmitted to the mobile device via the wireless communication connection.

[0013] The driving function can include, for example, any movement of the robotic lawnmower (or the mobile work device in general), i.e., any movement of the mobile work device at all.

[0014] This paper proposes a method for enabling or disabling mobile device functions based on location. This involves providing information about the device's current position. The system then determines whether the device's current position lies within a predefined area. This predefined area could be a work area, such as a user's garden in the case of a robotic lawnmower, or it could include a certain additional perimeter around the garden and / or other additional areas. Such a predefined area does not necessarily have to be contiguous; it could consist of several separate areas. More generally, the predefined area could be any geographical region in the world.

[0015] A preferred method for determining the current position is via GPS or alternative satellite-based positioning technology. The current position can then be specified using corresponding coordinates. The defined area can also be determined using corresponding coordinates. It may be useful to expand the defined area, for example, in the case of a garden, to compensate for any measurement inaccuracies in the position determination. For this purpose, it can be advantageous if the mobile device has a GPS module.

[0016] Alternative methods for determining the current position are also conceivable, for example, via wireless communication connections such as Wi-Fi, cellular networks, or Bluetooth, provided the mobile device has the corresponding communication modules. While cellular networks typically allow for similar positioning to GPS, in the case of Wi-Fi, the specified area can be defined, for example, as the Wi-Fi reception range (this may be insufficient for the mowing function of a robotic lawnmower, but it can be useful for other functions of the robotic lawnmower or other mobile devices). In general, the current position of the mobile device can therefore be determined, or may have been determined, based on the presence of a predefined communication connection.

[0017] Similarly, different methods of location determination can be combined, e.g. GPS and mobile communications, to obtain an even more accurate current position.

[0018] The specified area can also be individually determined by a user, for example on a corresponding map of a suitable application on a smartphone, via which the coordinates of the specified area can be determined.

[0019] If the current position of the mobile device is outside the predefined area, the device will lock one or at least one of its functions. Locking a function means, in particular, that it can no longer be executed. For example, in the case of the mowing function, the robotic lawnmower can no longer be started to mow if it is outside the garden (or other predefined area). Similarly, in the case of the aforementioned driving function, the robotic lawnmower (or mobile device) can no longer be moved automatically.

[0020] This allows for the implementation of theft protection, as the mobile device, for example, becomes inoperable if it is outside a predefined area. More generally, it is also possible to block only specific functions.

[0021] It should also be mentioned that this not only ensures that, for example, a robotic lawnmower stops mowing when it leaves the garden or work area, but in particular that it becomes completely inoperable.

[0022] In one embodiment, the mobile work device is prompted to unlock one or at least one of its several functions when its current position is within the predefined area. Specifically, this only occurs if the device's current position is within the predefined area after one or at least one of its several functions has been previously locked. This allows the mobile work device to be used normally again, for example, in one's own area or garden, even if it has previously been stolen.

[0023] In one embodiment, the mobile device is only instructed to unlock one or at least one of its multiple functions if an unlock instruction has been received. This ensures, for example, that only authorized persons can unlock the mobile device or its functions.

[0024] Preferably, the mobile device is only instructed to unlock one or at least one of its several functions if the unlock instruction has been received from a device connected to the mobile device via a communication link, such as Bluetooth or Wi-Fi, for example, a smartphone. The unlock instruction can be sent to the mobile device, for example, via an application on the smartphone, which itself may also be access-protected.

[0025] It can also be stipulated that such unlocking instructions can only be obtained via a third party, e.g., a manufacturer of the mobile device, and perhaps only after the user has been identified to that third party. This also allows for the secure use of the mobile device.

[0026] A computing unit according to the invention (i.e., generally a system for data processing), e.g., a control unit or a control unit of a mobile device, is, in particular in terms of programming, equipped to carry out a method according to the invention.

[0027] The invention also relates to a mobile work device configured to perform one or more functions and comprising a feature according to the invention. Furthermore, the mobile work device preferably comprises a control unit and a drive unit for moving the mobile work device, wherein the mobile work device is configured in particular as a vehicle that moves at least partially automatically, especially as a passenger transport vehicle or as a goods transport vehicle, and / or as a robot, especially as a household robot, e.g., a cleaning robot, floor or street cleaning device, or lawnmower robot, and / or as a drone.

[0028] 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.).

[0029] Further advantages and embodiments of the invention will become apparent from the description and the accompanying drawing.

[0030] 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 mobile work device to illustrate the invention. Fig. Figure 1b schematically shows the mobile work device made of Fig. 1a in a different view. Fig. Figure 1c schematically shows the mobile work device made of Fig. 1a in a larger environment. Fig. Figure 2 schematically shows a process according to the invention in a preferred embodiment. embodiment(s) of the invention

[0031] In Fig. Figure 1a schematically and exemplarily illustrates a mobile device 100, in particular a work device, 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 and 1c can be described in a comprehensive manner.

[0032] The mobile 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 or garden. 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.

[0033] 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.

[0034] 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, for example, various types of wireless communication connections. These types of wireless communication connections are in Fig. 1a is designated with 170, 172, 174. For example, this includes a mobile network connection 170, a Bluetooth connection 172, and a WLAN or WiFi connection 174. The processing unit 108 can, for example, have corresponding radio modules or be connected to such modules, which are then part of the robotic lawnmower 100.

[0035] Furthermore, the number 176 indicates a signal from GPS satellite 180, which can be received by the robotic lawnmower 100 or the correspondingly equipped processing unit 108. In particular, the processing unit 108 can have a GPS module, meaning it can be configured to determine a position using GPS signals. It is understood that signals from several satellites are typically required for this; however, this is only meant to be an example.

[0036] 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 aforementioned types of wireless communication connections 170, 172, and 174 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 communication connection 170 is established via a mobile communication transmitter 152, which in turn is connected to the computing system 150.

[0037] A Bluetooth connection 172 is provided between the robotic lawnmower 100, or rather its processing unit 108, and the mobile input device 140. This means that a Bluetooth connection can be established between the robotic lawnmower 100, or rather its processing 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.

[0038] The WLAN connection 174 is provided between the robotic lawnmower 100 (or its processing unit 108) and the WLAN router. This means a WLAN connection can be established between the robotic lawnmower 100 (or its processing unit 108) and the WLAN router 160. It is 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.

[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 processing unit 108, can therefore send and receive data, i.e., exchange data, via any of the aforementioned wireless communication connections 170, 172, and 174. The mobile input device 140 can exchange data not only via Bluetooth, but also via the mobile network connection 170 or the WLAN connection 174, i.e., indirectly via the processing system 150. It should be noted that a WLAN connection can also be established between the robotic lawnmower 100, or rather its processing unit 108, and the mobile input device 140.

[0043] The mobile work device, or the robotic lawnmower 100, is designed to perform one or more functions. In one embodiment, these functions include a work function, e.g., a mowing function, and a driving function.

[0044] The work function includes, for example, the automated movement of the robotic lawnmower 100 in the environment 120 and the performance of a work process in the environment, such as mowing the lawn, at least temporarily while moving in the environment (depending on the situation, the robotic lawnmower may also initially drive to a specific location without mowing, in order to start or continue mowing there).

[0045] This work function can be assigned to the mobile network connection 170. This means that the robotic lawnmower 100, or rather its processing unit 108, receives and / or sends the data necessary for carrying out the work function, at least partially, via the mobile network connection. This could, for example, include a start command to initiate a mowing process, which is sent from the mobile input device (possibly via the processing system 150) to the robotic lawnmower 100.

[0046] This can also include receiving, for example, trajectories (or navigation information in general) from the computer system 150, which trajectories (or navigation information) are determined in the computer system 150 and which the robotic lawnmower is then supposed to follow during the mowing process. However, it is also possible that a trajectory (or navigation information in general) is 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), and according to which the control unit 102 can move the robotic lawnmower 100 via the drive unit 104 to follow a trajectory, for example, the trajectory 130, which is only mentioned here as an example.

[0047] 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 (they are therefore visible in images taken 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.

[0048] It goes without saying that the robotic lawnmower 100, or generally any mobile device, can also perform other functions, e.g. other work functions, for which one of the wireless communication connections can also be used.

[0049] In Fig. 1c is the environment 120 from Fig. Figure 1b is shown again, but in a different manner and representation. In the surrounding area, two properties, 132 and 133, are shown as examples, with a road 134 between them. On property 132 is the house 160 and the work area / lawn 122. The docking station 110 is also shown as an example in the work area 122.

[0050] Furthermore, in Fig. Figure 1c shows a predefined area 135, which, as an example, surrounds property 132 at a certain distance. A user might, for example, own property 132 and a robotic lawnmower 100 and wish for the robotic lawnmower to work within area 122. The user can then define the predefined area 135 on a map, for example, on a smartphone or mobile input device 140. The predefined area 135 is the area within the environment 120 (or in the world) in which the robotic lawnmower 100 should function correctly. Outside the predefined area 135, however, the robotic lawnmower 100 should not function, or at least certain functions should be disabled.

[0051] The robotic lawnmower 100 is shown as an example at a first position P1 on property 132 and within the specified area 135, and at a second position P2 on property 133 and outside the specified area 135. If the robotic lawnmower 100 is at the second position P2, at least some of its functions should be locked, thus implementing theft protection.

[0052] It should be mentioned here that the predefined range of 135, for example, can be defined according to the user's wishes. The accuracy of the positioning method used can also be taken into account. Thus, as in Fig. As shown in 1c, for example, a certain distance to property 132 is included in the specified area 135 to avoid a position of the robot that is actually still on property 133 being recognized as being outside the specified area 135 due to inaccurate position determination.

[0053] In Fig. Figure 2 schematically illustrates the sequence of a method according to the invention in a preferred embodiment. The method serves to operate a mobile work device, e.g., the robotic lawnmower 100 according to Fig. 1a, Fig. 1b, Fig. 1c. This process will also be described below with reference to the Fig. 1a, Fig. 1b, Fig. 1c will be explained.

[0054] In step 200, information 202 about the current position of the mobile work device is provided. The current position can be determined, for example, using GPS, as explained above.

[0055] In step 210, it is then determined whether the current position of the mobile work device is within a predefined area, e.g., the predefined area 135. At the first position P1 according to Fig. This would be the case for position 1c, but not for the second position P2.

[0056] In step 220, the mobile device is then instructed to lock one or at least one of several functions if its current position is not within the specified range. For example, if the robotic lawnmower 100 is located at position P2, perhaps because it has been stolen, then certain functions will be locked.

[0057] Which functions are blocked can be specified by a user (e.g., the owner of the robotic lawnmower 100). For example, the work or mowing function 222 can be blocked. However, it is also conceivable and practical to block all functions of the mobile device, meaning that the mobile device itself is blocked from use.

[0058] When the robotic lawnmower 100 is returned to the designated area 135, it can be instructed in step 230 to unlock one or at least one of its several functions, since the current position of the mobile device is then again within the designated area 135. As mentioned, it is also conceivable that an unlock instruction 232 must have been received for this to occur.

[0059] The steps mentioned can be performed, for example, on the mobile device or on a processing unit there, such as processing unit 108. However, it is also conceivable that the steps could be performed, for example, on computer system 150, for which the current position must have been transmitted there from the mobile device.

Claims

[1] Method for operating a mobile working device (100), in particular an at least partially automated vehicle or robot, in particular a robotic lawnmower, wherein the mobile working device (100) is configured to perform one or more functions (222), comprising: Providing (200) information (202) about a current position (P1, P2) of the mobile work device (100), Determining (210) whether the current position (P1, P2) of the mobile work device is within a predetermined range (135), and Causing (220) the mobile work device (100) to block the one or at least one of the plurality of functions (222) if the current position (P2) of the mobile work device is not within the predetermined range (135). [2] The method of claim 1, further comprising: Causing (230) the mobile work device to unlock the one or at least one of the plurality of functions when the current position (P1) of the mobile work device is within the predetermined range (135). [3] The method of claim 2, wherein the mobile work device (100) is only caused to unlock the one or at least one of the plurality of functions (222) if the current position of the mobile work device is within the predetermined range after the one or at least one of the plurality of functions had previously been locked. [4] The method according to claim 2 or 3, wherein the mobile work device (100) is only caused to unlock the one or at least one of the plurality of functions when an unlock instruction (232) has been received. [5] Method according to claim 4, wherein the mobile work device (100) is only caused to unlock the one or at least one of the plurality of functions if the unlocking instruction (232) has been received from a device connected to the mobile work device via a communication connection (170, 172, 174) for data transmission. [6] Method according to claim 1, wherein the current position of the mobile work device (100) is or has been determined based on satellite-based positioning, in particular based on GPS. [7] Method according to claim 1, wherein the current position of the mobile work device (100) is or has been determined based on a presence of a predetermined communication connection of the mobile work device. [8] Method according to one of the preceding claims, wherein the one or at least one of the plurality of functions comprises at least one of the following functions: - a working function (222), in particular a mowing function of the mobile working device designed as a lawnmower robot, and - a driving function. [9] Method according to one of the preceding claims, wherein the predetermined area (135) includes a working area (122) of the mobile work device (100), in particular a garden. [10] Computing unit (108) comprising means for carrying out the method according to one of the preceding claims. [11] Mobile work device (100) configured to perform one or more functions, and wherein the mobile work device comprises a computing unit (108) according to claim 8. [12] Mobile work device (100) according to claim 11, comprising a control or regulating unit (102) and a drive unit (104) for moving the mobile work device, and / or wherein the mobile work device (100) is configured to carry out a work process. [13] Mobile working device (100) according to claim 12, which is designed as an at least partially automated moving vehicle, in particular as a passenger transport vehicle or as a goods transport vehicle, and / or as a robot, in particular as a household robot, e.g. a cleaning robot, a floor or street cleaning device or a lawnmower robot, and / or as a drone. [14] A computer program comprising instructions which, when executed by a computer, cause the program to carry out the method steps of a method according to any one of claims 1 to 9 when executed on the computer. [15] A computer-readable storage medium on which the computer program according to claim 14 is stored.

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