METHOD AND OUTDOOR PROCESSING SYSTEM FOR OPERATING AN AUTONOMOUS MOBILE OUTDOOR PROCESSING ROBOT ON A GROUND TO BE PROCESSED

Description

SCOPE OF APPLICATION AND STATE OF THE ART

[0001] The invention relates to a method and an outdoor processing system, each for operating an autonomous mobile outdoor processing robot on a ground surface to be processed.

[0002] WO 2021 / 183018 A1 discloses a robotic work tool system with a boundary that encloses a work area and a robotic work tool that includes a proximity sensor for detecting obstacles. The robotic work tool can be operated within the work area and is configured to detect an obstacle, determine the distance, ascertain whether the distance is within a threshold distance, and if so, ignore the proximity sensor; otherwise, perform an evasive maneuver to avoid the detected obstacle.

[0003] German patent DE 10 2022 104749 A1 discloses a robotic gardening tool comprising a set of wheels and means for self-navigation across a work area. To prevent the robotic gardening tool from becoming stuck in puddles that form during heavy rain in the work area, an electrical sensor is provided for recording an electrical property of the surface beneath the robotic gardening tool, along with a detector configured to determine, based on this electrical property, a state in which the robotic gardening tool enters a puddle. A control unit of the robotic gardening tool is configured to initiate a puddle-avoidance maneuver when such a state is detected.

[0004] EP 3 412 133 B1 discloses a soil cultivation system comprising at least one self-propelled soil cultivation implement, wherein a working area of ​​the soil cultivation implement is defined by a boundary formed by a boundary wire, and the soil cultivation implement is designed to autonomously follow a path within the working area, the soil cultivation implement having a drive, a control unit, and an on-board battery for powering the soil cultivation implement, and with at least one charging station for charging the battery of the soil cultivation implement, wherein the soil cultivation implement is designed to approach the charging station for charging the battery. A charging station is positioned on the boundary wire of the boundary without interrupting the boundary wire. The boundary wire continues uninterrupted in the area of ​​the charging station. TASK AND SOLUTION

[0005] The invention aims to provide a method and an outdoor processing system, each for operating an autonomous mobile outdoor processing robot on a surface to be processed, which has improved properties, in particular being more user-friendly.

[0006] The invention solves this problem by providing a method and an outdoor processing system as described in the independent claims. Advantageous further developments and / or embodiments of the invention are described in the dependent claims.

[0007] The method according to the invention is for operating an autonomous mobile outdoor processing robot on a surface to be processed. At least one edge section of a boundary of the surface is defined by a detectable change in a surface property. A boundary conductor signal generated by a boundary conductor device is detectable at least at this edge section. The outdoor processing robot has at least one detection sensor, in particular two detection sensors, of a detection device and at least one sensing sensor of a sensing device. The detection device is designed to detect, in particular a value, of the surface property within a detection area of ​​the detection device.The detection device is designed to detect, in particular a value, of the boundary wire signal for monitoring at least one approach to the boundary wire device, in particular a crossing of the boundary wire device. The method comprises the following steps: a) controlling the movement of the outdoor processing robot on the ground surface and monitoring at least the approach to the boundary wire device by detecting the boundary wire signal, in particular by means of the detection device, during movement. b) in the case of at least one approach to the boundary wire device, in particular monitored by means of the detection device, controlling the movement of the outdoor processing robot depending on the detection of the change, in particular by means of the detection device, such that the outdoor processing robot remains within the boundary edge, in particular on the ground surface.

[0008] This allows the boundary wire system to be positioned or laid imprecisely or roughly along the edge section, and in particular, it does not need to be positioned precisely or finely along the edge section. Additionally or alternatively, this means that the edge section does not need to be calibrated, especially for determining the position of the outdoor processing robot on the floor surface. This results in less installation effort and thus greater user-friendliness.

[0009] In particular, the process, operation, detection, recording, monitoring, control and / or movement may be implemented automatically and / or by computer.

[0010] Autonomous mobile outdoor processing robot can mean that the outdoor processing robot can be trained to move automatically, independently, or autonomously on the ground surface and / or to process the ground surface automatically, independently, or autonomously and / or autonomously, in particular to start and / or stop processing.

[0011] The outdoor processing robot may have a processing tool, in particular a cutting tool, wherein the processing tool may be designed for processing the ground surface.

[0012] The outdoor processing robot can be a green space processing robot.

[0013] The ground surface can be a green area, in particular a grass or lawn area. Specifically, the border section can be a lawn edge.

[0014] The term "change" can be used synonymously with the term "transition".

[0015] The change can be spatial and / or an end.

[0016] The boundary conductor signal can be physical, in particular a field, and / or distance-dependent, in particular decreasing.

[0017] The term "caused" can be used synonymously with the term "produced".

[0018] The boundary conductor device may include a boundary wire, in particular a wire loop.

[0019] The phrase "in the area of ​​the marginal section" can be used synonymously with the phrase "at the marginal section".

[0020] The detection area can be spatially defined and / or limited around the outdoor processing robot.

[0021] The detection of the change can be performed with a minimum confidence level, which is particularly specified by the manufacturer.

[0022] The detection and / or the recording can be contactless or -free.

[0023] The detection and / or the capture, or the detection device and the capture device, can be of different types and / or based on different technologies.

[0024] At least the approach to the boundary conductor device can be monitored by detecting a minimum strength of the boundary conductor signal, which is specified in particular by the factory.

[0025] Crossing the boundary wire can be monitored by detecting a maximum strength or amplitude and / or a phase reversal or phase inversion or sign change of the boundary wire signal. In other words, crossing the boundary wire can be monitored or detected by a change in the boundary wire signal from inside to outside.

[0026] At least the approach to the boundary conductor device can be accomplished by the outdoor processing robot.

[0027] The outdoor processing robot, the boundary conductor device, the detection sensor, the detection device, the sensing sensor and / or the sensing device may be electrical.

[0028] The outdoor processing robot may have a detection device and / or a detection device.

[0029] The terms "include" or "have" can be used synonymously with the term "exhibits".

[0030] The terms "configured" or "set up" can be used synonymously with the term "trained".

[0031] The term "check" can be used synonymously with the term "monitor".

[0032] The term "control" can be used synonymously with the term "control".

[0033] Control and monitoring can be carried out by means of a control and monitoring device, in particular an electrical one, especially of the outdoor processing robot.

[0034] Moving can be driving.

[0035] The movement can be carried out by means of a movement device, in particular an electric one, of the outdoor processing robot.

[0036] Step a) can be performed continuously or intermittently, especially in the case of no approach to the boundary conductor device.

[0037] Step b) can be performed after step a).

[0038] The procedure may include: processing the ground surface using the outdoor processing robot, particularly during step a) and / or step b).

[0039] The maximum strength and / or phase reversal of the boundary wire signal can be detected within the boundary line or the ground area. The boundary wire system runs within the boundary line or the ground area. This allows for monitoring the crossing of the boundary wire system before it crosses the boundary line, thus enabling timely detection of the change. In particular, within the boundary wire system, especially the boundary wire, the movement of the outdoor processing robot can be controlled if or when a change is detected, or depending on the detection of the change.

[0040] The movement of the outdoor processing robot is controlled in such a way that, at least when approaching the boundary wire and detecting the change, the robot reaches the edge section. This enables precise processing of the ground surface up to or including the boundary edge.

[0041] In a further development of the invention, the soil property comprises a soil color and / or a soil type and / or a soil material and / or a soil roughness and / or a soil height and / or freedom from obstacles and / or a type of planting and / or vegetation. In particular, the soil property is the soil color and / or the soil type and / or the soil material and / or the soil roughness and / or the soil height and / or the freedom from obstacles and / or the type of planting and / or vegetation. This allows for particularly good recognition of the transition. For example, the transition could be between a green grass or lawn area and a gray stone terrace or brown flowerbeds.

[0042] In a further development of the invention, the detection sensor comprises a grass sensor and / or a color sensor, in particular a green sensor, and / or a chlorophyll sensor and / or an image sensor, in particular a camera, and / or an ultrasonic, radio, laser, and / or distance sensor. Specifically, the detection sensor is the grass sensor and / or the color sensor, in particular the green sensor, and / or the chlorophyll sensor and / or the image sensor and / or the ultrasonic, radio, laser, and / or distance sensor. This enables particularly good detection of the change. In particular, detection by means of the color sensor can be based on a selective acquisition and evaluation of the visible spectral range. Additionally or alternatively, the color sensor can be an RGB sensor.Additionally or alternatively, detection using the chlorophyll sensor can be based on measuring chlorophyll fluorescence, in particular on transmitting electromagnetic radiation of a first wavelength and receiving electromagnetic radiation of a second wavelength, which is longer than the first, especially when excited by the transmitted radiation. Furthermore, additionally or alternatively, detection using the image sensor can be based on capturing two-dimensional images of light electrically or mechanically. Furthermore, additionally or alternatively, detection using the image sensor can be based on evaluating images captured by the image sensor using artificial intelligence, in particular segmenting parts of the images using machine learning.Additionally or alternatively, detection using ultrasonic, radio, laser, and / or distance sensors can be based on monitoring the immediate surroundings of the outdoor processing robot and / or measuring distances, particularly to obstacles. For further information, please refer to the relevant technical literature.

[0043] In a further development of the invention, the outdoor processing robot is a lawnmower robot, in particular with a lawn cutting tool. This method offers particular advantages for such an outdoor processing robot. In particular, the outdoor processing robot can be a mulching mower robot. Additionally or alternatively, the lawn cutting tool can comprise at least one cutting line, at least one plastic blade, at least one metal blade, and / or a metal cutting blade with at least one cutting edge and / or with at least one cutting tooth. Furthermore, additionally or alternatively, the lawn cutting tool can be a rotating lawn cutting tool and designed to cut material to be mowed in the so-called free-cutting method without a counter blade. Furthermore, additionally or alternatively, the lawn cutting tool can be designed to mow the ground surface.

[0044] In a further development of the invention, the boundary wire signal is an electrical and / or magnetic and / or electromagnetic signal. This enables particularly good detection of the boundary wire signal and thus particularly good monitoring of at least the approach to the boundary wire device. For further details, please refer to the relevant technical literature.

[0045] In a further development of the invention, the detection sensor comprises an electric and / or magnetic and / or electromagnetic field sensor. In particular, the detection sensor is the electric and / or magnetic and / or electromagnetic field sensor. This enables particularly good detection of the boundary wire signal and thus particularly good monitoring of at least the approach to the boundary wire device. In particular, the electric and / or magnetic and / or electromagnetic field sensor can be a magnetometer. For further details, please refer to the relevant technical literature.

[0046] In a further development of the invention, the boundary conductor device runs at least along the edge section, particularly below the ground surface. Additionally or alternatively, the boundary conductor device is configured such that an electric current flows through it, the current generating the boundary conductor signal. In particular, the boundary conductor device can run parallel to the edge section. For example, the boundary conductor device can be buried at a depth of up to 10 centimeters. For further details, please refer to the relevant technical literature.

[0047] In a further development of the invention, step b) comprises: in the event of the detection of the maximum strength and / or phase reversal of the boundary wire signal or the crossing of the boundary wire device, controlling the movement of the outdoor processing robot depending on the detection of the change. This enables particularly good monitoring of the crossing of the boundary wire device and thus timely control of the movement of the outdoor processing robot depending on the detection of the change. In particular, step a) can be executed continuously, especially in the case of no detection of the maximum strength and / or phase reversal of the boundary wire signal.

[0048] In a further development of the invention, the method comprises: in the case of no approach to the boundary wire device, allowing the outdoor processing robot to move at a maximum speed, in particular a value of the maximum speed; and in the case of at least an approach to the boundary wire device, in particular upon detection of the change, restricting the movement of the outdoor processing robot to a lower restricted speed than the maximum speed, in particular a value of the restricted speed. This enables, on the one hand, rapid processing of the floor area away from the boundary edge and, on the other hand, precise processing of the floor area at the boundary edge and / or the avoidance of crossing the boundary edge. In particular, the releasing and / or the restricting can be automatic.Additionally or alternatively, the speed limit may be 25% (percent), in particular 50%, lower than the maximum speed.

[0049] In a further development of the invention, at least one other edge section of the boundary is not defined by a detectable change in a soil property of the ground surface. A boundary wire signal, in particular the boundary wire signal, generated by the boundary wire device, is detectable at the other edge section. The method comprises the step: c) in the case of at least the approach to the boundary wire device and no detection of the change, in particular with a minimum confidence level, controlling the movement of the outdoor processing robot depending on the detection of the boundary wire signal. This enables the robot to avoid crossing the boundary and / or processing the ground surface at or up to the boundary wire device.In particular, controlling the movement of the outdoor processing robot based on the detection of the boundary wire signal can be such that the outdoor processing robot crosses or reaches the boundary wire device. Additionally or alternatively, step c) can be executed after step a). Furthermore, additionally or alternatively, the method can include: processing the ground surface using the outdoor processing robot during step c).

[0050] In one embodiment of the invention, the movement control of the outdoor processing robot is implemented such that, at least in the case of approaching the boundary wire device and not in the case of detecting a change, the maximum strength and / or phase reversal of the boundary wire signal is detected, or the outdoor processing robot crosses or reaches the boundary wire device. This enables precise processing of the ground surface at or up to the boundary wire device.

[0051] In a further development of the invention, the outdoor processing robot has a maximum robot dimension, in particular a value of the maximum robot dimension, along the ground surface. The detection area has a maximum reach, in particular a value of the maximum reach, of at most twice, in particular once, the robot dimension, corresponding to, in particular equal to, the outdoor processing robot, in particular from its center. Additionally or alternatively, the detection area has a maximum reach, in particular a value of, in particular, 1 m (meter), in particular a maximum of 0.5 m, from the outdoor processing robot, in particular from its center. This enables particularly good detection of the, in particular relevant, change and / or avoids the detection of an irrelevant, because distant, change.In particular, the maximum robot dimension can be the robot length. Additionally or alternatively, the maximum reach can be at least half the robot dimension, in particular equal to it, and / or 0.25 m from the outdoor processing robot. Furthermore, additionally or alternatively, the boundary wire device can have a maximum reach from the edge section.

[0052] The outdoor processing system according to the invention is for operating the autonomous mobile outdoor processing robot on the surface to be processed. At least the edge section of the boundary of the surface is defined by the detectable change in the surface properties. The boundary wire signal generated by the boundary wire device can be detected at the edge section. The outdoor processing robot has at least the detection sensor of the detection device and at least the sensing sensor of the sensing device. The detection device is designed to detect the surface properties within its detection range. The sensing device is designed to detect the boundary wire signal for monitoring at least the approach to the boundary wire device, and in particular, the crossing of the boundary wire device.The outdoor machining system includes a control and monitoring device. This control and monitoring device is designed to: control the movement of the outdoor machining robot on the ground surface; monitor at least its approach to the boundary wire system by detecting the boundary wire signal during movement; and, in the event of at least an approach to the boundary wire system, control the movement of the outdoor machining robot based on the detection of the change in boundary wire, ensuring that the robot remains within the boundary wire. The maximum strength and / or phase reversal of the boundary wire signal are detectable within the boundary wire. The boundary wire system runs within the boundary wire.The movement of the outdoor processing robot is controlled in such a way that, at least in the case of approaching the boundary conductor device and detecting the change, the outdoor processing robot reaches the edge section.

[0053] The outdoor processing system can offer the same advantage(s) as the previously mentioned method.

[0054] In particular, the outdoor processing system can be designed to carry out the process as described above, especially automatically.

[0055] Additionally or alternatively, the outdoor processing system can be electric.

[0056] Furthermore, or alternatively, the control and monitoring device may include a computing device and / or a processor and / or a microcontroller and / or a storage device and / or a computer, in particular.

[0057] Additionally or alternatively, the outdoor processing system can include the boundary ladder device.

[0058] Additionally or alternatively, the outdoor processing robot can be trained as described for the previously mentioned procedure.

[0059] In a further development of the invention, the outdoor machining system comprises the outdoor machining robot and / or the recognition device and / or the detection device. In particular, the outdoor machining robot comprises the recognition device and / or the detection device and / or the control and monitoring device. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Further advantages and aspects of the invention will become apparent from the claims and from the description of an embodiment of the invention, which is explained below with reference to the figures. These figures show: Fig. 1 shows a method and an outdoor processing system according to the invention for operating an autonomous mobile outdoor processing robot on a ground surface to be processed, and Fig. 2 shows a schematic progression of the strength of a boundary conductor signal generated by means of a boundary conductor device over a distance to the boundary conductor device. DETAILED DESCRIPTION OF THE EXECUTION EXAMPLES

[0061] Fig. 1 Figure 1 shows an outdoor processing system 90 according to the invention and a method according to the invention for operating an autonomous mobile outdoor processing robot 1 on a ground surface 100 to be processed. At least one edge section 102 of a boundary edge 101 of the ground surface 100 is defined by a detectable change 100E of a ground property 100B of the ground surface 100. A boundary conductor signal SI generated by means of a boundary conductor device 50 can be detected at the edge section 102. The outdoor processing robot 1 has at least one detection sensor 3 of a detection device 2 and at least one detection sensor 5 of a detection device 4. The detection device 3 is configured to detect the ground property 100E in a detection area 2B of the detection device 2, in particular, it detectsThe detection device 4 is designed to detect, in particular detect and monitor, at least one approach to the boundary conductor device 50, in particular one crossing of the boundary conductor device 50.

[0062] The outdoor processing system 90 has a control and monitoring device 91. The control and monitoring device 91 is designed to: control the movement of the outdoor processing robot 1 on the floor surface 100 and to monitor at least the approach to the boundary conductor device 50 by detecting the boundary conductor signal SI during movement, in particular to control and monitor, and in the case of at least the approach to the boundary conductor device 50, to control the movement of the outdoor processing robot 1 depending on the detection of the change 100E such that the outdoor processing robot 1 remains within the boundary edge 101, in particular to control.

[0063] The method comprises the following steps: a) controlling the movement of the outdoor processing robot 1 on the floor area 100 and monitoring at least the approach to the boundary conductor device 50 by detecting the boundary conductor signal SI during movement, in particular by means of the control and monitoring device 91. b) in the case of at least the approach to the boundary conductor device 50, controlling the movement of the outdoor processing robot 1 depending on the detection of the change 100E such that the outdoor processing robot 1 remains within the boundary edge 101, in particular by means of the control and monitoring device 91.

[0064] In detail, the outdoor processing system 90 comprises the outdoor processing robot 1 and / or the detection device 2 and / or the detection device 4. In particular, the outdoor processing robot 1 comprises the detection device 2 and / or the detection device 4 and / or the control and monitoring device 91.

[0065] Furthermore, soil property 100B has a soil color 100F and / or a soil type 100A and / or a soil material 100M and / or a soil roughness 100R and / or a soil height 100H and / or an obstacle clearance HF and / or a type of planting and / or vegetation AB. In particular, soil property 100B is the soil color 100f and / or the soil type 100a and / or the soil material 100M and / or the soil roughness 100r and / or the soil height 100H and / or the obstacle clearance HF and / or the type of planting and / or vegetation AB.

[0066] Furthermore, the detection sensor 3 comprises a grass sensor 3R and / or a color sensor 3F, in particular a green sensor 3G, and / or a chlorophyll sensor 3C and / or an image sensor 3B and / or an ultrasonic, radio, laser and / or distance sensor 3S. In particular, the detection sensor 3 is the grass sensor 3R and / or the color sensor 3F, in particular the green sensor 3G, and / or the chlorophyll sensor 3C and / or the image sensor 3B and / or the ultrasonic, radio, laser and / or distance sensor 3S.

[0067] Furthermore, the outdoor processing robot 1 is a lawn mowing robot 1', especially with a lawn mowing tool 6.

[0068] Furthermore, the boundary conductor signal SI is an electrical and / or magnetic and / or electromagnetic signal emoSI.

[0069] Furthermore, the detection sensor 5 includes an electric and / or magnetic and / or electromagnetic field sensor 5emo. In particular, the detection sensor 5 is the electric and / or magnetic and / or electromagnetic field sensor 5emo.

[0070] Furthermore, the boundary conductor device 50 runs along the edge section 102, in particular below the floor surface 100. Additionally or alternatively, the boundary conductor device 50 is designed such that an electric current I flows through the boundary conductor device 50, the current I generating the boundary conductor signal SI.

[0071] Furthermore, a maximum strength MSI and / or a phase reversal PUI of the boundary conductor signal SI within the boundary edge 101 can be detected, as shown in Fig. 2 shown. The boundary conductor device 50 runs within the boundary edge 101.

[0072] Furthermore, step b) indicates: in the case of detecting the maximum strength MSI and / or the phase reversal PUI of the boundary conductor signal SI, controlling the movement of the outdoor processing robot 1 depending on the detection of the change 100E.

[0073] Furthermore, the method includes: in the case of no approach to the boundary conductor device 50, allowing the outdoor processing robot 1 to move to a maximum speed vmax, and in the case of at least an approach to the boundary conductor device 50, in particular and the detection of the change 100E, restricting the movement of the outdoor processing robot 1 to a restriction speed vlimit that is lower than the maximum speed vmax.

[0074] Furthermore, at least one other boundary section 102' of the boundary edge 101 is not defined by a detectable change in a ground property 100B of the ground surface 100. The boundary conductor signal SI generated by the boundary conductor device 50 is detectable at the other boundary section 102'. The method comprises the step: c) in the case of at least approaching the boundary conductor device 50 and not detecting the change 100E, controlling the movement of the outdoor processing robot 1 depending on the detection of the boundary conductor signal SI, in particular by means of the control and monitoring device 91.

[0075] Furthermore, the movement control of the outdoor processing robot 1 is implemented such that, in the case of at least the approach to the boundary conductor device 50 and the detection of the change 100E, the outdoor processing robot 1 reaches the boundary section 102. Additionally, in the case of at least the approach to the boundary conductor device 50 and not the detection of the change 100E, the movement control of the outdoor processing robot 1 is implemented such that at most the maximum strength MSI and / or the phase reversal PUI of the boundary conductor signal SI are detected.

[0076] Furthermore, the outdoor processing robot 1 has a maximum robot dimension 1A along the floor area 100. The detection area 2B has a maximum reach 2BR of at most twice the robot dimension 1A, in particular equal to, in the distance from the outdoor processing robot 1. Additionally or alternatively, the detection area 2B has a maximum reach 2BR of at most 1 m from the outdoor processing robot 1.

[0077] As the illustrated embodiment explained above makes clear, the invention provides an advantageous method and an advantageous outdoor processing system for operating an autonomous mobile outdoor processing robot on a surface to be processed, which has improved properties, in particular being more user-friendly.

Claims

1. Method for operating an autonomous mobile outdoor maintenance robot (1) on an area of ground (100) to be maintained, - wherein at least one edge section (102) of a boundary edge (101) of the area of ground (100) is defined by a detectable change (100E) of a ground property (100B) of the area of ground (100), - wherein a boundary conductor signal (SI), generated by means of a boundary conductor device (50), can be registered at the edge section (102), and - wherein the outdoor maintenance robot (1) comprises: - at least one detecting sensor (3) of a detecting device (2), wherein the detecting device (3) is designed for detecting the ground property (100E) in a detecting region (2B) of the detecting device (2), and - at least one registering sensor (5) of a registering device (4), wherein the registering device (4) is designed for registering the boundary conductor signal (SI) for monitoring at least an approach to the boundary conductor device (50), in particular a crossing of the boundary conductor device (50), - wherein the method comprises the following steps: a) controlling the movement of the outdoor maintenance robot (1) on the area of ground (100) and monitoring at least an approach to the boundary conductor device (50) by means of registering the boundary conductor signal (SI) during the movement and b) in the case where the boundary conductor device (50) is at least approached, controlling the movement of the outdoor maintenance robot (1) in dependence on the detection of the change (100E) in such a way that the outdoor maintenance robot (1) remains within the boundary edge (101), - wherein a maximum strength (MSI) and / or a phase reversal (PUI) of the boundary conductor signal (SI) within the boundary edge (101) are / is registerable, characterized in that the boundary conductor device (50) runs within the boundary edge (101), - wherein the control of the movement of the outdoor maintenance robot (1) is performed in such a way that, in the case where the boundary conductor device (50) is at least approached and the change (100E) is detected, the outdoor maintenance robot (1) reaches the edge section (102).

2. Method according to the preceding claim, wherein the ground property (100B) comprises, in particular is, a ground colour (100F) and / or a ground type (100A) and / or a ground material (100M) and / or a ground roughness (100R) and / or a ground height (100H) and / or an obstacle clearance (HF) and / or a type of vegetation and / or plant cover (AB).

3. Method according to one of the preceding claims, - wherein the detecting sensor (3) comprises, in particular is, a grass sensor (3R) and / or a colour sensor (3F), in particular a green sensor (3G), and / or a chlorophyll sensor (3C) and / or an image sensor (3B) and / or an ultrasonic, radio, laser and / or distance sensor (3S).

4. Method according to one of the preceding claims, - wherein the outdoor maintenance robot (1) is a lawn mower robot (1'), in particular with a lawn mower tool (6).

5. Method according to one of the preceding claims, - wherein the boundary conductor signal (SI) is an electrical and / or magnetic and / or electromagnetic signal (emoSI).

6. Method according to one of the preceding claims, - wherein the registering sensor (5) comprises, in particular is, an electrical and / or magnetic and / or electromagnetic field sensor (5emo).

7. Method according to one of the preceding claims, - wherein the boundary conductor device (50) runs along the edge section (102), in particular under the area of ground (100), and / or - wherein the boundary conductor device (50) is designed for the purpose that an electric current (I) flows through the boundary conductor device (50), wherein the current (I) generates the boundary conductor signal (SI).

8. Method according to one of the preceding claims, - wherein step b) comprises: in the case where the maximum strength (MSI) and / or the phase reversal (PUI) of the boundary conductor signal (SI) is / are registered, controlling the movement of the outdoor maintenance robot (1) in dependence on the detection of the change (100E).

9. Method according to one of the preceding claims, - wherein the method comprises: - in the case where the boundary conductor device (50) is not approached, enabling the movement of the outdoor maintenance robot (1) to a maximum speed (vmax), and - in the case where the boundary conductor device (50) is at least approached, in particular the change (100E) is detected, limiting the movement of the outdoor maintenance robot (1) to a limiting speed (vlimit) lower than the maximum speed (vmax).

10. Method according to one of the preceding claims, - wherein at least one other edge section (102') of the boundary edge (101) is not defined by a detectable change of a ground property (100B) of the area of ground (100), and wherein a, in particular the, boundary conductor signal (SI), generated by means of the boundary conductor device (50), is registerable at the other edge section (102'), and - wherein the method comprises the following step: c) in the case where the boundary conductor device (50) is at least approached and the change (100E) is not detected, controlling the movement of the outdoor maintenance robot (1) in dependence on the registering of the boundary conductor signal (SI).

11. Method according to the preceding claim, - wherein the control of the movement of the outdoor maintenance robot (1) is performed in such a way that, in the case where the boundary conductor device (50) is at least approached and the change (100E) is not detected, at most the maximum strength (MSI) and / or the phase reversal (UPI) of the boundary conductor signal (SI) are / is registered.

12. Method according to one of the preceding claims, - wherein the outdoor maintenance robot (1) comprises a maximum robot dimension (1A) along the area of ground (100), wherein the detecting region (2B) has a maximum range (2BR) corresponding to, in particular equal to, at most twice the robot dimension (1A) away from the outdoor maintenance robot (1), and / or - wherein the detecting region (2B) has a, in particular the, maximum range (2BR) of at most 1 m away from the outdoor maintenance robot (1).

13. Outdoor maintenance system (90) for operating an autonomous mobile outdoor maintenance robot (1) on an area of ground (100) to be maintained, in particular for performing the method according to one of the preceding claims, - wherein at least one edge section (102) of a boundary edge (101) of the area of ground (100) is defined by a detectable change (100E) of a ground property (100B) of the area of ground (100), - wherein a boundary conductor signal (SI), generated by means of a boundary conductor device (50), can be registered at the edge section (102), and - wherein the outdoor maintenance robot (1) comprises: - at least one detecting sensor (3) of a detecting device (2), wherein the detecting device (3) is designed for detecting the ground property (100E) in a detecting region (2B) of the detecting device (2), and - at least one registering sensor (5) of a registering device (4), wherein the registering device (4) is designed for registering the boundary conductor signal (SI) for monitoring at least an approach to the boundary conductor device (50), in particular a crossing of the boundary conductor device (50), - wherein the outdoor maintenance system (90) comprises a controlling and monitoring device (91), wherein the controlling and monitoring device (91) is designed: - for controlling the movement of the outdoor maintenance robot (1) on the area of ground (100) and for monitoring at least an approach to the boundary conductor device (50) by means of registering the boundary conductor signal (SI) during the movement and - in the case where the boundary conductor device (50) is at least approached, for controlling the movement of the outdoor maintenance robot (1) in dependence on the detection of the change (100E) in such a way that the outdoor maintenance robot (1) remains within the boundary edge (101), - wherein a maximum strength (MSI) and / or a phase reversal (PUI) of the boundary conductor signal (SI) within the boundary edge (101) are / is registerable, characterized in that the boundary conductor device (50) runs within the boundary edge (101), - wherein the control of the movement of the outdoor maintenance robot (1) is performed in such a way that, in the case where the boundary conductor device (50) is at least approached and the change (100E) is detected, the outdoor maintenance robot (1) reaches the edge section (102).

14. Outdoor maintenance system (90) according to the preceding claim, - wherein the outdoor maintenance system (90) comprises the outdoor maintenance robot (1) and / or the detecting device (2) and / or the registering device (4), in particular wherein the outdoor maintenance robot (1) comprises the detecting device (2) and / or the registering device (4) and / or the controlling and monitoring device (91).