Operating a mobile robot

Abstract

The invention relates to a method for operating a mobile robot having surroundings monitoring for monitoring different protected fields to which different travel speed ranges of the robot are assigned. According to the method, stopping of the robot is triggered if a first protected field, to which a predefined first travel speed range of the robot is assigned, is violated (S20), wherein said stopping is aborted (S50) if a second protected field, to which a predefined second, lower travel speed range of the robot is assigned, is not violated and a travel speed of the robot falls below a first predefined limited travel speed within this second travel speed range. The invention further relates to surroundings monitoring, a mobile robot and a computer program (product).

Description

[0001] 2019P00138WO 1 / 21 KUKA Deutschland GmbH

[0002] Description

[0003] Operating a mobile robot

[0004] The present invention relates to a method for operating a mobile robot which has an environmental monitoring system for monitoring various protective fields to which different travel speed ranges of the robot are assigned, as well as an environmental monitoring system, a mobile robot and a computer program or computer program product for carrying out a method described herein.

[0005] The object of the present invention is to improve the operation of mobile robots.

[0006] This problem is solved by a method with the features of claim 1. Claims 9-11 protect an environmental monitoring system, a mobile robot, and a computer program or computer program product for carrying out a method described herein. The dependent claims relate to advantageous embodiments.

[0007] According to one embodiment of the present invention, an environmental monitoring system for a mobile robot monitors various protective fields, to which different robot speed ranges are assigned, preferably programmatically. In one embodiment, an (active) protective field is violated if at least one unintended obstacle is detected within the protective field.

[0008] This is based in particular on the idea that a robot moving at a higher speed covers a larger area in the same amount of time and has a greater momentum in the event of a collision, whereas conversely, at lower speeds, obstacles at a greater distance do not require the robot to stop, and it is therefore advantageous to use larger protective fields at higher speeds and 2019P00138WO 2 / 21 KUKA Deutschland GmbH

[0009] On the other hand, conversely, narrower or smaller protective fields should be used at lower driving speeds.

[0010] Accordingly, at least one first and one second protective field are provided in one embodiment, wherein:

[0011] - the first protective field is assigned a predetermined first travel speed range of the robot, preferably such that

[0012] - the first protective field is active or is activated when the robot's travel speed exceeds a lower limit of the first travel speed range and / or is inactive or is deactivated when the robot's travel speed falls below this lower limit; and / or

[0013] - the active first protective field does not prevent the robot from moving (further) if the first protective field is not violated and the robot's speed falls below an upper limit of the first speed range, or (further) movement of the robot is (from a safety perspective) permitted with the first protective field active if the first protective field is not violated and the robot's speed falls below an upper limit of the first speed range;

[0014] - a predetermined second travel speed range of the robot is assigned to the second protective field, preferably in such a way that

[0015] - the second protective field is active when the robot's travel speed exceeds a lower limit of the second travel speed range, and is deactivated when the robot's travel speed falls below this lower limit; and / or

[0016] - the active second protective field does not prevent the robot from moving (further) if the second protective field is not violated and the robot's travel speed falls below an upper limit of the second travel speed range, or (further) movement of the robot is (safety-wise) permissible with an active second protective field if the second protective field is not violated and a 2019P00138WO 3 / 21 KUKA Deutschland GmbH

[0017] The robot's travel speed falls below an upper limit of the second travel speed range;

[0018] - wherein preferably a maximum distance of the second protective field from the mobile robot is smaller than a maximum distance of the first protective field from the mobile robot and / or the second protective field is narrower or smaller than the first protective field.

[0019] One version includes a third protective field, and a further development version includes a fourth protective field, whereby:

[0020] - a predetermined third travel speed range of the robot is assigned to the third protective field, preferably in such a way that

[0021] - the third protective field is active or is activated when the robot's travel speed exceeds a lower limit of the third travel speed range and / or is inactive or is deactivated when the robot's travel speed falls below this lower limit; and / or

[0022] - the active third protective field does not prevent the robot from moving (further) if the third protective field is not violated and the robot's speed falls below an upper limit of the third speed range, or (further) movement of the robot is (from a safety perspective) permissible with an active third protective field if the third protective field is not violated and the robot's speed falls below an upper limit of the third speed range;

[0023] - wherein preferably a maximum distance of the third protective field from the mobile robot is smaller than a maximum distance of the second protective field from the mobile robot and / or the third protective field is narrower or smaller than the second protective field

[0024] - a predetermined fourth travel speed range of the robot is assigned to the fourth protective field, preferably in such a way that

[0025] - the fourth protective field is active when the robot's travel speed exceeds a lower limit of the fourth travel speed range and is deactivated when deactivated, 2019P00138WO 4 / 21 KUKA Deutschland GmbH

[0026] if the robot's travel speed falls below this lower limit; and / or

[0027] - the active fourth protective field does not prevent the robot from moving (further) if the fourth protective field is not violated and the robot's speed falls below an upper limit of the fourth speed range, or (further) movement of the robot is (from a safety perspective) permissible with the fourth protective field active if the fourth protective field is not violated and the robot's speed falls below an upper limit of the fourth speed range;

[0028] - wherein preferably a maximum distance of the fourth protective field from the mobile robot is smaller than a maximum distance of the third protective field from the mobile robot and / or the fourth protective field is narrower or smaller than the third protective field.

[0029] Of course, one or more additional protective fields can be provided, which are preferably assigned to the same driving speed range.

[0030] According to one embodiment of the present invention, when operating the mobile robot, which has environmental monitoring, a stop of the robot is triggered or instructed if the (active) first protective field, to which the predetermined first travel speed range of the robot is assigned, is violated.

[0031] This ensures a safe response to an obstacle that violates the first protective field.

[0032] However, such a stop is not necessary and therefore does not necessarily have to be continued or completed until the robot comes to a complete standstill if at least one other protective field, to which a lower speed range of the robot is assigned, is not violated and the robot's speed falls below the upper limit of this lower speed range, or if (continued) movement of the robot is (from a safety perspective) permissible within this other protective field. 2019P00138WO 5 / 21 KUKA Deutschland GmbH

[0033] Accordingly, according to one embodiment of the present invention, this stop triggered or initiated as a result of a violation of the (active) first protective field is aborted if at least one or the second protective field, to which a predetermined (second) lower travel speed range of the robot is assigned, is not violated and a travel speed of the robot falls below a (first) predetermined limited travel speed within this (second) lower travel speed range.

[0034] This advantageously ensures a safe reaction to an obstacle violating the first protective field, while simultaneously preventing the mobile robot from coming to a standstill once this has become unnecessary from a safety perspective (due to the other or second unviolated protective field), since the robot's speed has decreased to the speed range associated with this unviolated protective field as a result of the triggered or initiated stop.

[0035] The first predefined limited speed can be equal to the upper limit of the second speed range. Likewise, it can also be set between the upper and lower limits of the second speed range to enable more stable driving within the second speed range.

[0036] A predefined driving speed range, which is lower than another driving speed range, preferably has a lower limit that is lower than a lower limit of that other driving speed range, and / or an upper limit that is lower than an upper limit of that other driving speed range and preferably less than or equal to the lower limit of that other driving speed range. In particular, the upper limit of the second driving speed range can be less than or equal to the lower limit of the first driving speed range and / or the upper limit of the third driving speed range can be less than or equal to the lower limit of the second driving speed range and / or the upper limit 2019P00138WO 6 / 21 KUKA Deutschland GmbH

[0037] The lower limit of the third speed range must be less than or equal to the fourth speed range.

[0038] In one embodiment, as a result of this interruption of the stop – triggered by the violated first protective field – the robot's target travel speed is reduced based on the second travel speed range, preferably such that it falls below one or the upper limit of the second travel speed range. This allows for more stable (continued) travel within the second travel speed range.

[0039] In one implementation, this reduction in the target travel speed is reversed if the first protective field is no longer violated. This allows the robot to advantageously resume its original target travel speed after the obstacle(s) that caused the violation of the first protective field are removed, thus advantageously accelerating robot operation.

[0040] One of the underlying ideas of the present invention is therefore to monitor two or more protective fields simultaneously and to determine whether, in the event of a protective field violation, it is possible to continue driving at a lower speed and preferably within a smaller or narrower protective field. If such a protective field is present, the corresponding speed is set, or the target speed is reduced accordingly, and the triggered stop, which can preferably be a safety stop, is aborted when the corresponding speed is reached. If, on the other hand, no suitable protective field is present, the stop or safety stop continues until the robot comes to a standstill. By avoiding unnecessary robot downtime, its performance can be advantageously increased, thereby improving the operation and, in particular, the cycle times of mobile robots.2019P00138WO 7 / 21 KUKA Deutschland GmbH.

[0041] Accordingly, the principle explained above can be particularly advantageously extended with at least one additional (third) protective field by implementing in one embodiment

[0042] - in the event of a breach of the first protective field; and / or

[0043] - in case of a breach of the second protective field

[0044] a stop of the robot is triggered,

[0045] where this stopping is aborted if a third protective field, to which a predetermined third travel speed range of the robot, which is lower than the second travel speed range, is assigned, is not violated and a travel speed of the robot falls below a second predetermined limited travel speed within this third travel speed range.

[0046] The second predefined limited speed can be equal to the upper limit of the third speed range. Likewise, it can also be set between the upper and lower limits of the third speed range to enable more stable driving within that range.

[0047] In one embodiment, as a result of this interruption of the stop – triggered by the violated first or second protective field – the robot's target travel speed is reduced based on the third travel speed range, preferably such that it falls below one or the upper limit of the third travel speed range. This allows for more stable (continued) travel within the second travel speed range.

[0048] In one implementation, this reduction in the target travel speed is reversed if the protective field, the violation of which triggered the stop, is no longer violated. This allows the robot to advantageously resume travel at a higher target speed once the obstacle(s) that caused the violation of the protective field have been removed, thus advantageously accelerating the robot's operation.

[0049] In a training course, 2019P00138WO 8 / 21 KUKA Deutschland GmbH

[0050] - in the event of a breach of the first protective field; and / or

[0051] - in the event of a breach of the second protective field; and / or

[0052] - in the event of a breach of the third protective field

[0053] A stop of the robot is triggered, whereby this stop is aborted if a fourth protective field, to which a predefined fourth travel speed range of the robot, which is lower than the third travel speed range, is assigned, is not violated and a travel speed of the robot falls below a third predefined limited travel speed within this fourth travel speed range.

[0054] The third predefined limited speed can be equal to the upper limit of the fourth speed range. Likewise, it can also be set between the upper and lower limits of the fourth speed range to enable more stable driving within that range.

[0055] Two particularly advantageous aspects for three or more protective fields have been explained above:

[0056] Firstly, it can be advantageous that even if at least two protective fields are violated (simultaneously), or if the second protective field is also violated, the resulting stop is aborted if at least one unviolated protective field exists to which a (still) lower speed range is assigned, once this lower speed range has been reached. In other words, if a protective field is violated, initially triggering a safety or stop, it can preferably be checked simultaneously whether one or more protective fields exist, particularly in the direction of travel, that would permit continued travel in the current situation, since these are / are not violated.

[0057] On the other hand, it can be advantageous to “switch” to the (initially) unviolated second / third protective field or its associated lower field, analogous to the “switching” triggered by a violation of the first / second protective field. 2019P00138WO 9 / 21 KUKA Deutschland GmbH

[0058] In the event of a subsequent violation of the (initially) unviolated second / third protective field, the vehicle speed range should be switched to the third / fourth protective field or its associated (even) lower vehicle speed range.

[0059] In one embodiment, the environmental monitoring system includes one or more optical and / or distance sensors; in a further development, it includes one or more laser scanners, ultrasonic sensors, infrared sensors, and / or cameras. This allows for particularly advantageous, especially fast, reliable, and / or contactless detection of a protected field violation.

[0060] The present invention can be used to a very particular advantage in AGVs (“Automated Guided Vehicle”) or driverless (transport) vehicles, in particular floor-bound and automatically controlled conveying devices with their own drive system, which are guided without contact in one version and which preferably serve for material transport, in particular for pulling or carrying conveyed goods with active or passive load-handling devices, since corresponding safety situations frequently occur in this context.

[0061] As already explained, the protective fields are activated and / or deactivated in one version based on the travel speed of the mobile robot.

[0062] Additionally or alternatively, the protective fields can also be activated and / or deactivated based on the direction of travel of the mobile robot, in particular protective fields can be activated into which the robot is expected to enter due to its direction of travel, and / or protective fields can be deactivated into which the robot is not expected to enter due to its direction of travel.

[0063] In one embodiment, two or more of the protective fields overlap each other; preferably, the first protective field overlaps the second protective field and / or the second protective field overlaps the third protective field and / or the third protective field overlaps the fourth protective field. 2019P00138WO 10 / 21 KUKA Deutschland GmbH

[0064] Additionally or alternatively, in one version two or more of the protective fields are monitored simultaneously.

[0065] This can increase security in each case, especially when combined.

[0066] According to one embodiment of the present invention, an environmental monitoring system, in particular hardware and / or software, especially programming-related, is set up and / or comprises the following for carrying out a method described herein:

[0067] - Means of triggering a stop of the robot upon violation of a first protective field, to which a first maximum travel speed of the robot is assigned; and

[0068] - Means to abort this stop if a second protective field, to which a lower second maximum travel speed of the robot is assigned, is not violated and a travel speed of the robot falls below a first limited travel speed which is less than or equal to this second maximum travel speed.

[0069] In one version, the environmental monitoring system or its means includes:

[0070] - Means to reduce the robot's target travel speed based on the second travel speed range as a result of this abort; and / or - Means to reverse this reduction of the target travel speed if the first protective field is no longer violated; and / or

[0071] - Means of triggering a stop of the robot upon violation of the first and / or second protective field and means of aborting this stop if a third protective field, to which a predetermined third travel speed range of the robot, which is lower than the second travel speed range, is assigned, is not violated and the robot's travel speed falls below a second predetermined limited travel speed within this third travel speed range; and / or

[0072] - Means of reducing the robot's target travel speed based on the third travel speed range as a result of this abort; and / or - Means of triggering a stop of the robot upon violation of the first and / or second and / or third protective field and means of aborting this 2019P00138WO 11 / 21 KUKA Deutschland GmbH

[0073] Stop if a fourth protective field, to which a predetermined fourth travel speed range of the robot, which is lower than the third travel speed range, is assigned, is not violated and a travel speed of the robot falls below a third predetermined limited travel speed within this fourth travel speed range.

[0074] According to one embodiment of the present invention, a mobile robot, in a particularly preferred further development an AGV, has an environmental monitoring system (described here), wherein the robot or the environmental monitoring system is equipped, in particular by hardware and / or software, especially by programming, to carry out a method described here.

[0075] A system and / or means according to the present invention can be configured as hardware and / or software, in particular comprising at least one processing unit, preferably a microprocessor unit (CPU), graphics processing unit (GPU), or the like, preferably connected to a storage and / or bus system via data or signals, and / or comprising one or more programs or program modules. The processing unit can be configured to execute instructions implemented as a program stored in a storage system, to acquire input signals from a data bus, and / or to output signals to a data bus. A storage system can comprise one or more, in particular different, storage media, in particular optical, magnetic, solid-state, and / or other non-volatile media. The program can be configured to embody the methods described herein.is capable of executing such procedures, so that the processing unit can carry out the steps of such processes and thus, in particular, operate or monitor the robot. A computer program product can, in one version, be a storage medium, in particular a computer-readable and / or non-volatile one, for storing a program or instructions, or with a program or instructions stored thereon. 2019P00138WO 12 / 21 KUKA Deutschland GmbH.

[0076] The program or instructions must be configured to do so. In one embodiment, the execution of this program or these instructions by an environmental monitoring system or a mobile robot, in particular a computer or an arrangement of several computers, causes the environmental monitoring system or the mobile robot, in particular the computer(s), to execute a procedure described herein or one or more of its steps, or the program or instructions are configured for this purpose.

[0077] In one embodiment, one or more, in particular all, steps of the procedure are fully or partially computer-implemented, or one or more, in particular all, steps of the procedure are fully or partially automated, in particular by environmental monitoring or its means or by the mobile robot.

[0078] Further advantages, features, and advantageous embodiments of the present invention will become apparent from the dependent claims and the exemplary embodiments. These are shown, in part schematically:

[0079] Fig. 1 : a mobile robot in operation according to an embodiment of the present invention;

[0080] Fig. 2: the (operation of the) mobile robot(s) when protective fields are violated;

[0081] Fig. 3: the (operation of the) mobile robot(s) after aborting a stop; and

[0082] Fig. 4: a method for operating the mobile robot according to an embodiment of the present invention.

[0083] Fig. 1 shows a mobile robot 10 in operation. A controller 13 uses optical distance sensors 11, 12 to simultaneously monitor various protective fields, each corresponding to different robot speed ranges. 2019P00138WO 13 / 21 KUKA Deutschland GmbH

[0084] As an example, the robot 10 in Fig. 1 moves horizontally to the left at a speed v4 < v < v5. The five protective fields Fi - F5 are then monitored simultaneously. For illustration purposes, a protective field F'i is also shown to indicate that, analogously, multiple protective fields can be monitored in the opposite direction of travel (horizontally to the right in Fig. 1).

[0085] The protective field F5 is assigned a predefined robot speed range [v4, v5], where v5 can also be infinite. The smaller protective field F4, which is overlapped by protective field F5, is assigned a predefined lower robot speed range [v3, v4]. Similarly, the even smaller protective field F3, which is overlapped by protective field F4, is assigned a predefined even lower robot speed range [v2, v3], the even smaller protective field F2, which is overlapped by protective field F3, a predefined even lower robot speed range [v0, v2], and the even smaller protective field Fi, which is overlapped by protective field F2, a predefined even lower robot speed range [v0, vi], where v0 can also be zero.

[0086] At time ti, an obstacle 2 enters the path of the robot 10 (see Fig. 2).

[0087] This violates the F5 and F4 protective fields.

[0088] Accordingly, a stop or safety stop of the robot 10 is triggered first (see the course of the speed v over time t in Fig. 2).

[0089] Due to the braking to stop, at time t2 the (driving) speed of the robot falls below a predetermined limited driving speed v'3 within the driving speed range [v2, v3] which is assigned to the protective field F3.

[0090] Therefore, the triggered stop is aborted, and as a result of this abort, the robot's target travel speed is reduced to the predetermined limited travel speed v'3, which is specified within the second travel speed range (see Fig. 3). 2019P00138WO 14 / 21 KUKA Deutschland GmbH

[0091] If obstacle 2 moves out of the robot's path again, this reduction in the target driving speed can be reversed.

[0092] On the other hand, if the protective field F3 is also violated as a result of the robot 10 continuing to move at a reduced target speed, the protective field F2 or, if necessary, the protective field Fi can be switched on analogously.

[0093] This approach advantageously ensures safety by initially triggering the stop, while also avoiding a standstill if, due to braking to a lower speed range, further travel is permissible from a safety perspective.

[0094] Fig. 4 illustrates the described procedure:

[0095] As long as a maximum, speed-based activated protective field (in the example described above, F5 or F4 is an example of a first protective field) is not violated (S10: “N”), all protective fields are (continued to) be monitored together.

[0096] If the first protective field is violated (S10: “Y”), a stop or safety stop is triggered (Fig. 4: S20).

[0097] In step S30, it is checked whether at least one protective field is not violated and whether the robot's travel speed (due to braking as a result of triggering the stop) falls below a predetermined limited travel speed within a travel speed range assigned to this protective field (in the example described above, F3 is, for instance, a second or third protective field, the travel speed range [v2, v3] is the second or third travel speed range assigned to this protective field, and v'3 is the predetermined limited first or second travel speed within this travel speed range).

[0098] If no such protective field is present (S30: "N"), the stopping process continues until the robot 10 comes to a complete stop (step S35). In this way, the robot 10 can be operated safely or with a performance level of d. 2019P00138WO 15 / 21 KUKA Deutschland GmbH

[0099] If such a protective field is present (S30: “Y”), it is checked whether the specified limited driving speed has already been undercut.

[0100] If this is not yet the case (S40: “N”), the stopping of robot 10 is initially continued or carried out (step S45).

[0101] If the specified limited travel speed is undershot (S40: “Y”), the stopping is aborted and the robot continues to operate at a correspondingly reduced target travel speed (step S50).

[0102] In this further operation, if the obstacle (S60: "W") is removed, this reduction can be reversed (step S70). Similarly, if the previously unviolated protective field (S60: "V") is also violated, a stop can be triggered again and, if necessary, aborted (step S80).

[0103] For implementation, the ARGUS safety controller developed by Kuka can be used particularly advantageously in combination with an optical protection device with simultaneous area monitoring, such as SICK MicroScan 3 or similar.

[0104] In general, in one embodiment of the present invention, several, preferably always and / or all, possible protective fields are monitored simultaneously, preferably in one direction of travel, and the protective field in whose assigned travel speed range the robot or AGV is currently located is active. Additionally, all fields are linked to a lower limit of the assigned travel speed range, below which monitoring of this field is no longer relevant and can be taken over by the next smaller field.

[0105] If a protective field violation occurs (see Fig. 2), a safety stop is initially triggered in a known manner, but according to the invention, it is checked whether there are protective fields (in the direction of travel) that would allow further travel in the current situation, since these are not violated. 2019P00138WO 16 / 21 KUKA Deutschland GmbH

[0106] If such a field exists, the triggered stop, which, as already mentioned, can be a (triggered) safety stop in one version, is aborted as soon as the required speed is reached (see Fig. 3), preferably by using the brake function available in the ARGUS safety controller. Furthermore, the navigation software is informed of the speed required to maintain this level.

[0107] This speed is then used until the unforeseen obstacle is no longer within the detection range or the selected field is also violated. If the smallest possible protection field is reached or violated, the vehicle brakes to a standstill or completes the initiated stop.

[0108] In the present disclosure, "has an X" does not generally imply an exhaustive list, but is a shorthand for "has at least one X" and also includes "has two or more X" as well as "has Y in addition to X". Although exemplary implementations were explained in the preceding description, it should be noted that a multitude of variations are possible. Furthermore, it should be noted that the exemplary implementations are merely examples and are not intended to limit the scope of protection, applications, or structure in any way.Rather, the preceding description provides the skilled person with a guideline for implementing at least one exemplary embodiment, whereby various modifications, particularly with regard to the function and arrangement of the described components, can be made without leaving the scope of protection as defined by the claims and these equivalent combinations of features. 2019P00138WO 17 / 21 KUKA Deutschland GmbH.

[0109] Reference symbol list

[0110] 2 obstacle

[0111] 10 AGVs (mobile robots)

[0112] 11, 12 laser scanners

[0113] 13 Control

[0114] t time

[0115] v Driving speed

[0116] Fi, F2, ... F5, F'I Protective field

Claims

2019P00138WO 18 / 21 KUKA Deutschland GmbH Patent claims 1. Method for operating a mobile robot (10) which has an environmental monitoring system for monitoring different protective fields (F'i , Fi , ... F5) to which different travel speed ranges ([v0, vi], [vi, v2], [v2, v3], [v3, v4], [v4, v5]) of the robot are assigned, where, in the event of a violation of a first protective field, to which a predetermined first travel speed range of the robot is assigned, a stop of the robot is triggered (S20); where this stop is aborted (S50) if a second protective field, to which a predefined second, lower travel speed range of the robot is assigned, is not violated and a travel speed of the robot falls below a first predefined limited travel speed within this second travel speed range.

2. Method according to claim 1, characterized in that, as a result of this termination, a target travel speed of the robot is reduced based on the second travel speed range.

3. Method according to claim 2, characterized in that this reduction of the target driving speed is reversed (S70) if the first protective field is no longer violated.

4. Method according to one of the preceding claims, characterized in that If the first and / or second protective field is violated, the robot will stop; This stop is aborted if a third protective field, to which a predefined third robot speed range (lower than the second speed range) is assigned, is not violated and the robot's speed falls below a second predefined limited speed within this third speed range. 2019P00138WO 19 / 21 KUKA Deutschland GmbH 5. Method according to claim 4, characterized in that, as a result of this termination, a target travel speed of the robot is reduced based on the third travel speed range.

6. Method according to one of the preceding claims 4-5, characterized in that If the first and / or second and / or third protective field is violated, the robot will stop; whereupon this stopping is aborted if a fourth protective field, to which a predetermined fourth travel speed range of the robot, which is lower than the third travel speed range, is assigned, is not violated and a travel speed of the robot falls below a third predetermined limited travel speed within this fourth travel speed range.

7. Method according to one of the preceding claims, characterized in that the environmental monitoring system includes at least one optical and / or distance sensor (11, 12); and / or the mobile robot is an AGV (10); and / or Protective fields are activated and / or deactivated based on the speed and / or direction of travel of the mobile robot; and / or at least two of the protection zones overlap and / or are monitored simultaneously.

8. Environmental monitoring for monitoring various protective fields (F'i , Fi, ... F5), to which different travel speed ranges ([v0, vi], [vi, v2], [v2, v3], [v3, v4], [v4, v5]) of a mobile robot are assigned, wherein the environmental monitoring is set up and / or comprises a method according to one of the preceding claims: Means for triggering a stop of the robot upon violation of a first protective field, to which a first maximum travel speed of the robot is assigned; and Means of aborting this stop if a second protective field, to which a lower second maximum travel speed of the robot is assigned, 2019P00138WO 20 / 21 KUKA Deutschland GmbH is not injured and the robot's travel speed falls below a first limited travel speed that is less than or equal to this second maximum travel speed.

9. Mobile robot (10) with environmental monitoring according to claim 8.

10. Computer program or computer program product, wherein the computer program or computer program product, in particular stored on a computer-readable and / or non-volatile storage medium, contains instructions which, when executed by one or more computers or an environmental monitoring system according to claim 8 or 9, cause the computer(s) or the environmental monitoring system to perform a method according to any one of claims 1 to 7.

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