CN119536244A

CN119536244A - Method for determining trajectory for a mobile device

Info

Publication number: CN119536244A
Application number: CN202411209806.1A
Authority: CN
Inventors: M·A·里维拉; T·S·韦尔伯斯
Original assignee: Robert Bosch GmbH
Current assignee: Robert Bosch GmbH
Priority date: 2023-08-31
Filing date: 2024-08-30
Publication date: 2025-02-28
Also published as: DE102023208363A1

Abstract

The invention relates to a method for determining a trajectory for a mobile device, in particular an at least partially autonomous vehicle and/or a robot, preferably a mowing robot, in particular for achieving better positioning, in such a way that the mobile device can carry out an additional loop closure, wherein the mobile device is to move along the trajectory in a working area, the method comprising: determining a trajectory (330) for the working area, wherein trajectory segments (331a-331f, 332a-332g) are connected to form a trajectory, wherein at least some of the trajectory segments are determined so that there is at least one, preferably a plurality of overlaps (334, 434), wherein one trajectory segment respectively intersects with another trajectory segment and/or extends segment by segment at a distance less than a predetermined distance therefrom, in particular overlaps, and the trajectory is made available to a drive unit of the mobile device for use by a control or regulating unit.

Description

Method for determining a trajectory for a mobile device

Technical Field

The present invention relates to a method for determining a trajectory for a mobile device, in particular for a vehicle and/or robot that moves at least partially automatically, preferably a mowing robot, and to a system for data processing, a mobile device and a computer program for carrying out the method.

Background

Mobile devices such as robots or vehicles that move at least partially automatically typically move along a trajectory or path of motion in an environment, such as a dwelling, in a garden or on a road, in the air or in water. If a specific objective should be achieved or if a specific area should be covered therewith, the trajectory is for this purpose, for example, planned or determined such that the trajectory is as short as possible.

Disclosure of Invention

According to the invention, a method for determining a trajectory for a mobile device, as well as a system for data processing, a mobile device and a computer program for performing said method are proposed, having the features of the independent patent claims. Advantageous embodiments are the subject matter of the dependent claims and the following description.

The present invention generally discusses mobile devices that move or should move along a particular trajectory, for example, in a work area (or environment in general), and in particular, the determination (or planning) of such trajectories. Such trajectories may in particular also comprise paths or motion paths. In this connection, it is also possible to speak of trajectory Planning or path Planning or so-called "Motion Planning".

Examples of such mobile devices (or mobile working devices) are, for example, robots and/or unmanned aerial vehicles and/or vehicles that move partially automatically or (fully) automatically (in land, water or air). As robots, for example, domestic robots, such as suction and/or wiping robots, floor or road cleaning devices or lawn mowers, but also other so-called service robots, such as at least partially automatically moving vehicles, for example passenger or freight vehicles (also so-called land transport vehicles, for example in a warehouse), and also aircraft, such as so-called unmanned or watercraft, can be considered.

Such a mobile device has, in particular, a control and/or regulating unit and a drive unit for moving the mobile device, so that the mobile device can be moved along a trajectory. Furthermore, the mobile device can have one or more sensors, by means of which the environment or information in the environment or in particular in the working area can be detected.

The invention should be explained below, in particular, taking a mowing robot as an example of a mobile device, although the principle can also be transferred to other types of mobile devices. In this connection, it may be referred to as a track or path also as a harvesting mode, since the mowing robot follows a specific path and here harvests the lawn. The result is then a specific harvesting pattern. A typical objective in determining such a trajectory is that a specific working area, for example an area with a lawn, is covered (as much as possible) completely by the trajectory, so that the lawn is harvested (as much as possible) completely when the mowing robot moves along the trajectory and harvests the lawn in this case. For example, the working width (or cutting or harvesting width) of the mowing robot may thus be considered herein. Comparable content is also applicable to other mobile devices, such as suction and/or wiping robots, which should suck or wipe as completely as possible a specific area of the floor in the dwelling.

In consideration of such as complete coverage of a specific working area with the trajectory, it is then useful per se for the trajectory to be as short as possible. The mobile device is thereby able to navigate the working area as quickly as possible, i.e. in as short a time as possible, for example to harvest lawns as quickly as possible or to suck apartments as quickly as possible. This furthermore saves energy costs.

However, as has now been shown, mobile devices often do not follow a predefined trajectory with complete accuracy. The longer the mobile device follows a trajectory, the more strongly the actual traversed trajectory deviates from the predefined trajectory. This may be due, for example, to the fact that the mobile device, after turning or cornering, does not curve exactly at a predetermined angle to the trajectory. This is especially the case in uneven working areas, as may be the case especially on lawns (e.g. also on uneven terrain or gentle slopes), and also possibly by external forces to move the mobile device out of the way.

It should now be fully utilized here that the mobile device can use the techniques for positioning and mapping for navigation, in particular also for following a predefined trajectory. An example of this is so-called SLAM (for german such as "Simultane Positionsbestimmung und Kartierung (simultaneous position determination and mapping)", english "Simultaneous Localization AND MAPPING (simultaneous positioning and mapping)"). This is a method here (especially in the case of robotics) in which a mobile device must simultaneously create a map of its environment and estimate its spatial position within the map. The method is thus used for identifying obstacles and thus supporting autonomous navigation. For example, the already mentioned sensors can be used in this case for detecting the environment and in particular objects or obstacles therein, in order to take this into account in the case of a map and also in the case of a localization. For example, images (using a camera) or distance information (using a lidar, for example) can be detected and used in this case. In the case of SLAM, an odometer may also be used, i.e. taking into account the distance travelled by the mobile device.

An aspect associated with SLAM that functions in the scope of the present invention is the so-called Loop-closing (Loop-Closure). In this case it is based on that the mobile device reaches a specific location in the environment where it has been in before, while it is moving in the environment or in the work area. From the respective location of the mobile device, it may be determined whether the mobile device has been at a certain location earlier or whether the mobile device has been at a certain location earlier, based on environmental information such as image or distance information, and by comparing such environmental information with previous environmental information. If this is determined, the map created in the scope of SLAM or the path of the mobile device marked as passing by therein must also account for the mobile device being again co-located. However, this will generally not be the case due to the mentioned deviations from the predefined trajectory. Conversely, in the created map, the current position will deviate from the previous position. The map can now be adapted such that the two collapsed positions coincide again. In this case, so-called cyclic closure is referred to.

The idea of the application is now to determine or plan a trajectory, in particular for a mobile device and for a working area of the mobile device, so that a better positioning is achieved by means of an additional cyclic closure. To this end, the track segments are connected (or linked) into tracks. This is based, for example, on the typical operating method for determining or planning a trajectory, according to which a specific trajectory section is first predefined, which for example covers a large area of the working area, in which case a trajectory section of the first type can be referred to in the context of the present application. These track sections may be, for example, lines running parallel to each other, for example, approximately (in etwas) a distance having the harvesting width of the mowing robot. These track sections, which are separate themselves, are then connected to each other, i.e. to other track sections (in which case a track section of the second type may be referred to in the scope of the application), so that a track as a whole, i.e. a continuous (and uninterrupted) line, which the mobile device can follow, is formed. Depending on the situation, the track section may still be replenished at the beginning and/or end, e.g. in order for the mobile device to reach the first track section of the first type from the start point. It should be mentioned that the track section and the connection section differ here only by name.

The track sections (of the second type) are determined or predefined in such a way that at least one, preferably a plurality of overlaps are present, wherein each track section intersects another track section and/or extends, in sections, at a distance from it that is smaller than the predefined distance, in particular overlaps. The predefined distance may depend, for example, on the dimensions or characteristics of the mobile device and may be, for example, the harvesting width or half the harvesting width. The trajectory is then provided for the drive unit of the mobile device for use by the control and/or regulation unit.

In particular, between two track sections that form an overlap, track sections that do not participate in the overlap exist following a track.

Furthermore, it is preferable if control information for the mobile device is determined, i.e. based on the trajectory. The control information may then be provided, in particular the mobile device may then also be steered (and thus moved) based on the control information.

Thus, when the track is traversed using the mobile device, a loop closure may occur at these overlaps. This particular type or this particular course of the trajectory thus results in a better positioning of the mobile device during operation. For example, deviations from the trajectory to be traversed, which become greater the farther the mobile device has traversed, can thereby be avoided or at least significantly reduced.

Thus, although for a particular work area, the trajectory is (at least typically) not the shortest possible trajectory. However, it is avoided that certain areas are not harvested, for example in the case of a mowing robot. The resulting saving effort for having to explicitly drive again to such a remaining area then further limits the somewhat longer trajectory.

In particular in the case of loop closures, the navigation information, in particular the trajectory, can then also be updated on the basis of the environmental information detected by means of the mobile device, which is or has been located at one of the overlaps when the environmental information was detected. The environmental information may have been detected, for example, by means of one or more sensors of the mobile device, in particular an image sensor (camera).

Preferably, the trajectories are created such that the overlap occurs at regular and/or predetermined distances. This may be the case, for example, after every two or three or four track sections. These distances can also be related, for example, to the track section, in particular its length. For example, in the case of a shorter track section, it is sufficient that the overlap occurs less frequently than in the case of a longer track section, since, for example, a comparable road section between two overlaps is traversed by the mobile device, wherein deviations from the track may occur. However, it is also possible to relate the occurrence of the overlap to the working area, i.e. for example to its geometry and the topography of the working area (for example more frequent overlaps in the case of steep slopes).

Advantageously, the track is created such that it comprises a plurality of track sections extending adjacently by a predetermined distance, which is especially applicable to track sections of the first type, which may be a plurality of straight lines aligned parallel to each other, as already mentioned, for example. This is particularly suitable, for example, for rectangular working areas. But other orientations are equally contemplated. Thus, for example, curved or other irregularly shaped (first type) track sections can also extend adjacently at a predetermined distance. For example, circular or spiral track sections extending adjacently by a predetermined distance can be provided. For example, the shape or the course of the track section can also be correlated with the working area.

In particular with regard to the geometry of the working area, the determination of the trajectory can in principle be carried out without knowledge of the working area or at least without more precise knowledge of the working area. For example, a track with only a few parallel track sections can be predefined, which are connected accordingly, so that it can be assumed that the track is located in the working area. During operation of the mobile device, i.e. when the mobile device is moved along a trajectory, information about the working area (e.g. images, distance from obstacles, etc.) can then be detected, for example by means of suitable sensors. The working area, in particular its geometry, can then also be detected or investigated later. The trajectory can then also still be adapted, in particular lengthened. In this case, a corresponding overlap can then be provided again.

It may also be appropriate if such information about the working area, such as an image, a distance from the obstacle, a size or a map of the working area, has been provided or provided before the trajectory is determined. For example, such information may include and/or be based on one or more of an image of the work area, a pre-determined map of the work area, a size of the work area, obstructions and/or objects and/or backgrounds in the work area (Untergrund), and location and/or spacing information about the obstructions and/or objects and/or backgrounds.

This then allows a more precise planning of the trajectory, in particular in order to cover, for example, a predetermined proportion exceeding the working area, in particular the entire working area, i.e. for example, the entire working area to be harvested, i.e. the harvesting width can be taken into account.

Combinations are also conceivable, i.e. for example for a part of the working area information already exists before determining the trajectory, and then during operation of the mobile device other information is detected, which allows adapting the trajectory. For example, information about the working area can be detected by means of one or more sensors of the mobile device, in particular an image sensor.

The system for data processing according to the invention comprises means for performing the method according to the invention or the method steps thereof. The system may be a computer or a server, for example in a so-called cloud or cloud environment. From there, the trajectory or control information can then be transmitted to the mobile device (e.g., via a wireless data connection), in the case of an application for the mobile device. Also, information about the work area may be transferred from the mobile device to the system, for example. However, it is also conceivable that such a system for data processing is a computer or a control device in such a mobile device.

The invention also relates to a mobile device which is set up for obtaining trajectory or control information which has been determined according to the method according to the invention and for navigating on the basis of the trajectory or control information.

The mobile device preferably has one or more sensors for detecting environmental information, i.e. information about the work area in particular, further preferably a control and/or adjustment unit and a drive unit for moving the mobile device along a trajectory. As mentioned, a system for data processing may also be comprised by the device.

The mobile device is preferably configured as an at least partially automatically moving vehicle, in particular as a passenger or cargo vehicle, and/or as a robot, in particular a domestic robot, for example a suction and/or wiping robot, a ground or road cleaning device or a mowing robot, and/or as an unmanned aerial vehicle.

It is also advantageous to implement the method according to the invention in the form of a computer program or a computer program product having a program code for performing all the method steps, since this results in particularly low costs, especially if the execution control device is still used for other tasks and therefore is present in nature. Finally, a machine readable storage medium is provided having a computer program as described above stored thereon. Suitable storage media or data carriers for providing the computer program are in particular magnetic, optical and electrical memories, such as hard disks, flash memories, EEPROMs, DVDs, etc. Downloading programs via a computer network (internet, intranet, etc.) is also possible. Such downloading may take place here either wired or cable-connected or wireless (e.g. via a WLAN network, 3G, 4G, 5G or 6G connection, etc.).

Other advantages and embodiments of the invention will be apparent from the description and drawings.

The invention is schematically illustrated in the drawings according to embodiments and is described below with reference to the drawings.

Drawings

Fig. 1 schematically shows a mobile device in a work area for explaining the invention.

Fig. 2 schematically shows a trajectory not determined according to the invention as a comparison.

Fig. 3 schematically shows a trajectory that has been determined according to a preferred embodiment of the invention.

Fig. 4 schematically shows a trajectory that has been determined according to another preferred embodiment of the invention.

Fig. 5 schematically shows the flow of a method in a preferred embodiment of the invention.

Fig. 6 to 10 schematically show trajectories which have been determined according to other preferred embodiments of the invention.

Detailed Description

A mobile device 100 in a work area 120 is schematically and exemplarily shown in fig. 1 for explaining the present invention. The mobile device 100 is illustratively a mowing robot having a control or adjustment unit 102 and a drive unit 104 (with wheels) for moving the mowing robot 100, for example along a trajectory 130. Further, the robot 100 illustratively has a sensor 106 configured as a camera with a field of view (indicated by dashed lines). The field of view is chosen relatively small here for better illustration, but in practice the field of view may also be up to 360 deg. (e.g. but at least 180 deg. or at least 270 deg.).

Furthermore, the robot mower 100 has a system 108, for example a control device, by means of which data can be exchanged with a superordinate system 110, for example via an indicated radio connection. For example, a trajectory may be determined in the system 110 and then transferred to the system 108 in the mowing robot 100, which should then follow the trajectory. It is equally possible to provide that the trajectory is determined in the system 108 itself or is otherwise obtained there. But instead of a trajectory, the system 108 may also obtain, for example, control information, from which control information has been determined, and from which control information the control or adjustment unit 102 may move the robot 100 via the drive unit 104 in order to follow the trajectory.

Track 130 is shown here only by way of example. For tracks that can be created in a preferred embodiment as within the scope of the invention, reference should be made to the following figures.

Trace 230 is schematically shown in fig. 2 for comparison or as a background to the invention. As also shown in fig. 1, the trajectory 230 should be determined or have been determined for the work area 120. Illustratively, the locus 230 should cover the work area entirely (as much as possible) such that if the lawn mowing robot is moved along the locus 230 and the lawn is harvested there, the lawn in the work area 120 (or the work area 120 should be present entirely as a lawn) is fully harvested.

The track is here a line with a plurality of sections, which line should be explained below. Generally, the trajectory 230 causes the lawn mowing robot to travel to the upper left of the work area 120 (if the lawn mowing robot is not already there), then turn 90 ° to the right, and then traverse the work area 120 in a zigzagged manner. The trajectory will then continue accordingly at the upper right.

A typical way to determine or plan the trajectory 230 is to first determine the trajectory sections 231a to 231f, in particular here the trajectory sections of the first type, in this case by way of example straight lines running parallel to one another and to the edges of the working area 120. The distance of two adjacent track sections is for example chosen such that said distance corresponds to the harvesting width of the mowing robot or is slightly smaller. If the mowing robot then follows these track sections 231a to 231f, substantially the entire working area is harvested.

The track sections 231a to 231f must then be connected or linked to each other such that the track is represented as a line of continuity along which the mobile device can be moved. As shown in fig. 2, a common way to this is to keep the track 230 as short as possible overall, and thus to connect two adjacent track sections of the track sections 231a to 231f, respectively, again alternately at the other end, i.e. with the track sections 232b to 232f, in this case in particular track sections of the second type. Track sections 231a to 231f and track sections 232b to 232f then form track 230 as a whole, track section 332a can in particular still be supplemented at the beginning and track section 232g at the end.

Although the transitions between the individual segments (e.g., from 232a to 231 a) are shown at right angles, these transitions may thus also be smoother or more rounded.

In fig. 3 a trajectory which has been determined according to a preferred embodiment of the invention is schematically shown. The trajectory 330 should be determined or the trajectory 330 has been determined for the working area 120 as also shown in fig. 1 and 2. Illustratively, the locus 330 should cover the work area entirely (as much as possible) such that when the lawn mowing robot is moved along the locus 330 and the lawn is harvested there, the lawn in the work area 120 (or the work area 120 should be present entirely as a lawn) is fully harvested.

Here, the track is a line having a plurality of sections, which should be explained below. Generally, the trajectory 330 causes the lawn mowing robot to travel to the upper left of the work area 120 (if the lawn mowing robot is not already there) and then travel in a cycle. The trajectory will then continue correspondingly at the upper right.

The possibility for determining or planning the trajectory 330 is to first determine the trajectory sections 331a to 331f (of the first type). Here, this is by way of example straight lines which run parallel to one another and to the edges of the working area 120. The distance of two adjacent track sections is for example chosen such that said distance corresponds to the harvesting width of the mowing robot or is slightly smaller. If the mowing robot then follows these track sections 331a to 331f, the entire work area is basically harvested.

These track sections 331a to 331f correspond to track sections 231a to 231f of the track 230 from fig. 2 or may correspond to these track sections. The actions used to determine or define these track segments 331 a-331 f may also correspond to actions from the track 230 of fig. 2. But as can be seen from the arrows along the track sections and as will still be explained later, the tracks are traversed in different directions and also in different orders.

The track sections 331a to 331f must then be connected or linked to each other such that the track is denoted as a line of continuity along which the mobile device can be moved. It should now be noted here that an additional loop closure is achieved while the trajectory is traversed, which in turn enables a better positioning of the mobile device.

Here too (type (zweier Art)) track sections are used in order to connect the track sections (of the first type), i.e. track sections 332b to 332g. Furthermore, similar to the case of the track according to fig. 2, the track section 332a is supplemented at the beginning and the track section 332g is supplemented at the end.

The track sections are determined such that, in this example, there are a plurality of overlaps 334, one track section each extending to another track section at a distance from it that is less than a predetermined distance, in particular an overlap. In the example shown, the track sections 332a and 332c, the track sections 332c and 332e, and the track sections 332e and 332g extend adjacently at a small distance, at least section by section. In practice, the track sections can also be superimposed, wherein only a small distance is provided for better visibility.

While the track sections 332b, 332d, and 332f do not overlap with other track sections and substantially correspond to the track sections 232b, 232d, and 232f from the track of fig. 2.

By defining or connecting the track sections in this way a cycle is formed, which the mowing robot then has to walk around, whereby a cycle closure is again possible.

In fig. 4a trajectory determined according to another preferred embodiment of the invention is schematically shown. The trajectory 430 should be determined or the trajectory 430 has been determined for the working area 420, and the working area 420 should be circular, for example. Illustratively, the locus 430 should cover the work area (as completely as possible) such that when the lawn mowing robot is moved along the locus 430 and the lawn is harvested there, the lawn in the work area 120 (or the work area 120 should be present completely as lawn) is completely harvested.

The track is here a line with a plurality of sections, which line should be explained below. Generally, the trajectory 430 causes the lawn mowing robot to travel over the work area 120 (if the lawn mowing robot is not already there) and then travel in a circle. The track ends in the center but can then be guided outwards again.

The possibility for determining or planning the trajectory 430 is to first determine the trajectory sections 431a to 431c (of the first type). This is here by way of example a circular line or circle which is concentric and has a radius which becomes smaller and smaller. They are also concentric with the dividing line of the working area 420. For example, the distance of two adjacent track sections is selected such that the distance corresponds to the harvesting width of the mowing robot or is slightly smaller. When the mowing robot then follows these track sections 431a to 431c, the entire working area is essentially harvested.

Track sections 431a through 431c must then be connected or linked to each other such that the track is represented as a line of continuity along which the mobile device can be moved. It should now be noted here that an additional loop closure is achieved while the trajectory is traversed, which in turn enables a better positioning of the mobile device.

Here too (type-two) track sections are used for connecting the (first type of) track sections, i.e. track sections 432b and 432c. Furthermore, similar to the case of the track according to fig. 2, the track section 432a is supplemented at the beginning.

The track sections are determined such that, in this example, there are a plurality of overlaps 434, one track section each extending to another track section at a distance from it that is less than a predetermined distance, in particular an overlap. In the example shown, track sections 431a and 432b and track sections 431b and 432c extend adjacent to each other at least in sections by a small distance. In practice, the track sections can also be superimposed, wherein only a small distance is provided for better visibility.

By determining or connecting the track sections in this way, an overlap occurs, which the robot must then travel (which robot here can be said to travel partly slightly more than a full circle, i.e. further in a circle), whereby a cyclic closure is again possible.

Fig. 5 shows the flow of the method according to the invention in a preferred embodiment, i.e. with reference to the example of fig. 3.

In step 500, information 502 about the work area 120 may first be provided. In step 510, the trajectory 330 may then be determined, as explained with reference to fig. 3. In step 520, the trajectory 330 may then be provided for the drive unit of the mowing robot for use by the control and regulation unit.

In step 530, control information 532 for moving the lawn mowing robot may also be determined based on the trajectory 330, which control information 532 is then provided in step 540 and used for maneuvering the lawn mowing robot based thereon. During operation of the mowing robot, the navigation information, in particular the trajectory 330, may then be updated based on, for example, the detected environmental information 502 or other information, at which time the mobile device is located or has been located at one of the overlaps.

In fig. 6 a trajectory determined according to another preferred embodiment of the invention is schematically shown. Track 630 should be determined or track 630 has been determined for work area 120. Illustratively, the locus 630 should cover the work area (as completely as possible) such that when the lawn mowing robot is moved along the locus 630 and the lawn is harvested there, the lawn in the work area 120 (or the work area 120 should be present completely as a lawn) is completely harvested.

Here, the track is a line having a plurality of sections, which should be explained below. Generally, trajectory 630 causes the lawn mowing robot to travel to the upper left of work area 120 (if the lawn mowing robot is not already there), and then travel in a cycle.

The possibility for determining or planning the trajectory 630 is to first determine the trajectory sections 631a to 631d (of the first type) and also other trajectory sections parallel thereto (which are not indicated). Here, this is by way of example straight lines which run parallel to one another and to the edges of the working area 120. The distance of two adjacent track sections is for example chosen such that said distance corresponds to the harvesting width of the mowing robot or is slightly smaller. If the mowing robot then follows these track sections, the entire work area is essentially harvested.

The track segments 631a to 631d and other track segments parallel thereto must then be interconnected or linked such that the track is represented as a line of continuity along which the mobile device can be moved. It should now be noted here that an additional loop closure is achieved while the trajectory is traversed, which in turn enables a better positioning of the mobile device.

Here, too, track segments of the (second type) are used for connecting track segments of the (first type), i.e. track segments 632b to 632d and further track segments parallel thereto (said track segments not being indicated). Furthermore, similar to the case of the track according to fig. 2, the track sections are supplemented at the beginning and at the end.

The track sections are determined such that, in this example, there are a plurality of overlaps, one track section each extending to another track section at a distance from it that is less than a predetermined distance, in particular an overlap. In the example shown, some of the track sections 632a and 632d and others parallel thereto extend adjacently at least section by a small distance. In practice, the track sections can also be superimposed, wherein only a small distance is provided for better visibility.

Following track 630, starting from track section 631a, the mobile device continues to travel a number of other track sections (in the sense of the lane of the mobile device) at the end of the track section, and then returns to the other side (above) with track section 631 b. In a further development, a plurality of track sections (in the sense of the lane of the mobile device) are always skipped, so that a corresponding overlap occurs above and below (with respect to the drawing).

In fig. 7 a trajectory determined according to another preferred embodiment of the invention is schematically shown. The trajectory 730 should be determined or the trajectory 730 has been determined for the working area 120. Illustratively, the locus 730 should cover the working area (as completely as possible) such that when the lawn mowing robot is moved along the locus 730 and the lawn is harvested there, the lawn in the working area 120 (or the working area 120 should be present completely as lawn) is completely harvested.

Here, the track is a line having a plurality of sections, which should be explained below. Generally, trajectory 730 causes the lawn mowing robot to travel to the upper left of work area 120 (if the lawn mowing robot is not already there) and then travel in a cycle.

The possibility for determining or planning the trajectory 730 is to first determine the trajectory sections 731a to 731d (of the first type) and also other trajectory sections parallel thereto (which are not indicated). Here, this is by way of example straight lines which run parallel to one another and to the edges of the working area 120. The distance of two adjacent track sections is for example chosen such that said distance corresponds to the harvesting width of the mowing robot or is slightly smaller. If the mowing robot then follows these track sections, the entire work area is essentially harvested.

Track segments 731a to 731d and other track segments parallel thereto must then be interconnected or linked such that the track is denoted as a line of continuity along which the mobile device can be moved. It should now be noted here that an additional loop closure is achieved while the trajectory is traversed, which in turn enables a better positioning of the mobile device.

Here, too, track sections (of the type) are used for connecting track sections (of the first type), i.e. track sections 732a to 732d and also other track sections parallel thereto (said track sections not being indicated). Furthermore, similar to the case of the track according to fig. 2, the track sections are supplemented at the beginning and at the end.

The track sections are determined such that, in this example, there are a plurality of overlaps, one track section each extending to another track section at a distance from it that is less than a predetermined distance, in particular an overlap. In the example shown, some of the track sections 732a to 732d and others parallel thereto run adjacent to each other at least in sections by a small distance. In practice, the track sections can also be superimposed, wherein only a small distance is provided for better visibility.

Following the track 730, starting from the track section 731a, the mobile device here continues to travel two other track sections (in the sense of the lane of the mobile device) at the ends of the track section, and then returns to the other side (above) with the track section 731 b. In a further development, a plurality of track sections (in the sense of the lane of the mobile device) are always skipped, so that a corresponding overlap occurs above and below (with respect to the drawing).

As can be seen in the comparison between fig. 6 and 7, trajectories 630 and 730 are very similar. The difference here is in particular how far apart from each other, i.e. how many track sections (in the sense of the lane of the mobile device) are located between them or to which track section(s) two track sections 631a etc. (first type, aligned from top to bottom) are to be connected by means of track sections 632a etc. (second type, aligned from left to right). This may be done, for example, according to a particular pattern, e.g., every fourth, fifth or sixth track section in one direction (e.g., looking right in the figure) and every second, third or fourth track section (one, two or three in between) in another direction (e.g., looking left in the figure). This can also be changed.

In fig. 8a trajectory determined according to another preferred embodiment of the invention is schematically shown. The trajectory 830 should be determined for the working area 120 or the trajectory 830 has been determined.

Here, the track is a line having a plurality of sections, which should be explained below. Generally, the trajectory 830 causes the lawn mowing robot to travel to the right of the work area 120 (if the lawn mowing robot is not already there) and then travel in a cycle.

The possibility for determining or planning this trajectory 830 is to first determine the trajectory sections 831a to 831d (of the first type) and, if appropriate, further trajectory sections parallel thereto (which are not shown), at least the straight-line sections thereof. Here, this is an example of a line which runs parallel to one another and to the edge line of the working area 120 at least in its straight-line section. The distance of two adjacent track sections is for example chosen such that said distance corresponds to the harvesting width of the mowing robot or is slightly smaller. If the mowing robot then follows these track sections, the entire work area is essentially harvested.

The track segments 831a to 831d and the other track segments parallel thereto must then be connected or linked to each other such that the track is represented as a line of continuity along which the mobile device can be moved. It should now be noted here that an additional loop closure is achieved while the trajectory is traversed, which in turn enables a better positioning of the mobile device.

Here too, track sections (of the type) are used for connecting track sections (of the first type), i.e. track sections 832a to 832c and also track sections parallel thereto (said track sections not being indicated). It should be noted here that the track sections 831a (of the first type) etc. do not extend angularly in the transition to the track sections 832a (of the second type) etc., but instead extend arcuately. This can be taken into account accordingly when connecting track sections.

The track sections are determined such that, in this example, there are a plurality of overlaps, one track section each extending to the other track section at a distance from it that is less than a predetermined distance, in particular an overlap or two track sections intersecting.

Following the track 830, starting from a track section 831a, the mobile device here travels back over a track section 832a at the end of the track section, and then travels forward again using a track section 831 b. In general, the mobile device may travel forward on track section 831a (of the first type) and the like and backward on track section 832a (of the second type) and the like. This eases handling while also allowing many overlaps or intersections for cyclic closure.

In fig. 9 a trajectory determined according to another preferred embodiment of the invention is schematically shown. The trajectory 930 should be determined or the trajectory 930 has been determined for the working area 120.

Here, the track is a line having a plurality of sections, which should be explained below. Generally, the trajectory 930 causes the lawn mowing robot to travel to the right of the work area 120 (if the lawn mowing robot is not already there) and then travel in a cycle.

The possibility for determining or planning the trajectory 930 is to first determine the trajectory sections 931a to 931d (of the first type) and, if appropriate, further trajectory sections parallel thereto (which are not shown), at least the straight sections thereof. Here, this is an example of a line which runs parallel to one another and to the edge line of the working area 120 at least in its straight-line section. The distance of two adjacent track sections is for example chosen such that said distance corresponds to the harvesting width of the mowing robot or is slightly smaller. If the mowing robot then follows these track sections, the entire work area is essentially harvested.

The track sections 931a to 931d and the other track sections parallel thereto must then be connected or linked to each other such that the tracks are represented as intersecting lines along which the mobile device can be moved. It should now be noted here that an additional loop closure is achieved while the trajectory is traversed, which in turn enables a better positioning of the mobile device.

Here, too, track segments of the (second type) are used for connecting track segments of the (first type), i.e. track segments 932a to 932c and further track segments parallel thereto (said track segments not being indicated). It should be noted here that the track section 931a (of the first type) or the like does not extend angularly in the transition to the track section 932a (of the second type) or the like, but instead extends arcuately. This can be taken into account accordingly when connecting track sections.

Following track 930, starting from track section 931a, the mobile device travels back over track section 932a at the end of the track section, and then travels forward again using track section 931 b. In general, the mobile device may travel forward on track section 931a (of the first type) and the like and backward on track section 932a (of the second type) and the like. This eases handling while also allowing many overlaps or intersections for cyclic closure.

As can be seen in the comparison between fig. 8 and 9, the trajectories are similar. However, the difference is how the track section 831a or 931a (of the first type) or the like transitions into the track section 832a or 932a (of the second type) or the like, and vice versa. In fig. 8, this is by a slight right turn by the mobile device when travelling forward on one side of the working area (here above) and by a slight left turn by the mobile device when travelling forward on the other opposite side of the working area (here below), respectively. In fig. 9, the left and right turns are transposed with respect to the side of the working area.

In fig. 10 a trajectory determined according to another preferred embodiment of the invention is schematically shown. The trajectory 1030 should be determined for the working area 120 or the trajectory 1030 has been determined.

Here, the track is a line having a plurality of sections, which should be explained below. Generally, the track 1030 causes the lawn mowing robot to travel to the right of the work area 120 (if the lawn mowing robot is not already there) and then travel in a cycle.

The possibility for determining or planning the trajectory 1030 is to first determine the trajectory sections 1031a to 1031d (of the first type) and, if appropriate, further trajectory sections parallel thereto (which are not shown), at least the straight sections thereof. Here, this is an example of a line which runs parallel to one another and to the edge line of the working area 120 at least in its straight-line section. The distance of two adjacent track sections is for example chosen such that said distance corresponds to the harvesting width of the mowing robot or is slightly smaller. If the mowing robot then follows these track sections, the entire work area is essentially harvested.

The track sections 1031a to 1031d and the other track sections parallel thereto must then be connected or linked to each other such that the track is represented as a line of continuity along which the mobile device can be moved. It should now be noted here that an additional loop closure is achieved while the trajectory is traversed, which in turn enables a better positioning of the mobile device.

Track segments (of the type) are also used here for connecting track segments (of the first type), i.e. track segments 1032a to 1032c and also other track segments parallel thereto (said track segments not being indicated). It should be noted here that the track sections 1031a (of the first type) etc. do not extend angularly in the transition to the track sections 1032a (of the second type) etc., but instead extend arcuately. This can be taken into account accordingly when connecting track sections.

Following the track 1030, starting from the track section 1031a, the mobile device travels back over the track section 1032a at the end of the track section, and then travels forward again using the track section 1031 b. In general, the mobile device can travel forward on the track section 1031a (of the first type) and the like and backward on the track section 1032a (of the second type) and the like. This eases handling while also allowing many overlaps or intersections for cyclic closure.

As can be seen in the comparison between fig. 8 and 9 and fig. 10, the trajectories are similar. However, the difference is how the track section 1031a (of the first type) or the like transitions into the track section 1032a (of the second type) or the like, and vice versa. In fig. 10, this differs in fig. 8 and 9 by a slight left turn by the mobile device when driving forward on both (opposite) sides of the working area, respectively. It goes without saying that a right turn can also be provided on both sides.

In the case of the tracks of fig. 8 to 10, if a different number of tracks of the first type are connected to each other, said tracks may also be skipped, as mentioned for example in connection with fig. 6 and 7.

Claims

1. Method for determining a trajectory (330, 430, 630, 730, 830, 930, 1030) for a mobile device (100), in particular a vehicle and/or a robot that moves at least partly automatically, preferably a mowing robot, in particular for achieving a better positioning in such a way that an additional cyclic closure of the mobile device (100) can be achieved, wherein the mobile device (100) should be moved along the trajectory in a working area (120, 420), the method comprising:

Determining (510) the trajectories (330, 430, 630, 730, 830, 930, 1030) for the working area, wherein the trajectory sections (331 a-331f, 332a-332g, 431a-431c, 432a-432 c) are connected to form trajectories, wherein at least some of the trajectory sections are determined such that at least one, preferably a plurality of overlaps (334, 434) are present, wherein one trajectory section intersects with the other trajectory section in each case and/or extends, in particular overlaps, section by section at a distance from it smaller than a predetermined distance, and

-Providing (520) the trajectory for a drive unit (104) of the mobile device for use by a control or regulation unit (102).

2. The method according to claim 1, wherein the tracks (330, 430) are created such that overlapping occurs at regular and/or predetermined distances and/or in case of predetermined track sections.

3. The method according to claim 1 or 2, wherein the track (330, 430) is created such that the track comprises a plurality of track sections extending adjacently by a predetermined distance.

4. A method according to claim 3, wherein the plurality of track sections extending adjacently at a predetermined distance comprise a plurality of track sections parallel to each other and/or a plurality of track sections concentric to each other in a circular or spiral shape.

5. The method of any of the preceding claims, further comprising, prior to determining the trajectory:

Information (502) about the work area is provided (500).

6. The method of claim 5, wherein the information (502) about the work area comprises and/or is based on at least one of:

-an image of the working area,

A predefined map of the working area,

The dimensions of the working area are chosen so that,

-Obstacles and/or objects and/or backgrounds in the working area, and

-Position and/or spacing information about obstacles and/or objects and/or backgrounds.

7. Method according to claim 5 or 6, wherein information about the working area is detected by means of one or more sensors (106), in particular image sensors, of the mobile device.

8. The method according to any of the preceding claims, further comprising:

Determining (530) control information (532) for moving the mobile device based on the trajectory, and

-Providing (540) the control information and in particular manipulating the mobile device based on the control information.

9. The method according to any of the preceding claims, further comprising:

Navigation information, in particular trajectories (330, 430), are updated (550) on the basis of environmental information detected by means of the mobile device, which is or has been located at one of the overlaps when the environmental information was detected, wherein the environmental information has been detected in particular by means of one or more sensors, in particular image sensors, of the mobile device.

10. A system (108, 110) for data processing, the system comprising means for performing the method according to any of the preceding claims.

11. A mobile device (100) set up for obtaining a trajectory (330, 430) or control information that has been determined according to the method of any one of claims 1 to 10 and navigating based on the trajectory (330, 430) or control information,

Preferably with one or more sensors (106) for detecting environmental information, further preferably with a control or adjustment unit and a drive unit for moving the mobile device along the trajectory (330, 430), further preferably with a system (108) according to claim 10.

12. Mobile device (100) according to claim 11, configured as an at least partially automatically moving vehicle, in particular as a passenger or cargo vehicle, and/or as a robot, in particular a home robot, such as a suction and/or wiping robot, a ground or road cleaning device or a mowing robot, and/or as an unmanned aerial vehicle.

13. A computer program comprising instructions which, when the program is executed by a computer, cause the computer to perform the method steps of the method according to any one of claims 1 to 10 when the program is executed on the computer.

14. A computer readable storage medium having stored thereon a computer program according to claim 13.