DE102022201076A1 - Method for data transmission between a mobile robot and an external device - Google Patents

Abstract

The invention is based on a method for data transmission between a mobile robot (12a; 12b), in particular an at least partially autonomous one, in particular a working robot, preferably a robot lawn mower, and an external device (16a; 16b), with a plurality of of values of a signal strength of a wireless connection (22a; 22b) between the robot (12a; 12b) and the external device (16a; 16b) detected during a movement of the robot (12a; 12b). It is proposed that in at least a method step determining a transmission position of the robot (12a; 12b) for a transmission of electronic data between the robot (12a; 12b) and the external device (16a; 16b) depending on the detected values of the signal strength.

Description

State of the art

A method for data transmission between a mobile robot and an external device has already been proposed, wherein a plurality of values of a signal strength of a wireless connection between the robot and the external device recorded during a movement of the robot are provided in at least one method step.

Disclosure of Invention

The invention is based on a method for data transmission between a mobile robot, in particular an at least partially autonomous one, in particular a working robot, preferably a robot lawn mower, and an external device, with a plurality of signal strength values recorded during a movement of the robot being recorded in at least one method step a wireless connection between the robot and the external device is provided.

It is proposed that in at least one method step a transmission position of the robot for a transmission of electronic data between the robot and the external device is determined as a function of the recorded signal strength values.

Preferably, in particular at least one position of the robot, at least one value of the signal strength recorded at a position of the robot for determining the transmission position is determined with the remaining recorded values of the signal strength and/or with at least one value determined as a function of the recorded values of the signal strength Parameters, in particular a parameter of the signal strength, a maximum of the signal strength and / or a predetermined limit value compared. It is conceivable for the transmission position to be determined during a movement of the robot, with a signal strength value recorded at a current position of the robot being used to determine the transmission position, preferably with the remaining recorded signal strength values and/or with the at least one parameter determined as a function of the recorded values of the signal strength is compared. Alternatively or additionally, it is conceivable that the recorded values of the signal strength are each assigned a position of the robot at which the respective value of the signal strength was recorded, with the transmission position preferably being determined independently of a current position of the robot during the determination of the transmission position .

The data is preferably transmitted wirelessly between the mobile robot and the external device. The data transmission between the mobile robot and the external device preferably takes place via communication interfaces of the robot and the external device. The robot is preferably provided for a movement within a range of movement of the robot. The robot preferably includes a drive unit for powered locomotion of the robot. In particular, the drive unit comprises at least one motor and at least one means of locomotion that can be driven by the motor, for example a wheel, a roller, a track chain, a rotor, a propeller or the like. The robot is preferably designed to be mobile, capable of swimming, capable of diving and/or capable of flying. The external device is preferably provided for the transmission of electronic data to the robot. The external device is preferably arranged in or on the movement area of the robot. The signal strength of the wireless connection between the robot and the external device is preferably dependent on a position of the robot relative to the external device. In addition, the signal strength of the wireless connection between the robot and the external device may depend on other environmental and/or interfering factors, such as other electromagnetic fields, objects placed between the robot and the external device, or the like. The external device is, for example, a router, a smart home system, a repeater, a computer or the like. educated. The wireless connection is preferably formed by a wireless local area network. The data transmission between the robot and the external device preferably takes place via a Wifi-certified signal.

The method is preferably provided for the wireless transmission of electronic data between the robot and the external device. The method is preferably provided for wirelessly transmitting electronic data from the external device to the robot, for example for software updates, for transmitting or updating a virtual map and/or for adjusting at least one limit value, characteristic value or the like. the signal strength. In a preferred embodiment, the robot, in particular a computing unit of the robot, provides the plurality of detected values of the signal strength. Preferably, the plurality of detected values of the signal strength is stored on the robot, in particular on the robot's computing unit. It is conceivable that the recorded values of the signal strength are respectively stored during or after a recording of the respective value. The transfer position is preferably determined by means of the robot, in particular the computing unit of the robot. Alternatively or It is also conceivable that the recorded signal strength values are provided by the external device, in particular a computing unit of the external device, and/or that the transmission position is determined by the external device, in particular the computing unit of the external device. In particular, the specific transfer position is transferred from the external device to the robot in at least one method step. Alternatively or additionally, it is conceivable that the robot is controlled by the external device, in particular via the wireless connection, depending on the specific transfer position, preferably for moving the robot to the transfer position. In a particularly preferred embodiment, the robot is designed to be self-sufficient with regard to a movement, in particular a movement of the robot being controlled via the computing unit of the robot. The values of the signal strength, in particular the aforementioned plurality of values of the signal strength, are preferably recorded by means of the robot, in particular the communication interface of the robot. Alternatively or additionally, it is conceivable that values of the signal strength are recorded using the external device. In particular if the transmission position is determined by the robot, values of the signal strength recorded via the external device for determining the transmission position are preferably transmitted from the external device to the robot, in particular via the wireless connection.

Preferably, in at least one method step, the external device signals the availability of electronic data for transmission to the robot, with at least one readiness signal preferably being transmitted to the robot. Preferably, in at least one method step, when or after signaling the availability of electronic data to be transmitted via the external device, the robot determines the transmission position for transmission of the electronic data. Alternatively or additionally, it is conceivable for the transmission position to be determined at periodic time intervals and/or after a specified distance covered, with the robot preferably being controlled when or after signaling that electronic data to be transmitted is ready such that the Robot is moved to a particular last specific transfer position. Alternatively or additionally, it is conceivable that when or after signaling the availability of electronic data to be transmitted during a movement of the robot, for example on a predetermined path and/or on a randomly selected path, a determination is made at regular time and/or spatial intervals of the transmission position takes place in each case as a function of a signal strength detected at a current position of the robot. The robot is preferably controlled at a specific transmission position, with a signal strength in particular exceeding a certain value, in such a way that the robot is stopped at the respective transmission position, preferably until the transmission of the electronic data is complete.

It is conceivable that the method for data transmission between the mobile robot and the external device is designed at least partially or completely as a computer-implemented method. The method, in particular the method steps of the method, is preferably carried out using the computing unit of the robot and/or the external device. It is conceivable that a position of the robot, in particular via a sensor unit of the robot and/or the external device, is determined and/or recorded continuously or periodically, or that the robot moves at least essentially unlocalized and/or on random paths, wherein in particular, the values of the signal strength are recorded to determine the transmission position during a movement of the robot.

The configuration of the method according to the invention enables an advantageously high transmission rate for transmission of the electronic data during a movement of the robot. Advantageously, the robot can be controlled to reach the transmission position that is advantageous for data transmission. An advantageously simple and quick determination of the transmission position can be achieved. In particular, advantageously low demands on the computing power of the robot or the computing unit for determining the transmission position can be made possible. As a result, an advantageously cost-effective design of the robot and/or the external device can be achieved. The determination of the transmission position can preferably be carried out by means of robots or external devices that are advantageously inexpensive and/or have weaker computing power. An advantageously targeted and/or time-optimized search and/or retrieval of a transmission position can be made possible. In particular, the transmission position can advantageously be determined independently of a virtual map and/or a localization of the robot.

Furthermore, it is proposed that in at least one method step the plurality of values of the signal strength within a predetermined range of movement of the robot at least least is recorded in a substantially uniformly distributed manner, preferably during an, in particular systematic, traversing of the movement range by the robot. An advantageously simple and reliable finding of transmission positions with a high signal strength within the movement area can be made possible. Advantageously, a transmission position can be determined with a maximum of a possible available signal strength within the range of movement. The detection of the signal strength values can advantageously be carried out during a work or movement process of the robot in the movement area. An "essentially evenly distributed" acquisition is to be understood in particular as an acquisition of measured values, in particular the values of the signal strength, with the minimum distances between acquisition positions of the individual measured values, particularly in a main extension plane, preferably in each case to a nearest acquisition position, and/ or the time intervals between acquisition times of measured values acquired directly one after the other are similar, preferably at least essentially identical, in particular differing from one another by at most 10%, preferably by at most 7% and particularly preferably by at most 5%. Preferably, the plurality of recorded values of the signal strength are recorded, in particular before the start of a work process of the robot, preferably for processing a work area/movement area of the robot, when traversing an edge of the movement area/the work area. It is conceivable for the transmission position to be determined by selecting one of the positions of the robot associated with the recorded values of the signal strength. Preferably, the plurality of values of the signal strength are recorded at least substantially evenly distributed locally over the movement area/work area and/or recorded at least substantially evenly distributed over time over the movement of the robot, in particular when processing the work area/movement area.

In addition, it is proposed that in at least one method step the transmission position be determined as a function of a limit value of the signal strength, with the limit value of the signal strength being determined as a function of a size of the electronic data to be transmitted. With regard to the size of the electronic data, an advantageously flexible determination of the transmission position can be made possible. In particular, an advantageously short determination time for determining the transmission position for the transmission of small data packets can be made possible, with a transmission position with a higher signal strength for transmitting the data being selected in particular only for large data packets. In at least one method step, the limit value of the signal strength is preferably stored in the robot, in particular in the computing unit of the robot. In particular, the limit value of the signal strength is determined proportionally to a size of the electronic data to be transmitted. In particular, a larger limit value is determined for a transmission of a data packet that is larger than another data packet than for a transmission of the other data packet. The limit value is preferably determined in such a way that a transmission time required for the transmission of the electronic data with the signal strength detected at the transmission position is below a predetermined limit value of the transmission time. In particular, a transmission time for the transmission of electronic data is dependent on the signal strength of the wireless connection when transmitting the electronic data, in particular at the transmission position.

It is also proposed that the robot, in particular the drive unit of the robot, is controlled to move to the transmission position in at least one method step for the transmission of electronic data between the robot and the external device. An advantageously fast and direct data transmission can be made possible, in particular since the robot can be moved to the specific transmission position in order to transmit the electronic data. The robot is preferably controlled to move the robot by means of the computing unit of the robot or by means of the external device. The robot is preferably controlled for the transmission of electronic data between the robot and the external device during or after generation and/or reception of the ready signal(s) from the external device.

Furthermore, it is proposed that values of the signal strength recorded in at least one method step are transmitted to a virtual map, with the transmission position being determined using the virtual map. Advantageously, the coverage of the signal strength in a movement range of the robot can be visualized. As a result, an advantageously rapid determination of a movement path of the robot for controlling the transfer position can be achieved. In addition, an advantageously high level of functionality for informing a user can be achieved, in particular since coverage of the signal strength in a range of movement of the robot can be output to the user via the virtual map. This allows the user to optimize the coverage of the signal strength in an advantageously simple manner. Preferably, the virtual map includes at least the range of motion/workspace of the robot. It is conceivable that the virtual map includes a position of the external device. The virtual card is preferably provided in at least one method step, in particular when the robot and/or the external device is put into operation and/or by a user. The virtual card is preferably stored in at least one method step in the robot, in particular the computing unit of the robot, and/or the external unit. Preferably, the recorded values of the signal strength are transmitted to the virtual map by means of the robot, in particular the computing unit of the robot, and/or by means of the external device, preferably during or after the individual values of the signal strength are recorded or at periodic intervals, for example on certain predetermined positions of the robot, such as in particular a position at a charging station. Alternatively or additionally, it is conceivable that the recorded values of the signal strength are stored and are only transmitted to the virtual map when the transmission position is determined or to determine the transmission position. In particular, a current position of the robot is transferred to the virtual map. The transmission position is preferably determined using the virtual map as a function of a current position of the robot and a stored position within the virtual map or the movement area at which the signal strength exceeds a/the specified limit value of the signal strength, a local maximum of the signal strength being arranged and/or an absolute maximum of the signal strength is arranged.

In addition, it is proposed that in at least one method step the robot is controlled to determine the transfer position in such a way that the robot travels along an edge of a predefined range of movement of the robot. An advantageously rapid determination of a transmission position with a sufficiently high signal strength can be achieved, in particular if the external device is arranged outside the movement area, with a high signal strength preferably being to be expected at at least one point of the edge. A complex and computationally expensive control of the robot for moving to a special position within the movement area can advantageously be omitted, in particular since the edge of the movement area can already be detected/traversed by simple and inexpensive robots. The range of movement and/or the edge of the range of movement is preferably stored in the robot, in particular the computing unit of the robot, and/or can be detected by the robot, in particular a detection unit of the robot. For example, the edge of the movement area can be detected via a position determination system, such as in particular GPS, Galileo or the like, a limiting device such as in particular a perimeter cable or the like. As an alternative or in addition, it is conceivable that the edge of the movement area for a movement by the robot is determined using the virtual map. The signal strength of the wireless connection is preferably recorded while traversing the edge of the movement area, in particular at at least essentially regular time and/or spatial intervals, with the transmission position preferably being determined as a function of the values of the signal strength recorded while traversing the edge of the movement area becomes. It is conceivable that the transmission position for a position on the edge of the movement area is determined if a detected value of the signal strength at the respective position exceeds the/a predetermined limit value of the signal strength. It is conceivable that the robot, in particular the drive unit of the robot, is actuated, preferably via the computing unit of the robot, upon or after receiving the ready signal to traverse the edge of the movement area, preferably to determine the transmission position in order to transmit the electronic data .

It is also proposed that the robot is controlled in at least one method step to determine the transfer position depending on a position parameter of an object or a location specified by a user at or in a specified range of movement of the robot. A transmission position can be advantageously determined quickly with a sufficiently high signal strength, in particular since a position of the external device and/or a transmission position that is already known can be specified. In at least one method step, in particular when the robot and/or the external device is started up, the position parameter of the object or the location is preferably provided by the user and preferably stored in the robot, in particular the computing unit of the robot, and/or the external device. Alternatively or additionally, it is conceivable that before or after the ready signal is generated, an output to prompt a user takes place, with the user being prompted to provide a value of the position parameter of the object or of the location. A “position parameter of an object or a location” is to be understood in particular as a parameter that includes information about a position of the object or the location, preferably relative to the range of motion, relative to the robot and/or relative to the external device. At for example, the position parameter is embodied as a position of the external device, preferably relative to the range of motion. In particular, the robot is controlled to determine the transfer position in such a way that the robot is moved in the direction of the external device. Alternatively or additionally, it is conceivable for the position parameter to indicate or describe an area within the movement area that is inaccessible, in particular for the robot, with the robot in particular being controlled to determine the transfer position in such a way that the robot avoids the area indicated by the position parameter. Alternatively or additionally, it is conceivable that the position parameter specifies or describes a position of an object relevant to the signal strength of the wireless connection, for example a wall, a fence or the like, with the robot in particular being controlled to determine the transmission position in such a way that the Robot drives around the object and/or takes a path of movement which is designed in such a way that a direct connecting line between the robot and the external device is formed at a distance from the object. In a preferred exemplary embodiment, it is conceivable that the position parameter indicates the position of the external device, which is in particular outside the range of motion of the robot, wherein the robot is controlled to determine the transfer position in such a way that the robot moves to a point at the edge of the range of motion which is preferably closest to the position of the external device.

Furthermore, it is proposed that in at least one method step an at least essentially position-independent, in particular statistical, characteristic value of the signal strength for a predetermined range of motion of the robot is determined from the plurality of recorded values of the signal strength, with the transmission position and/or transmission position being determined in at least one method step or the electronic data is transmitted between the robot and the external device as a function of the characteristic value determined for the signal strength. A characteristic value for determining the transmission position can advantageously be determined simply and with an advantageously low computing power. An advantageously situation-specific adaptation of the characteristic value to the values recorded in the range of movement can take place. In particular, the transmission position can advantageously be determined independently of a virtual map and/or a localization of the robot. Advantageously, the characteristic value can be used to simply achieve a parameter as a basis for making decisions about controlling the robot that are dependent on a signal strength of the wireless connection. Preferably, the characteristic value of the signal strength is determined taking into account a selection of recorded signal strength values that is at least substantially evenly distributed over the movement area or from all signal strength values recorded in the movement area, with in particular for a plurality of values recorded at a specific position in the movement area Signal strength only one of the detected values of the signal strength is taken into account. The characteristic value of the signal strength is preferably determined in such a way that a determined value of the characteristic value lies between a maximum and a minimum of the values of the signal strength detected in the movement area. It is conceivable that the characteristic value of the signal strength is used to classify a signal quality of the wireless connection, in particular for the movement area/work area. In at least one method step, a notification is preferably issued to a user if the determined characteristic value of the signal strength is less than a predefined transmission limit value of the signal strength for the transmission of the electronic data.

It is also proposed that the characteristic value of the signal strength be determined in such a way that a maximum value of the detected values of the signal strength is at least 2 dbm, preferably at least 3 dbm and particularly preferably at least 4 dbm greater than the characteristic value of the signal strength. A defined signal strength difference is preferably stored on the robot, which defines the characteristic value of the signal strength based on the maximum value of the signal strength. In particular, it is conceivable that the signal strength difference is automatically increased when the maximum value deviates very greatly from other values of the signal strength, in particular from a mean value of the signal strength. In addition or as an alternative, it would be conceivable for the signal strength to be determined in such a way that at least more than 40% of the plurality of recorded values of the signal strength are greater than the characteristic value of the signal strength. In particular, the characteristic value of the signal strength could be selected in such a way that more than 40% of all detected values of the signal strength within the movement range are greater than the characteristic value of the signal strength, while in particular less than 60% of all detected values of the signal strength within the movement range are smaller than the characteristic value of the signal strength are formed. An advantageously simple and rapid determination of the characteristic value of the signal strength can be made possible. Advantageously, low demands on the computing power of the robot or the computing unit can be achieved. As a result, an advantageously favorable configuration of the robot or the computing unit can be made possible. Alternatively, other configurations of the characteristic value of the signal strength are also conceivable, in particular as a another statistical parameter for the detected values of the signal strength, for example as an average, as a maximum or the like.

Furthermore, it is proposed that the characteristic value of the signal strength is determined in such a way that a difference between a detected maximum of the signal strength and the characteristic value of the signal strength exceeds a predetermined amount of the signal strength. A transmission position can be advantageously determined quickly with sufficient signal strength for transmission of the electronic data. In particular, one of the recorded values of the signal strength forms the maximum of the signal strength. It is conceivable that the transmission position is determined in such a way that a signal strength value detected at the transmission position to be determined exceeds the characteristic value of the signal strength.

• Es wird ferner vorgeschlagen, dass in zumindest einem Verfahrensschritt eine Mehrzahl von erfassten Werten der Signalstärke und/oder der Kennwert der Signalstärke mit einem, insbesondere auf dem Roboter, hinterlegten Übertragungsgrenzwert der Signalstärke verglichen wird, wobei bei einer Unterschreitung des Übertragungsgrenzwerts der Signalstärke eine Benachrichtigung ausgegeben wird. Es können insbesondere geringe Signalstärken frühzeitig erkannt und berücksichtigt werden. Vorzugsweise können verlängerte Übertragungszeiten berücksichtigt werden Der Übertragungsgrenzwert bildet dabei insbesondere einen Mindestanforderungswert der Signalstärke für die Übertragung der elektronischen Daten. Ein Vergleich der Signalstärken kann dabei sowohl vor einer Ermittlung des Kennwerts, als auch nach einer Ermittlung des Kennwerts erfolgen. Die Benachrichtigung wird insbesondere an einen Benutzer ausgegeben. Die Benachrichtigung kann dabei sowohl an einer Anzeigeeinheit des Roboters, als auch auf ein Bedienerendgerät, wie beispielsweise auf ein Smartphone ausgegeben werden. Insbesondere kann einem Benutzer im Rahmen der Benachrichtigung beispielsweise die Verbesserung des lokalen Netzwerks, insbesondere eines WLANs, empfohlen werden. Alternativ oder zusätzlich wäre denkbar, dass der Benutzer über verlängerte Übertragungszeiten informiert wird.

Des Weiteren wird vorgeschlagen, dass in zumindest einem Verfahrensschritt die Übertragungsposition derart bestimmt wird, dass der an der Übertragungsposition erfasste Wert der Signalstärke einem Wert aus einem Wertebereich entspricht, welcher durch den Kennwert der Signalstärke und einem dynamischen Schwellengrenzwert begrenzt wird. Es kann eine vorteilhaft dynamische und flexible Anpassung der Bestimmung der Übertragungsposition ermöglicht werden. Unter einem „dynamischen Schwellengrenzwert“ soll insbesondere ein Grenzwert der Signalstärke verstanden werden, welcher in Abhängigkeit von zumindest einem Parameter, beispielsweise einer Dringlichkeit der zu übertragenden elektronischen Daten, einem Fortschritt bei einer momentanen Tätigkeit des Roboters, einer Größe der zu übertragenden elektronischen Daten o.dgl., dynamisch angepasst wird. Insbesondere ist denkbar, dass der, insbesondere vorher genannte, Grenzwert als der dynamische Schwellengrenzwert ausgebildet ist. Vorzugsweise wird der dynamische Schwellengrenzwert der Signalstärke in zumindest einem Verfahrensschritt in Abhängigkeit von einer Größe der zu übertragenden elektronischen Daten bestimmt. Bevorzugt wird der dynamische Schwellengrenzwert der Signalstärke in zumindest einem Verfahrensschritt derart bestimmt, dass eine mit der an der Übertragungsposition erfassten Signalstärke benötigte Übertragungszeit zur Übertragung der elektronischen Daten unterhalb eines vorgegebenen Grenzwerts der Übertragungszeit liegt. Alternativ oder zusätzlich ist denkbar, dass der dynamische Schwellengrenzwert in Abhängigkeit von einer Tageszeit, von einem Wetterparameter, von der Größe der zu übertragenden elektronischen Daten, von einem Bearbeitungsfortschritt des Roboters bei einer Tätigkeit im Bewegungsbereich und/oder von einem Ladezustand des Roboters, insbesondere eines Energiespeichers des Roboters, ermittelt wird. Vorzugsweise wird der dynamische Schwellengrenzwert mittels des Roboters, insbesondere der Recheneinheit des Roboters, und/oder mittels des externen Geräts ermittelt. Bevorzugt wird der dynamische Schwellengrenzwert bei bzw. vor der Bestimmung der Übertragungsposition ermittelt, vorzugsweise bei oder nach einem Empfang des Bereitstehungssignals. Alternativ oder zusätzlich ist denkbar, dass der dynamische Schwellengrenzwert bei der Ermittlung des Kennwerts der Signalstärke ermittelt wird, insbesondere in Abhängigkeit von dem Kennwert der Signalstärke. Beispielsweise wird für einen niedrigen Ladezustand des Roboters ein geringerer Wert für den dynamischen Schwellengrenzwert ermittelt, insbesondere um eine Übertragung der elektronischen Daten zu initiieren bevor der Energiespeier des Roboters leer bzw. zu schwach ist. Alternativ oder zusätzlich ist denkbar, dass der dynamische Schwellengrenzwert derart ermittelt wird, dass die Übertragung der elektronischen Daten mit einer Signalstärke über dem dynamischen Schwellengrenzwert erfolgt, bevor eine bestimmte Uhrzeit erreicht wird, und/oder der Roboter die Tätigkeit im Bewegungsbereich vor einer geplanten Uhrzeit abschließt.The transmission position is particularly preferably selected from a large number of positions, each of which is assigned a detected value of the signal strength, the value of the signal strength detected at the transmission position preferably exceeding the/a limit value and/or the characteristic value of the signal strength. Alternatively or additionally, during a movement of the robot, values of the signal strength recorded at a current position of the robot are compared with the/a limit value and/or the characteristic value of the signal strength to determine the signal strength, with the robot in particular being actuated to make a further movement if the value of the signal strength detected at the current position of the robot is smaller than the limit value and/or the characteristic value of the signal strength.

• It is also proposed that, in at least one method step, a plurality of recorded values of the signal strength and/or the characteristic value of the signal strength be compared with a transmission limit value of the signal strength stored, in particular on the robot, with a notification being issued if the transmission limit value of the signal strength is undershot becomes. In particular, low signal strengths can be recognized early and taken into account. Extended transmission times can preferably be taken into account. The transmission limit value forms in particular a minimum requirement value of the signal strength for the transmission of the electronic data. A comparison of the signal strengths can take place both before determining the characteristic value and after determining the characteristic value. In particular, the notification is issued to a user. The notification can be output both on a display unit of the robot and on an operator terminal, such as a smartphone. In particular, the improvement of the local network, in particular a WLAN, can be recommended to a user as part of the notification. Alternatively or additionally, it would be conceivable for the user to be informed about extended transmission times.

It is also proposed that in at least one method step the transmission position is determined in such a way that the value of the signal strength recorded at the transmission position corresponds to a value from a value range which is limited by the characteristic value of the signal strength and a dynamic threshold value. An advantageously dynamic and flexible adaptation of the determination of the transmission position can be made possible. A "dynamic threshold limit value" should be understood in particular as a limit value of the signal strength, which depends on at least one parameter, for example an urgency of the electronic data to be transmitted, a progress in a current activity of the robot, a size of the electronic data to be transmitted or similar. Like., Is dynamically adjusted. In particular, it is conceivable that the limit value, in particular the one previously mentioned, is in the form of the dynamic threshold limit value. The dynamic threshold value of the signal strength is preferably determined in at least one method step as a function of a size of the electronic data to be transmitted. The dynamic threshold limit value of the signal strength is preferably determined in at least one method step such that a transmission time required for the transmission of the electronic data with the signal strength detected at the transmission position is below a predetermined limit value of the transmission time. Alternatively or additionally, it is conceivable that the dynamic threshold limit depends on the time of day, a weather parameter, the size of the electronic data to be transmitted, the processing progress of the robot during an activity in the movement range and/or the charging status of the robot, in particular one Energy store of the robot is determined. The dynamic threshold limit value is preferably determined by means of the robot, in particular the computing unit of the robot, and/or by means of the external device. The dynamic threshold limit value is preferably determined during or before the determination of the transmission position, preferably during or after receipt of the ready signal. Alternatively or additionally, it is conceivable that the dynamic threshold limit value is determined when determining the characteristic value of the signal strength, in particular as a function of the characteristic value of the signal strength. For example a lower value for the dynamic threshold limit value is determined for a low state of charge of the robot, in particular in order to initiate a transmission of the electronic data before the energy store of the robot is empty or too weak. Alternatively or additionally, it is conceivable that the dynamic threshold limit value is determined in such a way that the electronic data is transmitted with a signal strength above the dynamic threshold limit value before a specific time is reached, and/or the robot completes the activity in the movement area before a planned time .

In addition, a mobile robot, in particular an at least partially autonomous mobile robot, preferably a working robot, particularly preferably a robot lawn mower, is proposed, comprising means for carrying out a method according to the invention. The robot preferably includes the arithmetic unit, in particular the aforesaid one. The robot, in particular the processing unit, is preferably provided for carrying out the method for data transmission between the device and the external device.

The embodiment of the robot according to the invention enables an advantageously high level of functionality for dynamic determination of a transmission position for data transmission with an external device. An advantageously high transmission rate can be made possible for transmission of the electronic data during a movement of the robot. Advantageous control of the robot to reach the transmission position that is advantageous for data transmission can be made possible. An advantageously cost-effective configuration of the robot can be achieved, in particular since the demands on computing power for carrying out the method can advantageously be kept low.

Furthermore, a computing unit, in particular the aforementioned one, is proposed for executing a method according to the invention/steps of a method according to the invention. It is conceivable that the processing unit for carrying out the method is designed as part of the robot and/or as part of the external device. A “processing unit” is to be understood in particular as a unit with an information input, an information processing and an information output. The arithmetic unit advantageously has at least one processor, FPGA, microcontroller or the like, for example. trained evaluation unit, a memory, input and output means, further electrical components, an operating program, rule routines, control routines and/or calculation routines. The components of the processing unit are preferably arranged on a common circuit board and/or advantageously arranged in a common housing, in particular of the robot and/or the external device.

The configuration of the processing unit according to the invention enables an advantageously high level of functionality for dynamic determination of a transmission position for data transmission between a robot and an external device. An advantageously high transmission rate can be made possible for transmission of the electronic data during a movement of the robot. Advantageous control of the robot to reach the transmission position that is advantageous for data transmission can be made possible. An advantageously cost-effective configuration of the computing unit can be achieved, in particular since the computing power requirements for executing the method can advantageously be kept low.

Furthermore, a robot system for carrying out a method according to the invention is proposed, with a mobile robot, in particular according to the invention, and with an external device, in particular the aforementioned one.

The configuration of the robot system according to the invention enables an advantageously high level of functionality for a dynamic determination of a transmission position for data transmission within the robot system. An advantageously high transmission rate can be made possible for transmission of the electronic data during a movement of the robot. Advantageous control of the robot to reach the transmission position that is advantageous for data transmission can be made possible. An advantageously cost-effective configuration of the robot system can be achieved, in particular since the demands on computing power for executing the method can advantageously be kept low.

In addition, a computer program is proposed, comprising instructions which, when the computer program is executed by a computing unit, in particular a computing unit according to the invention, cause the latter to carry out a method/steps of a method according to the invention. In addition, a computer-readable data medium on which a computer program according to the invention is stored is proposed.

The method according to the invention, the robot according to the invention, the computing unit according to the invention, the computer program according to the invention and/or the computer-readable data carrier according to the invention should/should not be included here be limited to the application and embodiment described above. In particular, the method according to the invention, the robot according to the invention, the computing unit according to the invention, the computer program according to the invention and/or the computer-readable data carrier according to the invention can/can have a number of individual elements, components and units as well as method steps that differs from the number specified herein in order to fulfill a functionality described herein exhibit. In addition, in the value ranges specified in this disclosure, values lying within the specified limits should also be considered disclosed and can be used as desired.

character list

Further advantages result from the following description of the drawing. Two exemplary embodiments of the invention are shown in the drawing. The drawings, the description and the claims contain numerous features in combination. The person skilled in the art will expediently also consider the features individually and combine them into further meaningful combinations.

• 1 eine schematische Draufsicht eines beispielhaften Bewegungsbereichs eines erfindungsgemäßen mobilen Roboters eines erfindungsgemäßen Robotersystems mit dem Roboter und einem externen Gerät des Robotersystems zur Durchführung eines erfindungsgemäßen Verfahrens zu einer Datenübertragung zwischen dem mobilen Roboter und dem externen Gerät, wobei der Roboter eine erfindungsgemäße Recheneinheit umfasst,
• 2 eine schematische Darstellung eines beispielhaften Ablaufs des erfindungsgemäßen Verfahrens zu einer Datenübertragung zwischen dem mobilen Roboter und dem externen Gerät und
• 3 eine schematische Darstellung eines alternativen beispielhaften Ablaufs eines erfindungsgemäßen Verfahrens zu einer Datenübertragung zwischen einem mobilen Roboter und einem externen Gerät.

Show it:

• 1 a schematic top view of an exemplary range of motion of a mobile robot according to the invention of a robot system according to the invention with the robot and an external device of the robot system for carrying out a method according to the invention for data transmission between the mobile robot and the external device, the robot comprising a computing unit according to the invention,
• 2 a schematic representation of an exemplary sequence of the method according to the invention for data transmission between the mobile robot and the external device and
• 3 a schematic representation of an alternative exemplary sequence of a method according to the invention for data transmission between a mobile robot and an external device.

Description of the exemplary embodiments

In 1 1 is a schematic plan view of a range of motion 10a of a mobile robot 12a. The mobile robot 12a is designed in particular as a semi-autonomous robotic lawnmower. The movement area 10a is designed as a working area of the robot 12a, the robot 12a being provided to move within the movement area 10a to process the movement area 10a, with a lawn/a meadow in particular being mowed in the movement area 10a. The mobile robot 12a is part of a robot system 14a. The robot system 14a includes the robot 12a and an external device 16a, which is designed in particular as a network router. The robot system 14a, in particular the robot 12a, is preferably provided for carrying out a method 100a for data transmission between the mobile robot 12a and the external device 16a. The robot 12a and the external device 16a each include a communication interface 18a, 20a for wireless communication. The robot 12a and the external device 16a are provided for a wireless connection 22a to one another. The communication interfaces 18a, 20a are preferably provided for a WLAN connection, preferably via Wifi. The external device 16a is intended to transmit electronic data to the robot 12a via the wireless connection 22a. The mobile robot 12a includes a computing unit 24a and a drive unit 26a. The drive unit 26a is provided for a driven movement of the robot 12a. The drive unit 26a comprises, in particular, a motor, preferably an electric motor, and at least one means of locomotion (not shown in the figures) which can be driven by the motor and which is in the form of a wheel in particular. The mobile robot 12a is designed to be mobile. Configurations of the mobile robot are conceivable in which the robot is alternatively or additionally designed to be able to swim, dive and/or fly and/or is intended in particular for an activity on a movement area that is at least partially covered with water and/or in the air. The robot system 14a includes a charging station 28a, which is intended to be controlled by the robot 12a or to be connected to the robot 12a in order to recharge an energy store of the robot 12a. The robotic system 14a includes a perimeter cable 30a which is intended to limit the range of motion 10a for the robot 12a, preferably via an electric and/or magnetic field. Preferably, the perimeter cable 30a is detectable by the robot 12a and is positioned along an edge 32a of the range of motion 10a. The edge 32a of the movement area 10a preferably extends from an outermost contour of the movement area 10a over a minimal distance into the movement area 10a. In particular, the minimum distance spanning the edge 32a is at least one width of the robot 12a. In particular, the perimeter cable 30a is connected to the charging station 28a. Alternatively, it is conceivable that the range of motion 10a for the robot 12a is only virtually limited, for example via a stored virtual map and/or a position determination system tem, or is formed indefinitely. In particular, configurations without a charging station 28a are conceivable. It is conceivable for the robot 12a to include a sensor element of a position determination system, for example a GPS sensor or the like, and/or a sensor unit for determining a position of the robot 12a. The external device 16a is arranged outside the movement area 10a. It is also conceivable that the external device 16a is arranged within the movement area 10a.

The mobile robot 12a is intended to cover the movement area 10a for a mowing process over a randomly selected route 34a. Alternatively, it is conceivable that the robot 12a is provided for the purpose of traversing the movement area 10a for a mowing process on a predetermined and/or determined route 36a (in 1 shown schematically). The robot 12a is preferably provided to move along the edge 32a of the movement area 10a in at least one operating state, with the robot 12a preferably moving along and/or at least essentially parallel to the perimeter cable 30a and/or a contour of the movement area 10a. The external device 16a is arranged in particular inside a building.

The robot 12a includes means for carrying out the method 100a via the computing unit 24a. The computing unit 24a of the robot 12a is provided for executing the method 100a or method steps of the method 100a. The arithmetic unit 24a is designed in particular as an equipped electronic circuit board. The processing unit 24a is arranged in particular within a housing of the robot 12a. The computing unit 24a is set up to control the drive unit 26a of the robot 12a, it being possible in particular for a movement of the robot 12a to be adapted/controlled. The communication interface 18a of the robot 12a is set up to detect a signal strength of the wireless connection 22a between the robot 12a and the external device 16a, preferably for positions of the robot 12a a value for the signal strength of the wireless connection 22a between the robot 12a and the external device 16a. Alternatively or additionally, it is conceivable that the values of the signal strength are recorded using the external device 16a.

The robot 12a and the external device 16a are preferably connected to one another via the communication interfaces 18a, 20a, in particular continuously, periodically or as required, in particular when electronic data to be transmitted is available. It is conceivable that the robot 12a and the external device 16a, in particular in addition to the wireless connection 22a, are connected to one another via a, in particular additional, communication channel, for example via the charging station 28a, in particular when the robot 12a is connected to the charging station 28a , Or via another wireless connection, such as in particular Bluetooth, infrared, radio or the like. In particular, it is conceivable that the communication interfaces 18a, 20a are provided to transmit a ready signal for signaling electronic data to be transmitted via the further wireless connection from the external device 16a to the robot 12a, with preferably the transmission of the electronic data via the wireless Connection 22a, in particular at the transmission position, takes place. The external device 16a is preferably provided to use the ready signal to signal to the robot 12a that electronic data to be transmitted is ready. The robot 12a, in particular the arithmetic unit 24a, is preferably provided to determine a transmission position for transmitting the electronic data to be transmitted if the ready signal is recognized/detected.

In 1 a large number of positions 38a in the movement area 10a are shown by way of example, at each of which a value of the signal strength was recorded and stored, in particular after an assignment to the respective position 38a. The robot 12a, in particular the computing unit 24a, is preferably provided for selecting one of the plurality of positions 38a to determine the transmission position, preferably depending on the value of the signal strength detected at the respective position 38a and/or depending on the, in particular all , detected signal strength values.

In 2 an exemplary sequence of the method 100a for data transmission between the mobile robot 12a and the external device 16a is shown schematically. In a method step 102a of the method 100a, during a movement of the robot 12a, a plurality of values of the signal strength within the predefined range of movement 10a of the robot 12a are recorded, at least substantially evenly distributed. The values of the signal strength are preferably recorded using the communication interface 18a of the robot 12a. Alternatively or additionally, it is conceivable that the values of the signal strength are recorded using the communication interface 20a of the external device 16a. A position 38a of the robot 12a at a point in time when the respective value of the signal strength is recorded is preferably assigned to the recorded values of the signal strength. The plurality of values of the signal strength are preferably recorded, in particular periodically or continuously Numerically, during a work process, in particular a mowing process, of the robot 12a. Alternatively or additionally, it is conceivable for the plurality of values of the signal strength to be detected, in particular periodically or continuously, during a separate detection movement of the robot 12a within the movement area 10a, in particular before, between or after a mowing operation. In a further method step 104a of the method 100a, the plurality of values of the signal strength of the wireless connection 22a between the robot 12a and the external device 16a recorded during a movement of the robot 12a are provided. In particular, the recorded values are made available to the computing unit 24a of the robot 12a.

In a further method step 106a of method 100a, an at least substantially position-independent, in particular statistical, parameter of the signal strength for the specified range of motion 10a of the robot 12a is determined from the plurality of recorded values of the signal strength, with the transmission parameter being determined as a function of the determined parameter the signal strength. The characteristic value of the signal strength is determined in such a way that a difference between a detected maximum of the signal strength and the characteristic value of the signal strength exceeds a predefined amount of the signal strength. The characteristic value of the signal strength is determined in such a way that a maximum value of the detected values of the signal strength is at least 2 dBm greater than the characteristic value of the signal strength. Alternatively or additionally, it would be conceivable for the characteristic value of the signal strength to be determined in such a way that in particular at least more than 40% of the plurality of recorded values of the signal strength are greater than the characteristic value of the signal strength. The characteristic value of the signal strength is preferably determined after the movement area 10a has been traversed, before or after a mowing operation and/or at time and/or spatial intervals, preferably during a movement or operation of the robot 12a. A connection quality of the wireless connection 22a for the transmission of the electronic data in the movement area 10a is preferably determined as a function of the characteristic value of the signal strength, in particular by means of the computing unit 24a. In a further method step 107a of the method 100a, a notification is preferably output to a user, for example via the robot 12a, via the external device 16a or via another external unit such as a smartphone, a smart home system or the like , if the characteristic value determined for the signal strength falls below a specified or stored transmission limit value. For this purpose, in a method step, a plurality of recorded values of the signal strength and/or the characteristic value of the signal strength are compared with a transmission limit value of the signal strength stored on the robot 12a, with the notification being issued if the transmission limit value of the signal strength is undershot.

For example, it is conceivable that the robot 12a is driven to move to the charging station 28a if the characteristic value determined for the signal strength falls below the transmission limit value, in particular to notify the user and/or to transmit the electronic data via the charging station 28a. Configurations of the method 100a are also conceivable, in which case the characteristic value of the signal strength does not need to be determined.

In a further method step 108a of method 100a, electronic data to be transmitted are recognized by means of external device 16a. For example, the electronic data from a user, an external entity, for example via a network or the Internet, or the like. provided at the external device 16a. The ready signal is preferably generated via the external device 16a for signaling electronic data to be transmitted, in particular when the external device 16a detects electronic data to be transmitted, and transmitted to the robot 12a. It is conceivable that the ready signal is transmitted to the robot 12a via the wireless connection 22a or the communication interfaces 18a, 20a or is transmitted via another type of connection, in particular the further wireless connection, between the robot 12a and the external device 16a.

In a further method step 110a of the method 100a, a transmission position of the robot 12a for a transmission of electronic data between the robot 12a and the external device 16a is determined as a function of the detected values of the signal strength. The determination of the transmission position is preferably initiated upon or after receipt of the ready signal. In at least one method step of method 100a, in particular method step 110a, the transmission position is determined as a function of a signal strength limit value, the signal strength limit value being determined as a function of a size of the electronic data to be transmitted. The recorded values of the signal strength are each compared with the limit value of the signal strength, preferably by means of the computing unit 24a. A value of the signal strength is preferably selected from the plurality of detected values of the signal strength, which in particular exceeds the limit value of the signal strength. A position 38a im assigned to the selected value of the signal strength is preferred Movement range 10a, which corresponds in particular to a position 38a of the robot 12a at the time when the respective value is detected, is determined as the transmission position. It is conceivable that several values of the signal strength from the plurality of detected values of the signal strength exceed the limit value of the signal strength, with a value being selected for determining the transmission position which is closest to a current position of the robot 12a or which is the highest value of the signal strength corresponds. It is conceivable that a time for a movement to the position 38a associated with the respective signal strength value and a transmission time required by the respective signal strength value for transmission of the electronic data for determining the transmission position are taken into account, with a value of the signal strength/a Position 38a is selected for which a total time required for movement to the transmission position and for transmission of the electronic data is minimal. Alternatively, it is conceivable that in at least one method step of method 100a, in particular method step 110a, the transmission position is determined in such a way that the value of the signal strength recorded at the transmission position corresponds to a value from a value range which is determined by the characteristic value of the signal strength and a dynamic threshold limit value is limited.

In a further method step 112a of the method 100a for the transmission of electronic data between the robot 12a and the external device 16a, the robot 12a is controlled for a movement to the specific transmission position. Preferably, the robot 12a is moved from a current position of the robot 12a to the transfer position. It is also conceivable that the robot 12a is moved from a current position of the robot 12a to a determination of the transfer position on a locomotion route (see FIG 3 ). The robot 12a is preferably controlled by the computing unit 24a in such a way that the robot 12a is stopped/stopped at the transmission position for transmission of the electronic data.

In at least one method step of method 100a, in particular method step 110a, robot 12a is used to determine the transmission position as a function of a position parameter of external device 16a specified by a user, which describes or indicates an arrangement of external device 16a relative to movement region 10a , controlled. Alternatively or additionally, it is conceivable for the user to specify a position of an object in or on the movement area 10a via the/a position parameter, which could potentially interfere with the wireless connection 22a, or which should be avoided by the robot 12a. In particular, it is conceivable that specific areas of the movement area 10a are avoided depending on the position parameter for determining the transmission position.

In a further method step 114a of method 100a, the electronic data is transmitted from the external device 16a to the robot 12a at the transmission position. A virtual card, a computer program stored in the robot 12a and/or a firmware of the robot 12a is preferably updated, stored and/or processed via the electronic data. However, other applications are also conceivable, for example for exchanging recorded data or the like.

It is conceivable that in at least one method step of method 100a, in particular when robot 12a or robot system 14a is started up, a virtual card is stored in robot 12a, in particular in processing unit 24a, and/or in external device 16a. The recorded values of the signal strength are preferably transferred to the virtual card in a method step of the method 100a. The transfer position is preferably determined and/or the robot 12a is actuated to move the robot 12a to the transfer position by means of the virtual map. The robot 12a is preferably provided to be controlled in such a way that the robot 12a can be moved in a targeted manner to points within the movement area 10a and/or points in the movement area 10a indicated via the virtual map.

In the 3 another embodiment of the invention is shown. The following descriptions and the drawing are essentially limited to the differences between the exemplary embodiments, with regard to identically designated components, in particular in relation to components with the same reference numbers, in principle also to the drawings and/or the description of the other exemplary embodiments, in particular the 1 and 2 , can be referenced. To distinguish between the exemplary embodiments, the letter a is the reference number of the exemplary embodiment in FIGS 1 and 2 adjusted. In the embodiment of 3 the letter a is replaced by the letter b.

In 3 an alternative exemplary sequence of a method 100b for data transmission between a mobile robot 12b and an external device 16b is shown schematically. The robot 12b and the external device 16b are in Essentially identical to those in the 1 and 2 described robot 12a or the external device 16b (cf. 1 ). In contrast to that in the 1 and 2 described method 100a, in a movement range 10b of the robot 12b detected values of the signal strength for determining the transmission position are detected directly during a movement of the robot 12b for locating the transmission position. In a method step 110b of the method 100b, a ready signal is provided by the external device 16b and, in particular, transmitted to the robot 12b. In a further method step 112b of the method 100b, the robot 12b is actuated to determine the transfer position in such a way that the robot 12b moves along an edge 32b of the predefined range of motion 10b of the robot 12b. The robot 12b is preferably controlled in such a way that, in order to determine the transfer position, the robot 12b moves to the edge 32b, preferably to a point on the edge 32b which is closest to the robot 12b. In at least one method step of method 100b, in particular method step 112b, robot 12b is preferably controlled to determine the transfer position as a function of a position parameter of an object or a location specified by a user on or in the specified range of motion 10b of robot 12b. In particular, the position parameter is embodied as a position of the external device 16b relative to the movement area 10b. Alternatively or additionally, it is conceivable that the/a position parameter is a position of an object interfering, for example, with a wireless connection 22b between the robot 12b and the external device 16b, the edge 32b of the movement area 10b, a position of another robot, in particular a robot system 14b , describes or indicates. Robot 12b is preferably controlled in such a way that, to determine the transmission position, robot 12b moves to edge 32b, preferably to the closest point on edge 32b, and moves along edge 32b in the direction of the position of external device 16b, which in particular determined by the position parameter. In particular, a high signal strength is expected in a position of the external device 16b outside the movement area 10b at a point facing the external device 16b within the edge 32b of the movement area 10b. In a method step of method 100b, in particular method step 110b, the transmission position is preferably determined during a movement of robot 12b along edge 32b, with in particular a value of the signal strength recorded at a current position of robot 12b being compared with a characteristic value of the signal strength (cf . 2 ) or a dynamic threshold limit value, preferably a value range formed from these. If a signal strength value detected at a current position of the robot 12b corresponds to a value from the value range, the current position of the robot 12b is determined as the transmission position. The robot 12b is preferably stopped/stopped by the arithmetic unit 24b at the specific transmission position for transmission of the electronic data. The dynamic threshold limit value of the signal strength is preferably determined in at least one method step of method 100b, in particular a method step 108b, as a function of a size of the electronic data to be transmitted. The dynamic threshold limit value of the signal strength is preferably determined, in particular by means of the computing unit 24b, such that a transmission time required for the transmission of the electronic data with the signal strength detected at the transmission position is below a predetermined limit value of the transmission time. Alternatively or additionally, it is conceivable that the dynamic threshold limit value depends on the time of day, on a weather parameter, on the size of the electronic data to be transmitted, on a processing progress of the robot 12b during an activity in the movement area 10b and/or on a charging status of the robot 12b , in particular an energy store of the robot 12b, is determined. The dynamic threshold limit value is preferably determined by means of the robot 12b, in particular the computing unit 24b of the robot 12b, and/or by means of the external device 16b. Alternatively, it is conceivable for the dynamic threshold limit value to be determined during or before the determination of the transmission position, preferably during or after receipt of the ready signal.

The characteristic value of the signal strength is preferably determined in method step 102b, preferably after the robot 12b has traversed the movement area 10b, the signal strength in particular being detected within the movement area 10b at various positions distributed over the movement area 10b. The characteristic value of the signal strength is determined from the plurality of detected values of the signal strength for the predefined range of motion 10b of the robot 12b, the transmission position being determined as a function of the determined characteristic value of the signal strength. The characteristic value of the signal strength is determined in such a way that a difference between a detected maximum of the signal strength and the characteristic value of the signal strength exceeds a predefined amount of the signal strength. The characteristic value of the signal strength is determined in such a way that a maximum value of the recorded values of the signal strength is at least 2 dbm greater than the characteristic value of the signal strength. Alternatively or additionally, it would be conceivable for the characteristic value of the signal strength to be determined in such a way that in particular at least more than 40% of the plurality of recorded values of the signal strength are greater than the characteristic value of the signal strength. The characteristic value of the signal strength is preferably used to determine the transmission position. The characteristic value of the signal strength preferably forms a lower or upper limit of a limit range within which the signal strength at the transmission position must lie. It is also conceivable that the characteristic value of the signal strength is used as a limit value for determining the transmission position, with a value of the signal strength at the transmission position having to be above the characteristic value. A limit value for determining the transmission position is particularly preferably determined as a function of the characteristic value of the signal strength, with the limit value determined in particular not having to include the characteristic value. It is preferably conceivable that in at least one method step of method 100b, in particular method step 102b, a histogram for the measured signal strength in the movement area 10b is created using the plurality of recorded values of the signal strength.

Claims (15)

Method for data transmission between a mobile robot (12a; 12b), in particular an at least partially autonomous one, in particular a working robot, preferably a robot lawn mower, and an external device (16a; 16b), wherein in at least one method step a plurality of during a movement of the robot (12a; 12b) detected values of a signal strength of a wireless connection (22a; 22b) between the robot (12a; 12b) and the external device (16a; 16b) are provided, characterized in that in at least one method step a transmission position of the robot ( 12a; 12b) for a transmission of electronic data between the robot (12a; 12b) and the external device (16a; 16b) depending on the detected values of the signal strength. procedure after claim 1 , characterized in that in at least one method step the plurality of values of the signal strength within a predetermined movement range (10a; 10b) of the robot (12a; 12b) is recorded at least substantially evenly distributed, preferably during a, in particular systematic, traversing of the movement range ( 10a; 10b) by the robot (12a; 12b). procedure after claim 1 or 2 , characterized in that in at least one method step the transmission position is determined as a function of a limit value of the signal strength, the limit value of the signal strength being determined as a function of a size of the electronic data to be transmitted. Method according to one of the preceding claims, characterized in that the robot (12a; 12b) in at least one method step for the transmission of electronic data between the robot (12a; 12b) and the external device (16a; 16b) for a movement to the transmission position is controlled. Method according to one of the preceding claims, characterized in that values of the signal strength recorded in at least one method step are transmitted to a virtual map, the transmission position being determined by means of the virtual map. Method according to one of the preceding claims, characterized in that in at least one method step the robot (12b) is controlled to determine the transfer position in such a way that the robot (12b) moves an edge (32b) of a predetermined range of movement (10b) of the robot (12b ) departs. Method according to one of the preceding claims, characterized in that the robot (12a; 12b) in at least one method step to determine the transmission position depending on a position parameter of an object or a location specified by a user at or in a specified movement range (10a; 10b) of the robot (12a; 12b) is controlled. Method according to one of the preceding claims, characterized in that in at least one method step, from the plurality of recorded values of the signal strength, an at least essentially position-independent, in particular statistical, characteristic value of the signal strength for a predetermined range of movement (10a; 10b) of the robot (12a; 12b ) is determined, the transmission position being determined and/or the electronic data being transmitted between the robot (12a; 12b) and the external device (16a; 16b) in at least one method step, depending on the characteristic value determined for the signal strength. procedure after claim 8 , characterized in that the characteristic value of the signal strength is determined in such a way that a maximum value of the detected values of the signal strength at at least 2 dbm greater than the characteristic value of the signal strength. procedure after claim 8 or 9 , characterized in that the characteristic value of the signal strength is determined in such a way that a difference between a detected maximum of the signal strength and the characteristic value of the signal strength exceeds a predetermined amount of the signal strength. Procedure according to one of Claims 8 until 10 , characterized in that in at least one method step, a plurality of detected values of the signal strength and/or the characteristic value of the signal strength is compared with a transmission limit value of the signal strength stored, in particular on the robot (12a; 12b), wherein if the transmission limit value is not reached, the signal strength a notification is issued. Procedure according to one of Claims 8 until 11 , characterized in that in at least one method step the transmission position is determined in such a way that the value of the signal strength detected at the transmission position corresponds to a value from a value range which is limited by the characteristic value of the signal strength and a dynamic threshold value. Mobile robot, in particular at least partially autonomous mobile robot, preferably working robot, particularly preferably robot lawn mower, comprising means for carrying out a method (100a; 100b) according to one of the preceding claims. Arithmetic unit for executing a method (100a; 100b)/steps of a method (100a; 100b) according to one of Claims 1 until 12 . Robot system for carrying out a method (100a; 100b) according to one of Claims 1 until 12 , With a mobile robot (12a; 12b), in particular Claim 13 , and with an external device (16a; 16b).

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