DE102017008917A1 - Method for locating a mobile robot - Google Patents

Abstract

A method according to the invention for locating a mobile robot (10) in a reference system comprises the steps, in particular repeated and / or online, of: - acquiring (S10) an environmental contour; and determining (S20) a pose of the robot relative to the frame of reference as a function of, in particular a difference between, the detected surrounding contour (21) and a floor plan of a building (20) which is predetermined relative to the frame of reference.

Description

The present invention relates to a method for locating a mobile robot, a control means for controlling a mobile robot and a computer program product for carrying out the method and a mobile robot with the control means.

In particular for a more flexible automation mobile robots are to be located in buildings.

An object of the present invention is to improve the location of a mobile robot in a building.

This object is achieved by a method having the features of claim 1. Claims 12-14 protect a control or computer program product for carrying out a method or a mobile robot described here with a control means described here. The subclaims relate to advantageous developments.

• - Erfassen einer Kontur einer Umgebung des mobilen Roboters („Umgebungskontur“); und
• - Ermitteln einer Pose des Roboters relativ zu dem Bezugssystem auf Basis bzw. in Abhängigkeit von dieser erfassten Umgebungskontur und einem Grundriss eines Gebäudes, welcher relativ zu dem Bezugssystem vorgegeben ist, in einer Ausführung auf Basis bzw. in Abhängigkeit von einem Unterschied zwischen dieser erfassten Umgebungskontur und dem Grundriss, insbesondere auf Basis bzw. in Abhängigkeit von einem Vergleich dieser erfassten Umgebungskontur und bzw. mit dem Grundriss.

According to one embodiment of the present invention, a method for locating a mobile robot in a reference system comprises the steps, repeated in an embodiment and / or performed online or during a movement of the robot:

• - detecting a contour of an environment of the mobile robot ("surrounding contour"); and
• Determining a pose of the robot relative to the reference system on the basis of this detected environmental contour and a floor plan of a building, which is predetermined relative to the reference system, in an embodiment based on a difference between this detected environmental contour and the floor plan, in particular based on or in dependence on a comparison of this detected environmental contour and / or with the floor plan.

One embodiment of the present invention is based on the idea of using building floor plans which are highly likely to have constant detectable contours, in particular (building) walls or the like, in order to fix the robot in a, in particular building (floor plan), reference system better, in particular precise (r) and / or robust, to locate.

In one embodiment, the mobile robot has a mobile platform, in a further development, in particular an omnidirectional, chassis, in particular a chassis with steerable and / or mecanum wheels, caterpillars, chains or the like.

As a result, in one embodiment, an advantageous mobility can be provided.

In one embodiment, the mobile robot has at least one robot arm with at least three, in particular at least six, in one embodiment at least seven, in particular electrically, in one embodiment electromotive, actuatable or actuated joints or axes.

As a result, in one embodiment, the capabilities of the mobile robot can be extended.

In one embodiment, the reference system has at least, in particular exactly, two position coordinates and / or at least, in particular exactly, an orientation coordinate. It is building-defined (defined) in one execution.

Accordingly, in one embodiment, a pose of the mobile robot describes, in one embodiment, one, two or three dimensional and / or Cartesian position and / or one, in particular one, two or three dimensional, orientation of the robot, in particular its mobile platform , relative to the frame of reference.

A localization in a reference system is accordingly understood in particular as the determination of a (current) pose relative to the reference system.

In one embodiment, the one or more of the pose (n respectively) is determined on the basis of or in dependence on a dead reckoning, in particular odometry, or in addition to the detected environmental contour and the floor plan also a dead reckoning or odometry for locating the mobile Robot used or considered.

For this purpose, in a further development, movements or position differences of the robot are detected by means of detected movements of its mobile platform, in particular wheel revolutions or the like.

By additionally considering a dead reckoning, in particular odometry, in one embodiment the precision of the localization can be (further) improved or vice versa by the additional consideration of (differences or comparisons of) detected environmental contours and the floor plan in particular a drift of dead reckoning can be advantageously compensated ,

Correspondingly, the one or more pose (s) of the robot determined by dead reckoning becomes in one embodiment (respectively) based on or depending on the detected surrounding contour and the layout, in particular based on or depending on the Difference between the detected environmental contour and the floor plan, in particular on the basis of or depending on the comparison of the detected environmental contour and / or with the floor plan corrected.

In one embodiment, the one or more pose (s) determined by dead reckoning is (are) changed (in particular), in particular displaced and / or rotated, such that there is a deviation between an environmental contour detected in this co-pose pose relative to the dead reckoning pose, and a corresponding part of the ground plan or its contour relative to the corrected pose, in one embodiment on average, reduced, minimized in one embodiment.

In one embodiment, a current pose of the robot relative to the frame of reference is based on or in response to previously approached poses, in one embodiment poses based on dead reckoning and / or in dependence of, in particular differences between, in particular comparisons from, detected environmental contours and the floor plan determined, in particular corrected, have been determined.

By (previous) consideration of previous poses, local measurement errors can advantageously be compensated for in one embodiment.

In one embodiment, a trajectory or sequence with previously approached poses relative to the frame of reference and the current pose is determined as a function of a quality criterion that includes a norm or quality function, in particular sum and / or magnitude norm, in a quadratic sum implementation, of deviations from poses the trajectory to by means of dead reckoning and / or as a function of, in particular differences between, in particular comparisons of, detected environmental contours and the floor plan determined, in particular corrected, poses and / or deviations of position differences of the trajectory to determined by dead reckoning position differences has.

By means of such a trajectory with the current pose, in particular as the end point, earlier poses can be taken into account in an embodiment particularly advantageously and thus local measurement errors can be compensated particularly advantageously.

In one embodiment, the trajectory or its poses is respectively updated or adapted such that the trajectory previously determined, determined by means of dead reckoning and / or as a function of, in particular differences between, in particular comparisons of, detected environmental contours and the floor plan, in particular corrected, On the one hand, and on the other hand, position differences determined by means of dead-reckoning are approximated as well as possible in the sense of the standard or quality function, optionally taking into account, in particular weighting, further quality functions of the quality criterion.

Speaking poses of trajectory are so to speak tied to previously determined poses by virtual feathers and tied to the other poses the trajectory by virtual springs, which seek to adjust the difference of these poses on determined by dead reckoning position differences, the trajectory is then by an equilibrium of forces this virtual feathers yields.

In this case, position differences between (temporally) consecutive (detected) poses determined in a design by means of dead reckoning are taken into account.

Additionally or alternatively, in one embodiment, the current pose can be graphically spoken, so to speak, by virtue of a virtual feathering, on the one hand, by means of dead reckoning and / or depending on, in particular a difference between, in particular a comparison of, an environmental contour captured in the current pose and the floor plan Pose and on the other hand be bound by virtual feathers on poses of the trajectory in the vicinity.

Accordingly, in one embodiment, the current pose is determined as a function of poses of the trajectory and poses associated therewith, in particular the coupling navigation based on these poses of the trajectory, their distance to a current, in particular via dead reckoning and / or depending on, in particular a difference between, in particular a comparison of, a detected surrounding contour and the floor plan determined, in particular corrected, pose each falls below a predetermined maximum distance, if the number of these poses the trajectory or the associated poses exceeds a predetermined minimum number ,

In a further development, the current pose is determined as a function of a quality criterion analogous to the adjustment of the trajectory explained above, which is a standard or quality function, in particular summation and / or magnitude norm, in one embodiment, the sum of squares, the deviation of the current pose for currently using dead reckoning and / or depending on, in particular a difference between, in particular a comparison of, a currently detected environmental contour and the floor plan determined, in particular corrected pose and / or deviations between differences of poses of the trajectory to the current pose and has differences in the corresponding poses detected by dead reckoning.

In one embodiment, the floor plan is or is predefined on the basis of architectural and / or CAD data, in particular therefore architectural CAD data, and in particular can have such data, in one embodiment thereof.

Such floor plans or data can usually be easily procured and generally agree very well with the actual building or its structure, in particular walls. In one embodiment, the floor plan of the building may be the floor plan of a ground floor, lower floor, upper floor or upper floor of the building.

Additionally or alternatively, the floor plan in one embodiment, in particular in advance or before the localization according to the invention, can be detected or specified by means of the mobile robot, in particular by or by the mobile robot itself, in particular one, in an embodiment before or before or before the localization according to the invention, by means of the mobile robot, in particular by or by the mobile robot itself, created or robotererte card or a part thereof, in particular be.

Such robot-generated maps or floor plans can be given in an embodiment advantageously without architectural or CAD data.

Accordingly, one or the ground plan in the sense of the present invention in an embodiment, in particular theoretically (pretend) e or planned, walls, door (s) or the like, in a further development thereof, in particular a floor plan in the narrow architectural Be meaning. Likewise, a plan in the sense of the present invention in an embodiment additionally or alternatively, in particular by means of or by the mobile robot (s) detected, borders of, in particular free, spaces or surfaces, in particular floor surfaces have , consist in a development thereof, in particular thus contours of walls and (other) obstacles, in particular pieces of furniture or the like, which have been detected in advance in an embodiment with or by the mobile robot (s). Even such boundaries are thus referred to herein for compact presentation as a floor plan in the context of the present invention.

In one embodiment, the surrounding contour (s in each case) is / are detected without contact, in particular optically, in an embodiment by means of a laser, and / or by means of distance measurement, ie in particular by means of a LiDAR system with one or more laser sensors.

As a result, they can be detected in a precise, fast and / or contactless manner.

In one embodiment, acquired environmental contours are considered differently weighted, especially in the correction of dead reckoning poses. Additionally or alternatively, in one embodiment, poses of the trajectory and / or, in particular corrected, dead reckoning poses are taken into account differently weighted, in particular in the determination of the current pose and / or determination or creation or updating of the trajectory and / or map. For this purpose, covariances of these sizes can be used in a further development.

As a result, deviations between the ground plan of the building and the current situation, for example additional objects, at least partially hidden walls or the like, can advantageously be taken into account in one embodiment.

In one embodiment, a collision monitoring of the mobile robot (also) is carried out on the basis of the detected environmental contour (s), in one embodiment, a collision reaction, in particular a stop and / or an evasion, in particular retreat, performed when a distance of the robot to a detected ambient contour falls below a predetermined limit.

Additionally or alternatively, in one embodiment, by means of the detection of the surrounding contour, one or more, in particular reference-frame-fixed, card is created or updated, in particular a simultaneous localization and map creation or update (SLAM) is performed.

As a result, an ambient contour acquisition system in one embodiment, in particular in combination, can advantageously integrate a plurality of functionalities or a system already used for collision monitoring or localization can be used in an additional functionality. By such a map creation or update, in particular -weiterung, ("robotic mapping") In addition, deviations between the theoretical or previously recorded ground plan of the building and the current situation, for example additional or displaced objects, at least partially hidden walls or the like, can be taken into account.

In one embodiment, on the one hand, by means of the detection of the surrounding contour (s), creating and updating a reference system-fixed map and, on the other hand, pose (s) of the robot relative to the reference system as a function of, in particular (a) difference (s) between, in particular comparison (s In one embodiment, the floor plan with the created map is augmented or the map pre-recorded or predefined with the aid of the mobile robot is updated, in particular extended, by means of the acquired environmental contour (s) and the floor plan.

The mobile robot can advantageously be monitored in an embodiment based on the localization according to the invention, communicate with other mobile robots and / or devices such as work and / or storage stations or the like. In one embodiment, the robot is navigated on the basis of the floor plan and / or the map, in a development, in particular online, carried out a path planning and / or controlled a movement of the robot.

• - Mittel zum Erfassen einer Umgebungskontur, insbesondere online und/oder mehrfach; und
• - Mittel zum Ermitteln einer Pose des Roboters relativ zu dem Bezugssystem in Abhängigkeit von, insbesondere einem Unterschied zwischen, insbesondere einem Vergleich, der (jeweils) erfassten Umgebungskontur und einem Grundriss eines Gebäudes, der relativ zu dem Bezugssystem vorgegeben ist, insbesondere online.

According to one embodiment of the present invention, a control means is provided for controlling the mobile robot, in particular hardware and / or software, in particular program technology, for carrying out a method described here and / or comprises:

• - means for detecting a surrounding contour, in particular online and / or multiple times; and
• - Means for determining a pose of the robot relative to the reference system as a function of, in particular a difference between, in particular a comparison, the (respectively) detected environmental contour and a floor plan of a building, which is predetermined relative to the reference system, in particular online.

• Mittel zum Ermitteln der Pose des Roboters in Abhängigkeit von einer Koppelnavigation, insbesondere Odometrie; und/oder
• Mittel zum Korrigieren einer mittels Koppelnavigation ermittelten Pose des Roboters in Abhängigkeit von, insbesondere einem Unterschied zwischen, insbesondere einem Vergleichen, der erfassten Umgebungskontur und dem Grundriss; und/oder
• Mittel zum Ermitteln einer aktuellen Pose des Roboters relativ zu dem Bezugssystem in Abhängigkeit von zuvor angefahrenen, insbesondere mittels Koppelnavigation und/oder in Abhängigkeit von, insbesondere Unterschieden zwischen, insbesondere Vergleichen von, erfassten Umgebungskonturen und dem Grundriss ermittelten, Posen; und/oder
• Mittel zum Ermitteln einer Trajektorie mit zuvor angefahrenen Posen relativ zu dem Bezugssystem und der aktuell in Abhängigkeit von einem Gütekriterium, das eine Norm von Abweichungen von Posen der Trajektorie zu mittels Koppelnavigation und/oder in Abhängigkeit von, insbesondere Unterschieden zwischen, insbesondere Vergleichen von, erfassten Umgebungskonturen und dem Grundriss ermittelten Posen und/oder von Abweichungen von Posendifferenzen der Trajektorie zu mittels Koppelnavigation ermittelten Posendifferenzen aufweist; und/oder
• Mittel zum Ermitteln der aktuellen Pose in Abhängigkeit von Posen der Trajektorie und mit diesen verknüpften Posen, deren Abstand zu einer aktuell ermittelten Pose jeweils einen vorgegebenen Höchstabstand unterschreitet, falls die Anzahl dieser Posen der Trajektorie eine vorgegebene Mindestanzahl überschreitet; und/oder
• Mittel zum Erfassen der Umgebungskontur berührungslos, insbesondere optisch, und/oder mittels Abstandsmessung; und/oder
• Mittel zum Durchführen einer Kollisionsüberwachung auf Basis der erfassten Umgebungskontur; und/oder
• Mittel zum Erstellen oder Aktualisieren, einer bezugssystemfesten Karte mittels der Erfassung der Umgebungskontur; und/oder
• Mittel zum Navigieren des Roboters auf Basis des Grundrisses und/oder der Karte.

In one embodiment, the control means or its agent (s) comprises:

• Means for determining the pose of the robot in dependence on dead reckoning, in particular odometry; and or
• Means for correcting a dead reckoned pose of the robot as a function of, in particular a difference between, in particular a comparison, the detected environmental contour and the floor plan; and or
• Means for determining a current pose of the robot relative to the reference system as a function of previously approached, in particular by means of dead reckoning and / or as a function of, in particular differences between, in particular comparisons of, detected environmental contours and the floor plan determined poses; and or
• Means for determining a trajectory with previously approached poses relative to the reference system and currently depending on a quality criterion, the standard of deviations of poses of the trajectory to means of dead reckoning and / or depending on, in particular differences between, in particular comparisons of detected Containing environmental contours and the floor plan determined poses and / or deviations from position differences of the trajectory to determined by dead reckoning position differences; and or
• Means for determining the current pose as a function of poses of the trajectory and associated poses whose distance from a currently determined pose falls below a predetermined maximum distance if the number of these poses of the trajectory exceeds a predetermined minimum number; and or
• Means for detecting the environmental contour without contact, in particular optically, and / or by means of distance measurement; and or
• Means for performing collision monitoring based on the detected environmental contour; and or
• Means for creating or updating a reference system fixed card by means of the detection of the surrounding contour; and or
• Means for navigating the robot based on the floor plan and / or the map.

A means in the sense of the present invention may be designed in terms of hardware and / or software, in particular a data or signal-connected, preferably digital, processing, in particular microprocessor unit (CPU) and / or a memory and / or bus system or multiple programs or program modules. The CPU may be configured to execute instructions implemented as a program stored in a memory system, to capture input signals from a data bus, and / or to output signals to a data bus. A storage system may comprise one or more, in particular different, storage media, in particular optical, magnetic, solid state and / or other non-volatile media. The program may be such that it uses the methods described herein is capable of executing, so that the CPU can perform the steps of such methods, and thus in particular the mobile robot can locate, in particular control, navigate in an execution can. In one embodiment, a computer program product may have, in particular, a storage medium for storing a program or a program stored thereon, in particular non-volatile memory, wherein execution of this program causes a system or a controller, in particular a computer, to perform a described here Execute method or one or more of its steps.

In one embodiment, one or more, in particular all, steps of the method are completely or partially automated, in particular by the control means or its (e) means.

• 1: einen mobilen Roboter mit einem Steuermittel zum Steuern des Roboters nach einer Ausführung der vorliegenden Erfindung; und
• 2: ein Verfahren zum Lokalisieren des mobilen Roboters nach einer Ausführung der vorliegenden Erfindung.

Further advantages and features emerge from the subclaims and the exemplary embodiments. This shows, partially schematized ,:

• 1 a mobile robot having a control means for controlling the robot according to an embodiment of the present invention; and
• 2 : A method for locating the mobile robot according to an embodiment of the present invention.

1 shows a mobile robot 10 with a control means 11 for controlling the robot according to an embodiment of the present invention.

The mobile robot 10 has a mobile platform with a landing gear 12 and a LiDAR system 13 on.

The control means 11 navigates the robot 10 in a building 20 relative to a building-fixed frame of reference, which is in 1 through its x and y axis x _m . y _m is indicated.

This is or is in the control means 11 a floor plan of the building 20 stored with architectural CAD data, the wall contours in or relative to the reference system x _m . y _m specify. In a modification, the floor plan can also advance using the robot 10 detected by the robot has created a corresponding map with this floor plan (has).

In one process step S10 (see. 2 ) is determined on the one hand odometrically a current dead reckoning pose and on the other hand by means of the LiDAR system 13 recorded a current environmental contour.

This compares the control means 11 in one step S20 with the stored floor plan and determines based on a difference or this comparison a corrected pose.

This is in 1 exemplary for a odometrically determined dead reckoning pose x _i illustrated, wherein this odometrically determined pose of a robot-fixed reference system relative to the reference system x _m . y _m dash-dotted, the detected environmental contour 21 boldly drawn and the outline of the environment is indicated in bold dashed lines, in the pose according to the floor plan x _i be recorded or should be present.

With e _i is the transformation of the dead reckoning pose x _i in the corrected pose y _i indicated that the deviation between the detected environmental contour 21 and minimizes the corresponding contour of the floor plan or in which the detected environmental contour coincides as well as possible with the building contour predetermined according to or by the floor plan.

In principle, so already a current pose (x _t . y _t . θ _t ) of the mobile robot as a corrected dead-reckoning pose y _i be determined.

In the embodiment, however, a trajectory T , who has previously used poses and the current pose, respectively updated on the basis of the current pose.

This is done in one step S30 checked whether the number of Koppelnavigations poses that are associated with poses of the previous trajectory or underlying this, and their distance to the current Koppelnavigations pose falls below a predetermined maximum distance exceeds a predetermined minimum number, in other words, whether in the vicinity of already present a sufficient number of trajectory poses or associated with this link navigation poses.

Is that the case ( S30 : " Y "), Moves the method or control means 11 with step S40 otherwise, ( S30 : " N ") With step S50 ,

In step S50 determines or updates the control means 11 the trajectory such that on the one hand the distances of their poses to the (corrected) dead reckoning poses and on the other hand the difference of distances between adjacent trajectory poses and distances between corresponding dead reckoning poses become minimal on average.

This is in 1 based on two corrected dead reckoning poses y _j . _{yj + 1} and corresponding trajectory poses z _j . _{zj + 1} illustrated, the trajectory T dash-dotted lines are indicated and the minimization is illustrated by virtual springs, on the one hand virtual feathers the trajectory poses z _j . _{zj + 1} to the corresponding corrected dead reckoning poses y _j . yj ₊₁ and on the other hand a virtual spring the distance between the trajectory poses z _j . _{zj + 1} to adapt to the distance of the corresponding odometrically determined Koppelnavigations poses or the odometrically determined position difference seeks. Similarly, the trajectory poses z _j . _{zj + 1} also be bound directly to the corresponding odometrically determined dead reckoning poses (ie x _j . x _{j + 1} instead of y _j . _{yj + 1} ).

The current pose is also determined or adjusted as the endpoint of the trajectory. As a result, in comparison with a sole correction, local outliers can be compensated for by the overall optimization of the trajectory only as a function of the comparison of the currently detected environmental contour and the floor plan.

If, in the vicinity of the current dead reckoning pose, there are already sufficiently many trajectory poses associated with or underlying these dead reckoning poses ( S30 : " Y "), Determines the control means 11 in step S40 the current pose in an analogous manner, but not the entire previous trajectory (by the in 1 indicated virtual feathers) is updated with, but in an analogous way on the one hand the current pose is tied by a virtual spring to the current corrected Koppelnavigations pose and on the other hand virtual feathers the distances between it and the nearby trajectory poses to the distances of seek to adapt to corresponding odometrically determined dead reckoning poses. As a result, in particular the computing time which is of importance in the method carried out online can be shortened.

In one step S60 one or the reference system or building (floor plan) fixed map is updated on the basis of the currently detected environmental contour, in particular possibly extended, whereby, for example, in the plan (not yet) existing obstacle 22 , For example, a piece of furniture or the like, can be considered, and in one step S70 the robot navigates on the basis of this (updated) map, in particular, planning its course and moving it into a new pose in which the method or control means 11 again with step S100 starts.

Although exemplary embodiments have been explained in the foregoing description, it should be understood that a variety of modifications are possible. It should also be noted that the exemplary embodiments are merely examples that are not intended to limit the scope, applications and construction in any way. Rather, the expert is given by the preceding description, a guide for the implementation of at least one exemplary embodiment, with various changes, in particular with regard to the function and arrangement of the components described, can be made without departing from the scope, as it turns out according to the claims and these equivalent combinations of features.

LIST OF REFERENCE NUMBERS

10

mobile robot

11

control means

12

landing gear

13

LiDAR

20

building

21

recorded environmental contour

22

obstacle

(x _t , y _t , θ _t )

current pose

x _m , y _m

x- and y-axis building-fixed reference system

e _i

transformation

x _i

Dead-reckoning pose

y _i, y _j, y _{j + 1}

corrected dead reckoning pose

Z _j , z _{j + 1}

Trajectories pose

T

trajectory

Claims (14)

Method for locating a mobile robot (10) in a reference system, with the steps, in particular repeated and / or online, being carried out: - detecting (S10) an environmental contour; and Determining (S20) a pose of the robot relative to the reference system in dependence on, in particular a difference between, the detected environmental contour (21) and a floor plan of a building (20) which is predetermined relative to the reference system. Method according to Claim 1 , characterized in that the pose of the robot in dependence on a dead reckoning, in particular odometry, is determined. Method according to the preceding claim, characterized in that a pose of the robot determined by means of dead-reckoning in FIG Depending on the detected environmental contour and the floor plan is corrected (S40, S50). Method according to one of the preceding claims, characterized in that a current pose of the robot is determined relative to the reference system as a function of previously approached, in particular determined by means of dead reckoning and / or in dependence on detected environmental contours and the ground plan, poses (S40, S50) , Method according to the preceding claim, characterized in that a trajectory (T) with previously approached poses relative to the reference frame and the current pose in dependence on a quality criterion is determined (S40, S50), which is a norm of deviations from poses of the trajectory by means of dead reckoning and / or depending on detected environmental contours and the floor plan determined poses and / or deviations from position differences of the trajectory to determined by dead reckoning position differences has. Method according to the preceding claim, characterized in that the current pose is determined as a function of poses of the trajectory and associated poses whose distance to a currently determined pose falls below a predetermined maximum distance, if the number of poses the trajectory a predetermined minimum number exceeds (S40). Method according to one of the preceding claims, characterized in that the floor plan using the mobile robot (10) and / or based on architectural and / or CAD data is given, in particular architectural and / or CAD data has. Method according to one of the preceding claims, characterized in that the surrounding contour is detected without contact, in particular optically, and / or by means of distance measurement. Method according to one of the preceding claims, characterized in that on the basis of the detected environmental contour, a collision monitoring is performed. Method according to one of the preceding claims, characterized in that by means of the detection of the surrounding contour a reference system fixed card is created or updated (S60). Method according to one of the preceding claims, characterized in that the robot is navigated on the basis of the floor plan and / or the map (S70). Control means (11) for controlling a mobile robot (10), which is set up to carry out a method according to one of the preceding claims and / or comprises: - means for detecting a surrounding contour; and - means for determining a pose of the robot relative to the reference system as a function of, in particular a difference between, the detected environmental contour (21) and a floor plan of a building, which is predetermined relative to the reference system. Mobile robot (10) having a control means (11) for controlling the robot according to one of the preceding claims. A computer program product having a program code stored on a computer-readable medium for performing a method according to any one of the preceding claims.

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