Method for producing a cellularly structured environment map of a self-propelled, mobile unit that orients itself in the environment at least with the assistance of sensors based on wave refection

DETAILED DESCRIPTION It is an object of the present invention to provide a method with which the production of a cellularly structured environment map is improved in that the orientation of a self-propelled mobile unit within the environment map is improved.
In general terms the present invention is a method for producing a cellularly structured environment map with a self-propelled mobile unit that orients itself in the environment at least using sensors based on wave reflection.
The method has the following steps.
The distance of the sensor from an environmental article is identified by a sensor.
The exact position of a coordinate reference point within an originating cell of the environment map is used as a current position of the self-propelled mobile unit at a point in time of a measurement.
At least that cell that is identified, taking the current position, the distance and an arranged position of the sensor relative to the coordinate reference point into consideration, has a degree of occupancy allocated to it for determining the location of the environment article in the environment map.
In an advantageous development of the present invention cells of different sizes are used for producing the environment map, a smaller cell size being used in the proximity of the self-propelled mobile unit and a larger cell being used at more of a distance from the self-propelled mobile unit.
In one embodiment of the present invention a local environment map and a global environment map are produced by the self-propelled mobile unit.
All cells in the local environment map have a fixed topical relationship to the self-propelled mobile unit.
In contrast thereto the cells in the global map have a specific, variable rotation compared to the self-propelled mobile unit produced by the motion of the self-propelled mobile unit and defined by a rotational angle.
The cells of the global grid merely experience a translation during a motion of the self-propelled mobile unit and a different rotational angle is established dependent on the motion