Method for creating an environment map and mobile, self-moving appliance

A method for creating an environment map of a surrounding region for an operation of a mobile, self-moving appliance, which comprises the steps of:

• detecting a region around the mobile, self-moving appliance with at least one first sensor including a lidar sensor, to create a first horizontal plane of the environment map, the first horizontal plane containing obstacles which cannot be passed by an appliance body of the mobile, self-moving appliance, the first horizontal plane being above the upper face of the appliance body of the mobile, self-moving appliance;
• inputting all measurement results of the lidar sensor into the first horizontal plane;
• detecting the region around the mobile, self-moving appliance with at least one second sensor including a lidar bumper, to create a second horizontal plane of the environment map, which is different from the first horizontal plane and above the first horizontal plane at a topmost level of the first sensor, the second horizontal plane including only measurement values detected by the lidar bumper for providing clear differentiation of which obstacles occur at which level, the second horizontal plane containing obstacles, which cannot be passed by the at least one second sensor, wherein the obstacles of the second horizontal plane can be passed by the appliance body;
• and
• planning a movement path of the mobile, self-moving appliance based on separate evaluations of the first and second horizontal planes of the environment map by checking every point to be crossed on one of a plurality of planned trajectories in both the first and second horizontal planes of the environment map for a movement path by checking in the first horizontal plane whether the appliance body can pass or move below obstacles and by checking in the second horizontal plane whether the lidar sensor can pass or move below the obstacles;
• carrying out the evaluations separately and linked with an “AND” criterion for programming purposes in order to make the movement path collision-free, and in order to achieve a maximum floor processing possible in the surrounding region.