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The semantic representation of the trajectory is conducive to enrich the content of trajectory data mining. A trajectory summarisation generation method based on the mobile robot behaviour analysis was proposed to realize the abstract expression and semantic representation of the spatio-temporal motion features of the robot and its environmental interaction state. First, the behavioural semantic modelling and representation of the mobile robot are completed by modelling the sub-trajectory and calculating the topological behaviour (TOP). Second, Chinese word segmentation and semantic slot filling methods are used to combine with hierarchical clustering to perform basic word extraction and classification for describing trajectory sentences. Then, the description language frame is extracted based on the TOP, and the final trajectory summarisation is generated. The result shows that the proposed method can semantically represent robot behaviours with different motion features and topological features, extract two verb-frameworks for describing the sentences according to their topological features, and dynamically adjust the syntactic structure for the different topological behaviours between the target and the environment. The proposed method can generate semantic information of relatively high quality for spatio-temporal data and help to understand the higher-order semantics of moving robot behaviour.