DE102022200162B3 - Method and system for operating a robotic system - Google Patents

Abstract

A method for operating a robot system comprises the steps: - Configuring (S20), on the basis of a one-part or multi-part user input and for a first computer program and a first resource and/or first data of the robot system:- an access authorization for the first computer program to the first resource and/or the first data; and/or- an error reaction for an incorrect attempt by the first computer program to access the first resource and/or the first data; and- operating (S30) the robot system, the first computer program being executed, wherein- access by the first computer program to the first resource or the first data is controlled on the basis of the configured access authorization if the access authorization has been configured, and/or - If the first computer program attempts to access the first resource or the first data incorrectly, the configured error response is triggered if the error response has been configured.

Description

The present invention relates to a method and a system for operating a robot system and a computer program or computer program product for carrying out a method described here.

When operating robot systems, computer programs, in particular so-called application programs ("apps"), are increasingly being used, which are made available, for example, by the robot manufacturer, the user or third parties, some of which extend the capabilities of the robot and which the user can buy from an app store, for example can install. Such computer programs can influence both general system properties of the robot, for example in the field of safety, and can also be used specifically for the robot application, for example as a block for graphical programming of the robot.

DE112018004411T5 describes a computer automated method for supporting management of an application for clients, where the clients are available for use by system contributors, and where the application provides one or more resources to clients, each resource being associated with at least one app, and each App has a plurality of microservices.

DE112014004896T5 describes a method to manage access to a plurality of devices, comprising: receiving at a device management server a first credential record for a first particular device from a plurality of devices, wherein the credential record is received from a first user account that is authorized to manage the first specific device; receive at the device management server a second credential for a second specific device of the plurality of devices, wherein the credential is received from a second user account different from the first user account, the second user account being authorized to manage the second specific device, and is not authorized to manage the first designated device.

DE102013013875A1 describes a method for controlling a robot, comprising the steps of: monitoring the robot; and performing a selected one of a number of predetermined error responses based on the monitoring of the robot; wherein the error response is selected on the basis of monitoring a functionality and/or an output variable of at least one motor of the robot.

DE102011117855A1 describes a method for identifying applications that are installed or will be installed on mobile devices or are currently being loaded there, such that the authorizations of each of these applications are checked according to the method by a CheckApp device installed on the mobile device and presented to the user of the device in more detail as this occurs during the installation process of the application through established processes under the interaction of the operating system of the mobile device and a marketplace from which the applications are downloaded or similar facilities towards the user.

DE19533604A1 describes a procedure for parameterizing an error reaction of numerically controlled machine tools or robots.

EP3388901A1 describes an automation system, wherein the automation devices are designed to use a security program to acquire exclusive access to one of the interchangeable devices and, after receiving access authorization, to initiate and control the coupling of an interchangeable device to a coupling point, further configured after coupling a functionally secure connection to the interchangeable device and to send commands to the interchangeable device, further configured to disconnect the functionally secure connection to the currently coupled interchangeable device and to initiate and control the decoupling of the interchangeable device from the coupling point, the security program being further configured to use the exclusive Re-enable access to the removable device.

An object of an embodiment of the present invention is to improve the operation of robotic systems.

This object is achieved by a method having the features of claim 1. Claims 15, 16 protect a system or computer program or computer program product for carrying out a method described here. The dependent claims relate to advantageous developments.

• - Betreiben des Robotersystems, wobei ein Computerprogramm ausgeführt wird, das vorliegend ohne Beschränkung der Allgemeinheit als erstes Computerprogramm bezeichnet wird.

According to one embodiment of the present invention, a method for operating a robot system comprises the step:

• - Operating the robot system, with a computer program being executed, which is referred to here as the first computer program without loss of generality.

• - Konfigurieren, auf Basis einer Benutzereingabe, insbesondere eines Teils einer mehrteiligen Benutzereingabe, und für das erste Computerprogramm sowie eine erste Ressource und/oder erste Daten des Robotersystems, einer Zugriffsberechtigung des ersten Computerprogramms auf die erste Ressource und/oder die ersten Daten, wobei bei dem Betreiben des Robotersystems, in einer Ausführung bei dem Ausführen des ersten Computerprogramms, ein Zugriff des ersten Computerprogramms auf die erste Ressource bzw. die ersten Daten auf Basis der konfigurierten Zugriffsberechtigung gesteuert wird, sofern die Zugriffsberechtigung konfiguriert worden ist.

According to an embodiment of the present invention, the method comprises the step:

• - Configuring, based on user input, in particular part of a multi-part user input, and for the first computer program and a first resource and/or first data of the robot system, access authorization for the first computer program to the first resource and/or the first data, wherein at the operation of the robot system, in one embodiment, when executing the first computer program, access by the first computer program to the first resource or the first data is controlled on the basis of the configured access authorization, provided the access authorization has been configured.

• - Konfigurieren, auf Basis einer Benutzereingabe, insbesondere eines Teils einer mehrteiligen Benutzereingabe, und für das erste Computerprogramm sowie eine bzw. die erste Ressource und/oder (die) erste(n) Daten des Robotersystems, einer Fehlerreaktion für einen fehlerhaften Zugriffsversuch des ersten Computerprogramms auf die erste Ressource und/oder die ersten Daten, wobei bei dem Betreiben des Robotersystems, in einer Ausführung bei dem Ausführen des ersten Computerprogramms, bei einem fehlerhaften Zugriffsversuch des ersten Computerprogramms auf die erste Ressource bzw. die ersten Daten die konfigurierte Fehlerreaktion ausgelöst, insbesondere durchgeführt, wird, sofern die Fehlerreaktion konfiguriert worden ist.

Additionally or alternatively, according to an embodiment of the present invention, the method comprises the step:

• - Configure, on the basis of a user input, in particular part of a multi-part user input, and for the first computer program and a or the first resource and/or (the) first data of the robot system, an error reaction for an incorrect access attempt by the first computer program to the first resource and/or the first data, wherein when the robot system is operated, in one embodiment when the first computer program is executed, the configured error reaction is triggered if the first computer program attempts to access the first resource or the first data incorrectly, in particular carried out, if the error response has been configured.

In this way, in one embodiment, a user can configure access authorizations of computer programs to resources and/or data of the robot system or error reactions in the event of or to incorrect access attempts(s) to resources and/or data of the robot system and so in particular by making appropriate entries adapt to respective boundary conditions, for example the respective robot system, its environment and/or robot programs or applications executed by the robot system, as a result of which the operation of the robot system, in particular reliability, efficiency and/or safety, can be improved.

• - Konfigurieren, auf Basis einer Benutzereingabe, insbesondere eines Teils einer mehrteiligen Benutzereingabe, und für eine andere Ressource und/oder andere Daten des Robotersystems, einer (weiteren) Zugriffsberechtigung des ersten Computerprogramms auf die andere Ressource und/oder die anderen Daten, wobei bei dem Betreiben des Robotersystems, in einer Ausführung bei dem Ausführen des ersten Computerprogramms, ein Zugriff des ersten Computerprogramms auf die andere Ressource bzw. die anderen Daten auf Basis dieser konfigurierten (weiteren) Zugriffsberechtigung gesteuert wird, sofern diese (weitere) Zugriffsberechtigung konfiguriert worden ist.

In one embodiment, the method includes the step:

• - Configure, on the basis of a user input, in particular a part of a multi-part user input, and for another resource and/or other data of the robot system, a (further) access authorization of the first computer program to the other resource and/or the other data, with the Operating the robot system, in one embodiment, when executing the first computer program, access by the first computer program to the other resource or the other data is controlled on the basis of this configured (additional) access authorization, provided that this (additional) access authorization has been configured.

• - Konfigurieren, auf Basis einer Benutzereingabe, insbesondere eines Teils einer mehrteiligen Benutzereingabe, und für das erste Computerprogramm sowie eine bzw. die andere Ressource und/oder (die) andere(n) Daten des Robotersystems, einer (weiteren) Fehlerreaktion für einen fehlerhaften Zugriffsversuch des ersten Computerprogramms auf die andere Ressource und/oder die anderen Daten, wobei bei dem Betreiben des Robotersystems, in einer Ausführung bei dem Ausführen des ersten Computerprogramms, bei einem fehlerhaften Zugriffsversuch des ersten Computerprogramms auf die andere Ressource bzw. die anderen Daten diese konfigurierte (weiteren) Fehlerreaktion ausgelöst, insbesondere durchgeführt, wird, sofern diese (weiteren) Fehlerreaktion konfiguriert worden ist.

Additionally or alternatively, in one embodiment, the method includes the step:

• - Configure, on the basis of a user input, in particular part of a multi-part user input, and for the first computer program and one or the other resource and/or (the) other data of the robot system, a (further) error reaction for an incorrect access attempt of the first computer program to the other resource and/or the other data, wherein when the robot system is operated, in one embodiment when the first computer program is executed, when the first computer program attempts to access the other resource or the other data incorrectly, this configures the latter ( further) error reaction is triggered, in particular carried out, if this (further) error reaction has been configured.

• - Konfigurieren, auf Basis einer Benutzereingabe, insbesondere eines Teils einer mehrteiligen Benutzereingabe, und für das erste Computerprogramm, einer (weiteren) Fehlerreaktion für einen andersartigen fehlerhaften Zugriffsversuch des ersten Computerprogramms auf die erste Ressource und/oder die ersten Daten, wobei bei dem Betreiben des Robotersystems, in einer Ausführung bei dem Ausführen des ersten Computerprogramms, bei dem andersartigen fehlerhaften Zugriffsversuch des ersten Computerprogramms auf die erste Ressource bzw. die ersten Daten die hierfür konfigurierte (weiteren) Fehlerreaktion ausgelöst, insbesondere durchgeführt, wird, sofern diese (weiteren) Fehlerreaktion konfiguriert worden ist.

Additionally or alternatively, in one embodiment, the method includes the step:

• - Configuring, on the basis of a user input, in particular a part of a multi-part user input, and for the first computer program, a (further) error response for a different type of incorrect access attempt by the first computer program to the first resource and/or the first data, wherein when operating the Robot system, in one embodiment, when the first computer program is executed, the (additional) error response configured for this purpose is triggered, in particular carried out, when the first computer program attempts to access the first resource or the first data with a different type of error, provided that this (additional) error response is configured has been.

In this way, in one embodiment, a user can access authorizations of a computer program to various resources and/or data of the robot system or error responses to incorrect(s) access attempts(s) to various by appropriate inputs Configure resources and/or data of the robot system or error responses to various incorrect access attempts, in particular differently, and thus to the respective boundary conditions, for example the respective robot system, its environment and/or the robot system adapt executed robot programs or applications, as a result of which the operation of the robot system, in particular reliability, efficiency and/or safety, can be (further) improved.

In one development, the same error reaction is configured for an incorrect attempt by the first computer program to access the first resource and/or the first data and for an incorrect attempt by the first computer program to access the other resource or other data.

Additionally or alternatively, in a development for the first computer program, the same access authorization is configured both for the first resource and/or the first data and for the other resource or the other data.

Additionally or alternatively, in one development, the same error reaction is configured for an incorrect attempt by the first computer program to access the first resource and/or the first data and for a different incorrect attempt by the first computer program to access the first resource or first data.

In this way, a user can access authorizations for various resources and / or data of the robot system or error responses to incorrect (n) access attempts (s) to various resources and / or data of the robot system or error responses to or on advantageously, in particular efficiently and/or reliably, configure various incorrect access attempts, as a result of which the operation of the robot system can be (further) improved.

In one development, different error responses are configured for an incorrect attempt by the first computer program to access the first resource and/or the first data and for an incorrect attempt by the first computer program to access the other resource or the other data.

Additionally or alternatively, in a development for the first computer program, different access authorizations are configured on the one hand for the first resource and/or the first data and on the other hand for the other resource or the other data.

Additionally or alternatively, in one development, different error responses are configured for an incorrect access attempt by the first computer program to the first resource and/or the first data and for a different type of incorrect access attempt by the first computer program to the first resource or first data.

In this way, a user can access authorizations for various resources and / or data of the robot system or error responses to incorrect (n) access attempts (s) to various resources and / or data of the robot system or error responses to or on adapting various incorrect access attempts(s) advantageously individually to the respective boundary conditions, for example the respective robot system, its environment and/or robot programs or applications executed by it, whereby the operation of the robot system, in particular a reliability, efficiency and /or security, can be (further) improved.

• - Konfigurieren, auf Basis einer Benutzereingabe, insbesondere eines Teils einer mehrteiligen Benutzereingabe, und für ein weiteres Computerprogramm, einer Zugriffsberechtigung des weiteren Computerprogramms auf die erste Ressource und/oder die ersten Daten, wobei bei dem Betreiben des Robotersystems das weitere Computerprogramm ausgeführt wird und bei dem Betreiben des Robotersystems, in einer Ausführung bei dem Ausführen des weiteren Computerprogramms, ein Zugriff des weiteren Computerprogramms auf die erste Ressource bzw. die ersten Daten auf Basis dieser (für das weitere Computerprogramm und die erste(n) Ressource bzw. Daten) konfigurierten Zugriffsberechtigung gesteuert wird, sofern diese Zugriffsberechtigung konfiguriert worden ist.

In one embodiment, the method includes the step:

• - Configure, on the basis of a user input, in particular a part of a multi-part user input, and for a further computer program, an access authorization of the further computer program to the first resource and/or the first data, wherein the further computer program is executed when the robot system is operated and at the operation of the robot system, in one embodiment when executing the further computer program, access by the further computer program to the first resource or the first data on the basis of this access authorization configured (for the further computer program and the first resource or data). is controlled if this access permission has been configured.

• - Konfigurieren, auf Basis einer Benutzereingabe, insbesondere eines Teils einer mehrteiligen Benutzereingabe und für ein bzw. das weitere(s) Computerprogramm, einer Fehlerreaktion für einen fehlerhaften Zugriffsversuch des weiteren Computerprogramms auf die erste Ressource und/oder ersten Daten, wobei bei dem Betreiben des Robotersystems das weitere Computerprogramm ausgeführt wird und bei dem Betreiben des Robotersystems, in einer Ausführung bei dem Ausführen des weiteren Computerprogramms, bei einem fehlerhaften Zugriffsversuch des weiteren Computerprogramms auf die erste Ressource bzw. die ersten Daten diese (für das weitere Computerprogramm und die erste(n) Ressource bzw. Daten) konfigurierte Fehlerreaktion ausgelöst wird, sofern diese Fehlerreaktion konfiguriert worden ist.

Additionally or alternatively, in one embodiment, the method includes the step:

• - Configure, on the basis of a user input, in particular part of a multi-part user input and for one or the other computer program, an error reaction for an incorrect access attempt by the other computer program to the first resource and/or first data, wherein when operating the Robot system running the other computer program and when operating the robot system, in one embodiment when executing the further computer program, in the event of an incorrect attempt by the further computer program to access the first resource or the first data (for the further computer program and the first resource or data ) configured error response is triggered if this error response has been configured.

In this way, a user can enter access authorizations for different computer programs to the same resources and/or data of the robot system or error responses to incorrect access attempts(s) by different computer programs to the same resources and/or data of the robot system, in a Execution differently, configure and thus adapt to the respective boundary conditions, for example the respective robot system, its environment and / or robot programs or applications executed by it, whereby the operation of the robot system, in particular reliability, efficiency and / or safety, (further) improves can be.

In one embodiment, one or more of the access authorizations mentioned here and/or one or more of the error reactions mentioned here are (each) individually configured for an individual computer program or an instance of a computer program type.

Additionally or alternatively, in one embodiment, one or more of the access authorizations mentioned here and/or one or more of the error reactions mentioned here (each computer program type-specific) are configured for a computer program type, in one embodiment such that they act or apply to several individual computer program instances of the same computer program type .

In one embodiment, for the same resource(s) and/or data, an access authorization or error response configured individually for an individual computer program takes precedence and an access authorization or error response configured specifically for a computer program type of this individual computer program is subordinate.

Additionally or alternatively, in one embodiment, one or more of the access authorizations mentioned here and/or one or more of the error reactions mentioned here are (each) configured individually for an individual robot program specified by the configuration, in a further development for the case that the individual computer program , for which the access authorization or error reaction is or has been individually configured, used (from) by or in or from this specified robot program, in particular started or called up and/or executed, and/or used, in particular started or is invoked and/or executed while this robot program is being used, specifically executed.

Additionally or alternatively, in one embodiment, one or more of the access authorizations mentioned here and/or one or more of the error reactions mentioned here (in each case) are configured as a standard for several, preferably any, robot programs of the robot system, in a further development for the case that the computer program , for which the access authorization or error reaction is or has been configured as a standard, used (from) by or in or from one of several robot programs or any robot program, in particular started or called up and/or executed, and/or used, in particular started or called up and/or executed, while one of several robot programs or any robot program is used, in particular executed.

In one embodiment, an access authorization or error reaction configured individually for an individual robot program has priority and an access authorization or error reaction configured as a standard for several, in one embodiment any, robot programs is given priority.

Additionally or alternatively, in one embodiment, one or more of the access authorizations mentioned here and/or one or more of the error reactions mentioned here (each) are not configured as a rule for robot programs of the robot system, in a further development in the event that the computer program for which the Access authorization or error reaction is or has been configured as a rule, is not used (from) by or in or from a robot program, in particular started or called up and/or executed, and/or used, in particular started or called up and/or or being executed while no robot program is being used, specifically being executed. Such access authorizations can also be referred to as permanent access authorizations and/or can be configured or used for system functions or system applications of the computer program.

In the present case, a robot program is in particular a work program for a or several robots of the robot system or an application of one or more robot(s) of the robot system, which in one embodiment specifies movements and/or reactions of the robot(s).

In this way, a user can enter access authorizations or error reactions for individual computer program (instance) e (s) and / or computer program types or multiple computer program instances of the same computer program type and / or for individual robot programs or applications and / or as a standard for Configure robot programs or applications and/or as a rule outside of or when no robot programs or applications (are executed), in one embodiment differently and thus to the respective boundary conditions, for example the respective robot system, its environment and/or or adapt robot programs or applications executed by it, whereby the operation of the robot system can be (further) improved.

In one embodiment, one or more of the access permissions set forth herein (each) individually configured for an individual computer program and/or one or more of the error responses set forth herein (each) individually configured for an individual computer program (each) with priority or prioritized over one or more other access authorizations or error reactions.

Additionally or alternatively, in one embodiment, one or more of the access authorizations mentioned here, which (each) are configured as a standard for robot programs or applications, and/or one or more of the error reactions mentioned here, which (each) are configured as a standard for robot programs or -applications are configured, (respectively) are used subordinately or one or more other access authorizations or error reactions are used with priority over these access authorizations or error reactions configured as standard.

In one embodiment, if a computer program is used outside of or not by or not in or not from a robot program, in particular started or called up and/or executed, and/or if the computer program is used, it is in particular started or called up and/or executed is, while no robot program is used, in particular executed, for the computer program which - in particular for the computer program type of this computer program or, in one embodiment, which is prioritized or given priority individually for this computer program, as a rule configured access authorization or error reaction is used if this is configured.

• , in einer Ausführung vorrangig bzw. priorisiert, die für dieses individuelle Computerprogramm und gegebenenfalls dieses Roboterprogramm konfigurierte Zugriffsberechtigung bzw. Fehlerreaktion verwendet wird, falls diese konfiguriert ist;
• , in einer Ausführung demgegenüber nachrangig, die für den Computerprogrammtyp dieses individuellen Computerprogramms und gegebenenfalls dieses Roboterprogramm konfigurierte Zugriffsberechtigung bzw. Fehlerreaktion verwendet wird, falls diese konfiguriert ist; und/oder
• , in einer Ausführung demgegenüber nachrangig, die für den Computerprogrammtyp dieses individuellen Computerprogramms als Standard konfigurierte Zugriffsberechtigung bzw. Fehlerreaktion verwendet wird, falls diese konfiguriert ist.

Additionally or alternatively, in one embodiment, if a robot program is used, in particular executed, and/or the computer program is used (from) by or in or from this robot program, an access authorization or error reaction is used for this individual computer program, with:

• , in one embodiment, the access authorization or error reaction configured for this individual computer program and possibly this robot program is used with priority or prioritization, if this is configured;
• , in one embodiment subordinate to this, the access authorization or error reaction configured for the computer program type of this individual computer program and possibly this robot program is used, if this is configured; and or
• , in one embodiment subordinate to this, the access authorization or error response configured as the standard for the computer program type of this individual computer program is used, if this is configured.

In one embodiment, at least one access authorization and/or at least one error reaction is configured for an individual computer program or for a computer program type for a robot program by configuring the access authorization or error reaction when programming this robot program.

In this way, a particularly advantageous access authorization or error reaction can be used in one embodiment, in particular in combination of two or more of the aforementioned features, and/or the operation, in particular the reliability and/or safety, of the robot system can be (further) improved.

In one embodiment, one or more access authorizations and/or one or more error responses are proposed for at least one computer program type and/or at least one individual computer program for configuration, in a further development by the computer program type or the computer program, in particular made available for selection, in one embodiment displayed, preferably access authorizations that are required for the corresponding computer program (type). For example, a computer program (type) can access certain resources, such as sensors, of the robot system in order to be able to work at all or particularly advantageously.

In this way, in one embodiment, operation of the robot system can be (further) improved.

In one embodiment, one or more of the access authorizations mentioned here and/or one or more of the error reactions mentioned here are configured during an installation of a computer program or computer program type.

As a result, the access authorization or error response can be configured particularly advantageously and/or reliably.

Additionally or alternatively, in one embodiment, one or more of the access authorizations mentioned here and/or one or more of the error reactions mentioned here are configured before and/or when a computer program is used to create a robot program.

As a result, in one embodiment, access authorizations or error responses for individual computer programs can be configured in a particularly advantageous manner, in particular according to the situation or needs.

Additionally or alternatively, in one embodiment, one or more of the access authorizations mentioned here and/or one or more of the error reactions mentioned here are configured after execution of the computer program for which this access authorization or error reaction has been configured, in one execution re- or reconfigured.

As a result, in one embodiment, access authorizations or error responses can be configured in a particularly advantageous manner, in particular according to the situation or needs.

Additionally or alternatively, in one embodiment, configuration of one or more of the access authorizations of a computer program mentioned here and/or one or more of the error responses mentioned here for an incorrect attempt to access a computer program during execution of this or the respective computer program is blocked.

As a result, security can be increased in one embodiment.

In one embodiment, configuring one or more of the access authorizations mentioned here and/or one or more of the error responses mentioned here (in each case) includes selecting from a plurality of predefined access authorizations or error responses saved in an execution, changing one saved in an execution , access authorization or error reaction and/or parameterization, in particular reparameterization, of an access authorization or error reaction stored in an embodiment.

As a result, in one embodiment, access authorizations or error responses can be configured particularly advantageously, in particular reliably and/or quickly.

An incorrect access attempt within the meaning of the present invention can in particular be an unauthorized access attempt or an authorized but failed access attempt.

In one embodiment, the first computer program and/or the further computer program (each) has at least one application or utility, in a further development at least one block of a robot program and/or for programming a robot program, in one embodiment a library of blocks for robot programs and/or or for programming a robot program. Additionally or alternatively, in one embodiment, the first computer program and/or the further computer program (each) has system software. Application or service programs or system software can be defined in particular according to ISO/IEC 2382, but without being restricted to this.

Access to such computer programs can be configured particularly advantageously, thereby improving the operation of the robot system.

In one embodiment, the robot system has one or more robots and at least one controller for controlling this or these robots. In one embodiment, the or one or more of the robots (each) has at least three, in particular at least six, in one embodiment at least seven, joints or (movement) axes, in particular a robot arm with at least three, in particular at least six, in one embodiment at least seven joints or (movement) axes. The invention is particularly suitable for such robot systems, in particular due to the variability and operating conditions of such robot systems.

In one embodiment, the first resource and/or the other resource (each) has at least one safety device and/or one or more sensors and/or one or more actuators of the robot system, in particular of the robot, and/or one or more input and/or output interfaces and/or one or more network, computing and/or storage devices of the robot system, in particular the controller. The invention is particularly suitable for such resources, in particular because of the security requirements.

In one embodiment, the first data and/or the additional data include sensor data of the robot system, actuator data of the robot system, diagnostic data of the robot system and/or runtime data of the robot system, in particular of the robot and/or the controller. The invention is particularly suitable for such data, in particular because of the security requirements.

In one embodiment, one or more of the error reactions mentioned here (each) include stopping a robot of the robot system, in particular on a path specified by a current robot program and/or with or without subsequent disconnection of a power supply to the robot.

In one embodiment, one or more of the error reactions mentioned here (each) include stopping a robot of the robot system deviating from a path specified by a current robot program, in particular with or without an initial or subsequent disconnection of a power supply to the robot.

Correspondingly, in one embodiment, an error reaction can include category STOP 0 (not true to path with disconnection of the energy supply), STOP 1 (true to path with subsequent disconnection of the energy supply) or STOP 2 (true to path without disconnection of the energy supply).

Additionally or alternatively, in one embodiment, one or more of the error reactions mentioned here (each, in one embodiment in addition to stopping the robot), storage and/or, in a further development, visual and/or acoustic output of an error message, in one embodiment on a robot and/or an input and/or output interface of a controller of the robot system and/or to the computer program whose incorrect access attempt triggered the error reaction. In one embodiment, this computer program responds to this error message in a predetermined manner that is configured in one embodiment.

Additionally or alternatively, in one embodiment, one or more of the error responses mentioned here (each, in one embodiment in addition to stopping the robot and/or storing and/or outputting an error message), have a premature, in particular based on a user input when configuring the Error reaction configured, termination of a currently running computer program, in particular the computer program whose incorrect access attempt has triggered the error reaction.

In one embodiment, the operation of the robot system, in particular its safety, can be (further) improved by these error reactions.

• - Mittel zum Konfigurieren, auf Basis einer ein- oder mehrteiligen Benutzereingabe und für ein erstes Computerprogramm sowie eine erste Ressource und/oder erste Daten des Robotersystems:
  • - einer Zugriffsberechtigung des ersten Computerprogramms auf die erste Ressource und/oder ersten Daten und/oder
  • - einer Fehlerreaktion für einen fehlerhaften Zugriffsversuch des ersten Computerprogramms auf die erste Ressource und/oder die ersten Daten; und
• - Mittel zum Betreiben des Robotersystems, wobei das erste Computerprogramm ausgeführt wird, wobei
  • - ein Zugriff des ersten Computerprogramms auf die erste Ressource bzw. ersten Daten auf Basis der konfigurierten Zugriffsberechtigung gesteuert wird, sofern die Zugriffsberechtigung konfiguriert worden ist, und
  • - bei einem fehlerhaften Zugriffsversuch des ersten Computerprogramms auf die erste Ressource bzw. ersten Daten die konfigurierte Fehlerreaktion ausgelöst wird, sofern die Fehlerreaktion konfiguriert worden ist.

According to one embodiment of the present invention, a system for operating a robot system, in particular hardware and/or software, in particular programming, is set up to carry out a method described here and/or has:

• - Means for configuring, based on a one-part or multi-part user input and for a first computer program and a first resource and/or first data of the robot system:
  • - an access authorization of the first computer program to the first resource and/or first data and/or
  • - An error reaction for an incorrect attempt by the first computer program to access the first resource and/or the first data; and
• - Means for operating the robot system, wherein the first computer program is executed, wherein
  • - access by the first computer program to the first resource or first data is controlled on the basis of the configured access authorization, provided that the access authorization has been configured, and
  • - If the first computer program attempts to access the first resource or first data incorrectly, the configured error response is triggered if the error response has been configured.

• - Mittel zum Konfigurieren, auf Basis einer ein- oder mehrteiligen Benutzereingabe und für eine andere Ressource und/oder andere Daten des Robotersystems:
  • - einer Zugriffsberechtigung des ersten Computerprogramms auf die andere Ressource und/oder die anderen Daten und/oder
  • - einer Fehlerreaktion für einen fehlerhaften Zugriffsversuch des ersten Computerprogramms auf die andere Ressource und/oder die anderen Daten; und/oder
• - Mittel zum Konfigurieren, auf Basis einer ein- oder mehrteiligen Benutzereingabe:
  • - einer Fehlerreaktion für einen andersartigen fehlerhaften Zugriffsversuch des ersten Computerprogramms auf die erste Ressource und/oder die ersten Daten;

wobei das Mittel zum Betreiben des Robotersystems dazu eingerichtet ist, dass

• - ein Zugriff des ersten Computerprogramms auf die andere Ressource bzw. die anderen Daten auf Basis dieser konfigurierten Zugriffsberechtigung gesteuert wird, sofern diese Zugriffsberechtigung konfiguriert worden ist, und/oder
• - bei einem fehlerhaften Zugriffsversuch des ersten Computerprogramms auf die andere Ressource bzw. die anderen Daten die hierfür konfigurierte Fehlerreaktion ausgelöst wird, sofern diese Fehlerreaktion konfiguriert worden ist, und/oder
• - bei dem andersartigen fehlerhaften Zugriffsversuch des ersten Computerprogramms auf die erste Ressource bzw. die ersten Daten die hierfür konfigurierte Fehlerreaktion ausgelöst wird, sofern diese Fehlerreaktion konfiguriert worden ist.

In one embodiment, the system or its means(s) has:

• - Means for configuring, based on a one-part or multi-part user input and for another resource and/or other data of the robot system:
  • - an access authorization of the first computer program to the other resource and/or the other data and/or
  • - an error reaction for an incorrect access attempt by the first computer pro gram to the other resource and/or the other data; and or
• - Means for configuring, based on a one-part or multi-part user input:
  • - An error reaction for a different type of incorrect attempt by the first computer program to access the first resource and/or the first data;

wherein the means for operating the robotic system is set up such that

• - access by the first computer program to the other resource or the other data is controlled on the basis of this configured access authorization, provided that this access authorization has been configured, and/or
• - if the first computer program attempts to access the other resource or the other data incorrectly, the error reaction configured for this purpose is triggered if this error reaction has been configured, and/or
• - If the first computer program attempts to access the first resource or the first data with a different type of faulty access, the error response configured for this purpose is triggered if this error response has been configured.

In one embodiment, different access authorizations can be configured for the first resource and/or the first data on the one hand and for the other resource or the other data on the other hand for the first computer program. Additionally or alternatively, different error responses can be configured in one embodiment for an incorrect attempt by the first computer program to access the first resource and/or the first data and for an incorrect attempt by the first computer program to access the other resource or the other data. Additionally or alternatively, in one embodiment, different error responses can be configured for different types of incorrect access attempts by the first computer program to the first resource and/or the first data.

• Mittel zum Konfigurieren, auf Basis einer ein- oder mehrteiligen Benutzereingabe und für ein weiteres Computerprogramm:
  • - einer Zugriffsberechtigung des weiteren Computerprogramms auf die erste Ressource und/oder die ersten Daten und/oder
  • - einer Fehlerreaktion für einen fehlerhaften Zugriffsversuch des weiteren Computerprogramms auf die erste Ressource und/oder die ersten Daten;

wobei das Mittel zum Betreiben des Robotersystems dazu eingerichtet ist, dass bei dem Betreiben des Robotersystems das weitere Computerprogramm ausgeführt wird, wobei ein Zugriff des weiteren Computerprogramms auf die erste Ressource bzw. die ersten Daten auf Basis dieser konfigurierten Zugriffsberechtigung gesteuert wird, sofern diese Zugriffsberechtigung konfiguriert worden ist, und bei einem fehlerhaften Zugriffsversuch des weiteren Computerprogramms auf die erste Ressource bzw. die ersten Daten diese konfigurierte Fehlerreaktion ausgelöst wird, sofern diese Fehlerreaktion konfiguriert worden ist.In one embodiment, the system or its means(s) has:

• Means for configuring, based on a one-part or multi-part user input and for another computer program:
  • - an access authorization of the further computer program to the first resource and/or the first data and/or
  • - An error reaction for an incorrect attempt by the further computer program to access the first resource and/or the first data;

wherein the means for operating the robot system is set up such that the further computer program is executed when the robot system is operated, access by the further computer program to the first resource or the first data being controlled on the basis of this configured access authorization, provided this access authorization is configured has been, and this configured error reaction is triggered in the event of an incorrect attempt by the further computer program to access the first resource or the first data, provided this error reaction has been configured.

In one embodiment, at least one access authorization and/or at least one error reaction for a computer program type or individually for an individual computer program can be configured and/or at least one access authorization and/or at least one error reaction as a standard for several, in particular any, robot programs of the robot system or as a rule not for robot programs of the robot system or individually for an individual robot program specified by the configuration.

In one embodiment, the system or its means has: Means for proposing at least one access authorization and/or at least one error response for configuring at least one computer program.

In one embodiment, at least one access authorization and/or at least one error response is required when installing a computer program or type of computer program and/or before and/or when using a computer program to create a robot program and/or after executing the computer program for which this access authorization or An error reaction has been configured, configurable and/or a configuration of at least one access authorization of a computer program and/or at least one error reaction for an incorrect access attempt of a computer program during execution of this computer program is blocked.

A system and/or means within the meaning of the present invention can be designed in terms of hardware and/or software, in particular at least one processing, in particular digital, preferably connected to a memory and/or bus system for data or signals Microprocessor unit (CPU), graphics card (GPU) or the like, and/or have one or more programs or program modules. The processing unit can be designed to process commands that are implemented as a program stored in a memory system, to detect input signals from a data bus and/or to output output signals to a data bus. A storage system can have one or more, in particular different, storage media, in particular optical, magnetic, solid-state and/or other non-volatile media. The program can be designed in such a way that it embodies or is able to execute the methods described here, so that the processing unit can execute the steps of such methods and thus in particular can operate the robot system. In one embodiment, a computer program product can have, in particular, be a, in particular, computer-readable and/or non-volatile storage medium for storing a program or instructions or with a program or with instructions stored thereon. In one embodiment, execution of this program or these instructions by a system or controller, in particular a computer or an arrangement of multiple computers, causes the system or controller, in particular the computer or computers, to perform a method described here or one or more of its steps, or the program or the instructions are set up to do so.

In one embodiment, one or more, in particular all, steps of the method are carried out fully or partially automatically, in particular by the system or its means.

In one embodiment, the system according to the invention for operating a robot system has the robot system.

A multi-part user input can in particular include a number of time-spaced, in particular separate, inputs and/or a number of inputs in different menus and/or via different interfaces and/or by different users. Accordingly, in the present case, several independent user inputs, for example a user input to configure access authorization for a computer program to a resource and/or data and a user input to configure access authorization for this computer program to other resources and/or data and/or a user input to configure an error response also referred to as a multi-part user input or parts of a user input in the event of an incorrect attempt to access this computer program for more compact representation.

If a configured error reaction is triggered when a computer program makes an incorrect attempt to access a resource or data, this does not mean that this error reaction must be triggered for any incorrect attempt by the computer program to access the resource or data, but only that it is triggered for at least one individual incorrect access attempt, for example for each incorrect access attempt of a specific type, (only) for a chronologically or during operation the first or nth incorrect access attempt or the like. Of course, one embodiment can provide for the error reaction to be triggered for each (or any) incorrect attempt by the computer program to access the resource or data.

In one embodiment, operating the robot system can include operating, in particular moving, its robot and/or executing or processing one or more robot programs or applications. Additionally or alternatively, it can also include working its controller without operating, in particular moving, its robot or executing or processing one or more robot programs or applications, for example pure monitoring of an area around the robot, setting up, in particular calibration , the robot or the like. In particular, access authorizations or error reactions can be used in one embodiment, which are configured as a rule or relate to system functionalities or execute the corresponding computer program system applications.

In one embodiment, a robot system is operated when or during or as long as its operating system is running or operating a robot system includes running its operating system. In one embodiment, one or more of the accesses mentioned here are controlled by the operating system on the basis of the configured access authorizations, in a further development for or before or when a computer program attempts to access a resource or data by the operating system, it is checked whether this is after the configured Access authorization is permitted, and possibly prevented or enabled in a further development. In addition, in one embodiment, the operating system triggers the error reactions configured for this in the event of or as a result of an incorrect attempt(s) by a computer program to access a resource or data.

As described above, in one embodiment, a computer program can execute system applications. For this purpose, one or more access authorizations and/or error reactions can be configured as a rule ("permanent access rights"). Additionally or alternatively, a computer program may be embodied in robotic applications. For this purpose, one or more access authorizations and/or error reactions can be configured as a standard ("standard access rights") or individually for a specific robot application ("access rights for application XY").

• 1: ein Robotersystem nach einer Ausführung der vorliegenden Erfindung;
• 2: ein Verfahren zum Betreiben des Robotersystems nach einer Ausführung der vorliegenden Erfindung;
• 3: eine Schnittstelle zum Konfigurieren von Zugriffsberechtigungen und Fehlerreaktionen für einen Computerprogrammtyp nach einer Ausführung der vorliegenden Erfindung;
• 4: die Schnittstelle der 3 zum Konfigurieren weiterer Zugriffsberechtigungen und Fehlerreaktionen für den Computerprogrammtyp nach einer Ausführung der vorliegenden Erfindung; und
• 5: die Schnittstelle der 3, 4 zum Konfigurieren weiterer Zugriffsberechtigungen und Fehlerreaktionen für ein individuelles Computerprogramm den Computerprogrammtyps nach einer Ausführung der vorliegenden Erfindung.

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

• 1 : a robot system according to an embodiment of the present invention;
• 2 Figure 1: a method of operating the robot system according to an embodiment of the present invention;
• 3 : an interface for configuring access permissions and error responses for a computer program type according to an embodiment of the present invention;
• 4 : the interface of 3 for configuring further access permissions and error responses for the computer program type according to an embodiment of the present invention; and
• 5 : the interface of 3 , 4 for configuring further access authorizations and error reactions for an individual computer program of the computer program type according to an embodiment of the present invention.

1 shows a robot system according to an embodiment of the present invention with a robot arm 1 and a controller 2 with a network, computing and/or storage device 2.2.

2 Fig. 12 shows a method of operating the robotic system according to an embodiment of the present invention.

A user input is read in a step S10.

In a step S20, on the basis of this possibly multi-part user input for one or more computer programs, preferably application or service programs, in an embodiment for a robot program or for programming a robot program, each individually for the individual computer program or computer program type-specific for a computer program type or Several instances of the same type of computer program have access authorizations to specific resources, for example sensors 1.1, actuators 1.2 and/or input/output interfaces 2.1, and/or data of the robot system and/or error reactions for incorrect attempts to access these resources or data, preferably both access authorizations or error reactions as a rule not for robot programs and/or access authorizations or error reactions as a standard for robot programs of the robot system and/or individually for an individual robot program specified by the configuration.

In the exemplary embodiment explained below, access authorizations or error reactions are configured as a standard, rule or for individual robot programs as an example for the computer program type MRK and/or an individual instance MRK_1 of this computer program type.

In a step S30, the robot system is then operated, in particular one or more robot programs are executed at least temporarily, whereby access by computer programs to resources and/or data of the robot system is controlled on the basis of the configured access authorizations and, in the event of incorrect attempts by the computer programs to access resources and/or data of the robot system the error reactions configured for this are triggered.

3 shows an example of an interface for configuring access authorizations and error reactions for a computer program type "MRK" according to an embodiment of the present invention.

In the area on the left, you can see that the computer program type “MRK” has been selected from a series of installed computer program types {“App1”, “App2”, “App3”, “MRK”, “App5”, “App6”} by clicking on it.

In the upper right area it can be seen that for the computer program type "MRK" as a rule not for robot programs (in 3 : "Permanent access rights:") access authorization for position and torque sensors of the robot 1 as well as a safety device has been granted by activating the appropriate boxes. A "Stop1" is configured as an error reaction for a faulty access attempt. This rule applies to system functions of the computer program type or outside of robot applications.

In the lower right area it can be seen that for the computer program type "MRK" as Stan standard for robot programs or applications of the robot system (in 3 : “Standard Application Access Privileges”) have been granted access privileges for I/O interfaces by checking the appropriate box and for a hard drive and network by not checking or unchecking the appropriate boxes.

4 shows the interface when or for configuring access authorizations and error reactions for the computer program type "MRK" individually for an individual robot program "Application1" specified by the configuration.

In the area on the right it can be seen that for the computer program type "MRK" for executing the robot program "Application1" additional access authorization for the network and the position and torque sensors of robot 1 has been granted by activating the corresponding boxes. A "Stop1" is also configured here as an example as an error reaction for a faulty access attempt.

You can see in the left area of the 4 that the computer program type "MRK" is available alongside a number of other installed blocks of a library {"Block1", "Block2", "Block3", "MRK", "Block5", "Block6"}.

5 shows the interface when or for configuring access authorizations and error responses for the individual computer program or the instance “MRK_1” of the computer program type “MRK”.

For this purpose, access authorizations for the hard disk, the network, input/output interfaces and the position and torque sensors of the robot 1 have been granted by activating the corresponding boxes. A "Stop1" is also configured here as an example as an error reaction for a faulty access attempt.

Although exemplary embodiments have been explained in the preceding description, it should be pointed out that a large number of modifications are possible.

For example, steps S10, S20 can be repeated one or more times before step S30 in order to configure access authorizations and/or error reactions for different computer programs and/or computer program types and/or incorrect access attempts.

Additionally or alternatively, steps S10, S20 can be carried out again after step S30 in order to configure further access authorizations and/or error reactions and/or to reconfigure access authorizations and/or error reactions

In addition, it should be noted that the exemplary implementations are only examples and are not intended to limit the scope, applications, or construction in any way.

Reference List

1

robot

1.1

sensor

1.2

actuator

2

steering

2.1

input/output interface

2.2

Network, computing and/or storage device

Claims (16)

Method for operating a robot system, comprising the steps: - Configure (S20), on the basis of a one-part or multi-part user input and for a first computer program and a first resource and/or first data of the robot system: - an access authorization of the first computer program to the first resource and/or the first data; and or - An error reaction for an incorrect attempt by the first computer program to access the first resource and/or the first data; and - Operating (S30) the robot system, wherein the first computer program is executed, wherein - access by the first computer program to the first resource or the first data is controlled on the basis of the configured access authorization, provided the access authorization has been configured, and - If the first computer program attempts to access the first resource or the first data incorrectly, the configured error response is triggered if the error response has been configured. procedure after claim 1 , with the steps: - configuring (S20), on the basis of a one-part or multi-part user input and for another resource and/or other data of the robot system: - an access authorization of the first computer program to the other resource and/or the other data and/or or - an error reaction for an incorrect attempt by the first computer program to access the other resource and/or the other data; and/or - configuring (S20), on the basis of a one-part or multi-part user input: - an error reaction for a different type of incorrect access attempt by the first computer program to the first resource and/or the first data;wherein when operating the robot system - accessing the first computer program to access the other resource or the other data on the basis of this configured access authorization, provided this access authorization has been configured, and/or - if the first computer program attempts to access the other resource or the other data incorrectly, the error response configured for this is triggered if this error reaction has been configured, and/or the error reaction configured for this is triggered if this error reaction has been configured if the first computer program attempts to access the first resource or the first data with a different type of error. procedure after claim 2 , wherein the same access authorization is configured for the first computer program and both the first resource and/or the first data and the other resource or the other data and/or wherein an incorrect attempt by the first computer program to access the first resource and/or the first data and for an incorrect access attempt by the first computer program to the other resource or the other data, the same error reaction is configured and/or wherein for an incorrect access attempt by the first computer program to the first resource and/or the first data and for a different type of incorrect access attempt of the first computer program is configured to the first resource and/or the first data the same error reaction. procedure after claim 2 or 3 , wherein different access authorizations are configured for the first resource and/or the first data on the one hand and for the other resource or the other data on the other hand for the first computer program and/or wherein an incorrect access attempt by the first computer program to the first resource and/or the first data and for an incorrect access attempt by the first computer program to the other resource or the other data, different error reactions are configured and/or wherein for an incorrect access attempt by the first computer program to the first resource and/or the first data and for a different type of incorrect one Access attempt of the first computer program on the first resource and / or the first data different error responses are configured. Method according to one of the preceding claims, with the steps: - Configure (S20), on the basis of a one-part or multi-part user input and for another computer program: - an access authorization of the further computer program to the first resource and/or the first data and/or - an error reaction for an incorrect attempt by the further computer program to access the first resource and/or the first data;wherein the further computer program is executed when the robot system is operated, wherein - access by the further computer program to the first resource or the first data is controlled on the basis of this configured access authorization, provided that this access authorization has been configured, and/or - this configured error reaction is triggered in the event of an incorrect attempt by the further computer program to access the first resource or the first data, provided this error reaction has been configured. Method according to one of the preceding claims, wherein at least one access authorization and/or at least one error reaction is configured for a computer program type or individually for an individual computer program and/or wherein at least one access authorization and/or at least one error reaction is configured as a standard for several, in particular any, robot programs of the robot system or as a rule not configured for robot programs of the robot system or individually for an individual robot program specified by the configuration. Method according to the preceding claim, wherein an access authorization or error reaction configured individually for an individual computer program is used with priority and/or an access authorization or error reaction configured as a standard is used secondarily. Method according to one of the preceding claims, wherein at least one access authorization and/or at least one error reaction is proposed for at least one computer program for configuring. Method according to one of the preceding claims, wherein at least one access authorization and / or at least one error reaction during an installation of a computer program or computer program type and / or before and / or when using a computer program for Creation of a robot program and/or after execution of the computer program for which this access authorization or error reaction has been configured, and/or configuration of at least one access authorization of a computer program and/or at least one error reaction for an incorrect access attempt of a computer program during execution this computer program is blocked. Method according to one of the preceding claims, wherein configuring at least one access authorization and/or at least one error reaction comprises selecting from a plurality of predefined access authorizations or error reactions, changing an access authorization or error reaction and/or parameterizing an access authorization or error reaction. Method according to one of the preceding claims, wherein an incorrect access attempt is an unauthorized access attempt or an authorized, failed access attempt. Method according to one of the preceding claims, wherein the first and/or further computer program comprises at least one application or utility, in particular at least one block of a robot program and/or for programming a robot program, in particular a library of blocks for robot programs and/or for programming a robot program , and/or system software. Method according to any one of the preceding claims, wherein - The robot system has at least one robot (1) and at least one controller (2); and or - the first and/or other resource at least one safety device and/or at least one sensor and/or at least one actuator of the robot system, in particular the robot, and/or at least one input and/or output interface and/or at least one network computer - and/or storage device of the robot system, in particular of the controller; and or - the first and/or further data have sensor, actuator, diagnostic and/or runtime data of the robot system, in particular of the robot and/or the controller. Method according to one of the preceding claims, wherein at least one error reaction - stopping a robot of the robot system, in particular on or deviating from a path specified by a current robot program and/or with or without disconnecting a power supply of the robot; - Storage and/or, in particular visual and/or acoustic, output of an error message, in particular on a robot and/or an input and/or output interface of a controller of the robot system and/or on the computer program whose incorrect access attempt triggered the error reaction ; and or - a premature termination of a currently running computer program, in particular the computer program whose incorrect access attempt triggered the error response, configured in particular on the basis of a user input when configuring the error response. System for operating a robot system, which is set up to carry out a method according to one of the preceding claims and/or has: - Means for configuring, based on a one-part or multi-part user input and for a first computer program and a first resource and/or first data of the robot system: - an access authorization of the first computer program to the first resource and/or first data and/or - An error reaction for an incorrect attempt by the first computer program to access the first resource and/or the first data; and - Means for operating the robot system, wherein the first computer program is executed, wherein - access by the first computer program to the first resource or first data is controlled on the basis of the configured access authorization, provided that the access authorization has been configured, and - If the first computer program attempts to access the first resource or first data incorrectly, the configured error response is triggered if the error response has been configured. Computer program or computer program product, wherein the computer program or computer program product contains instructions, in particular stored on a computer-readable and/or non-volatile storage medium, which, when executed by one or more computers or a system claim 15 cause the computer or system to perform a method according to any one of Claims 1 until 14 to perform.

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