DE102018130462A1 - Method, system and computer program for operating one or more robots, a robot system and / or a robot swarm - Google Patents

Abstract

A method, system and computer program for providing information for operating a robot (20, 21, 22), a robot system and / or a robot swarm is proposed, comprising: a control (S1) of one or more actuators of one or more first robots (10 , 11, 12) with a first stimulus control signal, determining (S2) one or more first parameters characterizing an effect of the one or more actuators of the one or more first robots (10, 11, 12) in response to the first stimulus Control signal, an evaluation (S3) of at least one parameter characterizing the determined effect of the one or more actuators of the one or more robots (10, 11, 12) in the at least one stimulus control signal, and providing (S4) the information for operation at least a second robot (20, 21, 21) based on the evaluation (S3).

Description

The invention relates to a method, system and computer program for providing information for operation for operating one or more robots, a robot system and / or a robot swarm. In particular, the invention relates to a method for operating a plurality of the robots or a robot system or a robot swarm from a plurality of the robots.

From the prior art, digital communication between different devices (with or without human participation) is known. With increasing complexity and diverse combinations of input data and influencing variables of a modern or future robot, the number of conceivable malfunctions or unexpected effects (even within the functionality of a robot alone) can increase. A sensible exchange of information between a large number of robots can possibly lead to further unforeseeable consequences.

It is therefore an object of this invention to provide a method, control unit, system and computer program product for providing operating information for operating one or more robots, a robot system and / or a robot swarm, by means of which an improved functioning of the one or more robots, one Robot swarm or a robot system can take place. In particular, it is the object of the invention to enable operation of one or more robots on the basis of the information to be made available which is generated specifically for this purpose.

The object is achieved by the features of the independent claims. Advantageous embodiments are described in the dependent claims. It is pointed out that additional features of a claim dependent on an independent claim without the features of the independent claim or only in combination with a subset of the features of the independent claim can form a separate invention that is independent of the combination of all features of the independent claim can be made the subject of an independent claim, a divisional application or a late application. This applies in the same way to the technical teachings described in the description, which can form an invention that is independent of the features of the independent claims.

The following explanations regarding the method according to the invention also apply in a corresponding manner to the system according to the invention and the corresponding computer program. Further features and advantages of the invention result from the following description of exemplary embodiments of the invention, with reference to the figures, the details according to the invention, e.g. System components or process steps shows, and from the claims. The individual features can each be implemented individually or in groups in any combination in a variant of the invention.

According to a first aspect of the invention, a method for providing information of a robot, a robot system and / or a robot swarm, comprising controlling one or more actuators of one or more first robots with a first stimulus control signal, determining one or more first parameters characterizing an effect of the one or more actuators of the one or more first robots in response to the first stimulus control signal, evaluating at least one parameter characterizing the determined effect of the one or more actuators of the one or more robots with the at least one stimulus control signal, and then providing the information for operating at least one second robot based on the evaluation.

The one or more robots can be set up, for example, for service tasks, colonizing an environment, for producing, breeding, building a product. A robot (and analogously a corresponding robot system and / or swarm of robots) can be an industrial robot, an agricultural robot, a medical robot (for example for the supply of humans or animals, for performing operations), a construction robot, a service robot, an exploration robot Colonization robot, a robot for strategic or defensive applications, a toy robot. The first and / or second robot can be a stationary or a mobile, in particular at least partially automated and / or remotely controlled, movable robot. In this sense, a movement of the robot (essentially as a whole) and / or a (targeted, regulated) movement of one or more individual parts of the robot (for example a robot arm, robot leg, manipulator) in relation to the others can relate to the function of the robot Share and / or its surroundings or certain objects. A robot function and / or a task or mission of the robot can include influencing one or more objects to be influenced. Such a robot functionality and / or mission can, for example, be an investigation (eg as part of an exploration), change, Processing, assembly, destruction of one or more objects to be influenced include.

The one or more of the first robots and / or the second robots can be part of a robot system and / or a robot swarm. The first and second robots can be connected to the same robot system or robot swarm or to different robot systems or robot swarms, e.g. belong to robot systems or robot swarms that can be operated parallel to one another. The one or more first robots and one or more second robots can be robots of substantially different types, e.g. Types and / or with different tasks, missions, areas of application. As a robot system, in a simplified case e.g. a production plant and / or a production line can be understood.

A robot swarm is to be understood in particular as a (fixedly defined or variable) number of robots, each of which acts at least partially, in particular predominantly independently, and / or is designed for communication, cooperation or mutual influencing. A distinction can be made between the mission, tasks, interests, security, if necessary a technically realized ego of a robot and that of the swarm. A swarm of robots can be a swarm of robots to explore or colonize certain areas of application, e.g. Be a planet. A swarm of robots can still be a production plant, or a task for the production, collection, cultivation, cultivation of an object, e.g. export goods.

A robot system and / or swarm of robots can be distinguished by at least partially decentralized and / or at least partially central algorithms and / or intelligence. A first part of the behavior of the robot can be determined using the means of the robot (essentially means that can be operated or operated separately from the other robots) and / or a second part of the behavior of the robot can be determined using at least partially common, in particular central means. Under the behavior of a robot e.g. to understand an action of the robot, a reaction to an external influence and / or an interaction of the robot with its surroundings or with an object. For example, the behavior of the robot can include a selection or execution of an action, a determination of the parameters of an action, adaptation of an action, execution of an action and / or reaction to an influence from outside.

The actuation of the one or more actuators of one or more first robots with the one stimulus control signal can predefine a specific action of the one or more first robots. It can be an action of the one or more first robots that does not contribute to the immediate mission or task of the first robot. This can be a non-productive and / or counterproductive action from the point of view of the specific, individual mission or action of the first robot or from the point of view of the interests of the first robot.

For example, the actuation of the one or more actuators of one or more first robots can be an initiation of an action by the robot and / or an interaction of the robot with its surroundings or an object in the surroundings. This can be a complex action, e.g. a two-dimensional or three-dimensional movement of a part of the robot and / or an exertion of certain forces on a part of the environment or on an object. At least two actuators of the one or more first robots can be controlled simultaneously in a specific sequence of control commands. The activation of the one or more actuators can in each case at least one control process, e.g. with a specific specification with regard to the controlled variable, the control parameter to be used, etc.

The information to be provided or provided can be determined depending on, preferably on the basis of, the evaluation. The determination of the information to be provided can essentially be determined during or after execution of the control. The provision can e.g. in the next time interval, e.g. after a few seconds, with or before the next use of a functionality of the robot, with a next terminal cycle or change in an operating mode (the robot or a functionality of the robot).

In one example of the method, a behavior of at least one second robot can be changed depending on the information provided. Furthermore, the information to be provided or provided can be used to increase safety, reliability, precision and quality of a functionality and / or an action of the robot. Desired and / or undesired trends (according to the respective predetermined criteria) can be recognized automatically and in good time based on the information provided. For example, depending on the information provided, e.g. upon detection of a certain (desired or undesired) trend, one or more measures, such as a change in behavior of one or more (certain) robots, are initiated.

The at least one second robot is preferably a different robot than the at least one first robot. In addition (at least the current) mission and / or area of application of the second robot can differ from the mission of the first robot.

The information for operating a second robot is preferably provided on the basis of the evaluation of the one or more parameters characterizing the determined effect of the actuator of a plurality of the first robots. In exceptional cases, a second robot can match one (of several, in particular a large number) of the first robots, or a number of the second robots can partially match a number of the first robots. Exceptionally, a second robot with a first robot from the past, e.g. from previous use, before a software change (e.g. before a software update), before a change in a mission and / or area of application, etc.

• - zumindest zwei Wirkungen des Aktors bei unterschiedlichen Randbedingungen, Betriebsmodi, Aufgaben, Einsatzgebiete und/oder zu unterschiedlichen Zeitintervallen,
• - zumindest zwei Wirkungen des Aktors zu unterschiedlichen Zeitintervallen, und/oder
• - zumindest zwei Wirkungen des Aktors in Reaktion unterschiedliche Stimulus-Steuersignale, und/oder
• - zumindest zwei Wirkungen der zwei oder mehreren Aktoren von unterschiedlichen ersten Roboter.

The evaluation of the one or more first parameters characterizing an effect of the actuator of the one or more first robots can include a comparison of the first parameters of the same types and / or the parameters of at least two different types. For example, at least two parameters that are characteristic of:

• at least two effects of the actuator under different boundary conditions, operating modes, tasks, areas of application and / or at different time intervals,
• - At least two effects of the actuator at different time intervals, and / or
• - At least two effects of the actuator in response to different stimulus control signals, and / or
• - At least two effects of the two or more actuators from different first robots.

Identify the first parameters and / or second parameters of the effect of the ascertained (measured as the first parameter data) signal, in particular parameters of the signal that have an effect of the actuator, e.g. of a result determined after one or more actuations of the actuator. A parameter of the effect can be a qualitative and / or quantitative measure of a result of an action. The parameter of the effect cannot or does not necessarily indicate a benefit or a positive or creative achievement. This can indicate a concurrent effect or a side effect.

For example, the first parameter and / or second parameter may identify a vibration (e.g., as a frequency value or frequency range, amplitude value or amplitude value range, phase value or phase value range) that occurs as an effect in response to the actuation of the actuator. For example, a vibration pattern, pressure sequence pattern, frequency pattern, amplitude pattern, phase pattern of an effect, or a time gradient of one of the quantities mentioned, etc. (for example as the first parameter and / or second parameter or as information from the first parameter and / or second parameter is identified). This can also apply if the actuator or an action of the robot is not designed to produce vibrations, or if vibrations are an otherwise undesirable effect.

The evaluation of the one or more first parameters characterizing an effect of the actuator of the one or more first robots can be a comparison of the first parameters of the different types and / or the first parameters of the same type of different first robots, operating modes or tasks of the robots and / or the include first parameters from different time intervals. Mathematical relationships, e.g. a measure of a correlation, similarity, between the first parameters of the at least two different types and / or the first parameters of the same type from different first robots, time intervals, operations, operating phases, etc. are determined and taken into account.

In a simplified case, the evaluation can be a comparison of the information on the basis of the one or more first parameters with at least one first predetermined condition.

The method can be used to provide a number of (first and / or second) robots with a type of “swarm intelligence”. In this case, actuations of their actuators or an action resulting from one or more actuations can be initiated in the first robot (possibly not functionally necessary for the first robots or in itself relatively “senseless”), whereby one (at least for one or more second robot) useful information is determined and provided.

The one or more parameters characterizing a physical effect of the actuator can characterize a pattern of parameter values of a physical reaction, which were recorded in response to a specific stimulus control signal. Pattern recognition, an assignment to one or more predetermined patterns, can be carried out.

The one or more parameters characterizing a physical effect of the actuator of the first robot (on the at least one stimulus control signal) can be achieved by means (eg sensor, measuring device) of the robot itself, another robot and / or by means in the environment be determined. For example, such a means can be a camera, a microphone, etc. with or without a correspondingly configured signal processing device.

For example, influencing, in particular adapting a functionality and / or behavior of the robot, comprising automated and / or remote-controlled actuation of an actuator of the one or more second robots, in particular an actuation for executing a mission, task, action, depending on the information provided respectively.

Said evaluation can take place on the basis of one or more comparison values, patterns and / or mathematical relationships. These can be applied to the first parameters when evaluating (this means that the first data are also based on the first parameters or parameter values). For example, when evaluating, a permissible and / or impermissible range of values for the first data based on the and / or the first parameters or their permissible and / or impermissible deviation (from a value, pattern and / or mathematical relationship) of the one or more first parameters be determined.

When evaluating, it is checked, for example, whether or to what extent the first parameters characterize the effect of the actuator on a pattern, in particular on one of several patterns, a predetermined mathematical sequence, e.g. Formula, table, etc. fit, resemble or correlate with one.

The at least one stimulus control signal can e.g. comprise a predefined sequence of different control signals or control variables (of the same or different types) which are diverse, in particular dynamic, e.g. depending on a specific need. The one or more stimulus control signals can, for example, be selected such that a resultant effect (e.g. desired and / or undesired effects, an effect perceivable by a person, e.g. user etc.) is limited or within a target value range. Alternatively, the at least one actuation of the actuator can be carried out well or in an expedient, desired form for the user, in particular staged or accompanied by a staging.

The stimulus control signal preferably differs from a control signal for a functional actuation of the actuator of the robot. The stimulus control signal can be identified separately (e.g. by a corresponding identifier or header) or values, e.g. Contain control variables or combinations of control variables that differ significantly from those in a typical control signal. A non-functional actuation of the actuator is preferably initiated with the stimulus control signal. Alternatively or additionally, a stimulus control signal can (also) have a functional effect and / or a certain change in the effect, e.g. a certain change in functionality or action of the robot can be initiated. It can be a control of the actuator that (in particular additionally) a certain functionality and / or action, e.g. a parameter of the robot function, at least partially or temporarily changed. The stimulus control signal can preferably be used to initiate an operation which differs from an actual (for example functional, function-related) use of the actuator and / or from a functional effect of the actuator (which results from the purpose of the actuator) (qualitative and / or quantitative).

For example, an actuator of a robot arm can be actuated in such a way that there is no or no significant influence on the surroundings or perceptibility from the surroundings. For example, the stimulus control signal can be used to (briefly) actuate the one or more actuators, move for a very short time and / or move with a small amplitude of at least part of the robot.

The actuator can be an actuator for a movement, in particular for executing a robot functionality, e.g. act to influence one or more objects to be influenced. The one or more actuators can be actuators for actuating a manipulator of the robot, e.g. one or more actuators in a robot arm. The actuator can be a hydraulic and / or pneumatic actuator, or part of a hydraulic or pneumatic system of the robot.

• - eine hydraulische Größe, insbesondere eine Sequenz oder ein Muster der Druckveränderung in einem, z.B. pneumatischen oder hydraulischen, System des Roboters. Daraufhin kann ein Abgleich des ermittelten (gemessenen) Druckfolgemusters mit einem oder mehreren vorausbestimmten Mustern erfolgen.
• - einen Parameter kennzeichnend einen Bewegungsparameters, Beschleunigungsparameters und/oder Kraftparameters eines Aktors bzw. eines Roboterarms. Beispielsweise kann eine Sequenz oder ein Muster kennzeichnend eine (resultierende) Bewegung, Beschleunigung und/oder bestimmter dabei auftretender Kräfte ermittelt werden. Daraufhin kann ein Abgleich des ermittelten (gemessenen) Musters mit einem oder mehreren vorausbestimmten Mustern erfolgen.
• - einen Parameter kennzeichnend eine Auswirkung eines kurzen an einem Aktor des Roboters mit dem Stimulus-Steuersignal veranlassten Impulses.
• - einen oder mehrere Zeitparameter, beispielsweise Verzögerungszeiten, Totzeiten, etc. Beispielsweise kann ein Parameter der Wirkung des Aktors bei einem Stimulus-Steuersignal ein Zeitintervall zwischen einem bestimmten Stimulus-Steuersignal oder einer Kombination von Stimulus-Signalen und dem Erreichen einer bestimmten physikalischen Wirkung des Aktors kennzeichnen.
• - ein Maß eines Schalls und/oder Körperschalls, der auf die Ansteuerung mit dem Stimulus-Steuersignal gemessen wird. Daraufhin kann ein Abgleich des als Parameter der Wirkung des ermittelten (gemessenen, als die ersten Parameterdaten erfassten) Vibrationsmusters, Druckfolgemusters, Frequenzmusters, Amplitudenmusters, Phasenmusters, eines zeitlichen Gradient einer der genannten Größen, etc. , mit einem oder mehreren vorausbestimmten Mustern erfolgen. Dabei können die Daten kennzeichnend die Wirkung des Aktors beispielsweise mit einem Mikrofon (z.B. einem Mikrofon des Roboters oder einem Mikrofon in der Umgebung zur Erfassung der Umgebung) und/oder einem Körperschall-Sensor ermittelt werden. Ein Maß des Schalls und/oder Körperschalls kann mit einem Körperschallsensor des Roboters oder einem Mikrofon bzw. Körperschallsensor in der Umgebung des Roboters, z.B. von einem weiteren ersten Roboter erfasst werden.

The corresponding first parameters of the effect can then be evaluated (for example, by means of the robot, the mobile user device and / or the backend, which are set up for an active connection with the robot). These can be compared, for example, with values and patterns based on corresponding statistical data and / or a result of a simulation. The one or more parameters characterizing one Effect of the actuator on a stimulus control signal can be characteristic of:

• a hydraulic quantity, in particular a sequence or a pattern of the pressure change in a, for example pneumatic or hydraulic, system of the robot. The determined (measured) pressure sequence pattern can then be compared with one or more predetermined patterns.
• a parameter characterizing a movement parameter, acceleration parameter and / or force parameter of an actuator or a robot arm. For example, a sequence or a pattern characterizing a (resulting) movement, acceleration and / or certain forces occurring can be determined. The determined (measured) pattern can then be compared with one or more predetermined patterns.
• a parameter characterizing an effect of a short pulse induced on an actuator of the robot with the stimulus control signal.
• one or more time parameters, for example delay times, dead times, etc. For example, a parameter of the effect of the actuator in the case of a stimulus control signal can be a time interval between a specific stimulus control signal or a combination of stimulus signals and the achievement of a specific physical effect of the actuator mark.
• - A measure of a sound and / or structure-borne sound, which is measured for activation with the stimulus control signal. The vibration pattern, pressure sequence pattern, frequency pattern, amplitude pattern, phase pattern, a time gradient of one of the variables mentioned, etc., can then be compared with one or more predetermined patterns as a parameter of the effect of the determined (measured, as the first parameter data). In this case, the data characterizing the effect of the actuator can be determined, for example, with a microphone (for example a microphone of the robot or a microphone in the environment for recording the environment) and / or a structure-borne noise sensor. A measure of the sound and / or structure-borne sound can be detected with a structure-borne sound sensor of the robot or a microphone or structure-borne sound sensor in the vicinity of the robot, for example by a further first robot.

For example, an evaluation of a plurality of determined parameters characterizing an effect of the actuator on one or more specific stimulus control signals (also among one another) can be carried out. The evaluation can be a comparison of the determined parameters of the effect of the actuator, in particular a pattern recognized therein (time characteristic, mathematical relationships between at least two relevant parameters, variables, etc. in relation to the effect of the actuator), with certain limit values and / or certain patterns include.

For example, the evaluation can determine, e.g. Estimating a measure of operational readiness of the expected performance and / or a probability of failure of the respective actuator or a type of actuator or a system of the robot to which the actuator belongs. This can refer to certain boundary conditions and / or operational processes.

In a simplified case, one or more first parameters can be subjected to a comparison with a first limit value or a first data pattern, which is used to identify a state, a trend (a specific trend and / or measure of a trend), and / or a trend for undergo a state of at least part of the robot. For example, a specific state, trend or a measure of a state or trend can be identified in the information provided and / or determined from the information provided. For example, at least one particular, e.g. one or more limit values or ranges of values of one or more states and / or trends are taken into account in one or more first robots. For example, an operation, operating mode, operating parameters of at least one second robot can then be changed. This can e.g. if it is determined that in one or more first robots, preferably in a certain proportion of the first robots, a certain state and / or trend falls below and / or exceeds a certain limit value. Alternatively or additionally, one or more first parameters can be subjected to a comparison with a second limit value or a second data pattern, which is used for the detection of a specific state and / or trend, e.g. a state or trend outside a norm, especially a norm value. If a deviation or measure of the deviation from a standard is found in a number of the first robots, an operation or operating parameters of the second robot can then be influenced.

The evaluation of the first parameters of the first action of the (respective) actuator in one or more first robots on one or more stimulus control signals can, for example, determine one or more excessively non-linear effects and / or delays in the action of the actuator, for example in comparison to predetermined limit values.

For example, a characteristic, in particular a time characteristic, e.g. a measure of the delay, subsequent time, dead time of an actuator of a first robot can already be determined as a first parameter and / or as part of the evaluation of the first parameter.

For example, a second robot or a second actuator of a second robot (based on the determination, e.g. reception of the information provided based on one or more first robots) can be operated depending on the information provided. A parameter for operating a second actuator of a second robot can preferably be selected depending on the information provided. For example, one or more points in time for controlling a second actuator of a second robot can be selected in such a way that an improved time characteristic (compared to the time characteristic of one or more first robots) is aimed for or achieved in the second robot.

The evaluation can take place inside the robot and / or outside the robot, e.g. be executed in a user device or backend, e.g. based on the data transmitted for this.

Activation of the actuator with the stimulus control signal in the at least one robot, selection of the one or more parameters of the stimulus control signal can be carried out in the method from a mobile user device or a backend. The actuation of the actuator can then be carried out with a stimulus control signal, in particular with a stimulus control signal with predetermined parameters in a relevant first robot, depending on information transmitted to the robot from a backend or a mobile user device. Within the scope of this patent application, the mobile user device also includes a home PC or a computer unit, which e.g. is set up to manage, operate, configure, control the robot, the robot system or the robot swarm, etc.

For example, a request to execute a control of the at least one actuator in the robot and / or one or more parameters of the stimulus control signal, e.g. the stimulus control signal itself is received from the backend or from the user's mobile user device. This results in a very high degree of flexibility, which allows, e.g. robots already in use (possibly imperceptible to the user or staged for a certain perceptibility by the user) to stimulate information, e.g. the first parameters, the information to be provided, are to be generated or made available (to be delivered).

For example, in the backend or in the mobile user device, depending on various criteria, e.g. depending on an evaluation of various usage data, data on the robot and / or the user of the robot, a need to determine the meaningfulness of specific information to be provided for one or more second robots and / or a specific actuation of the actuator of a first robot. Advantageously, the evaluation can also be compared or aggregated with diverse, robot-specific and / or non-robot-unspecific data, data in connection with the robot system or robot swarm, e.g. of customer data, other data, such as "big data", etc. In other words, certain actuations of the actuators and / or stimulus control signals for a number of first robots can be determined and initiated depending on a further data evaluation (for example on other big data).

For example, it can be determined which information to be provided (for example which type of information, in relation to which system of the robot, etc.) is desired, useful or necessary for a specific purpose. One or more actuators in one or more first robots can then be actuated (in order to provide the required information). Depending on a first piece of information provided (with a repeated sequence of one or more method steps), a second piece of information (for example, more precise or suitable for a specific purpose) can be determined and made available.

The method can be carried out iteratively, as it were, with two or more passes, with one or more step-by-step adjustments to the operation of the second robot or robots.

The determination of a necessity, meaningfulness of a specific one of determining the first parameter and / or generating the information to be provided, e.g. outside of the robot taking into account various data. Then one or more requirements (also according to their safe feasibility) can be checked in the robot and initiated (at suitable time intervals or at unsuitable time intervals). In other words, the information to be provided can be determined, so to speak, “on-demand”.

A control of the actuator of the robot can be based on the receipt of certain information from a mobile user device or a backend. The information need not (but can) correspond to the stimulus control signal. The at least one stimulus control signal is preferably selected depending on information received from a mobile user device or a backend. For example, one or more parameters of the effect of the actuator can be evaluated from a mobile user device or a backend.

As the backend, a computing unit, e.g., statically spaced from the at least one first or second robot, e.g. Understand servers, mainframes, etc. The backend is set up in particular to aggregate the data for executing the method, in particular data from longer periods and / or a large number of robots. An action carried out from the backend, e.g. the initiation of a stimulus control signal in one or more first robots can also be directly or indirectly based on an action by a human, e.g. a dispatcher.

The method can be an aggregation of the data identified in this document, the similar or additional data, e.g. include further robot data, mission data and / or user data of the user or users of the one or more robots, from a multiplicity of the time intervals and / or of different robots or models of the robots.

A control of the actuator can preferably be carried out with a sequence of several, step-by-step control variables for controlling the actuator, or a request from a step-by-step increasing action of the actuator until a certain physical effect is achieved. The at least one stimulus control signal can characterize or comprise a sequence of control variables which increase step-by-step to control the actuator or a request for a step-increasing effect of the actuator. For example, such a sequence is identified in the stimulus control signal, e.g. encoded, or is responsive to receipt of the stimulus control signal, e.g. determined by means of a predetermined function, allocation table, etc.

In a simplified case, a stimulus control signal can be used to initiate a sequence of movements or influencing the movements of at least one (certain) part of the robot that have (at least a tendency) increasing operating parameters. In particular, the gradually increasing stimulus control signal or the requested effect is used up to a certain recognized or measured physical effect until a certain state transition, a certain reaction and / or a certain measure, e.g. Intensity of the reaction in the robot and / or in an environment of the robot is reached.

For example, a requested movement or influencing of the movement, in particular step by step, is increased until a certain effect is recognized. For example, several operating parameters that tend to increase are initiated for test purposes until a specific, in particular qualitative, effect, e.g. a deformation, breakage, change in the state of a part of the robot, the environment or a specific object is achieved. The parameters requested by the stimulus control signal can (also) be compared with the predetermined condition until a certain effect is reached. For example, the first robot can change or act on a first object, e.g. execute a known object or test object. Thereupon, one or more second robots can carry out a change, influence or behavior in relation to a second object, depending on the information provided.

In a further embodiment, a parameter of a first boundary condition is specified in which the actuation of the actuator of the (first and / or second) robot is to be carried out with the stimulus control signal.

The at least one first parameter of the boundary condition can characterize a predetermined time interval, position information and / or a parameter of an environmental condition. The boundary condition for controlling an actuator of the robot with a certain stimulus control signal can also relate to a certain boundary condition within the robot and / or a boundary condition in the vicinity of the robot. Such a boundary condition can e.g. a range of values of a measured variable in the environment and / or within the robot, e.g. an outside temperature, humidity, a temperature of a part of the robot, finding a certain object in the environment, etc.

For example, the at least one (desired) parameter of a boundary condition can be determined in a backend, in a mobile user device and / or in the robot itself, a device in the vicinity of the robot, etc. For example, parameters of a boundary condition can be specified for a number of the first robots, in which (when the corresponding parameter values or parameter value ranges are reached) an execution of a specific activation of the one or more actuators, eg a specific action or action of a specific type especially in a certain area of application (e.g. a certain environment). Such a parameter of the boundary condition can be, for example, a measure of a temperature and / or humidity (inside or outside the robot) in a certain value range.

A request (or a corresponding specification) for controlling (also called actuation) an actuator of the one or more first robots can be determined by a first robot at a first time interval, transmitted to the first robot, and / or received by the first robot and then executed in the robot at a (later appropriate or suitable, later) second time interval at which the at least one boundary condition is met and / or a predefined criterion, for example regarding adequate security is fulfilled.

In one embodiment, first data characterizing an effect of the actuator in the at least one stimulus control signal with second data characterizing an effect of the actuator in the past, in particular in the same or a comparable stimulus control signal and / or a stimulus control signal with a certain deviation be compared.

For example, the evaluation can include that features are determined which show a comparatively long-term change, e.g. indicate changes occurring on the order of a few months or years, in particular a measure of the aging or wear of part of one or more first robots, in particular in the form of a qualitative and / or quantitative identifier. For example, one or more (e.g. correspondingly corresponding) statistical measures can be determined from a large number of the first robots on the basis of the parameters. Furthermore, one or more such features, e.g. can be determined as second parameters of the same type of the at least one second robot. Furthermore, a comparison of a second feature, in particular a second identifier of a second robot, with a measure of one or more first features, in particular characteristic variables, can be carried out on the basis of a number of the first robots (from the large number of first robots). The operation of the second robot can then be influenced depending on the result of the adjustment. For example, one or more first robots and one or more second robots can have the same and / or different mission, area of application, etc.

For example, one or more second identifiers for long-term changes of a second robot can in turn have an aggregated measure based on a plurality of the first identifier, e.g. in relation to a certain period of time. A measure can then be carried out in the at least one second robot if the adjustment lies outside a specified standard value or results in a deviation that exceeds a certain dimension.

For example, depending on the comparison of the data, influencing a functionality and / or a specific (functional) action or actions of a specific type of robot, comprising at least one release, restriction, change and / or blocking of at least one performance feature of the functionality or one Characteristic of the action, especially in relation to certain operating states, missions, tasks, actions carried out.

According to a further embodiment, the actuator of the robot is activated under two different boundary conditions, in particular the area of application, the mission of the robot and / or the operating parameters of the robot or the operating parameters of the actuator. The parameters (parameter data) can then be compared to characterize the effects of the actuator in the at least two actuations of the actuator.

For example, two or more different specifications for controlling the at least one actuator can be generated. These can refer to different parameter values of the boundary conditions, different operating modes, different time intervals, which can be identified in the specifications. When the respective boundary conditions corresponding to the at least two different specifications are recognized, the respective actuations of the actuator are carried out in the at least one robot and / or a number of robots.

For example, the one or more actuators of the one or more first robots are activated with the stimulus control signal in such a way that a specific effect or an effect of a specific type with respect to the local environment of the robot and / or to a specific object or an object of a certain kind is created. The determination of the one or more parameters can characterize the corresponding effect of the actuator on the local environment of the robot, on a specific object or an object of a specific type, and / or on one (following the activation of the one or more actuators ) Reaction of the environment of the robot or the object take place. Thereupon can (but does not have to) from the effect of the actuator on the local environment of the robot and / or from a reaction of the environment of the robot or the object to the effect of the actuator, also characterizing information a property of the environment, a property of the object and / or information relating to the handling of the environment or the object are determined. This can be provided as part of the information to be provided or as further information provided. It can also be information that does not allow any or no explicit conclusions about the environment or object.

According to a further embodiment, the evaluation relates to a plurality of the same or different actuations of the one or more actuators of one or more first robots and / or to a plurality of actuators of different first robots.

A plurality of the actuations is preferably carried out with different first stimulus control signals in the one or more first robots. Corresponding parameters of the effect can be used in the process, e.g. be aggregated within a longer period of time.

A large number of operations are preferably carried out under different boundary conditions, different areas of application, different operating modes and / or at different time intervals.

For example, when evaluating the parameters, the effect of identically identical or different actuators, e.g. different models, production data, firmware status of the actuators or the corresponding robots are taken into account, e.g. be compared.

According to a further embodiment, the method comprises controlling the actuator of the second robot with a second stimulus control signal, determining one or more second parameters characterizing an effect of the actuator of the second robot in response to the second stimulus control signal, comparing information Basis of the one or more second parameters with the information provided on the basis of the one or more first robots, and then: influencing a functionality, a behavior and / or an action (for example a certain upcoming action or an action of a certain type) of the second robot depending on the result of the adjustment.

For example, an influencing parameter, e.g. Intensity, strength, etc., depending on the result of the comparison. In particular, influencing can be carried out which depends on the result of the comparison according to a certain logic.

The second stimulus control signal can be the same, similar, or provided with a certain deviation, the first stimulus control signal. When evaluating (if desired) a very simple and meaningful comparison of the parameters to the respective effects of the actuator can be carried out. A comparison can also be carried out which, under normal circumstances or operating conditions, e.g. in normal use of the first robot and / or the second robot would not have been possible. Furthermore, one or more second stimulus control signals can have a specific (e.g. selected according to predetermined conditions) deviation from the first stimulus control signal. In the evaluation, a result of the deviation of the stimulus control signals and / or the corresponding parameters of the effects can also be taken into account or processed. For example, it can be determined and taken into account how the effect of the determined deviation of the stimulus control signals on the parameters characterizes the effect of the actuators.

According to a further embodiment, depending on the information provided, influencing a functionality, behavior and / or an action of the second robot, comprising at least one release, restriction, change and / or blocking of at least one performance feature of the functionality, behavior and / or an action of a second robot.

For example, a feature of the behavior of a second robot, for example step by step, can be restricted, changed, blocked and / or released in response to the information provided.

According to a further embodiment, depending on the information provided, a portion of the independent action and / or portion of the action determined from outside is adjusted for the operation of a functionality of a second robot.

• - Veränderung eines Parameters des Verhaltens eines zweiten Roboters,
• - ein Starten oder Fortführen einer Fernsteuerung zumindest einer Funktionalität oder einer Aktion des zweiten Roboters,
• - eine Auswahl eines oder mehrerer Leistungsmerkmale, insbesondere einer Kombination mehrerer Leistungsmerkmale des zweiten Roboters, die aktiviert, aktivierbar gemacht, verändert, eingeschränkt oder gesperrt werden,
• - Anpassen oder Kalibrieren eines Parameters zum weiteren Betrieb des Aktors eines zweiten Roboters,
• - Anpassen oder Kalibrieren eines Parameters zum Betrieb einer Funktionalität oder einer Aktion eines zweiten Roboter, wobei eine Wahrscheinlichkeit für eine Betätigung des Aktors verändert wird,
• - Ansteuern einer bestimmten Signalisierung des zweiten Roboter nach außen,
• - Ausgabe einer Information an einen Fernsteuerungsrechner oder einen Nutzer des zweiten Roboters.

According to a further embodiment, one or more entries from the following list are carried out depending on the evaluation:

• - changing a parameter of the behavior of a second robot,
• starting or continuing remote control of at least one functionality or an action of the second robot,
• a selection of one or more performance features, in particular a combination of several performance features of the second robot, which are activated, activated, changed, restricted or blocked,
• - Adapting or calibrating a parameter for further operation of the actuator of a second robot,
• Adapting or calibrating a parameter for operating a functionality or an action of a second robot, a probability of actuation of the actuator being changed,
• Triggering a specific signaling of the second robot to the outside,
• - Output of information to a remote control computer or a user of the second robot.

According to a further embodiment, the actuator of a first robot is controlled with the stimulus control signal and / or the selection of one or more parameters of the stimulus control signal for controlling the actuator of the first robot from a mobile user device or a backend.

According to a further embodiment, the actuation of the actuator of the first robot and / or the actuator of the second robot is carried out with a sequence of a plurality of actions which are carried out step by step and / or control variables which increase step by step, in particular control variables which determine an intensity of actuation of the actuator, or Sequence of the request from a gradually increasing effect of the actuator executed.

In particular, the sequence of the request determines a step-wise increasing effect of the actuator. In particular, the gradually increasing control variables relate to an intensity of actuation of the actuator.

According to a further embodiment, a parameter of a first boundary condition is specified, in which the actuation of the actuator of the one or more first robots is to be carried out with the first stimulus control signal and / or a parameter of a second boundary condition is predefined, in which the actuation of the actuator of the second robot with the second stimulus control signal.

According to a further embodiment, one or more first parameters characterizing an effect of the actuator of a first robot in the at least one stimulus control signal, characterizing one or more first parameters characterizing an effect of the actuator of the first robot at one or more earlier time intervals and / or one or more other first robots. The result of the comparison can be in the process, e.g. when operating a second robot.

According to a further embodiment, two or more first parameters characterizing an effect of the actuator of the first robot are compared at different time intervals and / or in the case of the different first robots. The result of the comparison can be taken into account in the process.

For example, when evaluating, one or more first parameters can be compared which characterize an effect in response to the same, the same, comparable or different stimulus control signals. For example, one or more first parameters can be compared, which characterize an effect of the actuator of the first robot on the same stimulus control signal. Thereupon, a mathematical, in particular a statistical relationship regarding the first parameters, e.g. be determined in one or more first robots on a stimulus control signal and / or in different areas of application with different boundary conditions. The information which is dependent on, preferably on the basis of, the determined mathematical ratio can be provided in one or more second robots. The one or more second robots can then be operated depending on the information provided.

According to a further embodiment, the actuator of one or more first robots is controlled under two different boundary conditions and / or with two different operating parameters of the actuator, and the first parameters characterize the effects of the actuator of one or more robots under the two or more boundary conditions and / or operating parameters considered.

According to a further embodiment, the method comprises actuating at least one actuator of the first robot with the stimulus control signal, the actuator of the first robot having a specific effect in relation to the local environment of the robot, and identifying the determination of the one or more parameters the effect of the actuator on the local environment of the first robot and / or on a reaction of the environment of the first robot to the effect of the actuator takes place. The effect on the local environment can include, for example, a braking process and / or a steering process. Information for the operation of a second robot can then be determined and made available.

In particular, a performance feature of the functionality for a specific second robot, for a specific group or number of second robots or for all second robots that are located, for example, in the environment or in a specific environment, are released, restricted, changed, for example adapted and / or blocked. Performance feature or a number of the performance features can be influenced (for example in a certain way), which may make possible a possible at least partially automated and / or remote-controlled actuation of the actuator of the robot (at least if corresponding criteria apply).

For example, depending on a result of the evaluation of the at least one parameter, the effect of the actuator of the one or more first robots, a release, restriction, change and / or blocking of at least one performance feature of the corresponding functionality and / or a specific action or action can be characteristic of a certain type of a second robot.

For example, a specific specification or regulation for influencing a functionality of the one or more second robots for several boundary conditions can be determined in this way and (immediately or again later) when the respective wheel conditions apply (later). On this basis e.g. a route release or a map for the release, restriction, change and / or blocking of at least one feature of the corresponding functionality is determined and taken into account. In particular, it can be a functionality of the robot, including an automated and / or remote-controlled movement of the robot. A graded differentiation can be carried out, which can be done in appropriately fine steps. In other words, the entire functionality of the second robot does not have to be deactivated in the event of a slight increase in the risk or in the smallest suspicion. Rather, it should be adapted adaptively. Depending on the parameter determined for the operational readiness and / or failure probability of the actuator, e.g. on the basis of a stored regulation, the most favorable or best combination of flawlessly executable performance characteristics is selected. This has the advantage that the best possible functionality (e.g. based on the user's perspective) can be offered that could be carried out under given boundary conditions.

For example, adapting a portion of an automatic (independent, "self-determined") action, portion of a remote-controlled and / or externally determined, e.g. by a human (user or dispatcher) controlled action for the operation of at least part of a functionality and / or action of a second robot.

In particular, such a portion can be adapted in relation to a specific functionality of the robot and / or an action (to be carried out by the second robot), which may make it necessary to actuate the robot's actuator (at least if appropriate criteria are met). On the basis of the information provided, a prediction or prediction about the consequences, risks, precision of the action can be carried out or carried out in the second robot.

For example, it can be inferred from robot settings or it can be assumed that the highest possible degree of automation is desired for an automated and / or remote-controlled action of the at least one second robot. The said functionality can then be influenced in such a way that the highest possible degree of automation is set, which is possible if the risk is still permissible (e.g. with regard to functional safety or safety in use). E.g. for a risk that is a predetermined condition with respect to a measure of the risk, e.g. a probability of occurrence and / or consequence. The adaptation of the degree of automation can relate in particular to a specific automated and / or remote-controlled movement of the second robot.

According to a further embodiment, the activation of the one or more actuators of the first robot with the stimulus control signal has a specific effect in relation to a specific object, to an object of a specific type, in particular to another robot. The one or more parameters characterizing the effect of the actuator can characterize a change or a reaction of the object, in particular of another robot, to the effect of the actuator.

For example, one or more actuators of a first robot can be controlled with a stimulus control signal, wherein a specific action in relation to the environment, in relation to a (specific) object, in relation to itself or in relation to another robot. This can be an action that is not useful or even counterproductive for the function, current task, mission of the first robot and / or the affected object. Appropriate information to be provided can then be determined. Depending on the result of the action, a behavior of a second robot, for example in relation to the environment, in relation to a (certain) object, to a second object which is sufficiently similar to the object influenced by the first robot, in relation to itself or influenced in relation to another robot, for example changed to a target, or controlled.

In particular, the object of a certain type can be an object with a specific nature. In particular, the object is characterized by one or more specific characteristics, and / or at least two characteristics that are defined in a specific scientific, e.g. have a mathematical relationship to each other. In the latter case, e.g. an absolute parameter of a characteristic may be comparatively unimportant if a certain proportion ratio is fulfilled with another characteristic.

Furthermore, the object can be part of the first robot (the same first robot itself). For example, the activation of the one or more actuators of one or more first robots with a first stimulus control signal can specify an action of the respective first robot that is related to itself. In a simplified example, one or more robot arms can be moved in an interaction with one another. In other words, the stimulus control signal can be used to "pat themselves on the shoulder" or "snap their braces" by a first robot. Thereupon, information to be provided for operating one or more second robots is determined and made available.

For example, depending on the information provided, a measure can be carried out in one or more second robots which, in particular with regard to an expected boundary condition and / or to a specific area of application, limits an especially predicted or expected degree of risk to an acceptable level. For example, depending on the evaluation, an adaptive change or blocking of at least one performance feature or a specific selection of the performance features of a functionality of a second robot can be carried out. A graded distinction can be made, which is carried out in appropriately fine steps. For example, a functionality of the at least one second robot can be adapted in such a way that a predetermined measure of the risk (for example, generally expected in operation or in an upcoming operation) is not exceeded.

For executing the method, a database can be created, for example in a backend, which comprises comparison data on the effects of the at least one actuator or one type of actuator in one or more types of the robot on specific stimulus control signals. These can e.g. Comparative values for normal, deviating, conspicuous values related to specific use, wear or age of the components or robots. In this context, a “value” is preferably a pattern. The sections of the comparison data can preferably be linked (linked) to the respectively applicable boundary conditions. Depending on the boundary conditions of a robot in the field, suitable comparison data can then be determined for evaluating one or more requirements for determining the information to be provided. In particular, the data can characterize the effect of the at least one actuator or certain types, models of the actuator, in particular in a certain number of robots, as a basis for a so-called product-based development, ML (= machine learning), AI (= artificial intelligence) will. Information for the development, operation, maintenance and / or influencing the behavior of the number of robots already delivered (different or the same number of robots) in the near future, e.g. Days, weeks, months.

The invention can e.g. be applied in relation to controlling the robot with a mobile user device, e.g. Smartphone, smart close or with a robot remote control, in which the user is outside the robot in an environment of the robot. However, the method also relates to such automated and / or remote-controlled operation of the robot (with or without the presence, willingness to act and / or physical presence of a person) from a great distance, e.g. is remotely controlled by a human (user, dispatcher) and / or an algorithm located outside the robot. An automated and / or remote-controlled actuation of the actuator can be initiated, released or provided from outside the robot. The actuator can be actuated more or less immediately, i.e. with a corresponding control command, which is interpreted in the robot as a command for actuating the actuator, or only indirectly, e.g. with a control command which, in combination with a further condition, leads to an actuation of the at least one actuator.

The method can be carried out more or less regularly and at appropriate times, preferably under certain boundary conditions and / or in certain areas of application, in relation to the control of at least one actuator of one or more first robots with a stimulus control signal. Providing the information for operating the at least one second robot on the basis of the evaluation and / or influencing a functionality of the at least one second robot can preferably be carried out if necessary. For example, it becomes dependent on an existence or expectation of a certain boundary condition and / or a (suitable) section of the information provided from the use in a certain application area, for example retrieved or read in and taken into account in the operation of the second robot.

In an example which can be combined with further features of the invention, an actuator of the robot is actuated with a special stimulus control signal sequence, in particular in response to a message from the back end or when a need for information or a test is recognized. The data that characterize the effect of the actuator in the test sequence are evaluated. A statement can then be made about a large number of the parameters, e.g. the current operational readiness, performance, wear and / or probability of failure of the actuator (for certain boundary conditions). For example, in the case of an actuator with the stimulus control signal sequence, an operating parameter can be initiated which, in terms of its value, is above an expected value of the operating parameter in an (upcoming) operation, e.g. in an at least predominantly autonomous operation or mission. This does not necessarily mean a particularly strong effect. For example, the signal sequence can be a rapid change in a physical effect, e.g. trigger a rapid succession of opposite changes.

For example, the information provided can be based on how fast and / or how precise the actuator is to the stimulus control signal sequence, e.g. reacts to a sequence of certain “micro movements” in a first robot, can be used as a basis for a statement about its current operational readiness, performance, wear and / or failure probability of a second robot actuator. This is most likely much more meaningful than, for example, information gathered about normal operation of the actuator.

This results in a very high degree of flexibility, which allows, e.g. robots that are already in operation (mission, mission) (possibly imperceptibly or together with a staging as "visible technology" for the user) must always be subjected to new tests. The result of the (always new) tests e.g. sent back to the backend and further evaluated in the backend if necessary. A special possibility is also to apply the determination of the information to be provided (also quasi as an on-demand test procedure), which is only carried out later (each time the respective execution condition and possibly a security requirement is correct). For example, certain (critical) trends can be identified in the method before a critical effect can become critical in the (normal) operating parameters.

The respectively determined (reported back) data on the effect of the actuator on the stimulus control signal sequence can be compared with certain limit values or patterns when they are evaluated. For example, the corresponding comparison data can be selected depending on the situation or dynamically. These can e.g. with the results obtained with such or similar stimulus control signals from other (identical or similar) robots. For example, the comparison data can also be selected, e.g. depending on which functionalities, in particular an automated and / or remote-controlled actuation of an actuator, is at least likely to be imminent. Thus, data retrieval and comparison can relate to relevant data and can be carried out without a delay or a disadvantage perceptible to the user. For example, it can also be predicted that a risk increases in connection with a specific, in particular automated and / or remote-controlled action, behavior and / or functionality of the robot. Then e.g. a degree of automation of an action or functionality is reduced and / or an information and / or a prompt for a person (user, dispatcher, etc.) is initiated or changed.

In particular, a measure of operational readiness, failure probability and / or performance in relation to a first robot can be determined in the method. For example, depending on the one or more parameters of the actuator's action, e.g. be determined and / or updated dynamically as part of the evaluation, or depending on the information provided.

In another aspect, the invention includes a system. The system can include a device provided in a robot and a backend and / or a mobile user device, the device in the robot and the backend and / or the mobile user device being set up to establish or execute an active connection. The system can be configured to perform the method according to one or more features of the method. The system can be a system for operating a first robot and / or a second robot. The system can be the robot system and / or robot swarm.

According to a further aspect, the invention is characterized by a computer program, the computer program being designed to operate a robot, robot system or robot swarm according to one or more features described in this document and / or the method according to one or more therein Execute document described features. In particular, the computer program is a software program which, for example as an app (= “application”) for one or more types of electronic computing units, can preferably run on said electronic control unit. The computer program is preferably also designed to take into account, aggregate a large amount of further information for operating the system and / or for executing the method.

According to a further aspect, the invention is characterized by a computer program product, an executable program code and / or data sections, the program code and / or data sections being designed to enable the electronic unit to carry out the method according to one or more features of the device or the method . The computer program product includes, in particular, a medium that can be read by the data processing device or storage areas on a medium or in a backend or cloud on which the program code and / or data sections are stored. According to a further aspect, the invention is characterized by a product which comprises a permanent or limited authorized right of access to stored data of the computer program product. The computer program product can be designed as an update of a previous computer program, which includes the parts of the computer program or the corresponding program code, for example as part of a functional expansion, for example as part of a so-called “remote software update”. The method can therefore also be a non-restricted, restricted, e.g. restricted access to the program code and / or data sections, for example for a group of robots and / or the corresponding users, restricted to certain applications or conditions.

According to a further aspect, the invention is characterized by one or more appropriately configured robots for operation as a robot system or a robot swarm. The robot in the context of this document is preferably a robot of the type of robot already described above. This results in advantages which are identified in this document and which are easy to understand for the person skilled in the art. Alternatively or additionally, the robot can be a machine, in particular one that is at least partially movable. For example, the robot can be a logistics robot. The robot system or swarm of robots can be a logistics system that can be operated predominantly automatically. In a further example, a robot can be an unmanned (or unmanned operable) flying object, an unmanned (or unmanned operable) ship. Here, e.g. a robot system comprise a number or a plurality of such robots. In addition to a (more or less automated) movement of the robot as a whole, the at least one robot can do a mission, e.g. with regard to a certain interaction with its environment or with certain objects. The robot can be movable as a whole and / or in itself (as part of the robot in relation to another part of the robot). The robot can be a machine for making certain changes in its environment. A robot can at least partially distinguish itself from the characteristics of a person or an animal in terms of its shape, action and / or sensor technology, information processing. A robot can include one or more biological agents.

In a particular exception, the robot can be any type of machine. A result of the method can be a (comparatively easy to implement) variant of a swarm intelligence in relation to the machines.

A particularly great advantage of the invention results when applied to a number of robots selected according to predetermined criteria (special robots, robots with a common task, mission, area of application, etc.), e.g. belonging to one or more, e.g. cooperating brands or members of an organization, a group of users, a group of a social network and so on. The method can comprise or the system can also be designed for an expedient exchange of information based on the data of other robots from the number of robots. Furthermore, the invention also includes all other systems or functionalities of the second robots that can be used in the second robot and that are based on the invention, e.g. can be expediently operated with the system or depending on the information determined in the method, in particular on the information provided.

• 1 zeigt eine schematische Darstellung der Erfindung. Diese bezieht sich auf mehrere erste Roboter 10,11,12, ..., ein Backend 30 und/oder ein mobiles Anwendergerät 40, 40', und mehrere zweiten Roboter 20, 21, 22, .... Die Roboter umfassen unterschiedliche Aktoren 1a, 1b, 1c, 1d bzw. 2a, 2b, 2c, 2d. Es können unterschiedliche Arten von Aktoren sein.
• 2 zeigt ein Ablaufdiagramm des Verfahrens gemäß einer Ausführung der vorliegenden Erfindung. Dieser ist (symbolisch durch ihre Anordnung) auf die entsprechende Recheneinheiten bezogen, die für die jeweiligen Schritte der Erfindung (lediglich beispielhaft) vorgeschlagen werden.

Exemplary embodiments of the invention are explained below without restricting the generality with reference to the accompanying drawing. The features of the examples can be combined in a variety of ways with one another and / or with all the other features described in this document.

• 1 shows a schematic representation of the invention. This refers to several first robots 10th , 11 , 12 , ..., a backend 30th and / or a mobile user device 40 , 40 ' , and several second robots 20th , 21 , 22 , .... The robots comprise different actuators 1a , 1b , 1c , 1d respectively. 2a , 2 B , 2c , 2d . There can be different types of actuators.
• 2nd shows a flowchart of the method according to an embodiment of the present invention. This is (symbolically by its arrangement) related to the corresponding computing units that are proposed (only by way of example) for the respective steps of the invention.

In the following description of the figures, the same elements or functions are provided with the same reference symbols. In the invention, features of 1 with the characteristics of 2nd be combined.

The method of deployment described S4 information for operating a second robot 20th , 21 , 22 includes control S1 at least one actuator 1a , 1b , 1c , 1d one or more first robots 10th , 11 , 12 with a stimulus control signal, an ascertaining S2 one or more parameters characterizing a physical effect of the actuator in response to the stimulus control signal, an evaluation S3 at least one parameter characterizes the determined effect of the actuator 1a , 1b , 1c , 1d in the at least one stimulus control signal with at least one first predetermined condition. The information (possibly a section of the data with the information) is then determined and made available S4 the information for operating a robot 20th , 21 , 22 , and / or a robot system or robot swarm comprising a robot 20th , 21 , 22 , ... based on the comparison.

The said information can be directly or indirectly sent to the one or more second robots 20th , 21 , 22 ..., to be provided. In one example, the information is obtained using a mobile user device 40 , 40 ' and / or a backend 30th provided. One or more (expedient) steps for processing, aggregation, preparation of the information in a user device can be carried out 40 , 40 ' and / or a backend 30th be carried out.

Only exceptionally, the information provided can also be in the same robot 10th , 11 , 12 provided directly or indirectly or for operating the robot 10th , 11 , 12 , especially in the same robot 10th , 11 , 12 , be used. a number of the first robots and a number of the second robots can overlap at least partially or temporarily. A second robot can be a first robot after a software update and / or a robot with another mission.

In a first example, a number of first robots are used 10th , 11 , 12 distributes a request (for example, as a corresponding data packets, data with which the corresponding stimulus control signals are triggered), which a specific activation of certain actuators S1 demands. For example, actuation of actuators of the robot arms, means of transportation of the robots, or an output device 1a etc. the robot 10th , 11 , 12 etc. are initiated.

A number of first robots 10th , 11 , 12 for control S1 of the actuator (s) 1a , 1b , 1c , 1d can be selected according to a characteristic that depends, for example, on a geographical criterion, area of application, mission, user group (customer group, customer segment, etc.) and / or certain boundary conditions in which the at least one first robot is operated. For example, a number of robots 10th , 11 , 12 are defined in predominantly controllable conditions, e.g. in laboratory conditions or in conditions that simulate or simulate the area of application of the second robot 20th , 21st , 22 corresponds, and / or are operated in the vicinity of a control center and a different number of robots which are operated in a, for example remote, partially unknown area of application. In this example, these steps of the method can take place in a specific area (delimited by position coordinates) which is or is not affected by a specific problem or question in connection with the operation of the robots, for example.

In an example that can be combined with further features of the invention, the one or more first robots 10th , 11 , 12 much smaller, for example a reduced version of one or more second robots 20th , 21st , 22 be. Put simply, the one or more first robots can correspond to a model or replica of the second robot in a reduced size or performance. Alternatively or additionally, the one or more first robots 10th , 11 , 12 to carry out the method in a (suitably equipped, equipped with sensors, controllable) first environment, for example under laboratory conditions. The one or more second robots can then (based on the information provided) be located in another, for example real, unknown, and / or far away environment, in particular in an area of application. This second robot can 20th , 21st , 22 depending on the information provided, in particular almost in real time.

In an example which can be combined with further features of the invention, the control can be carried out S1 of one or more actuators 1a , 1b , 1c , 1d one or more first robots the one or more first robots 10th , 11 , 12 with a first stimulus control signal, a (certain) change or action in relation to a first object, for example a known object or test object.

Then one or more second robots 20th , 21 , 22 depending on the information (determined in this way) provided, execute or change a change, influence or behavior in relation to a second object. The second object can be a different object than the first object. For example, the second object can be a much larger, distant, unknown object.

In an example that can be combined with further features of the invention, it depends on the evaluation S3 at least one first parameter from one or more first robots 10th , 11 , 12 and from a measure of the risk that is acceptable for a specific application, a combination of perfectly executable (combinable) performance features of a functionality of a second robot that is as favorable as possible (according to predefined criteria) 20th , 21st , 22 to be chosen. Combinations of performance features of the functionality can take place on the basis of a stored regulation, for example as prioritization of different combinations according to their (predefined or adaptively determined) value for the user. This has the advantage that the best possible functionality (for example, based on the user's view) can be offered, which, under given boundary conditions, involves a risk that is reduced to a certain level and / or that does not exceed a limit value, for example a specific one Norm-fulfilling, risk executable.

In a further example there is an at least probable need for actuation of a specific actuator 2a , 2 B , 2c , 2d of the robot 20th , 21st , 22 determined if this is remotely controlled and / or if there is no human presence or attention (eg user or dispatcher of the robot). In the simplest case, such a prediction can be dependent on an actuation of a specific action with the second robot or a functionality of the second robot 20th , 21st , 22 or on a mobile user device 40 ' (A remote control device for the robot can also be counted for this). A case can also be determined in which a human being is actually in the vicinity of the robot 20th , 21st , 22 located, but (at least for the moment) not sufficiently observing or operating, in particular controlling the robot 20th , 21st , 22 is involved, for example, no attention to the robot 20th , 21st , 22 , the environment of the robot 20th , 21st , 22 or the action of the robot 20th , 21st , 22 dedicated or wound in the last few seconds.

• - Ansteuern S5 des Aktors des zweiten Roboters 20, 21, 22 mit einem zweiten Stimulus-Steuersignal,
• - Ermitteln S6 eines oder mehrerer zweiten Parameter kennzeichnend eine Wirkung des Aktors des zweiten Roboters 20, 21, 22, ... in Reaktion auf das zweite Stimulus-Steuersignal,
• - Abgleich S7 einer Information auf Basis des einen oder mehreren zweiten Parameter mit der bereitgestellter Information auf Basis eines ersten Roboter 10, 11, 12 und daraufhin:
• - Beeinflussen S8 einer Funktionalität eines oder mehrerer zweiten Roboter 20, 21, 22 und/oder einer Aktion, insbesondere Mission eines oder mehrerer zweiten Roboter 20, 21, 22 abhängig von dem Ergebnis des Abgleichs.

Depending on the need to actuate a specific actuator of the robot 20th , 21 , 22 , especially in combination with the cases marked above, one or more entries can be made from the following list:

• - Activate S5 the actuator of the second robot 20th , 21 , 22 with a second stimulus control signal,
• - Determine S6 one or more second parameters characterizing an effect of the actuator of the second robot 20th , 21 , 22 , ... in response to the second stimulus control signal,
• - Adjustment S7 an information based on the one or more second parameters with the information provided based on a first robot 10th , 11 , 12 and then:
• - Influence S8 a functionality of one or more second robots 20th , 21 , 22 and / or an action, in particular a mission of one or more second robots 20th , 21 , 22 depending on the result of the comparison.

For example, a section of the first data identifies on the basis of the first parameters from one or more first robots 10th , 11 , 12 a certain undesirable effect (eg characterized as one of 2, 4, 8, ... gradations) that occurs when several (certain) controls of the at least one certain actuator, for example a manipulator of the one or more robots 10th , 11 , 12 has resulted. The selected section of the first data is then evaluated. In a variant of the method, a change characteristic of the measure of the undesired effect can be determined in the course of several actuations of the actuator. For example, if it is determined that a change characteristic, for example a corresponding time curve of the undesired effect, has an unfavorable tendency, for example within a few weeks or months, the relevant functionality which the actuation of the actuator requires, for example in a remote-controlled process, can be influenced or one (Further) appropriate measure can be initiated. In a variant of the method, the predetermined condition can be determined on the basis of the second data. Such a predetermined condition can be adjusted continuously, for example, once a week or event-driven, for example in the event of a specific event.

In an example that can be combined with further features of the invention, a (certain) risk, in particular a risk exceeding a threshold in connection with a certain behavior, or with a specific actuation of a remote-controlled and / or automated action or functionality of a further robot 20th , 21st , 22 is used in a specific application determined or estimated. For example, the degree of risk is evaluated in appropriately chosen 2, 4, 8, ... levels. The determination of the degree of risk can be estimated, for example, on the basis of the data of a sensor located outside the robot, the position of the person (the user, dispatcher or an uninvolved person) in remote-controlled processes. For example, an (at least rudimentary) algorithm for determining specific risks is executed for an upcoming application and one or more identified, in particular predicted, risks, for example for a specific application of the second robot 20th , 21st , 22 considered. As a measure of the risk, a product can be determined from a probability of occurrence and a consequence. A measure of the functional safety or safety of use for each specific application can be taken into account (on the spot if all boundary conditions for operation are known). If a measure of probability for the execution of a certain remote-controlled movement of the robot 20th , 21st , 22 , comprising an automated and / or remote-controlled actuation of an actuator 2a , 2 B , 2c , 2d of the robot 20th , 21st , 22 , fulfills a predetermined condition and / or if the degree of risk in connection with a substantial part of the functionality and / or action, for example with an upcoming and / or certain work step of the robot 20th , 21st , 22 , or the degree of risk, which is based on the proportion of automated and / or remote-controlled actuation of the actuator 2a , 2 B , 2c , 2d If a certain threshold is exceeded (or a corresponding reciprocal value falls below a corresponding threshold), the corresponding data can be compared.

• - Einlesen eines Abschnitts der bereitgestellter Information auf Basis der Auswertung S3 durch den zweiten Roboter 20, 21, 22, und
• - Beeinflussen S8 einer Funktionalität des zweiten Roboters 20, 21, 22 abhängig von der eingelesenen Information;

Optional kann dabei auch ein oder mehrere der folgenden Schritte ausgeführt werden:

• - Ansteuern S5 des Aktors 2a, 2b, 2c, 2d des zweiten Roboters 20, 21, 22 mit einem zweiten Stimulus-Steuersignal,
• - Ermitteln S6 eines oder mehrerer zweiten Parameter kennzeichnend eine Wirkung des Aktors des zweiten Roboters 20, 21, 22, ... in Reaktion auf das zweite Stimulus-Steuersignal.
• - Berücksichtigung des einen oder mehrerer zweiten Parameters beim Beeinflussen der Mission, des Verhaltens, einer Aktion und/oder einer Funktionalität des zweiten Roboters 20, 21, 22.

In this example, the following steps described by way of example are then carried out:

• - Reading in a section of the information provided on the basis of the evaluation S3 by the second robot 20th , 21 , 22 , and
• - Influence S8 a functionality of the second robot 20th , 21 , 22 depending on the information read in;

Optionally, one or more of the following steps can also be carried out:

• - Activate S5 of the actuator 2a , 2 B , 2c , 2d of the second robot 20th , 21 , 22 with a second stimulus control signal,
• - Determine S6 one or more second parameters characterizing an effect of the actuator of the second robot 20th , 21 , 22 , ... in response to the second stimulus control signal.
• - Taking into account the one or more second parameters when influencing the mission, behavior, an action and / or a functionality of the second robot 20th , 21 , 22 .

A comparison can be made S7 an information based on the one or more second parameters with the information provided based on a first robot 10th , 11 , 12 be carried out.

The information to be provided (based on the data of a first robot 10th , 11 , 12 ) determined and / or for operating the at least one second robot 20th , 21 , 22 are used or taken into account, depending on a degree of similarity and / or dissimilarity between the area of application, mission and / or functionalities of the first robot and the second robot.

One or more steps of the method can be selected and / or configured, depending on the range of values in which an expected measure of the risk, e.g. for a specific, e.g. upcoming mission, action, application (use of the robot, robot functionality, system of the robot) lies or is expected.

The evaluation S3 of the at least one parameter characterizing the determined effect of the actuator 1a , 1b , 1c , 1d of the at least one first robot 10th , 11 , 12 , or the actuator 2a , 2 B , 2c , 2d of the at least one second robot 20th , 21st , 22 may (alternatively or additionally) include a comparison with a predetermined condition.

The predetermined condition can include, for example, one or more predefined mathematical relationships in the form of a law, rule, regulation and / or relation. These can identify or represent relationships between one or more of the corresponding operating parameters (also to be understood as corresponding values of the parameters). The mathematical relationship can represent coefficients for one or more, in particular predetermined, equations, polynomials or a simulation. This is preferably an appropriately defined mathematical relationship. The mathematical relationship particularly preferably comprises at least one function which characterizes a time dependency of a variable and / or a dependency in relation to an area of application of the robot. In particular, the mathematical relationship can characterize at least one function that a gradient of an operating parameter according to a size related to the space (relative space-related sizes, e.g. characterizing distance, distance and / or absolute sizes, e.g. characterizing certain position sequence) and / or according to a time-related variable (Relative sizes, eg time intervals, and / or absolute sizes, such as a sequence of certain times). The first data of one or more first operating parameters in the robot can be aggregated, e.g. statistically evaluated data act on the basis of the one or more first operating parameters, in particular on the basis of a longer period of time. The proposed method enables reliable monitoring of the component status of the robots. It replaces a de facto infinite variety of boundary conditions as part of a test and a validation. Furthermore, a very precise, and therefore very valuable, prediction of a failure, a need for service, the admissibility or non-admissibility of certain operating modes of the robot, certain robot components or robot functions.

The invention can be used, inter alia, to achieve an advantage in terms of safety, reliability, quality of a robot operation and a cost advantage. A quantitatively defined and / or dynamic release, restriction, blocking and / or change, e.g. an expedient adaptation, at least one action, of a performance feature of the functionality of a (second) robot, in particular for one or more specific boundary conditions and / or areas of application.

Thereby (at least the second) robots with a new or previously unknown environment, application area, e.g. operate on other planets taking into account the information provided and / or deal with a new mission or task much more successfully. Suitable information (e.g. at least one first robot), e.g. for operating a specific mission of a second robot, a second robot in a specific environment or under certain boundary conditions, or for a specific second robot, in particular as required.

Claims (16)

A method for providing information for operating a robot (20, 21, 22), a robot system and / or a robot swarm, comprising: Triggering (S1) one or more actuators (1a, 1b, 1c, 1d) of one or more first robots (10, 11, 12) with a first stimulus control signal, Determining (S2) one or more first parameters characterizing an effect of the one or more actuators (1a, 1b, 1c, 1d) of the one or more first robots (10, 11, 12) in response to the first stimulus control signal, - Evaluation (S3) of at least one parameter characterizing the determined effect of the one or more actuators (1a, 1b, 1c, 1d) of the one or more robots (10, 11, 12) on the at least one stimulus control signal, and - Providing (S4) the information for operating at least one second robot (20, 21, 21) depending on the evaluation (S3). Procedure according to Claim 1 , wherein the evaluation (S3) relates to a large number of the same or different actuations of the one or more actuators (1a, 1b, 1c, 1d) of one or more first robots (10, 11, 12) and / or to a large number of actuators (1a, 1b, 1c, 1d) of different first robots (10, 11, 12). Method according to one of the preceding claims, also comprising: Triggering (S5) the actuator (2a, 2b, 2c, 2d) of the second robot (20, 21, 22) with a second stimulus control signal, Determining (S6) one or more second parameters characterizing an action of the actuator (2a, 2b, 2c, 2d) of the second robot (20, 21, 22) in response to the second stimulus control signal, - Comparison (S7) of information based on the one or more second parameters with the information provided based on the one or more first robots (10, 11, 12), and - influencing (S8) a functionality and / or an action of the second robot (20, 21, 22) depending on the result of the comparison. Method according to one of the preceding claims, in which, depending on the information provided, influencing a functionality, a behavior and / or an action of the second robot (20, 21, 22), comprising at least one release, restriction, change and / or blocking at least a performance feature of the functionality and / or an action of a second robot (20, 21, 22). Method according to one of the preceding claims, in which, depending on the information provided, a portion of the independent action and / or portion of the action determined from outside is adapted for the operation of a functionality of a second robot (20, 21, 22). Method according to one of the preceding claims, in which, depending on the evaluation (S3), one or more entries from the following list are carried out: - changing a parameter of the behavior of a second robot (20, 21, 22), starting or continuing remote control of at least one functionality or an action of the second robot (20, 21, 22), - a selection of one or more performance features, in particular a combination of several performance features of the second robot (20, 21, 22), which activates, can be activated, changed, restricted or blocked, - adapting or calibrating a parameter for further operation of an actuator (2a, 2b, 2c, 2d) of a second robot (20, 21, 22), - adapting or calibrating a parameter for operating an Functionality or an action of a second robot (20, 21, 22), wherein a probability of actuation of the actuator (2a, 2b, 2c, 2d) is changed, - triggering a specific signaling of the second robot (20, 21, 22) to the outside, - outputting information to a remote control computer or a user of the second robot (20, 21, 22). Method according to one of the preceding claims, in which a control of the actuator (1a, 1b, 1c, 1d) of a first robot (10, 11, 12) with the stimulus control signal and / or the selection of the one or more parameters of the stimulus Control signal for controlling the actuator (1a, 1b, 1c, 1d) of the first robot (10, 11, 12) from a mobile user device (40) or a backend (30). Method according to one of the preceding claims, in which the control of the one or more actuators (1a, 1b, 1c, 1d) of the one or more first robots (10, 11, 12) and / or the one or more actuators of the second robot ( 20, 21, 21) with a sequence of a plurality of actions carried out step-by-step and / or control variables increasing step-by-step. Method according to one of the preceding claims, in which a parameter of a first boundary condition is specified, in which the actuation of the actuator (1a, 1b, 1c, 1d) of the one or more first robots (10, 11, 12) with the first stimulus Control signal is to be executed and / or a parameter of a second boundary condition is specified in which the actuation of the actuator of the second robot (10, 11, 12) is carried out with the second stimulus control signal. Method according to one of the preceding claims, in which the evaluation (S3) of the one or more first parameters characterizing an effect of the actuator (1a, 1b, 1c, 1d) of a first robot (10, 11, 12) in the at least one stimulus Control signal, with one or more first parameters, characterizing an effect of the actuator (1a, 1b, 1c, 1d) of the first robot (10, 11, 12) at one or more earlier time intervals and / or one or more further first robots (10, 11, 12) can be compared. Method according to one of the preceding claims, in which two or more first parameters characterizing an effect of the actuator (1a, 1b, 1c, 1d) of the first robot (10, 11, 12) at different time intervals and / or for different first robots (10 , 11, 12). Method according to one of the preceding claims, in which the actuator (1a, 1b, 1c, 1d) of one or more first robots (10, 11, 12) is controlled under two different boundary conditions and / or with two different operating parameters of the actuator, and the first parameters characterizing the effects of the actuator (1a, 1b, 1c, 1d) of one or more first robots (10, 11, 12) are taken into account in the two or more boundary conditions and / or operating parameters. Method according to one of the preceding claims, comprising: - Controlling at least one actuator of a first robot (10, 11, 12) with the stimulus control signal, the actuator (1a, 1b, 1c, 1d) of the first robot (10, 11, 12) having a specific effect in relation to the local environment of the first robot (10, 11, 12), and - determining the one or more parameters characterizing the effect of the actuator (1a, 1b, 1c, 1d) on the local environment of the first robot (10, 11, 12) and / or on a reaction of the environment of the first robot (10 , 11, 12) on the action of the actuator (1a, 1b, 1c, 1d). Method according to one of the preceding claims, in which the actuation of the one or more actuators (1a, 1b, 1c, 1d) of the one robot (10, 11, 12) with the stimulus control signal has a specific effect in relation to a specific object, on an object of a certain type, in particular on another robot, and the one or more parameters characterizing the effect of the one or more actuators (1a, 1b, 1c, 1d) a change or a reaction of the object, in particular another Robot, on the action of the actuator (1a, 1b, 1c, 1d). System comprising at least one device provided in a robot (10, 11, 12) and a backend (30) and / or a mobile user device (40), the device in the robot (10, 11, 12) and the backend (30) and / or the mobile user device (40) is set up for executing an active connection, the system for executing the method according to one of the preceding Claims, in particular also according to a further feature of the method. Computer program, the computer program being designed, when it is executed on one, in particular the system Claim 15 belonging computing unit, one or more steps of the method according to one or more Claims 1 to 14 to execute.

Images