DE102018212944A1 - Procedure to support collaboration between humans and robots using data glasses - Google Patents

Abstract

The invention relates to a method for supporting collaboration between humans and robots (1) using data glasses (2), at least comprising the following steps: a) generating location-related information about a planned workflow that the robot (1) at a specific location ( 3) is to be carried out, b) transmitting the location-related information to a visualization system (4) which comprises the data glasses (2), c) visualizing the location-related information by means of the data glasses (2) when the specific location (3) is in view (5 ) through the data glasses (2).

Description

The invention relates to a method for supporting collaboration between humans and robots, a system for supporting collaboration between humans and robots and the use of data glasses.

In the context of Industry 4.0, more and more machines and robots are being created (both terms are summarized below as robots), which enable close cooperation with humans. Instead of using classic safety mechanisms such as cages, laser curtains etc. - which separate the human from the robot and trigger an emergency stop of the robot if this separation is violated - these collaborative robots use safety mechanisms such as intrinsic safety, sensor skin, work area monitoring etc. which lead to that a person can perform tasks in the robot's workspace. Security interventions are only necessary if there could be a collision between the two parties, e.g. B. man has his arm within the path of movement of the robot or his hand on the storage space of the object gripped by the robot. However, the safety intervention does not lead to a permanent emergency stop, but only to a break or an alternative action by the robot and as soon as the triggering situation has ended, the robot continues with its desired action.

There are also data glasses that enable the wearer to overlay virtual information such as text, objects, etc. on the real world. While these glasses have currently not had a breakthrough for the consumer market, they are being used more and more in professional use. For example, they can display so-called meta information for packages, instructions in workshops and the architect's floor plan on construction sites.

Another interesting application is the support in assembly. Here, workstations are equipped with systems that support people in their work by showing the information required for the associated work step - this can be done via a display or via data glasses. So z. B. the required screw is shown, the place where it is installed or how many Newton meters it has to be tightened. For this purpose, advanced systems use tracking units that can track where the person or hand is located and can thus provide feedback in a targeted manner via a known workflow stored in the system.

Proceeding from this, it is an object of the present invention to at least partially solve the problems described with reference to the prior art. In particular, a method for supporting collaboration between humans and robots and a system for supporting collaboration between humans and robots are to be specified, each of which at least contribute to improving the collaboration between humans and collaborative robots.

These objects are achieved by the features of the independent claims. Further advantageous refinements of the solution proposed here are specified in the dependent claims. It should be pointed out that the features listed individually in the dependent patent claims can be combined with one another in any desired, technologically sensible manner and define further refinements of the invention. In addition, the features specified in the patent claims are specified and explained in more detail in the description, further preferred embodiments of the invention being illustrated.

1. a) Generieren einer ortsbezogenen Information über einen geplanten Arbeitsablauf, den der Roboter an einem bestimmten Ort ausführen soll,
2. b) Übermitteln der ortsbezogenen Information an ein Visualisierungssystem, welches die Datenbrille umfasst,
3. c) Visualisieren der ortsbezogenen Information mittels der Datenbrille, wenn der bestimmte Ort im Blickfeld durch die Datenbrille liegt.

A method to support collaboration between humans and robots using data glasses contributes to this, at least comprising the following steps:

1. a) generating location-related information about a planned workflow that the robot is to carry out at a specific location,
2. b) transmitting the location-related information to a visualization system which includes the data glasses,
3. c) Visualizing the location-related information using the data glasses when the specific location is in view through the data glasses.

The sequence of process steps a), b) and c) shown is generally the result of a regular operating sequence. The method can be carried out using a system proposed below. In addition, the system proposed below is advantageously set up to carry out the method proposed here. The solution presented here advantageously contributes to an improvement in the cooperation between humans and collaborative robots, in particular through an intuitive representation of their actions and expectations for humans.

The robot is usually set up to relieve (mechanical) work or work steps from humans. The robot can usually be controlled, in particular by means of a computer program. In this context, the robot is in particular set up to operate automatically and / or autonomously, in particular to carry out planned work steps and / or to carry out operations that arise for him from recorded boundary conditions. The robot can, for example, be arranged in a stationary manner or be designed to be mobile. The robot is preferably a machine with at least one degree of freedom. Thus, in a simple case, the robot can also be an extendable object rack. The robot can preferably move with at least two or even at least three degrees of freedom. The robot relates in particular to the actuator system, which accepts the commands from the robotics control or robot control and leads to a change in the environment of the worker. In addition, the robot can optionally also include sensors for object detection (such as a camera).

The data glasses (in English also “smart glasses”) are in particular a portable computer that can add information to the field of vision or field of vision of the user. The data glasses enable, in particular, a so-called augmented reality or a so-called mixed reality. Augmented reality means in particular the computer-assisted expansion of the perception of reality. Mixed reality encompasses environments or systems that mix or overlay the natural perception of a user with an artificial (computer-generated) perception. In addition to the mainly computer-generated virtual reality, these are in particular systems of augmented reality and augmented virtuality. The data glasses relate in particular to a system which can project virtual information into the human eye or the surface of the glasses. This system is usually carried by the person or worker.

The method can basically be carried out with one or more robots. In this context in particular, one or more location-related information items about one or more planned work processes that one or more of the robots are to perform at one or more specific locations can also be generated in step a). In this context, in step b) in particular, several of the location-related information items can also be transmitted to a visualization system that includes the data glasses. Furthermore, in step c), in particular in this context, one or more of the location-related information items can also be visualized using the data glasses if one or more of the specific locations lie in the field of vision through the data glasses.

In step a), location-related information is generated about a planned workflow that the robot is to carry out at a specific location. The information about the planned workflow is particularly location-related in that it is linked to a position specification (the position of the specific location). The information preferably includes a position specification and an indication of the workflow that is to be carried out at this position. The position specification can include, for example, coordinates of the position or of the specific location. The coordinates can relate, for example, to a global coordinate system and / or a local coordinate system, such as a workshop coordinate system. The information on the workflow is particularly suitable for identifying or selecting a specific workflow from a large number of (pre) programmed workflows of the robot. In this context, a (pre-) programmed workflow can include, for example, a certain sequence of certain work steps.

In step b), the location-related information is transmitted to a visualization system which comprises the data glasses. The transmission can be wired (for example via LAN) or wireless. The transmission preferably takes place by means of a radio connection, such as WLAN or Bluetooth. The visualization system can also include a visualization computer, for example.

In step c) the location-related information is visualized using the data glasses if the specific location lies in the field of vision or field of vision through the data glasses. In other words, this means in particular that the person wearing the data glasses receives the location-related information (or visual information that was generated on the basis of the location-related information) from the data glasses when his gaze is directed at the specific location or the particular location is at least within its field of vision. In step c), the field of vision or field of vision of the data glasses wearer is preferably overlaid with a visualization of the location-related information. In other words, this means in particular that visual information, which was generated on the basis of the location-related information, is added to the user's field of vision or field of vision by means of the data glasses. However, this addition is advantageously only carried out if the specific location lies in the field of vision or field of vision through the data glasses.

When there is close cooperation between humans and robots, it is advantageous for humans (also called workers here) to receive a large amount of information about how they should interact with the robot. Such information can e.g. B. include: What task is the robot currently working on? Which work area does the robot need for its task (ie in which area should it be? the worker just isn't stopping)? Does the robot currently expect anything from the worker?

This information is based in particular on the fact that it can change at any time. They can depend not only on the work step of the worker (as described above with regard to classic support in assembly), but in particular also on the task and behavior of the robot. Furthermore, they can often be linked to a location. For example, knowledge of the robot's working space or its object storage space is particularly helpful for the worker if he is within this area or draws his attention to this area.

This information can in principle be provided via different media, such as: Displays that e.g. B. visualize the workflow of the robot; Acoustic, visual and / or haptic signals, which e.g. B. signal a need of the robot; Instructions on when the robot performs which work step. What these media have in common, however, is that they are either inflexible with regard to the variable action of the robot (e.g. the instructions), which present unfiltered information to the worker without taking his location or attention into account (e.g. signals, displays , Instructions) or a distraction of the worker from his actual job (e.g. the worker has to look at a display).

In contrast, the solution proposed here advantageously allows the display of a large amount of information which is advantageous for the interaction with a robot (in particular all the information necessary for the interaction with a robot) with data glasses, specifically location-specific at the points where the interaction also takes place or to be held. For this purpose, the viewing direction of the data glasses can preferably be tracked by means of a tracking system and / or exactly at the points where an interaction is expected or an undesired interaction is to be prevented, virtual information is faded into the field of view of the glasses and the reality is thus superimposed. The basic methods of tracking and virtual overlay are used in particular. Particular advantages of the solution presented here are the linking of the data glasses with the robot controller in order to realize a location-based and constantly updated preparation of the changing information of the robot during the workflow and the associated intuitive form of presentation as a virtual image.

According to an advantageous embodiment, it is proposed that in step a) the generation (location-related information about a planned workflow that the robot is to carry out at a specific location) is carried out by means of a robot controller. This contributes in particular to an improvement in the cooperation between humans and collaborative robots by providing a more direct communication path from the robot to humans. This advantageously also allows changes in the workflow of the robot to be taken into account quickly.

According to an advantageous embodiment, it is proposed that the workflow comprises at least one object storage, a movement sequence or an object recording. In addition, the workflow can also include at least one state of the robot, such as a waiting position.

According to a further advantageous embodiment, it is proposed that the location-related information includes information about a work area of the robot. Preferably, the work space of the robot, which is required, for example, for a workflow, such as an object storage, a movement sequence or an object recording, can be shown in the data glasses or in the field of vision (through the data glasses) and / or with reality as an example with dashed lines (or similarly marked) be visually overlaid. In the case of a three-dimensional representation, the box can, for example, be expanded to an exemplary dashed space.

• • Objektablage: wo möchte der Roboter etwas ablegen und wann möchte er es ablegen. (Dieser Bereich sollte von dem Arbeiter freigeräumt sein.)
• • Bewegungsablauf: Wie bewegt sich der Roboter in der nächsten Zeit.
• • Arbeitsraum: welchen Teil des Arbeitsraums wird der Roboter durch den Bewegungsablauf benötigen. (In diesem Bereich sollte sich der Arbeiter oder seine Gliedmaßen nicht aufhalten.)
• • Objektaufnahme: wo und wann erwartet der Roboter ein (oder mehrere) Objekte und in welcher Lage. (Der Arbeit muss dafür sorgen, dass er dort die erwarteten Objekte innerhalb der erlaubten Toleranz an der richtigen Position und Orientierung ablegt.)
• • Zustand des Roboters/Endeffektors: Pausiert der Roboter gerade, bewegt er sich, wartet er auf eine Eingabe, etc.

One or more of the following location-related information can be visualized using the data glasses:

• • Object storage: where does the robot want to store something and when does it want to store it. (This area should be cleared by the worker.)
• • Movement sequence: How does the robot move in the next time.
• • Working area: which part of the working area will the robot need due to the movement sequence. (The worker or his limbs should not be in this area.)
• • Object recording: where and when the robot expects one (or more) objects and in which position. (The work must ensure that it places the expected objects in the correct position and orientation within the permitted tolerance.)
• • State of the robot / end effector: If the robot is currently pausing, it is moving, waiting for input, etc.

The robot can make one or more of these location-related information available to the data glasses, in particular via its robot controller. This information is particularly advantageous for improved collaboration.

According to an advantageous embodiment, it is proposed that the location-related information includes information about an object on which the workflow is to be carried out. The information can include, for example, the dimensions or contour of the object, the orientation of the object and / or the number of objects. For example, a silhouette of the object can be used to represent the area in which the robot is to place or pick up an object.

Furthermore, additional meta information, such as e.g. B. the identification number (ID) of a component or further processing steps of the worker are displayed. This additional meta information can in principle also be provided without a connection to the robot controller, but instead can be implemented, for example, via stored databases or instructions.

According to an advantageous embodiment, it is proposed that in step c) the field of vision is virtually overlaid by the data glasses with the location-related information. The virtual overlay is preferably generated by a visualization computer.

According to an advantageous embodiment, it is proposed that in step c) there is a three-dimensional virtual overlay of the field of view through the data glasses with the location-related information. A three-dimensional virtual overlay advantageously helps to avoid misinterpretation of the representation as far as possible.

According to an advantageous embodiment, it is proposed that the position and the orientation of the data glasses are recorded. The position and the orientation of the data glasses are preferably recorded by means of a so-called tracking system.

• • Ablenkungsfrei & Fokusorientiert: Der Arbeiter wird nicht mit Informationen überfrachtet, sondern bekommt die für ihn relevanten Informationen nur zur Verfügung gestellt, wenn er seinen Fokus (d.h. seine Blickrichtung) auf den entsprechenden Ort legt - weil er z. B. in seinem Arbeitsablauf jetzt mit dem kollaborierenden Roboter interagieren möchte. Beispielsweise können unterschiedliche Informationen in der Brille virtuell überlagert werden, je nachdem ob der Arbeiter seinen Blick nach links oder rechts wendet.
• • Intuitive Darstellungsform: Die Informationen werden dem Arbeiter in einer bekannten, natürlichen Repräsentation dargestellt, einem virtualisierten Abbild der physikalischen korrekten Form, der Realität überblendet an exakt der Stelle wo sich etwas bald befinden wird (wie ein Objekt, was der Roboter bald ablegt), wo etwas erwartet wird (wie ein Objekt, welches der Arbeiter ablegen soll) oder wo sich etwas eigentlich unsichtbares befindet (wie der vom Roboter belegte Bereich des Arbeitsraums). Dies über klassische Medien bereitzustellen, würde ein (zu) hohes Maß an Konzentration für den Arbeiter erfordern, da er die gesamte nichttriviale Transformation von dem Medium (wie einem Display) in die Realität in seinem Kopf durchführen müsste.

• • Eindeutigkeit: Aufgrund der intuitiven Darstellungsform als drei-dimensionale virtuelle Überlagerung kann es zu keiner Fehlinterpretation kommen, da bei Zweifel das Abbild aus verschiedenen Blickwinkeln betrachtet werden kann. Darstellung mittels separatem Display würde immer nur eine Projektion der drei-dimensionalen Szene in einen 2D Raum mit entsprechendem Informationsverlust visualisieren, welcher z. B. bei der Objektlage oder der komplexen drei-dimensionalen Arbeitsraumbelegung des Roboters zu mehreren Interpretationsmöglichkeiten der realen physikalischen drei-dimensionalen Lage führen könnte.
• • Einschränkungsfrei: Das Tragen einer Datenbrille führt nicht zu Einschränkungen in der Bewegung des Arbeiters - er hat weiterhin seine Hände frei und muss auch nicht ständig ein separates Display im Blick behalten.
• • Aktualität: Die ständig sich verändernden Roboterinformationen können (nahezu) ohne Verzögerung in der Darstellung aktualisiert werden. Vorzugsweise werden für das virtuelle Erlebnis die Einblendungen mindestens mit 24Hz generiert.

The solution presented here (possibly in the form of one of its advantageous configurations described) allows in particular one or more of the advantages listed below:

• • Distraction-free & focus-oriented: The worker is not overloaded with information, but only gets the information relevant to him if he puts his focus (ie his direction of vision) on the appropriate place - because he z. B. now wants to interact with the collaborative robot in his workflow. For example, different information can be virtually superimposed in the glasses, depending on whether the worker looks left or right.
• • Intuitive form of presentation: The information is presented to the worker in a known, natural representation, a virtualized image of the physically correct form, which fades into reality exactly at the point where something will soon be (like an object that the robot will soon put down), where something is expected (like an object that the worker should put down) or where there is something that is actually invisible (like the area of the work area occupied by the robot). Providing this via classic media would require a (too) high level of concentration for the worker, since he would have to do the entire non-trivial transformation from the medium (like a display) to the reality in his head.

• • Uniqueness: Due to the intuitive form of representation as a three-dimensional virtual overlay, there can be no misinterpretation, since in case of doubt the image can be viewed from different angles. Representation by means of a separate display would only ever visualize a projection of the three-dimensional scene into a 2D space with a corresponding loss of information. B. in the object position or the complex three-dimensional workspace assignment of the robot could lead to several interpretations of the real physical three-dimensional position.
• • Unrestricted: Wearing data glasses does not lead to restrictions in the movement of the worker - he still has his hands free and does not have to keep an eye on a separate display.
• • Up-to-dateness: The constantly changing robot information can be updated (almost) without delay in the display. For the virtual experience, the overlays are preferably generated at at least 24 Hz.

• - eine Datenbrille,
• - eine Robotersteuerung, welche dazu eingerichtet ist eine ortsbezogene Information über einen geplanten Arbeitsablauf des Roboters zu generieren,
• - einen Visualisierungsrechner, welcher dazu eingerichtet ist unter Verwendung der ortsbezogenen Information eine visuelle Information für die Datenbrille zu generieren.

According to a further aspect, a system for supporting collaboration between humans and robots using data glasses is proposed, at least comprehensively:

• - data glasses,
• a robot controller, which is set up to generate location-related information about a planned workflow of the robot,
• - a visualization computer which is set up to generate visual information for the data glasses using the location-related information.

The robot controller is in particular set up to generate the (control) commands for the robot. It is further preferred that the robot controller knows the work task or the robot controller can access planned work processes. Furthermore, the robot controller is preferably set up to carry out object recognition on the basis of the data from the sensor system of the robot. The robot controller is preferably set up to make location-related information, such as information about an object, for example comprising its three-dimensional (storage / recording) position, orientation and / or shape, available to the visualization computer. In this context, a possible data format such. B. be any (any) CAD format.

The visualization computer is preferably set up to bring together all of the information to be provided. Furthermore, the visualization computer is preferably configured to use the position and viewing direction of the data glasses from, for example, a tracking system and optionally a digital image of the glasses to transform all information to be displayed into the current field of vision of the worker. In addition, the visualization computer is usually set up to transmit the resulting form of presentation to the data glasses.

Advantageously, the visualization computer is also set up to continuously or repeatedly tap or receive and / or read out information from the robot controller. Furthermore, the visualization computer is preferably set up to transform positions and / or orientations of, for example, location-related information, such as objects, with the aid of the position and viewing direction of the glasses into, for example, a viewing coordinate system of the glasses. In addition, the visualization computer is preferably set up to calculate projections of the corresponding shapes, for example objects, into the eye.

In addition, the system can include, for example, a tracking system. The tracking system is usually a system that tracks the data glasses and their direction of view in the vicinity of the workplace and transmits the position of the glasses and their direction of view (orientation) to the visualization computer. The tracking system and the coordinate system of the robot controller are preferably calibrated with one another.

Depending on the design of the system, robots and robot controls can be combined in one component, for example. The visualization computer and / or the tracking system can also be contained in the data glasses. The robot controller and the visualization computer can be connected using any known data transmission technology, such as: LAN, WLAN, Bluetooth, etc. Alternatively, the robot controller and the visualization computer can be combined in one component, for example.

According to a further aspect, the use of data glasses is proposed for visualizing location-related information about a planned workflow that a robot is to carry out at a specific location when the specific location lies in the field of vision through the data glasses.

The details, features and advantageous configurations discussed in connection with the method can accordingly also occur in the system and / or use presented here and vice versa. In this respect, full reference is made to the explanations given there for the more detailed characterization of the features.

• 1: einen Ablauf eines hier vorgestellten Verfahrens,
• 2: eine Veranschaulichung einer Ausführungsform des hier vorgestellten Verfahrens,
• 3: eine Veranschaulichung einer weiteren Ausführungsform des hier vorgestellten Verfahrens, und
• 4: ein hier vorgeschlagenes System.

The solution presented here and its technical environment are explained in more detail below with reference to the figures. It should be pointed out that the invention is not intended to be limited by the exemplary embodiments shown. In particular, unless explicitly stated otherwise, it is also possible to extract partial aspects of the facts explained in the figures and to combine them with other components and / or knowledge from other figures and / or the present description. They show schematically:

• 1 : a sequence of a procedure presented here,
• 2 : an illustration of an embodiment of the method presented here,
• 3 : an illustration of a further embodiment of the method presented here, and
• 4 : a system proposed here.

1 shows schematically a sequence of a method presented here. The method is used to support collaboration between humans and robots using data glasses. The sequence of process steps a), b) and c) shown with the blocks 110 . 120 and 130 usually results from a regular operating procedure. In block 110 location-related information is generated about a planned workflow that the robot is to carry out at a specific location. In block 120 the location-related information is transmitted to a visualization system which includes the data glasses. In block 130 the location-related information is visualized using the data glasses when the specific location is in view through the data glasses.

2 shows schematically an illustration of an embodiment of the method presented here. 2 illustrates a planned object storage of an object 8th through the left robot 1 , Thus, the planned workflow here includes, for example, object storage.

Illustrated in this context 2 Possible forms of representation of the virtually overlaid location-related information through the data glasses 2 , With an arrow on the left is the movement sequence of the left collaborative robot 1 displayed in the next few seconds as well as a dashed box the required work space 7 , This is an example of the fact that the location-related information (also) is information about a work space 7 of the robot 1 can include and how this information can be visualized.

It also features a silhouette of the object 8th represented the area where the robot 1 an object 8th will drop. This is an example of that and how the location-related information is information about an object 8th may include where the workflow is to be performed. This information is exactly like that in the data glasses 2 shows that they appear to the viewer where they would be in reality. Thus, an exemplary virtual overlay of the field of view takes place here 5 through the data glasses 2 with the location-related information.

The identification number (ID) 12 of the object 8th is also shown. The ID is an example of meta information that is additionally provided by data glasses 2 can be displayed.

In addition, the position and orientation of the data glasses are shown here as examples 2 detected. There is a tracking system for this 11 intended. The tracking system 11 demonstrates as shown 2 a fixed component and one with smart glasses 2 connected component on.

3 shows schematically an illustration of a further embodiment of the method presented here. The reference symbols are used uniformly, so that reference is made to the above statements 2 full reference can be made.

In this example, if the worker looks at the opposite side of his workplace, the information of another person is displayed 3 right collaborative robot 1 appears. In this case, a yellow hourglass 13 the state of the robot (waiting) and the reason for the break: it expects three objects 8th at the positions shown with the orientation and ID shown 12 , Thus illustrated 3 a planned object recording of three objects 8th by the right robot 1 , It can also be seen that the robot is already an object 8th recognized, namely the filled left object 8th ,

4 schematically shows a system proposed here 9 , The system 9 serves to support collaboration between humans and robots 1 using data glasses 2 , The system 9 accordingly includes a robot 1 and smart glasses 2 , The system also includes 9 a robot controller 6 , which is set up to provide location-related information about a planned workflow of the robot 1 to generate. The system also includes 9 a visualization computer 10 , which is set up using the location-related information, visual information for the data glasses 2 to generate.

The system includes examples 9 here is also a tracking system 11 that the visualization computer 10 Information about the position and orientation of the smart glasses 2 provides. The data glasses 2 and the visualization computer 10 form a visualization system here as an example 4 ,

A method for supporting collaboration between humans and robots and a system for supporting collaboration between humans and robots, which at least partially solve the problems described in relation to the prior art, are proposed here. In particular, a method for supporting collaboration between humans and robots and a system for supporting collaboration between humans and robots are specified, each of which at least contribute to improving the collaboration between humans and collaborative robots.

LIST OF REFERENCE NUMBERS

1

robot

2

data glasses

3

place

4

visualization system

5

field of vision

6

robot control

7

working space

8th

object

9

system

10

Display computer

11

tracking system

12

Identification Number

13

hourglass

Claims (10)

Method for supporting collaboration between humans and robots (1) using data glasses (2), at least comprising the following steps: a) generating location-related information about a planned workflow that the robot (1) is to carry out at a specific location (3), b) transmitting the location-related information to a visualization system (4) which comprises the data glasses (2), c) Visualizing the location-related information using the data glasses (2) when the specific location (3) is in the field of view (5) through the data glasses (2). Procedure according to Claim 1 , wherein in step a) the generation is carried out by means of a robot controller (6). Procedure according to Claim 1 or 2 , wherein the workflow comprises at least one object storage, a movement sequence or an object recording. Method according to one of the preceding claims, wherein the location-related information comprises information about a work space (7) of the robot (1). Method according to one of the preceding claims, wherein the location-related information comprises information about an object (8) on which the workflow is to be carried out. Method according to one of the preceding claims, wherein in step c) there is a virtual overlay of the field of view (5) by the data glasses (2) with the location-related information. Method according to one of the preceding claims, wherein in step c) there is a three-dimensional virtual overlay of the field of view (5) through the data glasses (2) with the location-related information. Method according to one of the preceding claims, wherein the position and the orientation of the data glasses (2) are detected. System (9) to support collaboration between humans and robots (1) using data glasses (2), at least comprising: - data glasses (2), a robot controller (6), which is set up to generate location-related information about a planned workflow of the robot (1), - A visualization computer (10) which is set up to generate visual information for the data glasses (2) using the location-related information. Use of data glasses (2) for visualizing location-related information about a planned workflow that a robot (1) is to carry out at a specific location (3) when the specific location (3) is in view (5) through the data glasses (2) lies.

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