DE102023134416B3 - Configuring and/or checking a boundary for a robot or part of a robot - Google Patents

Abstract

A method for configuring and/or checking a boundary for a robot (10) or a part of the robot comprises the step of providing (S10) geometric data of a workspace determined as a space freely accessible to the robot or part of the robot, or of a protective space complementary thereto. In one embodiment, the method comprises the step of configuring (S30) a boundary for the robot or part of the robot based on a user input, wherein this boundary is visualized during this configuration together with the workspace or protective space based on the user input and the provided geometric data using a user interface. Additionally or alternatively, the method comprises the steps of planning (S40) a movement of the robot to check a or the configured boundary for the robot or part of the robot based on the provided geometric data; controlling (S50) drives of the robot to perform the planned movement; and detecting a triggering of a safety monitoring function as a result of the execution of the movement.
The invention also relates to a system or computer program (product).

Description

The present invention relates to a method and system for configuring and/or checking a limitation for a robot or a part of the robot and to a computer program or computer program product for carrying out the method.

According to company practice, boundaries for robots can be configured in the form of virtual walls through user input. Boundaries configured in this way are checked according to company practice by moving the robot to them and determining whether this triggers a designated safety monitor.

The DE 11 2021 007 790 T5 relates to a simulation device provided with: a range setting unit that sets a permissible movement range for a robot; an estimation unit that infers the operation of the robot after stop control is performed on the robot in response to the operation of the robot outside the permissible movement range; and a visualization unit that, based on the inferred operation of the robot, enables the part of the robot outside the permissible movement range to be visualized.

According to the DE 11 2021 005 346 T5 An augmented reality display device comprises: a camera; a display unit; and a display control unit that displays, on the display unit, an image of a robot captured by the camera and an augmented reality image of the robot's workspace.

The DE 11 2019 003 204 T5 relates to an augmented reality system for visualizing and modifying robot workspaces, the system comprising an AR device such as a headset that communicates with a robot control unit, the AR device comprising software for AR display and modification of the workspaces, registered with the robot's coordinate frame via detection of a visual marker, displaying workspaces that are aligned with real-world images of the robot and existing recording devices, the display being updated as the user moves around the robot's processing cell, control points being displayed on the virtual workspaces that allow the user to redesign the workspaces, the robot being operable during the AR session by executing the robot's programmed movement and assessing the workspaces, area violations being highlighted in the AR display, and the completed workspaces being uploaded to the robot control unit when an area definition is complete.

The DE 10 2007 037 078 B4 relates to a method for maintaining working space boundaries of a robot's work tool during movement of the robot in a work space, comprising the following steps: - starting from a first current pose of the work tool, determining a second pose of the work tool, which is ahead by a time segment, from a robot movement sequence; - determining at least one stopping movement of the work tool, starting from a braking initiation from the second pose; - defining a boundary zone for the work space extending inwards from the work space boundary; - checking for penetration of the spatial contour of the work tool into the boundary zone for the stopping movement of the work tool; - causing the robot to stop if at least one point of the spatial contour of the work tool penetrates the boundary zone.

The DE 10 2015 011 830 C5 relates to a robot system comprising: a display section configured to display a robot model of a robot and a peripheral device model of a peripheral device surrounding the robot, an insertion section configured to insert a motion monitoring area model of a motion monitoring area of the robot on the display section, a positioning section configured to move the motion monitoring area model inserted by the insertion section by a dragging operation to determine the position of the motion monitoring area model, and a setting section configured to convert an area surrounded by the motion monitoring area model, which in turn is positioned by the positioning section in the display section, into coordinate values that can be recognized by the robot to adjust the motion monitoring area, wherein the positioning section is configured to expand or contract the motion monitoring area model by a dragging operation in at least two directions among the X, Y, and Z directions in the display section, and wherein the motion monitoring area model inserted by the insertion section Spat model, a spherical model and a capsule-like model displayed in the display section, and wherein the positioning section is configured to use one of the spat model, the spherical model and the capsule-like model as a movement transmitter Select and position the surveillance area model.

According to the US 8 731 276 B2 A movement space display device comprises: a work area generation unit configured to generate a three-dimensional area in which the movable robot operates; an image acquisition unit configured to capture a real image; a position and posture recognition unit configured to recognize an image acquisition position and an image acquisition direction of the image acquisition unit; and a superimposition unit configured to selectively superimpose an image of a segment approximate model of the movable robot as viewed in the image acquisition direction from the image acquisition position or an image of the three-dimensional area as viewed in the image acquisition direction from the image acquisition position on the real image captured by the image acquisition unit, depending on the difficulty of recognition of each image.

The object of the present invention is to improve the configuration and/or testing of a boundary for a robot.

This object is achieved by a method having the features of claim 1. Claims 9 and 10 protect a system, computer program, or computer program product for implementing a method described herein. The subclaims relate to advantageous developments.

• - Bereitstellen von Geometriedaten eines Raumes, der, vorzugsweise zuvor, als ein für den Roboter bzw. Teil des Roboters frei zugänglicher Raum ermittelt worden ist, in einer Ausführung wird, und vorliegend als Arbeitsraum bezeichnet wird, oder eines hierzu komplementären Schutzraumes.

According to one embodiment of the present invention, a method for configuring and/or testing a boundary for a robot or a part of the robot comprises the step of:

• - Providing geometric data of a space which has been determined, preferably previously, as a space freely accessible to the robot or part of the robot, in one embodiment, and is referred to herein as a workspace, or of a protective space complementary thereto.

In one embodiment, the boundary is a virtual or software-implemented boundary and/or comprises one or more boundaries, in particular a space, in one embodiment virtual, in which the robot or part of the robot may be located or move, and/or a space, in one embodiment virtual, in which the robot or part of the robot may not be located or into which it may not penetrate.

A space within the meaning of the present invention can be composed of several separately (defined) subspaces. For example, a space in which the robot or part of the robot may be located or move may be delimited by a defined outer boundary (beyond which the robot or part of the robot may not move) and one or more defined inner boundaries within the space delimited by this outer boundary, in particular subspaces in which the robot or part of the robot may not be located or into which it may not penetrate. Accordingly, the boundary can have the outer boundary and the inner boundaries. In one embodiment, the boundary comprises one or more, in particular virtual and/or flat or curved, walls that the robot or part of the robot should not or may not penetrate.

A space or a boundary or limit within the meaning of the present invention can in particular be a Cartesian space or a boundary or limit in the Cartesian space or a configuration or joint coordinate space or a boundary or limit in the configuration or joint coordinate space or can be defined or specified as a Cartesian space or configuration or joint coordinate space or in a Cartesian space or a configuration or joint coordinate space.

A space or a boundary or limit within the meaning of the present invention can in particular refer to one or more different robot-fixed references, for example robot-fixed points, virtual or real bodies, coordinate systems or the like, and/or to the entire kinematic chain and/or contour of the robot or a part of the robot, in particular a part of its kinematic chain and/or contour, one or more individual links, for example the end effector, elbow or the like, in particular a, possibly simplified, envelope contour of the chain or contour or of the part of the robot or of the individual link(s). A part of the robot within the meaning of the present invention can have one or more individual links, possibly connected to one another in an articulated manner, and/or be part of its kinematic chain and/or contour and/or have two or more individual parts, possibly spaced apart from one another.

Accordingly, for example, a space (determined as) freely accessible can be, in particular, a space that is (determined as) freely accessible for the, possibly an enveloping contour of the entire kinematic chain and/or contour of the robot or a part of the robot, in particular one or more individual links, for example the end effector. A boundary or limit for a robot can accordingly be, in particular, a limitation or boundary for the, if applicable, an envelope contour of the entire kinematic chain and/or contour of the robot or a part of the robot, in particular one or more individual links, for example a limitation or boundary for the end effector.

A space or a boundary or limit within the meaning of the present invention can in particular be a one-, two-, three- or multi-dimensional space or boundary or limit, in particular a one-dimensional space, for example a Cartesian direction or a boundary or limit in a Cartesian direction, or a three-dimensional space or boundary or limit, for example (for) a position in Cartesian space, or a six- or multi-dimensional space or boundary or limit which indicates or limits a position and orientation in Cartesian space or the position of the joints or (movement) axes of a six-axis robot.

If in this case there is talk of a limitation for the robot or a space accessible to the robot, this can refer in one embodiment to the entire robot or a part, in a further development to one or more members of the robot.

In one embodiment, the robot has at least one robot arm and/or a fixed or mobile base, in a further development a chassis. It can be, in particular, a stationary robot, in a further development in a robot cell, a walking robot, an underwater robot, or a drone. In one embodiment, the robot, in a further development the robot arm, has at least three, in particular at least six, in one embodiment at least seven, (motion) axes or joints that can be moved or adjusted by, preferably electromagnetic, drives of the robot.

For such limitations or robots, the present invention is particularly advantageous, in particular due to the kinematics and boundary or operating conditions.

• - Konfigurieren einer bzw. der Begrenzung für den Roboter bzw. Teil des Roboters auf Basis einer (von einem Benutzer eingegebenen) Benutzereingabe, wobei diese Begrenzung
  • - während dieses Konfigurierens und
  • - zusammen mit dem Arbeitsraum oder Schutzraum und
  • - basierend auf
    • - der Benutzereingabe und
    • - den bereitgestellten Geometriedaten des Arbeits- bzw. Schutzraums
  • - mithilfe, vorzugsweise an, einer Benutzerschnittstelle
  visualisiert wird, vorzugsweise graphisch visualisiert wird, in einer Ausführung durch entsprechende, insbesondere virtuelle, Grenzflächen oder dergleichen.

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

• - Configuring a limit for the robot or part of the robot based on a user input (entered by a user), whereby this limit
  • - during this configuration and
  • - together with the workroom or shelter and
  • - based on
    • - the user input and
    • - the provided geometric data of the work or protection area
  • - using, preferably, a user interface
  is visualized, preferably graphically visualized, in one embodiment by corresponding, in particular virtual, interfaces or the like.

By jointly visualizing the workspace determined as a freely accessible space for the robot or part of the robot, or the complementary protection space, together with the boundary to be configured based on user input during this configuration, the configuration can be carried out advantageously, in particular more quickly and/or more safely. For example, in one embodiment, a user can quickly and/or reliably recognize that a boundary they have configured is unintentionally located within the protection space, or can deliberately place a boundary within the workspace or at its outer boundary.

• - Planen einer Bewegung des Roboters zum Überprüfen einer bzw. der, vorzugsweise wie hier beschrieben, konfigurierten Begrenzung für den Roboter bzw. Teil des Roboters basierend auf den bereitgestellten Geometriedaten, vorzugsweise mittels einer automatisierten Bahnplanung, in einer Ausführung mit Geschwindigkeitsprofil, und/oder derart, dass der Roboter bzw. Teil des Roboters sich dabei innerhalb des Arbeitsraums befindet bzw. in diesem bleibt bzw. den Schutzraum vermeidet und/oder derart, dass der Roboter bzw. Teil des Roboters die konfigurierte Begrenzung erreicht, gegebenenfalls überschreitet;
• - Ansteuern von Antrieben des Roboters zum Durchführen der geplanten Bewegung; und
• - Erfassen einer Auslösung einer Sicherheitsüberwachung infolge der Durchführung der Bewegung, insbesondere, ob infolge einer Bewegung des Roboters beim Durchführen der geplanten Bewegung in eine Roboterpose eine hierfür vorgegebene Sicherheitsüberwachung, insbesondere korrekt, ausgelöst wird oder nicht. Entsprechend ist die Sicherheitsüberwachung in einer Ausführung dazu eingerichtet, dadurch ausgelöst zu werden, dass der Roboter bzw. Teil des Roboters die (zu überprüfende) Begrenzung erreicht oder überschreitet.

According to one embodiment of the present invention, the method comprises, in addition to or alternatively to a configuration described here, the steps:

• - Planning a movement of the robot to check a limit, preferably as described here, configured for the robot or part of the robot based on the provided geometry data, preferably by means of automated path planning, in a design with a speed profile, and/or in such a way that the robot or part of the robot is located within the workspace or remains within it or avoids the protective space and/or in such a way that the robot or part of the robot reaches the configured limit, if necessary exceeds it;
• - Controlling the robot's drives to perform the planned movement; and
• - Detecting whether a safety monitoring function is triggered as a result of the execution of the movement, in particular whether a safety monitoring function specified for this purpose is triggered, in particular correctly, as a result of the robot moving when executing the planned movement into a robot pose. Accordingly, the safety monitoring function In one embodiment, the check is set up to be triggered by the robot or part of the robot reaching or exceeding the limit (to be checked).

By planning the movement of the robot to check the configured boundary based on the provided geometric data of the workspace determined as a space freely accessible to the robot or part of the robot or the complementary protection space, in one embodiment the probability of a collision of the robot or part of the robot during the check can be reduced and the configured boundary can thus be checked advantageously, in particular more quickly and/or more safely.

In one embodiment, providing the geometry data comprises adjusting the robot into different robot positions, wherein the workspace is expanded based on these robot positions, preferably by these robot positions and/or based on the poses of the part of the robot in these robot positions, or the protection space is reduced based on these robot positions, preferably by these robot positions and/or based on the poses of the part of the robot in these robot positions, in particular by the poses. In other words, during this adjustment into the different robot positions, the robot or part of the robot successively clears a space that forms the workspace or a part of the workspace or is no longer part of the protection space.

This means that the work or protective space can be provided in a particularly reliable and/or simple manner.

Additionally or alternatively, the provision of the geometry data in one embodiment comprises a sensor-based, in a further development camera-based, detection of an environment of the robot, wherein the workspace or protection space is provided in one development on the basis of an evaluation of the sensor data, in particular camera images, in one embodiment on the basis of an automatic detection of boundary surfaces on the basis of the sensor data, in particular (image evaluation of the) camera images.

As a result, the working or protective space can be provided in one embodiment at least partially without (moving the) robot(s) and/or (even) more quickly and/or easily.

The provision of geometry data may additionally or alternatively also include, in particular, the retrieval or retrieval of stored geometry data.

In one embodiment, the workspace or the protection space is discretized, preferably into grid or volume elements such as voxels, octrees, or the like. As a result, in one embodiment, the workspace or protection space can be provided particularly advantageously, in particular more simply and/or reliably, and/or used to plan the movement of the robot to check the configured boundary.

In one embodiment, the robot is adjusted or manually guided into one or more of the various robot positions based on a load applied manually (by a user), preferably under appropriate, particularly flexible, control. This allows the workspace or protective space to be provided particularly advantageously, particularly more simply and/or reliably, in one embodiment.

Additionally or alternatively, in one embodiment, the robot is adjusted to one or more of the various robot positions based on a command input from a user via an input interface, preferably via an operating device, in particular a handheld control unit that can preferably be spaced apart from the robot. This allows the work or protection space to be provided particularly advantageously, in particular more quickly, in one embodiment.

Additionally or alternatively, in one embodiment, the robot is adjusted to one or more of the various robot positions based on automated path planning, preferably systematic path planning for scanning a space, preferably collision-free. This allows the work or protection space to be provided particularly advantageously, in particular more thoroughly or comprehensively, in one embodiment.

In one embodiment, during, or in a further development as a result of, the configuration of the boundary, the robot is adjusted to additional robot positions, wherein the workspace or the protection space is updated on the basis of these additional robot positions. These additional robot positions are preferably specified, in one embodiment by automatic path planning, on the basis of a specification by the user during configuration, in particular a rejection or modification of a generated suggestion and/or a specification of a spatial area to be traversed or evaluated. As a result, in one embodiment, areas that have not yet been evaluated can advantageously be evaluated as needed and/or initiated by the configuration and/or collision-free, and the workspace can thus be updated as needed and/or initiated by the configuration. rieren enlarged or the protection space reduced accordingly. For example, as explained in more detail below, a user can reject a suggested boundary based on the previously provided workspace. This indicates that the previously provided workspace is too small or that an area blocked by the suggested boundary is, in the user's opinion, accessible to the robot or part of the robot, so that the workspace is expanded accordingly by updating the workspace or protection space based on additional robot positions approached during configuration, in particular triggered by the rejection. Likewise, in other cases when configuring based on the visualization, the user can determine that the provided workspace or protection space may not yet adequately represent the actually freely accessible space and therefore specifies a spatial area to be evaluated, which is then evaluated by moving the robot into corresponding additional robot positions based on this spatial area specified as being to be evaluated, and the workspace or protection space is updated accordingly.

• - Generieren eines Vorschlags für die zu konfigurierende Begrenzung basierend auf den bereitgestellten Geometriedaten; und
• - Visualisieren dieses Vorschlags mithilfe der Benutzerschnittstelle zum Konfigurieren der Begrenzung für den Roboter bzw. Teil des Roboters,

wobei das Konfigurieren ein Akzeptieren oder Modifizieren oder Verwerfen des Vorschlags auf Basis einer Bewertungseingabe eines Benutzers umfasst.In one embodiment, the method comprises the steps:

• - Generating a proposal for the boundary to be configured based on the provided geometry data; and
• - Visualize this proposal using the user interface to configure the boundary for the robot or part of the robot,

wherein configuring comprises accepting, modifying, or rejecting the suggestion based on a user's rating input.

This allows configuration to be carried out advantageously, in particular more quickly and/or more securely, in one embodiment.

In a further development, the suggestion is generated by means of data processing based at least partially on machine learning and/or pattern recognition and/or, preferably by a user and/or on the basis of a numerical data model, parameters of a topology of the robot and/or the environment specified. For example, a work table, a column, a shelf or the like can be recognized based on the provided geometric data of the determined work or protection space and/or by means of data processing based at least partially on machine learning if the corresponding area has been determined to be not freely accessible to the robot or part of the robot, and a corresponding boundary of the work or protection space can be proposed as (part of) the boundary, preferably based on a numerical data model for such environmental obstacles by means of data processing based at least partially on machine learning. In general, a suggestion for the boundary to be configured can include, in particular be, a suggestion for one or more boundaries of the boundary.

In one embodiment, the planned movement is visualized using the user interface before execution. This can improve the safety and/or effectiveness of the movement or test.

In one embodiment, when the planned movement is carried out, the executed movement and/or the detection of a triggering of the safety monitoring system as a result of the execution of the movement is saved. Based on this, in a further development based on a visualization of the planned and/or executed movement and/or also based on a test input from a user, a test report is generated, with the user preferably signing the test report. In one embodiment, the executed movement and/or the detection of a triggering of the safety monitoring system is saved with the test report. This allows the test of the configured limitation to be advantageously documented in one embodiment.

In one embodiment, when visualizing the boundary during configuration together with the workspace or protection space based on the user input and the provided geometry data, a virtual representation of the robot or part of the robot and/or at least one virtual representation of an object, in particular an obstacle, in the environment of the robot (together with the boundary and the workspace or protection space) is additionally visualized using the user interface.

In one embodiment, as a result of a user's switching input, the user switches between visualizing the boundary during configuration together with the working space and visualizing the boundary during configuration together with the protection space, or can switch between these visualizations. This allows the configuration to be improved, in particular, performed more easily and/or reliably, in one embodiment.

In one embodiment, the user interface can comprise, in particular be, a handheld device, in particular a handset, a smartphone, or the like, and/or a virtual reality (VR) or augmented reality (AR) interface, in particular VR or AR glasses or the like. This allows configuration to be improved, in particular simpler and/or more reliable, in one embodiment.

According to one embodiment of the present invention, a system for configuring and/or checking a boundary for a robot or part of the robot, in particular hardware and/or software, in particular program technology, is set up to carry out a method described here and/or has means for providing geometric data of a workspace determined as a space freely accessible to the robot or part of the robot or of a protective space complementary thereto.

According to one embodiment of the present invention, the system comprises means for configuring a boundary for the robot or part of the robot based on a user input, wherein this boundary is visualized during this configuration together with the workspace or protection space based on the user input and the provided geometry data using a user interface.

• - Mittel zum Planen einer Bewegung des Roboters zum Überprüfen einer bzw. der konfigurierten Begrenzung für den Roboter bzw. Teil des Roboters basierend auf den bereitgestellten Geometriedaten;
• - Mittel zum Ansteuern von Antrieben des Roboters zum Durchführen der geplanten Bewegung; und
• - Mittel zum Erfassen einer Auslösung einer Sicherheitsüberwachung infolge der Durchführung der Bewegung

auf. Ein Erfassen einer Auslösung einer Sicherheitsüberwachung kann insbesondere ein Erfassen eines Signals der Sicherheitsüberwachung umfassen, insbesondere sein.According to one embodiment of the present invention, the system

• - means for planning a movement of the robot to check a or the configured limitation for the robot or part of the robot based on the provided geometry data;
• - means for controlling drives of the robot to carry out the planned movement; and
• - Means for detecting the triggering of a safety monitoring device as a result of the movement being carried out

Detecting a triggering of a security monitoring system can in particular comprise, and in particular be, detecting a signal from the security monitoring system.

• - Mittel zum Verstellen des Roboters in verschiedene Roboterstellungen und Mittel zum Erweitern des Arbeitsraums auf Basis dieser Roboterstellungen oder zum Reduzieren des Schutzraums auf Basis dieser Roboterstellungen; und/oder
• - Mittel zur sensorbasierten Erfassung einer Umgebung des Roboters; und/oder
• - Mittel zum Verstellen des Roboters basierend auf einer manuell auf ihn ausgeübten Last und/oder auf einer Kommandoeingabe eines Benutzers über eine Eingabeschnittstelle und/oder auf einer automatisierten Bahnplanung in wenigstens eine der verschiedenen Roboterstellungen; und/oder
• - Mittel zum Verstellen des Roboters während, insbesondere infolge, des Konfigurierens der Begrenzung in zusätzliche Roboterstellungen, und Mittel zum Aktualisieren des Arbeitsraums oder des Schutzraums auf Basis dieser zusätzliche Roboterstellungen; und/oder
• - Mittel zum Generieren eines Vorschlags für die zu konfigurierende Begrenzung basierend auf den bereitgestellten Geometriedaten und Mittel zum Visualisieren dieses Vorschlags mithilfe der Benutzerschnittstelle zum Konfigurieren der Begrenzung für den Roboter bzw. Teil des Roboters, wobei das Konfigurieren ein Akzeptieren oder Modifizieren oder Verwerfen des Vorschlags auf Basis einer Bewertungseingabe eines Benutzers umfasst, wobei der Vorschlag in einer Ausführung mittels einer wenigstens teilweise auf maschinellem Lernen basierenden Datenverarbeitung und/oder einer Mustererkennung und/oder vorgegebenen Parametern einer Topologie des Roboters und/oder der Umgebung generiert wird; und/oder
• - Mittel zum Visualisieren der geplanten Bewegung vor dem Durchführen mithilfe der Benutzerschnittstelle; und/oder
• - Mittel zum Abspeichern, beim Durchführen der geplanten Bewegung, der Bewegung und/oder eines Erfassens einer Auslösung der Sicherheitsüberwachung infolge der Durchführung der Bewegung, und Mittel zum Generieren, basierend hierauf, insbesondere einer Visualisierung der geplanten und/oder durchgeführten Bewegung und/oder auch auf Basis einer Prüfeingabe eines Benutzers, eines Prüfprotokolls;
• - Mittel zum zusätzlichen Visualisieren, beim Visualisieren der Begrenzung während des Konfigurierens zusammen mit dem Arbeitsraum oder Schutzraum basierend auf der Benutzereingabe und den bereitgestellten Geometriedaten mithilfe der Benutzerschnittstelle, einer virtuellen Repräsentation des Roboters bzw. Teils des Roboters und/oder wenigstens einer virtuellen Repräsentation eines Objekts in der Umgebung des Roboters; und/oder
• - Mittel zum Umschalten infolge einer Schalteingabe eines Benutzers zwischen einem Visualisieren der Begrenzung während des Konfigurierens zusammen mit dem Arbeitsraum und einem Visualisieren der Begrenzung während des Konfigurierens zusammen mit dem Schutzraum.

In one embodiment, the system or its means comprises:

• - means for adjusting the robot to different robot positions and means for expanding the working space based on these robot positions or for reducing the protection space based on these robot positions; and/or
• - means for sensor-based detection of an environment of the robot; and/or
• - means for adjusting the robot based on a manually applied load and/or on a user command input via an input interface and/or on automated path planning into at least one of the different robot positions; and/or
• - means for adjusting the robot during, in particular as a result of, the configuration of the limitation into additional robot positions, and means for updating the workspace or the protection space on the basis of these additional robot positions; and/or
• - Means for generating a proposal for the boundary to be configured based on the provided geometry data and means for visualizing this proposal using the user interface for configuring the boundary for the robot or part of the robot, wherein the configuration comprises accepting, modifying, or rejecting the proposal based on an evaluation input from a user, wherein the proposal is generated in one embodiment by means of data processing based at least partially on machine learning and/or pattern recognition and/or predetermined parameters of a topology of the robot and/or the environment; and/or
• - means for visualising the planned movement before performing it using the user interface; and/or
• - means for storing, when carrying out the planned movement, the movement and/or detecting a triggering of the safety monitoring as a result of carrying out the movement, and means for generating, based thereon, in particular a visualisation of the planned and/or carried out movement and/or also based on a test input from a user, a test protocol;
• - Means for additional visualization, when visualizing the boundary during configuration together with the workspace or protection space based on the user input and the provided geometry data using the user interface, of a virtual representation of the robot or part of the robot and/or at least one virtual representation of an object in the environment of the robot; and/or
• - Means for switching, as a result of a user switching input, between visualizing the boundary during configuration together with the working space and visualizing the boundary during configuration together with the protection space.

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

In one embodiment, one or more, in particular all, steps of the method are fully or partially computer-implemented or one or more, in particular all, steps of the method are fully or partially automated, in particular by the system or its means.

In one embodiment, the system comprises the robot. In one embodiment, the boundary for the robot or part of the robot is configured in such a way; in a further development, a proposal for the boundary to be configured is generated based on the provided geometric data in such a way that the boundary lies at least partially, preferably entirely, within the workspace or at least partially, preferably entirely, outside the protective space, in one embodiment by a predetermined minimum distance.

• 1: ein System zum Konfigurieren und/oder Prüfen einer Begrenzung für einen Roboter nach einer Ausführung der vorliegenden Erfindung; und
• 2: ein Verfahren zum Konfigurieren und/oder Prüfen einer Begrenzung für einen Roboter nach einer Ausführung der vorliegenden Erfindung.

Further advantages and features emerge from the subclaims and the exemplary embodiments. The following shows, partially schematically:

• 1 : a system for configuring and/or checking a boundary for a robot according to an embodiment of the present invention; and
• 2 : a method for configuring and/or checking a boundary for a robot according to an embodiment of the present invention.

1 shows a system for configuring and/or checking a boundary for a robot 10 having a controller 20 with an input/output interface 21 according to an embodiment of the present invention.

For configuration, the freely accessible workspace ("Explored Space") for the robot or part of the robot is first explored based on the movement of the robot 10 by a user and subsequent evaluation of the joint angle positions stored during this movement. The workspace is successively expanded by the volume traversed by the robot or part of the robot during the movement ("Swept Volume"), or conversely, a complementary protective space is reduced accordingly.

Alternatively or additionally, the workspace freely accessible to the robot or part of the robot or the complementary protective space can also be determined sensor-based, for example with the aid of one or more cameras 22.

An example of such a workspace is 1 indicated by empty voxels, a protective space by cross-hatched voxels.

After the step S10 described above (cf. 2 ), in which the working space or explored space is determined, in one embodiment approximated, the working space or explored space or the complementary protection space is visually displayed to the user using the input-output interface 21, which accordingly forms or has a user interface, whereby the user can switch between the two views "working space" and "protective space." The display is shown, for example, on a computer screen, a smartpad or touchpad, a dedicated device, such as a smartphone, or augmented reality (AR) glasses. 23 Optionally, additional virtual representations of known obstacles, such as CAD data or the like, can be visualized.

In step S30, the user can manually configure the desired virtual boundary. Virtual walls or spaces, for example, in the form of cuboids, prisms, or the like, are displayed together with the workspace or explored space, or the complementary protective space.

This combination of both displays supports spatial understanding for an inexperienced user and helps avoid sources of error when configuring and verifying the virtual boundaries. For example, it makes it easier to assess the accuracy of parameters regarding translation and orientation of the virtual spaces. A possible incorrect positioning of a virtual space used to limit robot movement is made more apparent to the user by the overlay, non-overlay, or overlaying of the virtual spaces.

Partial overlay with the working space or explored space is detected very quickly and can be corrected accordingly.

Optionally, a suggestion for configuring the virtual boundaries is automatically generated before and/or during configuration.

For example, in step S20, an algorithm automatically detects possible obstacle geometries in the robot's environment based on the workspace or explored space. For example, if straight surfaces with rectangular indentations or curves with a regular radius are clearly visible, these can be recognized as a table, cabinet, wall, (cylindrical) column, or the like.

In addition to such geometric information, topological and semantic information can also be automatically incorporated. For example, an artificial intelligence system, such as empirical knowledge, learned knowledge, an artificial neural network, or the like, can recognize a manual workstation for a human worker and then automatically suggest to the user that a boundary or an area restricted to the robot or part of the robot be set up at the corresponding location, and determine the corresponding parameters of the virtual boundary for this purpose. The automatically generated suggestion can be displayed visually together with the workspace or explored space, in particular on the screen, smartpad/touchpad, smartphone, AR glasses, or the like.

The user can then accept, modify or reject the automatically generated proposal in step S30.

Again, exemplary are 1 Boundaries of a boundary are indicated by bold dashed lines.

The user can reject the automatically generated suggestion regarding a suspected obstacle, for example, because it is actually a freely accessible space rather than an obstacle. This indicates that the geometric data of the workspace or explored space was incomplete. Optionally, a corresponding trajectory can then be automatically planned and executed to expand the initially provided workspace or explored space in this area with additional (geometry) data. The visualization of the workspace or explored space is then updated accordingly.

Collision-free path planning can advantageously ensure that the automatically generated robot movements do not leave the already determined explored space or the space additionally specified or confirmed by the user as freely accessible. This ensures that the automatically generated robot movements do not cause collisions.

The data-based update of the Explored Space ensures that users don't mistakenly classify spaces with obstacles as "freely accessible." This feature can therefore be seen as a kind of easy-to-use double-check to avoid errors.

The virtual boundary is then checked using the workspace or explored space. The robot or part of the robot can move collision-free within the workspace or explored space. Therefore, collision-free robot movements can be planned based on the explored space, preferably within the framework of offline robot programming, and implemented in or through corresponding robot programs, which serve to automatically check the previously configured virtual boundaries. The robot movements can preferably be monitored by the user or automatically. Meanwhile, the robot trajectory is recorded and stored over time, preferably both Cartesian and in axis space, or depending on the points of interest of the safety spaces, such as TCP, third axis, elbow, or the like, as well as the time of the safety trigger or initiation of the safety monitoring. This data can later be loaded and visualized in a virtual 2D or 3D animation and reviewed by the user or automatically. A corresponding test report is accepted and preferably signed by the user.

Accordingly, in a step S40, a movement of the robot is planned to check the configured limitation for the robot or part of the robot based on the provided geometry data and in a step S50, drives 11 of the robot are controlled to carry out the planned movement and a triggering of a safety monitoring device as a result of this execution of the movement is detected, wherein during this execution of the planned movement, the movement and/or a detection of a triggering of the safety monitoring device as a result of the execution of the movement is stored, wherein based on this, in particular a visualization of the planned and/or executed movement and/or also on the basis of a test input from a user, a test report can be generated (step S60).

The invention can assist a user in configuring the virtual boundary, but does not necessarily completely relieve the user of this task. In one embodiment, the user can or must manually test the configuration of the virtual boundary as before.

In the present disclosure, "has an X" generally does not imply an exhaustive list, but is a shortened form of "has at least one X" and also includes "has two or more Xs" and "has Y in addition to X." Although exemplary embodiments have been explained in the foregoing description, it should be noted that numerous modifications are possible. Furthermore, it should be noted that the exemplary embodiments are merely examples and are not intended to limit the scope, applications, or construction in any way.

List of reference symbols

10

robot

11

drive

20

steering

21

Input/output interface

22

camera

23

AR glasses

Claims (10)

A method for configuring and/or checking a boundary for a robot (10) or a part of the robot, comprising the step: - providing (S10) geometric data of a workspace determined as a space freely accessible to the robot or part of the robot, or of a protective space complementary thereto; wherein the method comprises the step: - configuring (S30) a boundary for the robot or part of the robot based on a user input, wherein this boundary is visualized during this configuration together with the workspace or protective space based on the user input and the provided geometric data using a user interface (21; 23); - and/or comprises the steps: - planning (S40) a movement of the robot to check a or the configured boundary for the robot or part of the robot based on the provided geometric data; - controlling (S50) drives of the robot to perform the planned movement; and - detecting a triggering of a safety monitoring function as a result of the execution of the movement. Procedure according to Claim 1 , characterized in that the provision of the geometric data - an adjustment of the robot into different robot positions, wherein the working space is expanded on the basis of these robot positions or the protective space is reduced on the basis of these robot positions; and/or - a sensor-based detection of an environment of the robot and/or that - the working space or the protective space is discretized. Procedure according to Claim 2 , characterized in that - the robot is adjusted to at least one of the different robot positions based on a load manually applied to it and/or on a command input from a user via an input interface and/or on automated path planning; and/or - during the configuration of the boundary, the robot is adjusted to additional robot positions, wherein the workspace or the protection space is updated on the basis of these additional robot positions. Method according to one of the preceding claims, characterized by the steps: - generating (S20) a proposal for the boundary to be configured based on the provided geometry data; and - visualizing this proposal using the user interface for configuring the boundary for the robot or part of the robot, wherein the configuring comprises accepting, modifying, or rejecting the proposal based on an evaluation input from a user. Procedure according to Claim 4 , characterized in that the proposal is generated by means of data processing based at least partially on machine learning and/or pattern recognition and/or predetermined parameters of a topology of the robot and/or the environment. Method according to one of the preceding claims, characterized in that - the planned movement is visualized before being carried out using the user interface and/or - when carrying out the planned movement, the movement and/or a detection of a triggering of the safety monitoring as a result of the execution of the movement is stored, a test protocol being generated based thereon (S60). Method according to one of the preceding claims, characterized in that - when visualizing the boundary during configuration together with the workspace or protection space based on the user input and the provided geometry data with the aid of the user interface, a virtual representation of the robot or part of the robot and/or at least one virtual representation of an object in the environment of the robot is additionally visualized; and/or - as a result of a switching input from a user, switching takes place between visualizing the boundary during configuration together with the workspace and visualizing the boundary during configuration together with the protection space. Method according to one of the preceding claims, characterized in that the user interface comprises a handheld device and/or a VR or AR interface. System for configuring and/or checking a limitation for a robot (10) or part of the robot, which is arranged to carry out a method according to one of the preceding claims. A computer program or computer program product, the computer program or computer program product containing instructions which, when executed by one or more computers or a system, Claim 9 cause the computer(s) or system to perform a process according to any of the Claims 1 until 8 to carry out.

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