Navigation of the robot

Abstract

The present invention relates to a method for navigating a robot (10) that moves with the aid of a drive unit, wherein a first navigation system assigned to a first area (12) determines a first driving path (58) in the first area using first environmental data of the first area (12) and provides the drive unit of the robot (10) with corresponding first control data for moving the robot (10) along the first driving path (58), and is characterized in that a second navigation system assigned to a second area (14) that moves relative to the first area (12) determines a second driving path (68) in the second area using second environmental data of the second area (14) and provides the drive unit of the robot (10) with corresponding second control data for moving along the second driving path (68).

Description

Technical Field

[0001] The present invention relates to a method for navigating a robot that moves with the aid of a drive unit, wherein a first navigation system assigned to a first area determines a first driving path in the first area using first environmental data of the first area and provides corresponding first control data to the robot's drive unit for moving the robot along the first driving path. The present invention also relates to a computer program product comprising a program for a computer unit of a control device for the robot. Furthermore, the present invention relates to a robot having a drive unit for moving the robot and a first navigation system assigned to the first area, the first navigation system being used to determine a first driving path in the first area using first environmental data of the first area and providing corresponding first control data to the robot's drive unit for moving the robot along the first driving path. Finally, the present invention also relates to a manufacturing workshop having a first area, a second area that moves relative to the first area, and a robot that can move from one area to another area. Background Art

[0002] In manufacturing plants, in particular in assembly lines associated with process cycles, as is the case, for example, in the automotive industry, mobile robots, driverless transport systems and / or the like often have to drive over or over moving belts. Furthermore, in this case in particular, the use of navigation systems proves to be necessary. It is known that components or program components of the Robot Operating System (ROS) are used in the field of mobile navigation of robots with the aid of navigation systems. This is an open source project, the aim of which is also to support mobile, autonomous service robots in the field of research and / or development with uniform software components or computer program components. In industry, such components are used in particular for controlling driverless transport vehicles. In addition, independent, industrial implementations can be provided. The components for two-dimensional navigation are also referred to as the ROS navigation stack. The components for navigation consist, for example, of Rodrigo Longhi et al. describe ROS Navigation: Concepts and Tutorial, Robot Operating System (ROS), Springer, Cham, 2016, pp. 121-160, which can also be found online at https: / / link.Springer.eom / chapter / 10.1007 / 978-3-319-26054-9_6. Navigation systems are divided into map provision, global path planning, local path planning, and, in particular, obstacle avoidance and localization. Options available under ROS but not integrated into the ROS navigation stack include components of the Mobile Robot Programming Toolkit (MRPT). For this purpose, for example, Rodriguez, Enrique et al. disclose an A ros reactive navigation system for ground vehicles based on tp-space transformations in XXXVII Jornadas de Automatica, 2016, which can also be found online at http: / / ingmec.ual.es / ~jlblanco / papers / ja2016reactive.pdf. Both positioning or navigation methods included in the component use particle filtering methods. In addition, the component is based on the use of only one coordinate system or reference system, which serves as the basis for determining navigation.

[0003] In order to take into account moving belt or skateboard units in robot positioning applications or robot navigation applications, attempts have been made to adjust maps, determine or navigate the driving path based on the maps, and combine the moving part and the static part of the navigation or driving path in a common reference frame. The problem here is that the available positioning algorithms (such as Advance-Monte-Carlo-Localization) use almost static maps in order to perform positioning and / or route planning or navigation. For example, SEIF Localization and Mapping (SLAM) can be regarded as a limitation of this. This is a method that is also used by vacuum cleaning robots. When using dynamically adjusted maps, the positioning may be unstable no matter which part the robot is located. This is because the available algorithms require a static map as a condition for navigation. These maps are preferably present digitally, for example as pixel graphics in the file format PGM (Pixel Grid Map). Summary of the Invention

[0004] The object of the present invention is to improve the navigation of robots that are moved by means of drive units, in particular in a production plant, wherein the robots move actively in a region in which they move relative to one another.

[0005] The invention provides a method, a computer program product, a robot, and a production plant as a solution to the problem. Advantageous developments are provided by the features of the dependent claims.

[0006] With regard to this type of method, the present invention particularly proposes that a second navigation system assigned to a second area moving relative to a first area determines a second driving path in the second area using second environmental data of the second area, and provides corresponding second control data for moving along the second driving path to a drive unit of the robot.

[0007] With regard to the computer program product, the present invention in particular proposes that the computer program product comprises a program for a computer unit of a control device of a robot, wherein, when the program is executed by the computer unit, the program has program code sections for executing the steps of the method according to the invention.

[0008] With regard to this type of robot, the present invention particularly proposes that the robot has a second navigation system assigned to a second area that moves relative to the first area, and the second navigation system is used to determine a second driving path in the second area using second environmental data of the second area, and to provide corresponding second control data to the drive unit of the robot for moving along the second driving path.

[0009] In particular, it is proposed with regard to a manufacturing plant of this type that a robot be configured according to the invention.

[0010] Furthermore, the present invention is based on the concept that the robot can be positioned and / or navigated or guided using a second navigation system, which preferably uses two different reference or coordinate systems. The navigation system can, at least partially, use, for example, the ROS navigation stack. The travel path is preferably divided into at least a first travel path and a second travel path, wherein the first travel path is in a first area and the second travel path is in a second area. Each coordinate system is preferably coupled to a corresponding area so that the two coordinate or reference systems also move relative to each other depending on the relative movement of the areas. An example of this is the movement of a robot from a fixed area of a manufacturing plant to a conveyor belt or a slide unit, such as is used in cycle-connected assembly line production. When crossing the boundary between the fixed waiting area and the moving slide unit, the reference or coordinate system is preferably changed by changing the navigation system used. The environment, which was previously static in the associated reference or coordinate system and was perceived by the robot's laser scanner, now moves relative to the robot without the drive unit performing a corresponding movement. Therefore, the present invention proposes dividing the robot's working area (which particularly includes a first and a second area) into two different subareas, namely a first area and a second area. The first area can preferably be fixed in position, while the second area is preferably movable relative to the first area. This is equivalent to dividing the navigation map into two corresponding parts. In the above example, a partial map can be associated with a movable belt or slide unit. In contrast, another partial map is associated with the remaining part of the environment, which is fixed in position. The two partial maps preferably use separate coordinate systems or reference systems, which serve as the basis for navigation or positioning and can, for example, include overlapping map areas corresponding to at least one dimension of the robot. The reference systems or coordinate systems and / or partial maps can preferably be spatially correctly oriented relative to each other at all times using data from the belt drive of the belt or slide unit, so that a corresponding current representation of the environment, including at least the areas, is obtained at the corresponding point in time. Therefore, in the present invention, the corresponding navigation system only needs to use the corresponding current environment data or partial map for its navigation and does not need to use the parts that are respectively movable from their angles. This allows a tree structure composed of coordinate systems or reference systems to be implemented, thereby dividing corresponding complex navigation tasks into corresponding parts. As a result, a stable and reliable control of the robot can be achieved during the movement by means of the drive unit. The invention can of course also include and be adapted accordingly to more than two regions that are movable relative to one another.

[0011] Movement within the meaning of this application means that the robot changes its position, preferably within a specific area, by moving or traversing a travel path, which may include a first and a second travel path. Thus, the robot can also be a transport vehicle. However, the robot can also be a work device that can perform predefined activities in a manufacturing facility.

[0012] The travel path may include a trajectory determined by a corresponding navigation system in the navigation system and along which the robot travels. For this purpose, the corresponding navigation system provides corresponding control data to the robot's drive unit, causing the robot to move along the travel path. However, for this reason, the travel path may also be formed by only a single position or by multiple positions. The robot's position changes, at least in the corresponding area in which it is located, due to its form or movement.

[0013] Therefore, the navigation system preferably also includes a computer program that can be executed on the robot's control unit. The control unit or computer unit can also be at least partially included in the drive unit. However, the navigation system can also at least partially include one or more hardware circuits. The navigation system is preferably at least partially an application in the form of a computer program.

[0014] The control device comprises a program-controlled computer unit that can be controlled by means of a computer program in such a way that it provides the desired functionality according to the present invention. The control device can be at least partially included in the drive unit. However, it can also be configured at least partially as a separate unit of the robot.

[0015] Furthermore, it is proposed that the first and second navigation systems communicate with the drive unit via the same interface. This allows for a simple switchover between the navigation systems used to control the drive unit. This allows for a fast and reliable switchover between the navigation systems.

[0016] The interface or interface can be formed, for example, by predefined control data, which are provided to the drive unit, in particular the control device and / or transmitted to the drive unit. This is particularly a software interface that enables data to be exchanged between applications connected to the corresponding interface. According to an improved solution, it is proposed that the first and second navigation systems operate independently of each other, and the drive unit either communicates only with the first navigation system or only with the second navigation system. This makes it possible to achieve that the drive unit is preferably always controlled only by the navigation system that is assigned to the corresponding area in which the robot is located. Therefore, it is not necessary to activate both navigation systems at the same time. This allows saving computer capacity during navigation. In addition, the navigation systems can be packaged so that they can operate basically independently of each other. Therefore, the required navigation systems can also be partially deactivated as required.

[0017] Preferably, the first and second navigation systems at least partially use common data to determine the respective driving routes. The data can be stored in a common memory accessible by the first and second navigation systems. This memory can be a central, higher-level memory, for example. This makes it possible to quickly activate the corresponding inactive navigation system, particularly when a change of navigation system is required due to a change of region, thereby enabling a reliable and rapid switchover. To this end, provision can be made for the reference points of the reference or coordinate systems to be compared, and at least the commonly used data to be adapted accordingly for the navigation system to be activated.

[0018] Furthermore, it is proposed that the first and second areas form at least one common overlapping area, and that when the robot passes through the overlapping area from one area to the other, the communication between the drive unit and the navigation system is switched from the one navigation system to the other. This can be achieved in a simple manner, allowing for a reliable switching of the navigation systems when transitioning from the first area to the second area. In particular, this further avoids instabilities that occur in the prior art. This ensures that the robot can reliably transition from one area to the other. The overlapping area is an area whose dimensions preferably at least correspond to the dimensions of the robot in the area plane. Thus, the robot can move from the corresponding assigned area to the overlapping area using one of the navigation systems, wherein the navigation systems can then be exchanged in the overlapping area, and the robot can then move to the other assigned area using the other navigation system. The overlapping area thus enables a reliable and mobile transfer of the robot's control when transitioning from one area to the other.

[0019] Furthermore, it is proposed to determine the corresponding environmental data separately before use by the corresponding navigation system. The environmental data can be determined separately before starting the robot or the navigation system, from which the corresponding map or partial map can be determined. Therefore, it is of course also possible to use the robot's corresponding environmental detection sensors (hereinafter referred to as environmental sensors) to at least partially determine the corresponding environmental data before using the robot in the prescribed operation. For this purpose, for example, a learnable neural network can also be used, wherein the robot moves accordingly during a training mode. Of course, other methods for detecting environmental data are also conceivable or can be used in combination.

[0020] Furthermore, it is proposed that the first and second environmental data are associated with respective first and second reference systems, and that, in particular, when the robot moves from a respective area into a respective other area, a reference point of the respective other area is detected. Thus, the environmental data is adapted to the respective area to which it belongs or is connected thereto. Preferably, the environmental data of the first area is associated with a reference system or coordinate system assigned to the first area. This allows the first navigation system to very simply process the first environmental data.

[0021] The same applies to the second reference system. This has the significant advantage that, even when reference systems are moving relative to one another, the corresponding environmental data can at least partially be essentially stationary, more precisely, stationary with respect to the corresponding reference system or coordinate system. This significantly reduces the computational effort involved in navigation.

[0022] When the robot moves from a corresponding area to a corresponding other area, the reference point of the corresponding other area is detected. This can be done using environmental sensors on the robot side. This has the advantage that the transfer from one navigation system in the navigation system to the corresponding other navigation system in the navigation system can be simplified. By detecting the reference point of the corresponding other coordinate system, the matching when the robot transitions from one area to another can be improved in a simple way. The corresponding activated partial scene or navigation system can notify the inactive partial scene or navigation system of the currently determined position of the robot. This enables good initialization when switching between the active navigation system and the inactive navigation system, and thus enables stable positioning to be determined during the transition. Once the robot moves in the overlapping area and has a speed in the direction of the other area, the scene switching is preferably performed automatically.

[0023] By encapsulating the navigation system, it is possible to make the interface accessible or operable, in particular with respect to the drive unit, and thus to enable a flexible and stable exchange. Thus, the possibility of navigation in the reference system of the conveyor belt or slide unit and in a fixed reference system is easily provided.

[0024] The advantages and effects given for the method according to the invention also apply to the computer program product according to the invention, the robot according to the invention and the manufacturing plant according to the invention, and vice versa. Therefore, in particular, method features can also be expressed in terms of device technology, and vice versa.

[0025] The present invention also includes improvements of the robot according to the invention, which have the features already described in conjunction with the improvements of the method according to the invention. For this reason, the corresponding improvements of the robot according to the invention will not be described here.

[0026] The invention also includes combinations of features of the described embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The embodiments of the present invention are described below. In the accompanying drawings:

[0028] Figure 1 A schematic diagram showing a production environment for vehicle assembly as a manufacturing shop;

[0029] Figure 2 A schematic diagram of an assembly scenario is shown;

[0030] Figure 3 A schematic diagram illustrating navigation in a fixed-position area;

[0031] Figure 4 A schematic diagram illustrating navigation in a moving area;

[0032] Figure 5 A schematic diagram illustrating navigation in a transition area;

[0033] Figure 6 A schematic diagram showing navigation from the perspective of a coordinate system;

[0034] Figure 7 Show the basis Figure 1 A schematic diagram of a portion of the production environment; and

[0035] Figure 8 Show the basis Figure 7 Schematic diagram of a part, which is divided into a static part and a moving part. DETAILED DESCRIPTION

[0036] The embodiments described below are preferred embodiments of the present invention. In the embodiments, the components described in the embodiments are each independently conceivable features of the present invention, which also independently improve the present invention and are therefore also considered as components of the present invention, either individually or in combinations other than those shown. Furthermore, the described embodiments may also be supplemented by other already described features of the present invention.

[0037] In the figures, functionally identical elements are each provided with the same reference numerals.

[0038] Figure 1 A schematic diagram shows a production environment 18 for vehicle assembly as a manufacturing plant. It can be seen that the production environment 18 has a conveyor belt 14 as a second area, on which vehicles 20 are fixed and which are moved by means of the conveyor belt 14 through a first, stationary area 12 of the production environment 18. Furthermore, the first area 12 includes, directly adjacent to the longitudinal extension of the conveyor belt 14, a worker area 22, an assembly operator 24, and a plurality of robots 10 ( Figure 2 ) are positioned in this worker area in order to carry out the corresponding assembly activities on vehicles 20 transported by means of conveyor belt 14. The conveyor belt 14 has a transverse extent of approximately 2.4 meters. This dimension can also be varied as required. The worker area 22 currently has a width of approximately one meter transverse to the longitudinal extent of the conveyor belt 14. This dimension can also be varied as required. Adjacent to the worker area 22, opposite the conveyor belt 14, are supply belts 26, which are provided with the materials required for assembly. The supply belts 26 then connect to a roadway 28, which is used to supply the materials to the supply belts 26 and to transport them away.

[0039] Figure 2 Shown based on Figure 1 Schematic diagram of an assembly scene in a production environment 18. It can be seen that two assemblers 24 and a robot 10 are present in a worker area 22. The exemplary scenario involves installing a transmission bearing and a hydraulic unit in one of the vehicles 20 being transported by means of a conveyor belt 14. Accordingly, a transmission bearing 30, a small component 32 for the transmission bearing, a hydraulic unit 34, and a small component 36 for the hydraulic unit are provided on a supply belt 26. The transmission bearing, the hydraulic unit, and the small component are intended for assembly in the motor vehicle 20.

[0040] The conveyor belt 14 has individual conveyor sections that follow one another in the longitudinal direction in the direction of movement according to arrow 38. Each section has a vehicle 20 to be assembled. The left-hand area of the conveyor belt shown shows a section with a vehicle 20, in which the robot 10 and an assembler 24 are working together in front of the vehicle 20. For this purpose, the robot 10 must be able to switch between the worker area 22 and the conveyor belt 14, more precisely, just like the assembler 24. To ensure reliable operation of the robot 10 both in the supply area 22 and on the conveyor belt 14, the drive unit (not shown) of the robot 10 is controlled as explained below.

[0041] Figure 7 Shown based on Figure 1 、2 Schematic diagram of a part of a production environment. Here, a navigation map 40 is shown. The area of the navigation map 40 is indicated by an arrow 46, which is assigned to the conveyor belt 14 and is therefore movable.

[0042] Figure 8 Shows how to Figure 7 In the schematic diagram of FIG, a map 40 is divided when the present invention is used, specifically into a map 42 representing the stationary or fixed portion of the production environment 18, in particular the worker area 22, the supply belt 26, and the travel path 29. Furthermore, a map 44 is shown for the movable portion corresponding to the conveyor belt 14. The two maps 42, 44 form an overlapping region 16. In this case, the overlapping region 16 is larger than the corresponding dimensions of the robot 10.

[0043] Figure 3 The schematic diagram shows the Figure 2 Navigation on the map 42 from the fixed area 12 to the moving area 14. It can be seen that the position 48 of the robot 10 is currently located in the worker area 22, that is, located on the map 42 ( Figure 8 ). Therefore, the first navigation system 52 of the robot 10 control device, which is associated with the first area 12, currently uses a stationary map 42, which also includes the logistics area described above. Therefore, the first navigation system 52 uses the map 42 of the fixed-position area and also includes a positioning unit 54 and a route planner 56.

[0044] The position of the robot 10 is detected as stationary in terms of positioning using a positioning unit 54. Accordingly, navigation or route planning also takes place stationary using a corresponding route planner 56. Thus, the first navigation system 52 provides a first driving path 58, using which the drive units of the robot 10 are controlled accordingly.

[0045] In the area shown below, it can be seen how the environmental sensors of the robot 10 each perceive the environment. It can be seen that when the robot 10 is located in the first area 12, the left view and the right view each show the fixed environmental data of the first area 12. In contrast, when the robot 10 is located in the second area 14, the middle illustration shows the movable environmental data. In the left and right areas, the robot 10 or its control device uses the first navigation system 52, because the robot 10 remains in the worker area 22. In the middle area, the robot 10 is located on the conveyor belt 14, so that in this case the control device of the robot 10 uses the second navigation system 62 in order to determine the driving path 68. In this case, the robot 10 therefore uses the control data according to the second driving path 68 in order to move accordingly. The second navigation system 62 uses the second map 44 ( Figure 8) in order to determine the position 48 of the robot 10 by means of the positioning unit 64. In this case, it has been determined that the position 48 of the robot 10 is on the conveyor belt 14, so the second navigation system 62 determines a corresponding second driving path 68 or control data therefor by means of the route planning unit 66, which are transmitted to the drive unit of the robot 10. This ensures reliable control of the robot 10 not only on the conveyor belt 14 but also in the stationary area 12, in particular the worker area 22. Figure 3 , the robot 10 is transferred from the worker area 22 to the conveyor belt 14 at position 48 .

[0046] Figure 4 Now as Figure 3 The illustration shows the movement of robot 10 from conveyor belt 14 into worker area 22. In the left-hand illustration, robot 10 is located on conveyor belt 14 and therefore perceives the environmental data of first area 12 as movement, even though it does not necessarily move on conveyor belt 14. In this operating state, robot 10 is initially controlled by second navigation system 62 using map 44. The robot position 48 is determined using localization unit 44, and a route is planned using route planner 66, which determines a second driving path 68 and transmits corresponding control data to the robot 10 control unit. In the intermediate area, robot 10 moves from conveyor belt 14 into stationary area 12, here, worker area 22. With this move, the robot 10 control unit's use of the navigation system also changes. Robot 10 is now controlled by navigation system 52, which performs localization based on map 42 using localization unit 54 and corresponding route planning using route planner 56. A first driving path 58 is determined, and the corresponding control data is transmitted to the robot's drive unit.

[0047] Figure 5 A schematic diagram illustrates navigation in a stationary area or in the worker area 22 and on a moving conveyor belt 14. Reference numeral 70 denotes the static coordinate system of the first area 12, which also includes the worker area 22. Reference numeral 72 denotes the conveyor belt coordinate system associated with the conveyor belt 14. Reference numeral 74 denotes the velocity vector of the robot 10 in the direction of the belt edge. Reference numeral 16 denotes the overlapping area 16 of the two maps 42, 44.

[0048] Figure 6 The navigation diagram is shown from the perspective of the respective coordinate systems 70, 72. It can be seen that the coordinate system of the robot 10 moves during a reference frame transformation or when changing between the first and second areas 12, 14. Figure 6In the left area of , the reference frame of the robot 10 is located below the reference frame 72 of the conveyor belt 14. In the right area, the reference frame of the robot 10 is located below the static reference frame 70 of the area 12 and parallel to the reference frame of the conveyor belt 14.

[0049] Overall, the exemplary embodiment shows how the operation of the robot 10 in areas with mutual movement can be improved and stabilized by means of the present invention.

[0050] The examples are only used to illustrate the present invention and are not intended to limit the present invention.

[0051] Reference Signs List

[0052] 10 robots

[0053] 12 First Area

[0054] 14 Second Area

[0055] 16 Overlapping Area

[0056] 18 Production Environment

[0057] 20 vehicles

[0058] 22 Workers' Area

[0059] 24 assembly personnel

[0060] 26 Supply Belt

[0061] 28 driving roads

[0062] 30 Transmission bearing

[0063] 32 small parts

[0064] 34 hydraulic units

[0065] 36 small parts

[0066] 38 movement directions

[0067] 40 Navigation Maps

[0068] 42 Maps

[0069] 44 maps

[0070] 46 arrows

[0071] 48 positions

[0072] 52 Navigation System

[0073] 54 positioning units

[0074] 56 Route Planner

[0075] 58 driving route

[0076] 62 Navigation System

[0077] 64 positioning units

[0078] 66 Route Planning Unit

[0079] 68 driving route

[0080] 70 coordinate system

[0081] 72 coordinate system

[0082] 74 Velocity Vector

Claims

1. A method for navigating a robot (10) moved by means of a drive unit, wherein: A first navigation system assigned to a first area (12) determines a first driving path (58) in the first area using first environmental data of the first area (12) and provides a drive unit of the robot (10) with corresponding first control data for moving the robot (10) along the first driving path (58), characterized in that a second navigation system assigned to a second area (14) moving relative to the first area (12) determines a second driving path (68) in the second area using second environmental data of the second area (14) and provides a drive unit of the robot (10) with corresponding second control data for moving along the second driving path (68), wherein the first environmental data and the second environmental data are related to corresponding first reference systems and second reference systems, and when the robot (10) moves from the corresponding area (12, 14) to the corresponding other area (12, 14), a reference point of the corresponding other area (12, 14) is detected.

2. The method according to claim 1, characterized in that The first navigation system and the second navigation system communicate with the driving unit through the same interface.

3. The method according to claim 1 or 2, characterized in that The first navigation system and the second navigation system operate independently of each other, and the drive unit communicates with either only the first navigation system or only the second navigation system.

4. The method according to claim 1, wherein The first navigation system and the second navigation system at least partially use common data to determine the respective driving routes.

5. The method according to claim 1, wherein The first area and the second area (12, 14) form at least one common overlapping area (16), and when the robot (10) travels from the corresponding area (12, 14) through the overlapping area (16) into the corresponding other area (12, 14), the communication between the drive unit and the navigation system is switched from the corresponding navigation system to the corresponding other navigation system.

6. The method according to claim 1, characterized in that The corresponding surroundings data are determined individually by the corresponding navigation system before use.

7. A computer program product comprising a program for a computer unit of a control device of a robot (10), wherein When the program is executed by the computer unit, the program has program code sections for executing the steps of the method according to any one of the preceding claims 1 to 6 .

8. A robot (10) comprising a drive unit for moving the robot (10) and a first navigation system assigned to a first area (12), the first navigation system being configured to determine a first driving path in the first area (12) using first environmental data of the first area (12) and to provide corresponding first control data to the drive unit so that the robot (10) moves along the first driving path, characterized in that The robot has a second navigation system associated with a second area (14) moving relative to the first area (12), the second navigation system being used to determine a second driving path in the second area (14) using second environmental data of the second area (14), and to provide corresponding second control data for a drive unit of the robot (10) to move along the second driving path, wherein the first environmental data and the second environmental data are related to corresponding first and second reference frames, and when the robot (10) moves from the corresponding area (12, 14) to the corresponding other area (12, 14), a reference point of the corresponding other area (12, 14) is detected.

9. A manufacturing workshop comprising a first area (12), a second area (14) movable relative to the first area (12), and a robot (10), wherein the robot is capable of moving from a corresponding area (12, 14) to a corresponding other area (12, 14), characterized in that: The robot (10) is designed according to claim 8.

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