Determining at least one boundary of operation of robot

Abstract

The invention relates to a method for determining at least one boundary of the operation of a robot (1), comprising the following steps: determining at least one boundary of the operation of a robot (1) by means of a detection device (5A; 5B), in particular a mobile acquisition device, in particular a portable acquisition device, acquiring (S10) data of a real environment (6) of the robot; determining (S20) a first environmental profile based on the acquired data; and determining (S30) a first boundary of the first spatial region to be monitored on the basis of the determined first environmental contour.

Description

Technical Field

[0001] The invention relates to a method and a system for determining at least one boundary of a robot operation, and to a computer program or a computer program product for executing the method. Background Art

[0002] According to internal corporate practices, robots are monitored during operation to see whether they cross pre-set boundaries, such as whether they enter a (prohibited) protection area or leave a (permitted) working area.

[0003] Until now, these boundaries have been set manually based on internal corporate practices. Summary of the invention

[0004] The object of the present invention is to improve the operation of a robot.

[0005] The object of the invention is achieved by a method having the features of claim 1. Claims 16 and 17 claim a system or a computer program or a computer program product for carrying out the method described here. The dependent claims relate to preferred developments.

[0006] According to one embodiment of the present invention, a method for determining at least one boundary of a robot operation comprises the following steps:

[0007] - collecting data of the real environment of the robot by means of a collection device, in one embodiment a mobile collection device, in an extension a portable collection device, in particular a collection device that can be carried by a person;

[0008] - determining a first environmental profile based on the collected data; and

[0009] - determining a first boundary of the first spatial area to be monitored based on the determined first environment contour.

[0010] In one embodiment of the present invention, the method comprises the following steps:

[0011] - monitoring whether the robot crosses the determined first boundary during operation of the robot; and

[0012] If it is determined that the first boundary has been crossed, switching to the first operating mode of the robot.

[0013] At least one environment profile is determined by using a collection device or data collected by it, a boundary is determined based on the environment profile determined on the basis of the collected real environment, and then the boundary is monitored. In one embodiment, the monitoring can be achieved (more) quickly and / or (more) accurately and / or performed more reliably. In one embodiment, during the operation of the robot, the robot moves and / or executes a stored work program.

[0014] In one embodiment, the method comprises the following steps:

[0015] - determining a second boundary of the second spatial area based on the first environmental contour, preferably such that the second boundary has a different posture and / or orientation than the first boundary relative to the first environmental contour;

[0016] or different distances, in particular minimum distance, maximum distance and / or average distance;

[0017] And in an extended solution, the following steps are included:

[0018] - monitoring whether the robot crosses the determined second boundary during operation of the robot; and

[0019] If it is determined that the second boundary has been crossed, a switch is made to the second operating mode of the robot.

[0020] Thus, in one embodiment, a multi-stage response to (continuous) boundary crossings can be made or suitable boundaries can be determined for them, for example, the robot emits a warning signal and / or is (more) compliant when crossing a first, closer boundary of the permitted working area and stops when crossing a second, farther boundary of the working area; or emits a warning signal and / or is (more) compliant when crossing a first, farther boundary of the prohibited protection area and stops when crossing a second, closer boundary of the protection area. If the same (first) environmental contour is used to determine the first and second boundaries, in one embodiment, concentric boundaries can be monitored. In one embodiment, one of the first and second spatial areas contains all or part of the other of the first and second spatial areas.

[0021] Additionally or alternatively, in one embodiment, the method comprises the following steps:

[0022] - determining a second boundary of the second spatial area based on a second environmental contour, wherein the second environmental contour is (also) determined based on the data acquired (in the steps of the method);

[0023] And in an extended solution, the following steps are included:

[0024] - monitoring whether the robot crosses the determined second boundary during operation of the robot; and

[0025] If it is determined that the second boundary has been crossed, a switch is made to the second operating mode of the robot.

[0026] Thus, in one embodiment, areas that are spatially separated from one another can be monitored in parallel or suitable boundaries can be determined for them, for example, a protection area near the entrance of a robot cell, in which the robot is prohibited from entering, and an interaction area in which the robot is allowed to interact with a person and to operate accordingly, for example, to move more slowly and / or to adjust (more) flexibly. In one embodiment, the first and second spatial areas are separated from one another, in an extended solution, are spatially separated and / or correspond to different areas of the real environment. In one embodiment, the first and second environmental contours are separated from one another, in an extended solution, are spatially separated and / or correspond to different areas of the real environment. In one embodiment, the first and / or second environmental contours (respectively) have at least one corner, line, edge and / or face, in particular a surface, and in particular such a corner, line, edge and / or face, in particular a surface. Thus, in one embodiment, the real environment can be taken into account particularly advantageously.

[0027] In an extension of the above-described embodiment, the first and second boundaries are separated from each other, in an extension, are spatially spaced apart and / or correspond to different areas of the real environment. The spatial area in the sense of the present invention can be (completely) closed, in particular a polyhedron, in particular a prism, in particular a cuboid, a cylinder, a cone, an ellipsoid, in particular a sphere, etc. Similarly, the spatial area in the sense of the present invention can also be partially open, such as a half space, etc. In one embodiment, the first and / or second boundary completely surrounds the (respective) spatial area. Thus, in one embodiment, a particularly high reliability can be achieved. In one embodiment, the first and / or second boundary does not completely surround the (respective) spatial area. Thus, in one embodiment, the determination and / or monitoring of the boundaries can be simplified. The terms "first" and "second" used here are only used for better identification without loss of generality.

[0028] In one embodiment, the first and / or second environment contours are (respectively) determined by at least one approximation of features, in particular points, acquired by the acquisition device, particularly preferably a point cloud acquired by the acquisition device, in an extended version by means of one or more grids and / or one or more approximation surfaces, in particular flat approximation surfaces and / or one or more curved approximation surfaces, wherein in one embodiment such grids or approximation surfaces are determined by means of compensation functions, in particular interpolation or extrapolation functions, smoothing functions and / or other fitting functions of features, in particular points acquired by the acquisition device, in particular, the first and / or second environment contours can have, in particular such (corresponding) approximations. In one embodiment, by means of such approximations, the environment can be taken into account particularly advantageously, in particular quickly and / or precisely.

[0029] In one embodiment, the first boundary and / or the second boundary are (respectively) determined based on a user input, in an extended embodiment based on a user selection of a proposed (virtual representation of) an environment contour and / or boundary, particularly preferably visualized in augmented reality.

[0030] Therefore, in one embodiment, different environmental contours are provided for the user to choose from, and these environmental contours are determined or have been determined based on the collected real environment (data), and in an extended solution, they are in the form of virtual representations of environmental contours in augmented reality, and the user can select one or more of these environmental contours, and then determine the corresponding boundaries based on the selected environmental contours. Similarly, in one embodiment, different boundaries can also be provided for the user to choose from, and these boundaries are determined or have been determined based on the collected real environment (data) and the environmental contour determined on this basis, and in an extended solution, they are in the form of virtual representations of boundaries in augmented reality, and the user can select one or more of these boundaries, and then monitor these boundaries in one embodiment.

[0031] In one embodiment, in this way, the user can pre-set the required monitoring area (more) quickly and / or (more) reliably, wherein, in one embodiment, the selection of the environmental contour allows for an advantageous, in particular (more) precise and / or (more) uniform boundary depiction; in one embodiment, the selection of the boundary itself can advantageously enable a boundary that (better) matches the situation.

[0032] Additionally or alternatively, in one embodiment, the first boundary and / or the second boundary are (respectively) determined based on a predetermined gesture and / or a predetermined distance relative to an environmental contour for determining or having determined the (corresponding) boundary, wherein in an extended embodiment, the position or distance can be (variably) predetermined or predetermined based on a user input and / or the distance is a constant distance. In one embodiment, a gesture in the sense of the invention defines a one-dimensional, two-dimensional or three-dimensional position and / or a one-dimensional, two-dimensional or three-dimensional direction.

[0033] In this way, in one embodiment, the (corresponding) boundaries can advantageously be determined automatically and / or can be adjusted by the user according to corresponding boundary conditions (e.g. different safety requirements, process conditions, etc.). Thus, for example, for a protection zone for preventing collisions with a known environment, a smaller (safety) distance from the boundary to the contour of the environment can be predefined than for a protection zone for keeping a movement path clear, since the latter is subject to greater uncertainty.

[0034] In one embodiment, the distance of the predetermined first boundary and / or second boundary from the surrounding contour for determining the (corresponding) boundary is greater than zero. Thus, in one embodiment, the surrounding contour can be protected particularly effectively from contact with the robot.

[0035] In one embodiment, the predetermined first and / or second boundary is at a distance of zero from the surrounding contour for determining the (corresponding) boundary, or the boundary and the surrounding contour are at least partially identical. Thus, in one embodiment, the surrounding contour itself can be used as a boundary and, for example, for planned approach or contact with the environment, in particular its surrounding contour.

[0036] In one embodiment, the robot stops in a first operating mode, in one embodiment, while continuing to travel along a predetermined, in particular partially traveled trajectory or adhering to the trajectory and / or before approaching again with or without subsequent disconnection of the energy supply, in another embodiment, while deviating from a predetermined, in particular partially traveled trajectory or not adhering to the trajectory and / or before approaching again with or without subsequent disconnection of the energy supply, or a first limit is determined for this purpose. In another embodiment, the robot (continues) to move at a changed, preferably reduced speed in the first operating mode, in one embodiment, while continuing to travel along a predetermined, in particular partially traveled trajectory or adhering to the trajectory, in another embodiment, while deviating from a predetermined, in particular partially traveled trajectory or not adhering to the trajectory, or a first limit is determined for this purpose.

[0037] Additionally or alternatively, in one embodiment, the robot stops in the second operating mode, in one embodiment, while continuing to travel along a predetermined, in particular partially traveled trajectory or adhering to the trajectory and / or before approaching again with or without subsequent disconnection of the energy supply, in another embodiment, while deviating from a predetermined, in particular partially traveled trajectory or not adhering to the trajectory and / or before approaching again with or without subsequent disconnection of the energy supply, or a second limit is determined for this purpose. In another embodiment, the robot (continues) to move in the second operating mode at a changed, preferably reduced speed, in one embodiment, while continuing to travel along a predetermined, in particular partially traveled trajectory or adhering to the trajectory, in another embodiment, while deviating from a predetermined, in particular partially traveled trajectory or not adhering to the trajectory, or a second limit is determined for this purpose.

[0038] In one embodiment, a robot crossing a limit can be responded to particularly reliably by stopping the vehicle and / or disconnecting the energy supply; by changing, in particular reducing, the speed and / or maintaining the energy supply, disruptions to the operating process can be reduced.

[0039] In one embodiment, in particular in the first operating mode, a modified behavior of the robot in the event of a collision is predefined, or first limits are determined for this purpose. Additionally or alternatively, in one embodiment, in particular in the second operating mode, a modified behavior of the robot in the event of a collision is predefined, or second limits are determined for this purpose. This modified behavior of the robot in the event of a collision can include, for example: a modified, preferably increased, control compliance, a preferably modified return path, etc.

[0040] In one specific embodiment, this allows increased safety and / or a particularly advantageous response in human-machine collaboration.

[0041] In one embodiment, an optical and / or acoustic warning signal is emitted due to switching to the first operating mode and / or due to switching to the second operating mode, in an extended embodiment, by a robot; and / or different signals are emitted due to switching to the first operating mode and the second operating mode, or a first or second boundary is determined for this purpose.

[0042] In one specific embodiment, this allows increased safety and / or a particularly advantageous response in human-machine collaboration.

[0043] In one embodiment, the virtual representation of the first boundary and / or the virtual representation of the second boundary is visualized in augmented reality using a visualization device.

[0044] Thus, in one specific embodiment, the determined boundary(s) may be advantageously selected and / or checked.

[0045] In one embodiment, the detection device is arranged on the visualization device, in one embodiment, is arranged integrated or detachably on the visualization device.

[0046] In one embodiment, the acquisition device of an AR system can thus be used advantageously.

[0047] In one embodiment, the virtual representation of the robot and / or the trajectory of the robot is (also) visualized in augmented reality using the visualization device.

[0048] In one specific embodiment, the determined boundary(s) may thus be selected and / or checked particularly advantageously.

[0049] In one embodiment, the visualization device is a mobile visualization device, in particular a visualization device that can be carried (by a person, preferably with one hand); in one embodiment, the visualization device comprises: a handheld device, preferably a handheld device, a tablet, a smartphone, a notebook, etc., and / or glasses, in particular AR (augmented reality) glasses. In one embodiment, the acquisition device or the visualization device is designed (in terms of hardware and / or software technology) for controlling a robot or (also) is used for this purpose.

[0050] In one embodiment, a commissioning operation can thus be carried out (more) quickly and / or (more) safely.

[0051] In one embodiment, the acquisition device is moved translationally and / or rotationally and / or manually relative to the real environment for the acquisition of data. Thus, in one embodiment, larger areas and / or environments of the environment can be acquired (more) accurately and thus the operation can be better monitored.

[0052] In one embodiment, the acquisition device has one or more contactless measuring distance meters, in an extension, one or more radar distance meters, one or more ultrasonic distance meters and / or one or more lidar distance meters. As a result, in one embodiment, the environment can be acquired (more) accurately and the operation can therefore be monitored particularly advantageously, in particular (more) accurately and / or without interference. In this case, lidar distance meters are particularly preferred because of their compact design and precise measurement.

[0053] Additionally or alternatively, in one embodiment, the acquisition device has: one or more cameras, in one embodiment a 3D camera system, which in one embodiment has at least two or more stereo cameras, a triangulation system, at least one TOF camera, at least one interferometric camera, at least one light field camera, etc., in which a defined pattern is imaged on the environment by at least one light source and at least one camera preferably records the pattern from another perspective; and / or an image processing device. As a result, in one embodiment, the environment can be acquired (more) quickly and the method can therefore be carried out particularly quickly and / or a larger environment can be taken into account.

[0054] In one embodiment, whether the robot crosses a determined first boundary and / or whether the robot crosses a determined second boundary is monitored based on the acquired joint positions (of the robot) and / or a computer-implemented robot model.

[0055] In one embodiment, monitoring can thus be performed particularly reliably and / or precisely.

[0056] In one embodiment, the first and / or second boundaries are determined or defined in the joint (coordinate) space of the robot and / or stored in the form of joint coordinate boundaries or areas. Thus, in one embodiment, monitoring can be particularly reliable and / or fast. In one embodiment, in particular for a reference object fixed to the robot (e.g., the TCP or limb of the robot) and / or a virtual shield of the robot, the first and / or second boundaries are determined or defined in the workspace of the robot and / or stored in the form of workspace coordinate boundaries or areas. Thus, in one embodiment, the boundaries can be adjusted particularly intuitively and / or reliably according to the environment. In this case, in an extended solution, based on a computer-implemented robot model, the acquired joint positions are converted into corresponding positions and / or directions of one or more reference objects fixed to the robot, or into corresponding shapes, positions and / or directions of the virtual shield, and monitoring is performed to determine whether the (multiple) boundaries determined for this purpose are crossed. In one embodiment, in order to monitor whether the robot crosses the first and / or second boundary or in the process of monitoring whether the robot crosses the first and / or second boundary, it is checked whether the virtual shield of the robot crosses the boundary, wherein, in one embodiment, the virtual shield is determined based on a computer-implemented robot model, or the virtual shield is defined by the robot model.

[0057] In one embodiment, the first boundary and / or the second boundary are determined (respectively) based on one or more three-dimensional geometric primitives (Geometrieprimitive), and the one or more geometric primitives correspond to the first or second environmental contour (respectively) according to a predetermined relationship, in particular a spatial posture. In an extended solution, the boundary is the surface of one or more geometric primitives or a part thereof. In addition or alternatively, a virtual shield can also be determined based on one or more three-dimensional geometric primitives, wherein the geometric primitive or each geometric primitive corresponds to a robot limb according to a predetermined relationship, in particular a spatial posture.

[0058] In one embodiment, the geometrical primitive in the sense of the present invention is a polyhedron, in particular a prism, in particular a cuboid, or a cylinder, a cone, an ellipsoid, in particular a sphere, etc.

[0059] Thus, in one embodiment, monitoring can be performed (more) quickly and / or (more) reliably.

[0060] In one embodiment, the robot has: a robot arm with three or more, preferably at least six, in one embodiment at least seven joints, in an extended version, revolute joints, which connect the movable members of the robot to each other and can be moved by a drive, in particular a motor, of the robot; and / or a movable base, in particular a base that can be moved by means of at least one drive, in particular a motor, of the robot. For such a robot, the present invention is particularly advantageous, in particular because of the possible complex movements. In one embodiment, a robot-guided tool or workpiece forms a (distal) movable member of the robot in the sense of the present invention. Accordingly, in one embodiment, it is also or only monitored whether the robot-guided tool or workpiece, preferably a virtual shield with a predefined relationship, in particular a spatial posture, crosses the first and / or second boundary (by the tool or workpiece or the virtual shield). Since such tools or workpieces often travel the longest distances, a particularly advantageous, in particular convincing and / or rapid monitoring can be achieved.

[0061] In one embodiment, the first and / or second environment profile is determined based on the robot, in particular with the aid of collected robot data, in particular robot data collected by a collection device, and / or based on a computer-implemented robot model. In an extended solution, the robot, which may be collected along with the real environment data of the robot when collected by the collection device, is at least partially eliminated or hidden. As a result, in one embodiment, the environment model can be improved.

[0062] In one embodiment, the first and / or second environmental profile is determined based on a user's presetting of the environmental area to be collected. In an extended solution, the environmental area excluded by the user is not collected by the collection device or is excluded, in particular ignored, when determining the first and / or second environmental profile; and / or the collection device is used to collect only the environmental area pre-set by the user, or takes it into account when determining the first and / or second environmental profile, in particular evaluates it. As a result, in one embodiment, the first or second environmental profile can be determined (more) quickly and / or (more) accurately.

[0063] According to one embodiment of the present invention, a system is provided, which is particularly designed by hardware technology and / or software technology, particularly programming technology, to perform the method described herein, and / or comprises:

[0064] - a collection device for collecting data of the robot's real environment, in particular a mobile collection device, in particular a portable collection device;

[0065] - means for determining a first environmental profile based on the collected data; and

[0066] - means for determining first boundaries of a first spatial area to be monitored based on the determined first environment contour.

[0067] In one embodiment, the system or apparatus thereof comprises:

[0068] - means for monitoring whether the robot crosses a determined first boundary during operation of the robot, and means for switching to a first operating mode of the robot if crossing of the first boundary is determined; and / or

[0069] - means for determining a second boundary of the second spatial area based on the first environmental profile or the second environmental profile determined from the acquired data, in particular means for monitoring whether the robot crosses the determined second boundary during operation of the robot, and means for switching to a second operating mode of the robot when it is determined that the second boundary has been crossed; and / or

[0070] - means for determining the first and / or second surrounding contour by at least one approximation of the features, in particular points, detected by the detection means; and / or

[0071] - for determining the boundary based on user input, in particular user selection of a proposed environment contour and / or boundary, and / or based on gestures and gestures pre-set relative to the environment contour for determining the boundary

[0072] and / or means for determining the first and / or second boundaries by a predetermined distance; and / or

[0073] - means for parking the robot in the first and / or second operating mode or for moving it at a modified, in particular reduced, speed; and / or

[0074] - means for emitting an optical and / or acoustic warning signal due to the changeover, in particular by the robot; and / or

[0075] - visualization means for visualizing a virtual representation of the first and / or second boundary in augmented reality, in particular for visualizing a virtual representation of the robot and / or a trajectory of the robot in augmented reality; and / or

[0076] - at least one contactless measuring distance meter, in particular at least one lidar distance meter, radar distance meter or ultrasonic distance meter, and / or at least one camera, in particular a 3D camera system, and / or an image processing device; and / or

[0077] - means for monitoring whether the robot crosses a determined first boundary and / or crosses a determined second boundary based on the acquired joint positions and / or the computer-implemented robot model; and / or

[0078] - means for determining the first and / or second boundary based on at least one three-dimensional geometrical primitive, which has a predetermined relationship, in particular a spatial posture, with respect to the first or second surrounding contour; and / or

[0079] - means for determining the first and / or second environmental profile based on data acquired by the robot, in particular by means of an acquisition device, and / or based on a computer-implemented robot model, and / or based on a user's presetting of the environmental area to be acquired.

[0080] The system and / or device within the meaning of the present invention can be designed in hardware technology and / or software technology, in particular, it has: at least one processing unit, in particular a digital processing unit, in particular a microprocessor unit (CPU), a graphics card (GPU), etc., which is preferably connected to a storage system and / or a bus system for data or signals; and / or one or more programs or program modules. The processing unit can be designed to: process the instructions implemented as a program stored in the storage system; collect input signals from the data bus; and / or send output signals to the data bus. The storage system can have one or more, in particular different storage media, in particular optical, magnetic, solid and / or other non-volatile media. The program can be provided so that it can embody or execute the method described herein, so that the processing unit can perform the steps of the method and thereby can in particular determine (multiple) boundaries or make the robot run. In one embodiment, the computer program product can have, in particular, a computer-readable, non-volatile storage medium for storing programs or instructions or a storage medium on which a program is stored or on which instructions are stored. In one embodiment, the execution of the program or instructions causes a system or controller, in particular a computer or a plurality of computer arrays, to execute the program or the instructions, so that the system or controller, in particular one or more computers, executes the method described herein or one or more steps thereof, or the program or instructions are designed for this purpose.

[0081] In one embodiment, one or more, in particular all, steps of the method are performed completely or partially automatically, in particular by the system or a device thereof.

[0082] In one embodiment, the system has a robot. In one embodiment, the method also includes the operation of the robot, ie, it can be a method for operating a robot in particular. Accordingly, in one embodiment, the system can also be a system for operating a robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0083] Further advantages and features are given by the dependent claims and the embodiments. To this end, a partial schematic diagram is shown:

[0084] Figure 1 A system according to an embodiment of the present invention; and

[0085] Figure 2 A method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0086] Figure 1 A system for operating a robot 1 is shown.

[0087] In one embodiment, the user 4 wears a visualization device in the form of AR glasses 2 or a tablet computer 3 .

[0088] In step S10 (see Figure 2 ), the real environment 6 of the robot is collected by a collection device 5A or 5B, such as a 3D camera system, a lidar sensor, etc., which is preferably integrated or detachably arranged on the visualization device 2 or 3, and the first environment contour is determined in step S20 with the help of the data.

[0089] In step S30 , a first boundary is determined based on the first environment contour. The first boundary has a distance relative to the first environment contour that can be preset by the user 4 or is preset by the user.

[0090] In step S40, a virtual representation of the first boundary is visualized in augmented reality using the visualization device 2 or 3. In an extended solution, a virtual representation of the robot driving over a predefined trajectory is also visualized in augmented reality. This allows the user to advantageously check the first boundary. In one embodiment, a plurality of first boundaries are provided to the user for selection, in an extended solution in the form of virtual representations of these boundaries, and the user selects one of these boundaries. Additionally or alternatively, in one embodiment, the user can pre-set the distance of the required boundary from the contour of the environment.

[0091] In step S50, it is monitored whether the robot crosses a first boundary during its operation.

[0092] If it is determined here that the first limit has been crossed (S50: “Y”), in step S60 the robot switches to a first operating mode in which it emits a warning signal and / or stops, for example, otherwise it continues monitoring (S50: “Y”).

[0093] Although exemplary embodiments have been described in the foregoing description, it should be noted that many variations are possible. Thus, for example, one or more second environment contours and / or boundaries may be determined in steps S20, S30; in step S40, they (their virtual representations) may be visualized in augmented reality and, if necessary, a desired distance may be selected from them and / or pre-set by the user; and in step S50, the robot may be monitored during its operation whether it crosses the second boundary or may be switched to a corresponding second operating mode in step S60.

[0094] It should also be pointed out that the exemplary embodiment is only an example and does not constitute any limitation to the scope of protection, application and configuration. On the contrary, the above description can provide a person skilled in the art with a teaching for converting at least one exemplary embodiment, wherein various changes, in particular with respect to the function and arrangement of the components, can be realized without departing from the scope of protection of the present invention, such as can be obtained according to the claims and their equivalent feature combinations.

[0095] Reference numerals list

[0096] 1. Robot

[0097] 2 AR glasses

[0098] 3. Tablet

[0099] 4 Users

[0100] 5A; 5B Collection device

[0101] 6 Environment

[0102] TCP Tool Center Point.

Claims

1. A method for determining at least one boundary of operation of a robot (1), comprising the following steps: - collecting (S10) data of the robot's real environment (6) by means of a collecting device (5A; 5B), in particular a mobile collecting device, in particular a portable collecting device; - based on the collected data, determining (S20) a first environment profile; and - Based on the determined first environment contour, determining ( S30 ) a first boundary of a first spatial area to be monitored.

2. The method according to claim 1, characterized in that The following steps are involved: - Based on the first environment contour or a second environment contour determined from the acquired data, determining a second boundary of the second spatial area.

3. The method according to any one of the preceding claims, characterized in that The following steps are involved: - During the operation of the robot, monitoring (S50) whether the robot crosses the determined first boundary; and - If it is determined that the first boundary is crossed, switching (S60) to the first operating mode of the robot.

4. The method according to the two preceding claims, characterized in that The following steps are involved: - during the operation of the robot, monitoring whether the robot crosses the determined second boundary; as well as - If it is determined that the second boundary has been crossed, switching to a second operating mode of the robot.

5. The method according to any one of the preceding claims, characterized in that The first surroundings contour and / or the second surroundings contour are determined by at least one approximation of features, in particular points, acquired by means of the acquisition device.

6. The method according to any one of the preceding claims, characterized in that The first boundary and / or the second boundary are determined based on a user input, in particular a user selection of a proposed environment contour and / or boundary, and / or based on a predetermined gesture and / or a predetermined distance relative to the environment contour as a basis for determining the boundary.

7. The method according to any one of the preceding claims, characterized in that In the first operating mode and / or the second operating mode, the robot is stationary or moves at a modified, in particular reduced, speed.

8. The method according to any one of the preceding claims, characterized in that In the first operating mode and / or in the second operating mode, a modified behavior of the robot in the event of a collision is predefined.

9. The method according to any one of the preceding claims, characterized in that As a result of the switchover, in particular by the robot, an optical and / or acoustic warning signal is emitted.

10. The method according to any one of the preceding claims, characterized in that The virtual representation of the first boundary and / or the second boundary is visualized in augmented reality using a visualization device.

11. The method according to the preceding claim, characterized in that The acquisition device is arranged on the visualization device and / or the virtual representation of the robot and / or the trajectory of the robot are visualized in augmented reality using the visualization device.

12. The method according to any one of the preceding claims, characterized in that The acquisition device moves translationally and / or rotationally and / or manually relative to the real environment in order to acquire data, and / or the acquisition device has: at least one non-contact measuring rangefinder, in particular at least one lidar rangefinder, radar rangefinder or ultrasonic rangefinder; and / or at least one camera, in particular a 3D camera system; and / or an image processing device.

13. The method according to any one of the preceding claims, characterized in that Based on the acquired joint positions and / or the computer-implemented robot model, it is monitored whether the robot crosses a determined first boundary and / or whether it crosses a determined second boundary.

14. The method according to any one of the preceding claims, characterized in that The first boundary and / or the second boundary is determined based on at least one three-dimensional geometrical primitive, which has a predetermined relationship, in particular a spatial posture, relative to the first surrounding contour or the second surrounding contour.

15. The method according to any one of the preceding claims, characterized in that The first environment profile and / or the second environment profile is determined based on the robot, in particular with the aid of the collected robot data, in particular the robot data collected by the collection device, and / or based on a robot model implemented by a computer, and / or the first environment profile and / or the second environment profile is determined based on an environment area to be collected pre-set by a user.

16. A system for determining at least one boundary of the operation of a robot (1), the system being designed to perform the method according to any of the preceding claims and / or comprising: - a collection device for collecting data of the real environment of the robot, in particular a mobile collection device, in particular a portable collection device; - means for determining a first environmental profile based on the acquired data; as well as - means for determining a first boundary of a first spatial area to be monitored based on the determined first environmental contour; In particular, these additionally include: - means for monitoring whether the robot crosses a determined first boundary during operation of the robot; as well as - means for switching to a first operating mode of the robot if a crossing of the first boundary is determined.

17. A computer program or a computer program product, wherein: The computer program or computer program product comprises instructions, in particular stored on a computer-readable and / or non-volatile storage medium, which instructions, when executed by one or more computers or a system according to claim 16 , cause the one or more computers or the system to perform a method according to any one of claims 1 to 15 .

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