Ascertaining at least one border for operating a robot

Abstract

The invention relates to a method for ascertaining at least one border for operating a robot (1), having the steps of: detecting (S10) data of real surroundings (6) of the robot using a detection device (5A; 5B), in particular a mobile detection device, in particular a portable detection device; ascertaining (S20) a first surroundings contour on the basis of said detected data; and ascertaining (S30) a first border of a first spatial area to be monitored on the basis of the ascertained first surroundings contour.

Description

[0001] Description

[0002] Determining at least one limit for operating a robot

[0003] The present invention relates to a method and system for determining at least one limit for operating a robot and to a computer program or computer program product for carrying out the method.

[0004] During operation, robots are monitored according to internal company practice to ensure that they do not exceed specified limits, for example, whether the robot enters a (prohibited) protected area or leaves a (permitted) work area.

[0005] According to internal company practice, these limits are currently set manually.

[0006] The object of the present invention is to improve the operation of robots.

[0007] This object is achieved by a method having the features of claim 1. Claims 16, 17 represent a system or computer program or.

[0008] A computer program product for carrying out a method described herein is protected. The subclaims relate to advantageous developments.

[0009] According to one embodiment of the present invention, a method for determining at least one limit for operating a robot comprises the steps:

[0010] - capturing data from a real environment of the robot using a capturing device which, in one embodiment, is mobile and, in a further development, is particularly portable by a person;

[0011] - Determining a first environmental contour based on this recorded data; and

[0012] - Determining a first boundary of a first spatial area to be monitored on the basis of this determined first environmental contour.

[0013] In one embodiment of the present invention, the method comprises the steps:

[0014] - monitoring the robot for exceeding this determined first limit during operation of the robot; and

[0015] - Switching to a first operating mode of the robot if it is detected that the first boundary has been exceeded. By determining at least one environmental contour using the detection device or the data detected by it and determining a boundary based on this environmental contour—determined on the basis of the detected real environment—and subsequently monitoring it in one embodiment of the present invention, the monitoring can be implemented more quickly and / or precisely and / or carried out more reliably. In one embodiment, the robot moves during operation or operation of the robot and / or executes a stored work program.

[0016] In one embodiment, the method comprises the step:

[0017] - Determining a second boundary of a second spatial region based on the first surrounding contour, preferably such that the second boundary has a different position and / or a different, in particular minimum, maximum and / or average, distance from the first surrounding contour than the first boundary; and in a further development, the steps:

[0018] - monitoring the robot for exceeding this determined second limit during operation of the robot; and

[0019] - Switching to a second operating mode of the robot if this second limit is detected to be exceeded.

[0020] As a result, in one embodiment, it is / are possible to react in several stages to a (successive) exceeding of limits or to determine suitable limits for this, for example the robot can issue a warning signal and / or be controlled more flexibly when a first, narrower limit of a permissible working area is exceeded and can be stopped when a second, wider limit of the working area is exceeded, or it can issue a warning signal and / or be controlled more flexibly when a first, wider limit of a prohibited protection area is exceeded and can be stopped when a second, narrower limit of the protection area is exceeded. If the same (first) environmental contour is used to determine the first and second limits, concentric limits can be monitored in one embodiment. In one embodiment, one of the first and second spatial areas contains the other of the first and second spatial areas in whole or in part.Additionally or alternatively, in one embodiment the method comprises the step:.

[0021] - Determining a second boundary of a second spatial area on the basis of a second environmental contour, wherein this second environmental contour is (also) determined (in a step of the method) on the basis of the recorded data; and in a further development, the steps:

[0022] - monitoring the robot for exceeding this determined second limit during operation of the robot; and

[0023] - Switching to a second operating mode of the robot if this second limit is detected to be exceeded.

[0024] As a result, in one embodiment, spatially spaced areas can be monitored in parallel or suitable boundaries can be determined for this purpose, for example a protection area near an entrance to a robot cell into which the robot is not permitted to penetrate, and an interaction area in which the robot is permitted to interact with people and is operated accordingly, for example moved more slowly and / or regulated more flexibly. In one embodiment, the first and second spatial areas are separate from one another, in a further development spatially spaced and / or assigned to different areas of the real environment. In one embodiment, the first and second environmental contours are separate from one another, in a further development spatially spaced and / or assigned to different areas of the real environment.In one embodiment, the first and / or second environmental contour (each) has at least one corner, line, edge, and / or area, in particular a surface, and can in particular be one such. This allows the real environment to be taken into account particularly advantageously in one embodiment.

[0025] In a further development of one of the above-mentioned embodiments, the first and second boundaries are separate from one another, in one further development they are spatially spaced apart and / or assigned to different regions of the real environment. A spatial region within the meaning of the present invention can be (completely) closed, in particular a polyhedron, in particular a prism, in particular a cuboid, a cylinder, cone, ellipsoid, in particular a sphere, or the like. Likewise, a spatial region within the meaning of the present invention can also be partially open, for example a half-space or the like. In one embodiment, the first and / or second boundaries completely enclose the (respective) spatial region. In one embodiment, this makes it possible to achieve a particularly high level of reliability. In one embodiment, the first and / or second boundaries do not completely enclose the (respective) spatial region.This can simplify the determination and / or monitoring of the boundary in one embodiment. The terms "first" and "second" used here are used solely for better identification, without limiting their generality.

[0026] In one embodiment, the first surrounding contour and / or the second surrounding contour is / are (respectively) determined using at least one approximation of features detected using the detection device, in particular points, particularly preferably a point cloud detected using the detection device, in a further development using one or more grids and / or one or more approximation surfaces, in particular planar approximation surfaces and / or singly or multiply curved approximation surfaces, wherein such grids or approximation surfaces are determined in one embodiment by compensation, in particular interpolation or extrapolation, smoothing and / or other fitting functions of features detected using the detection device, in particular points, in particular the first surrounding contour and / or the second surrounding contour can have the (respective) approximation, in particular be.By means of such an approximation, the environment can be taken into account in a particularly advantageous manner, in particular quickly and / or precisely.

[0027] In one embodiment, the first boundary and / or the second boundary (each) is determined on the basis of a user input, in a further development on the basis of a user selection from suggested, particularly preferably visualized in an augmented reality (virtual representations of), environmental contours and / or boundaries.

[0028] Thus, in one embodiment, a user is presented with various environmental contours, each of which is or has been determined based on the recorded (data of the) real environment, for selection. In a further development, this takes the form of virtual representations of the environmental contours in augmented reality. The user can select one or more of these environmental contours, on the basis of which the respective boundary is then determined. Likewise, in one embodiment, a user can also be presented with various boundaries, each of which is or has been determined based on the recorded (data of the) real environment and the environmental contours determined based thereon. In a further development, this takes the form of virtual representations of the boundaries in augmented reality. The user can select one or more of these boundaries, which are then monitored in one embodiment.

[0029] In this way, the user can specify desired areas for monitoring more quickly and / or reliably in one embodiment, whereby the selection of the environmental contours in one embodiment can enable advantageous, in particular more precise and / or more homogeneous, demarcation, and the selection of the boundaries themselves in one embodiment advantageously allows boundaries that are more adapted to the situation.

[0030] Additionally or alternatively, the first boundary and / or the second boundary are / is determined in one embodiment (each) based on a predefined position and / or a predefined distance from the surrounding contour on the basis of which the (respective) boundary is or has been determined. In a further development, the position or the distance can be (variably) predefined or is predefined or is or is based on a user input, and / or the distance is a constant distance. A position within the meaning of the present invention defines in one embodiment a one-, two-, or three-dimensional position and / or a one-, two-, or three-dimensional orientation.

[0031] In this way, in one embodiment, the (respective) boundary can advantageously be determined automatically and / or the user can adapt it to the respective boundary conditions, such as different safety requirements, process conditions, or the like. For example, for a protection zone that prevents a collision with a known environment, a smaller (safety) distance of the boundary from the environmental contour can be specified than for a protection zone that is intended to keep a movement corridor clear, since this involves a greater degree of uncertainty.

[0032] In one embodiment, the specified distance of the first boundary and / or the second boundary from the surrounding contour on the basis of which the (respective) boundary is determined is greater than zero. This allows, in one embodiment, this surrounding contour to be particularly effectively protected from contact with the robot.

[0033] In one embodiment, the specified distance of the first boundary and / or the second boundary from the surrounding contour on the basis of which the (respective) boundary is determined is zero, or the boundary and the surrounding contour are at least partially identical. As a result, in one embodiment, this surrounding contour itself can function as a boundary and be used, for example, for planned approach to or contact with the environment, in particular this surrounding contour.

[0034] In one embodiment, the robot is stopped in the first operating mode, in a further development by continuing to follow a predetermined, in particular already partially followed, path or in a path-true manner and / or with or without subsequent disconnection of a power supply before starting up again, in another development by deviating from a predetermined, in particular already partially followed, path or not in a path-true manner and / or with or without subsequent disconnection of a power supply before starting up again, or the first limit for this is determined. In another embodiment, the robot is (further) moved in the first operating mode at a changed, preferably reduced, speed, in one development by continuing to follow a predetermined, in particular already partially followed, path or in a path-true manner, in another development by deviating from a predetermined, in particular already partially followed, path ornot true to the path, or the first limit for this is determined.

[0035] Additionally or alternatively, in one embodiment the robot is stopped in the second operating mode, in a further development by continuing to follow a predetermined, in particular already partially followed, path or in a path-true manner and / or with or without subsequent disconnection of a power supply before restarting, in another development by deviating from a predetermined, in particular already partially followed, path or not in a path-true manner and / or with or without subsequent disconnection of a power supply before restarting, or the second limit for this is determined. In another embodiment the robot is (further) moved in the second operating mode at a changed, preferably reduced, speed, in a further development by continuing to follow a predetermined, in particular already partially followed, path ortrue to the path, in another further development deviating from a given path, in particular one that has already been partially travelled, or not true to the path, or the second limit for this is determined.

[0036] In one embodiment, stopping and / or disconnecting the power supply allows a particularly safe response to the robot exceeding its limits, and a change, in particular a reduction, of the speed and / or maintaining the power supply can reduce disruption to work operations.

[0037] In one embodiment, in particular, a modified behavior of the robot is specified in the first operating mode in the event of a collision, or the first limit for this is determined. Additionally or alternatively, in particular, in one embodiment, a modified behavior of the robot is specified in the second operating mode in the event of a collision, or the second limit for this is determined. Such a modified behavior of the robot in the event of a collision can, for example, comprise a modified, preferably increased, control-related compliance, a preferably modified retraction path, or the like.

[0038] In one embodiment, this can increase safety and / or provide a particularly advantageous response in a human-robot collaboration.

[0039] In one embodiment, an optical and / or acoustic warning signal is emitted as a result of switching to the first operating mode and / or as a result of switching to the second operating mode; in a further development, different signals are emitted by the robot and / or as a result of switching to the first operating mode and to the second operating mode, or the first or second limit for this is determined.

[0040] In one embodiment, this can increase safety and / or allow for particularly advantageous responses in human-robot collaboration. In one embodiment, a virtual representation of the first boundary and / or a virtual representation of the second boundary is visualized using a visualization device in augmented reality.

[0041] This allows the determined limit(s) to be advantageously selected and / or checked in one embodiment.

[0042] In one embodiment, the detection device is arranged on the visualization device, in a further development integrated or detachable.

[0043] As a result, in one embodiment, a detection device of an AR system can be advantageously used.

[0044] In one embodiment, the visualization device is used to (also) visualize a virtual representation of the robot and / or a path of the robot in the augmented reality.

[0045] This allows the determined limit(s) to be selected and / or checked particularly advantageously in one embodiment.

[0046] In one embodiment, the visualization device is a mobile, in particular portable (by a person, preferably with one hand), visualization device. In one embodiment, it comprises a handheld device, preferably a handheld device, tablet, smartphone, laptop, or the like, and / or glasses, in particular A(ugmented)R(eality) glasses. In one embodiment, the detection or visualization device is configured (in terms of hardware and / or software) to control the robot or is (also) used for this purpose.

[0047] This allows commissioning to be carried out more quickly and / or safely in one version.

[0048] In one embodiment, the acquisition device is moved translationally and / or rotationally and / or manually relative to the real environment to acquire the data. This allows a larger area of ​​the environment and / or the environment to be acquired more precisely, thus allowing for better monitoring of operations.

[0049] In one embodiment, the detection device comprises one or more non-contact distance meters; in a further development, it comprises one or more radar distance meters, one or more ultrasonic distance meters, and / or one or more lidar distance meters. This allows the environment to be detected more precisely in one embodiment, thus enabling operation to be monitored particularly advantageously, in particular more precisely and / or without interference. Lidar distance meters are particularly advantageous because of their compact design and precise measurement capabilities.

[0050] Additionally or alternatively, the detection device in one embodiment has one or more cameras, in a further development a 3D camera system, which in one embodiment has at least two or stereo cameras, a triangulation system in which at least one light source images a defined pattern onto the environment and at least one camera records this pattern, preferably from a different viewing angle, at least one TOF camera, at least one interferometry camera, at least one light field camera or the like, and / or an image evaluation. In one embodiment, this allows the environment to be detected more quickly, thus carrying out the method particularly quickly and / or taking a larger environment into account.

[0051] In one embodiment, the robot is monitored for exceeding the determined first limit and / or for exceeding the determined second limit based on detected joint positions (of the robot) and / or a computer-implemented model of the robot.

[0052] This means that monitoring can be particularly reliable and / or precise in one design.

[0053] In one embodiment, the first and / or second boundary is or will be specified or defined in the joint (coordinate) space of the robot and / or stored in the form of joint coordinate boundaries or ranges. In one embodiment, monitoring can thus be carried out particularly reliably and / or quickly. In one embodiment, the first and / or second boundary is or will be specified or defined in the workspace of the robot, in particular for a robot-fixed reference, for example the TCP or a member of the robot, and / or a virtual shell of the robot, and / or stored in the form of workspace coordinate boundaries or ranges. In one embodiment, boundaries can thus be adapted to the environment particularly intuitively and / or reliably.In this case, in a further development, the recorded joint positions are transformed based on a computer-implemented model of the robot into a corresponding position and / or orientation of one or more robot-fixed references or into a corresponding shape, position and / or orientation of the virtual shell, and the exceeding of the limit(s) determined for this purpose is monitored. In one embodiment, for or when monitoring the robot for exceeding the first and / or second limit, it is checked whether a virtual shell of the robot exceeds this limit. In one embodiment, this virtual shell is determined based on the computer-implemented model of the robot or is defined by it.

[0054] In one embodiment, the first boundary and / or the second boundary are (each) determined based on one or more three-dimensional geometry primitives, each of which has a predetermined relationship, in particular a spatial position, to the first or second environmental contour. In a further development, the boundary is a surface of the geometry primitive(s) or a part thereof. Additionally or alternatively, the virtual shell can also be determined based on one or more three-dimensional geometry primitives, wherein the or each geometry primitive has a predetermined relationship, in particular a spatial position, to a member of the robot.

[0055] A geometric primitive within the meaning of the present invention is, in one embodiment, a polyhedron, in particular a prism, in particular a cuboid, or a cylinder, cone, ellipsoid, in particular a sphere, or the like. This allows monitoring to be implemented particularly quickly and / or reliably in one embodiment.

[0056] As a result, in one embodiment, monitoring can be carried out more quickly and / or more reliably. 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 a further development pivot joints, which connect movable members of the robot to one another and are movable by drives, in particular motors, of the robot, and / or a mobile base, in particular movable with the aid of at least one drive, in particular motor, of the robot. The invention is particularly advantageous for such robots, in particular due to the complex movements thus possible. In one embodiment, a robot-guided tool or workpiece forms a (distal) movable member of the robot within the meaning of the present invention.Accordingly, in one embodiment, a robot-guided tool or workpiece, preferably a virtual shell having a predetermined relationship, in particular a spatial position, thereto, is also or only monitored for exceeding the first and / or second boundary (by the tool or workpiece or the virtual shell). Since such a tool or workpiece often travels the longest distances, this allows for particularly advantageous, particularly meaningful and / or fast, monitoring.

[0057] In one embodiment, the first and / or second environmental contour is determined based on the robot, in particular using data from the robot acquired, in particular using the acquisition device, and / or based on a computer-implemented model of the robot. In a further development, the robot, which may also be captured when data from the robot's real environment is captured using the acquisition device, is at least partially eliminated or masked out. This allows the environmental model to be improved in one embodiment.

[0058] In one embodiment, the first and / or second environmental contour is determined based on a user specification of an environmental region to be detected. In a further development, an environmental region excluded by the user is not detected using the detection device or is excluded, in particular ignored, when determining the first and / or second environmental contour, and / or only an environmental region specified by the user is detected using the detection device or is taken into account, in particular evaluated, when determining the first and / or second environmental contour. As a result, in one embodiment, the first or second environmental contour can be determined more quickly and / or more precisely.

[0059] According to one embodiment of the present invention, a system, in particular hardware and / or software, in particular program technology, is set up to carry out a method described here and / or comprises:

[0060] - a detection device, in particular a mobile device, in particular a portable device, for detecting data from a real environment of the robot;

[0061] - means for determining a first environmental contour based on these acquired data; and

[0062] - Means for determining a first boundary of a first spatial area to be monitored on the basis of this determined first environmental contour.

[0063] In one embodiment, the system or its means comprises:

[0064] - means for monitoring the robot for exceeding this determined first limit during operation of the robot and means for switching to a first operating mode of the robot if exceeding the first limit is detected; and / or

[0065] - means for determining a second boundary of a second spatial area on the basis of the first environmental contour or a second environmental contour determined on the basis of the acquired data, in particular means for monitoring the robot for exceeding this determined second boundary during operation of the robot and means for switching to a second operating mode of the robot if exceeding the second boundary is detected; and / or

[0066] - means for determining the first and / or second environmental contour using at least one approximation of features, in particular points, detected by the detection device; and / or

[0067] - Means for determining the first and / or second boundary based on a user input, in particular user selection from suggested environmental contours and / or boundaries, and / or based on a predetermined position and / or a predetermined distance from the environmental contour on the basis of which the boundary is determined; and / or - Means for stopping or moving the robot at a changed, in particular reduced, speed in the first and / or second operating mode; and / or

[0068] - means for emitting an optical and / or acoustic warning signal as a result of the switching, in particular by the robot; and / or

[0069] - a visualization device for visualizing a virtual representation of the first and / or second boundary in an augmented reality, in particular for visualizing a virtual representation of the robot and / or a path of the robot in the augmented reality; and / or

[0070] - at least one contactless distance measuring device, in particular at least one lidar, radar or ultrasonic distance measuring device, and / or at least one camera, in particular a 3D camera system, and / or an image evaluation system; and / or

[0071] - means for monitoring the robot on the basis of detected joint positions and / or a computer-implemented model of the robot for exceeding the determined first limit and / or for exceeding the determined second limit; and / or

[0072] - means for determining the first and / or second boundary on the basis of at least one three-dimensional geometric primitive which has a predetermined relationship, in particular spatial position, to the first or second environmental contour; and / or

[0073] - Means for determining the first and / or second environmental contour on the basis of the robot, in particular with the aid of data of the robot acquired, in particular by the acquisition device, and / or on the basis of a computer-implemented model of the robot and / or on the basis of a specification of an environmental area to be acquired by a user.

[0074] A system and / or means within the meaning of the present invention can be designed 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 designed to execute instructions implemented as a program stored in a memory system, to detect 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 the methods described here oris capable of carrying out, so that the processing unit can carry out the steps of such methods and thus in particular determine the limit(s) or operate the robot. In one embodiment, a computer program product can have, 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 several 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 set up for this purpose.

[0075] In one embodiment, one or more, in particular all, steps of the method are carried out fully or partially automatically, in particular by the system or its means.

[0076] In one embodiment, the system comprises the robot. In one embodiment, the method also includes operating the robot, and can therefore in particular be a method for operating the robot. Accordingly, in one embodiment, the system can also be a system for operating the robot.

[0077] Further advantages and features emerge from the subclaims and the exemplary embodiments. The following shows, partly schematically:

[0078] Fig. 1 : a system according to an embodiment of the present invention; and

[0079] Fig. 2: a method according to an embodiment of the present invention. Fig. 1 shows a system for operating a robot 1.

[0080] In one embodiment, a user 4 wears a visualization device in the form of AR glasses 2 or a tablet 3.

[0081] In a step S10 (cf. Fig.2), a real environment 6 of the robot is detected by means of a detection device 5A or 5B arranged on the visualization device 2 or 3, preferably integrated or detachably, for example a 3D camera system, lidar sensor or the like, and in a step S20 a first environmental contour is determined using this data.

[0082] In a step S30, a first boundary is determined on the basis of this first environmental contour, which has a distance from the first environmental contour that can be specified or is specified by the user 4.

[0083] In a step S40, a virtual representation of the first boundary is visualized using the visualization device 2 or 3 in an augmented reality environment. In one embodiment, a virtual representation of the robot traveling along a specified path is also visualized. This advantageously allows the user to check the first boundary. In one embodiment, several first boundaries are offered to the user for selection, in one embodiment 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 specify a desired distance of the boundary from the surrounding contour.

[0084] In a step S50, the robot is monitored during its operation for exceeding this first limit.

[0085] If it is determined that the first limit has been exceeded (S50: “Y”), the robot switches to a first operating mode in a step S60, in which it, for example, issues a warning signal and / or stops; otherwise (S50: “N”) the monitoring continues.

[0086] Although exemplary embodiments have been explained in the preceding description, it should be noted that a multitude of modifications are possible. For example, in steps S20, S30, one or more second environmental contours and / or boundaries can be determined, in step S40 (their virtual representation(s)) can be visualized in the augmented reality, and optionally selected by the user from among them and / or their desired distance can be specified, and in step S50, the robot can be monitored during its operation for exceeding these second boundaries, or in step S60, switched to a corresponding second operating mode.

[0087] Furthermore, it should be noted that the exemplary embodiments are merely examples and are not intended to limit the scope of protection, applications, or structure in any way. Rather, the preceding description provides the skilled person with a guide for implementing at least one exemplary embodiment. Various modifications, particularly with regard to the function and arrangement of the described components, may be made without departing from the scope of protection as defined by the claims and equivalent combinations of features.

[0088] List of reference symbols

[0089] 1 robot

[0090] 2 AR glasses 3 Tablet

[0091] 4 users

[0092] 5A; 5B detection device

[0093] 6 Surroundings

[0094] TCP Tool Center Point

Claims

Patent claims 1. Method for determining at least one limit for operating a robot (1), comprising the steps: - Acquisition (S10) of data from a real environment (6) of the robot using a, in particular mobile, in particular portable, acquisition device (5A; 5B); - Determine (S20) an initial environmental contour based on this collected data; and - Determining (S30) a first boundary of a first area to be monitored based on this determined first environmental contour.

2. The method according to claim 1, characterized by the step: - Determining a second boundary of a second spatial area based on the first environmental contour or a second environmental contour determined on the basis of the recorded data.

3. Method according to one of the preceding claims, characterized by the steps: - Monitoring (S50) the robot for exceeding the determined first limit during robot operation; and - Switching (S60) to a first operating mode of the robot if a crossing of the first limit is detected.

4. Method according to the two preceding claims, characterized by the steps: - Monitoring the robot for exceeding the determined second limit during robot operation; and - Switching to a second operating mode of the robot if a crossing of the second limit is detected.

5. Method according to one of the preceding claims, characterized in that the first and / or second environmental contour is determined using at least one approximation of features, in particular points, detected by means of the detection device.

6. Method according to one of the preceding claims, characterized in that the first and / or second boundary is determined on the basis of a user input, in particular user selection from suggested environment contours and / or boundaries, and / or on the basis of a predetermined position and / or a predetermined distance to the environment contour on which the boundary is determined.

7. Method according to one of the preceding claims, characterized in that the robot is stopped or moved with a changed, in particular reduced, speed in the first and / or second operating mode.

8. Method according to one of the preceding claims, characterized in that in the first and / or second operating mode a modified behavior of the robot is specified in the event of a collision.

9. Method according to one of the preceding claims, characterized in that, as a result of the switching, in particular by the robot, an optical and / or acoustic warning signal is emitted.

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

11. Method according to the preceding claim, characterized in that the detection device is arranged on the visualization device and / or a virtual representation of the robot and / or a path of the robot is visualized in augmented reality using the visualization device.

12. Method according to one of the preceding claims, characterized in that the detection device for acquiring the data is moved translationally and / or rotationally and / or manually relative to the real environment and / or includes at least one non-contact measuring distance sensor, in particular at least one lidar, radar or ultrasonic distance sensor. and / or at least one camera, in particular a 3D camera system, and / or image processing. A method according to one of the preceding claims, characterized in that the robot is monitored for exceeding the determined first limit and / or the determined second limit based on detected joint positions and / or a computer-implemented model of the robot. A method according to one of the preceding claims, characterized in that the first and / or second limit is determined based on at least one three-dimensional geometric primitive that has a predetermined relation, in particular spatial position, to the first or second environmental contour.A method according to one of the preceding claims, characterized in that the first and / or second environmental contour is determined based on the robot, in particular using data from the robot acquired by means of a detection device, and / or based on a computer-implemented model of the robot and / or based on a user specifying an environmental area to be detected. A system for determining at least one boundary for operating a robot (1) that is configured and / or comprises the following for carrying out a method according to one of the preceding claims: - a, in particular mobile, in particular portable, recording device for capturing data from a real environment of the robot; - Means of determining an initial environmental contour based on this acquired data; and - Means for determining a first boundary of a first area to be monitored based on this determined first environmental contour; in particular additionally comprising: - Means of monitoring the robot for exceeding this determined first limit during robot operation; and - Means for switching to a first operating mode of the robot if an exceedance of the first limit is detected. Computer program or computer program product, wherein the computer program or computer program product, in particular stored on a computer-readable and / or non-volatile storage medium, contains instructions which, when executed by one or more computers or a system according to claim 16, cause the computer(s) or system to perform a method according to any one of claims 1 to 15.

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