Method and system for controlling a robot

Abstract

The invention relates to a method for controlling a robot (1), having the steps of: moving (S10) the robot, detecting (S20) a collision of the robot, and carrying out (S30) an emergency operating mode of the robot as a result of the detected collision, wherein in the emergency operating mode, the robot is controlled such that the robot can be moved by means of a manual guiding force exerted manually onto the robot and in the process is virtually fixed on a manual guiding path for control purposes, said manual guiding path having a trajectory which is at at least partly traversed by the robot up to the detected collision.

Description

[0001] 118970P524 1 / 19 Kuka Deutschland GmbH 2022P00028 DE Description Method and system for controlling a robot The present invention relates to a method and system for controlling a robot, as well as a computer program or computer program product for carrying out a method described here. Moving robots can collide with obstacles. The object of the present invention is to improve the operation of a robot. This object is achieved by a method having the features of claim 1. Claims 11 and 12 protect a system, computer program, or computer program product for carrying out a method described here. The subclaims relate to advantageous developments. According to one embodiment of the present invention, a method for controlling a robot comprises the steps of: - moving the robot, in particular by (operating or controlling) its drive(s); - detecting a collision of the robot,in particular during this movement; and - executing an emergency operating mode, in particular switching to an emergency operating mode of the robot as a result of the detected collision; wherein in the emergency operating mode the robot, in particular its drives, is / are controlled such that a) the robot can be moved or manually guided by a manual guide force manually exerted on the robot; and b) is thereby virtually bound by control technology to a manual guide path which has or contains a path completely or partially traveled by the robot up to the detected collision, in a further development i) which is the path already or completely traveled up to the detected collision; or 118970P524 2 / 19 Kuka Deutschland GmbH 2022P00028 DE ii) consists of a path section of a planned (and thus only partially traveled) path already traveled up to the detected collision and a subsequent,as a result of the collision. The robot has, in one embodiment, at least three, in particular at least six, in one embodiment at least seven, joints or (motion) axes, in particular rotary joints or axes, in one embodiment a robot arm with at least three, in particular at least six, in one embodiment at least seven, joints or (motion) axes, in particular rotary joints or axes. The at least partially traveled path and / or the manual guide path is, in one embodiment, a path of a robot-fixed reference, in particular a reference point or coordinate system, in one embodiment fixed to the robot end flange or robot end effector.for example, the T(ool)C(enter)P(oint). Accordingly, in one embodiment, in the emergency operating mode, the reference is movable by a manual hand-guiding force exerted on the robot and is thereby virtually bound, in terms of control technology, to a hand-guiding path (of the reference), which has a path (of the reference) completely or partially traveled by the robot up to the detected collision. In one embodiment, the at least partially traveled path and / or the hand-guiding path is or is predetermined - on the basis of target poses specified in advance or before the movement of the robot or - on the basis of operator inputs during the movement of the robot, in a further embodiment by a path planner, in particular a path interpolator, and / or determined before or during the movement. In one embodiment, the robot or the reference is determined before the collision on the basis, in particular along,a or the specified path is moved automatically and / or in a direction of travel and thereby at least partially traveled this path, and an automated further movement and / or further movement in the direction of travel is stopped as a result of the detected collision. 118970P524 3 / 19 Kuka Deutschland GmbH 2022P00028 DE In one embodiment, the at least partially traveled path and / or the manual guide path is or will be stored, in a further development before the robot is traveled, in another development during or after the robot is traveled. In one embodiment, the manual guide path is: - a target pose, in particular based on target poses specified in advance or before the robot is moved and / or by a path planner, in particular a path interpolator,and / or a predetermined target path specified before or during the movement of the robot; - a section of this target path up to the collision; or - an actual (executed) path of the robot. Accordingly, in one embodiment, the method comprises the steps of: - moving the robot, in particular by (operating or controlling) its drive(s), - to travel a predetermined target path in a direction of travel, in particular with the reference, or - based on operator inputs during the movement of the robot; - detecting a collision of the robot; - if necessary, stopping further movement in the direction of travel as a result of the detected collision; and - executing an emergency operating mode of the robot as a result of the detected collision; wherein in the emergency operating mode, the robot is controlled such that it can be moved by a manual hand-guiding force exerted on the robot, and the robot, in one embodiment, the reference,In terms of control technology, it is virtually tied to - the target path or - the path section traveled by the robot or the reference up to the detected collision or - the path actually traveled by the robot or the reference up to the detected collision, wherein the robot or the reference, in one embodiment, can be moved manually or by the manual guidance force in the emergency operating mode again in the direction of travel after stopping further movement. 118970P524 4 / 19 Kuka Deutschland GmbH 2022P00028 DE In one embodiment, the at least partially traveled path and / or the manual guidance path is defined by a sequence of poses of the reference and / or joint positions of the robot. In one embodiment, a pose of the reference comprises a position, in particular a one-, two-, or three-dimensional one, and / or a position, in particular a one-, two-, or three-dimensional one,Orientation of the reference. Accordingly, the at least partially traveled path and / or the manual guide path, in particular the stored and / or desired path, can comprise, in particular be, a path of the reference. In one embodiment, a collision is detected by sensors; in a further development, this is done by means of one or more touch and / or distance sensors, one or more optical sensors, in particular cameras, and / or, in particular model-based, based on determined, in particular measured, joint and / or drive forces. For a more compact representation, an antiparallel force pair or torque is also generally referred to as a force within the meaning of the present invention.so that joint and / or drive forces and a manual hand-guiding force exerted on the robot in particular also comprise joint and / or drive torques or a manual hand-guiding torque exerted on the robot. The mobility of the robot by a manual hand-guiding force exerted on the robot can be realized in a manner known per se, in particular on the basis of control-engineered gravity compensation and / or in such a way that the robot remains in its position in the absence of external forces exerted on it or on a payload guided by the robot, in particular a known payload. The control-engineered (implemented or brought about) virtual restraint to the hand-guiding path comprises or brings about or is in one embodiment such that the robot is subjected to a movement, in particular the reference, in the direction of the hand-guiding path,in particular, contrary to the direction of travel of the at least partially traveled path up to the detected collision, due to or by a manual guidance force exerted manually on the robot, with its drives, offers less resistance than a movement transversely away from the hand guidance path or laterally away from the hand guidance path, in particular, a 118970P524 5 / 19 Kuka Deutschland GmbH 2022P00028 DE movement in the direction of the hand guidance path, in particular contrary to the direction of travel, does not offer any (noticeable) resistance and / or prevents a movement laterally or transversely away from the hand guidance path. Thus, one embodiment of the present invention is based on the idea of ​​switching to constrained hand guidance mode as a result of a detected collision, in which the robot, in one embodiment, retains its reference, although movable by a manual guidance force exerted manually on the robot,However, in terms of control technology, it is virtually tied to an actual path traveled up to the detected collision or to a target path at least partially traveled up to the detected collision. In this way, in one embodiment, a person can resolve a jamming situation (by manually moving or manually guiding the robot) in the event of a collision, while at the same time, the probability of further collisions can be reduced by being tied to the path. Compared to an automated retraction movement along a predetermined path, in one embodiment an operator can advantageously determine, in particular, the distance and / or the speed of the (hand-guided, tied) retraction movement. In one embodiment, the robot, in a further development the reference,In emergency mode, the robot is virtually bound to the hand guide path by means of an admittance control. In one embodiment, a hand guide force exerted manually on the robot is determined, in a further development using force sensors and / or based on joint and / or drive forces, and transformed into a desired movement of the robot, in a further development the reference, whereby components of the hand guide force that tend to cause a deviation from the hand guide path, or components of the desired movement that deviate from the hand guide path, are reduced, preferably masked out, or set to zero. In one embodiment, this allows for a precise and / or very rigid and / or control-technically simple restraint to be realized. In one embodiment, the robot is, in another development the reference,In emergency mode, the robot is virtually tied to the hand guideway by means of impedance control. 118970P524 6 / 19 Kuka Deutschland GmbH 2022P00028 DE In one embodiment, a mass-spring-damper behavior of the robot is achieved in a further development of the reference in the Cartesian or workspace, whereby the mass and / or damping can also be zero and / or the spring can have different stiffnesses in different degrees of freedom of the robot, in a further development of the reference in the Cartesian or workspace. In one embodiment, the impedance control is based on or taking into account a hand guide force exerted manually on the robot, which, in a further development, is determined by means of force sensors and / or based on joint and / or drive forces.determined and transformed into the target drive forces of the robot. As a result, the robot or the reference, in one embodiment, can also exhibit a control-engineered (implemented) compliance transversely away from the hand guide path or laterally away from the hand guide path, which is reduced compared to a compliance in the direction of the hand guide path, in particular against a direction of travel until a collision occurs. In this way, a user can control the robot better in one embodiment, for example, resolve jamming situations or avoid new obstacles. In one embodiment, the robot, in a further development the reference, is virtually tied to the hand guide path in emergency mode using the Operational Space Control Framework. For further information, see Khatib, O. (1987), A Unified Approach for Motion and Force Control of Robot Manipulators: The Operational Space Formulation, IEEE Jour. On Robotics and Automation, 3(1),43-53 and the content of which is incorporated in its entirety into the present disclosure. As a result, the virtual restraint in one embodiment can be implemented particularly simply, variably, and / or precisely. In one embodiment, the robot, in one development the reference, is virtually bound to the hand guide path in the emergency operating mode by control technology in such a way that a hand guide force of 1 N and / or (even by) a hand guide force of 10 N and / or (even by) a hand guide force of 200 N cannot cause the robot, in one development the reference, to deviate from the hand guide path. As a result, a precise and / or robust restraint or bound hand guidance can be implemented in one embodiment. 118970P524 7 / 19 Kuka Deutschland GmbH 2022P00028 DE In one version, the robot, in a further development the reference, is in the emergency operation mode virtually tied to the hand guideway in such a way thatthat (already) a manual guidance force of 1 N and / or (already) a manual guidance force of 10 N and / or (in any case) a manual guidance force of 200 N against a control-induced virtual resistance can cause the robot to deviate from the manual guidance path. In one embodiment, this allows a user to better guide the robot, for example, to resolve jamming situations or avoid new obstacles. In one embodiment, the virtual resistance is greater for a first distance of the robot, in a development of the reference, from the manual guidance path than for a smaller second distance; in one embodiment, the virtual resistance increases with the distance of the robot, in a development of the reference, from the manual guidance path. In one embodiment, this allows a user to better guide the robot, for example, to resolve jamming situations or avoid new obstacles. In one embodiment, the robot,In one embodiment, the reference is virtually tied to the hand guide path in the emergency operating mode in such a way that the reference, which is in a current pose on the hand guide path, is pulled to a target pose (of the reference) on the hand guide path that is closest to this current pose. This allows a very simple and / or haptically advantageous, particularly intuitive, restraint or tied hand guidance to be realized in one embodiment. In one embodiment, the robot, in one embodiment, the reference, is virtually tied to the hand guide path in the emergency operating mode in such a way that the reference, which is in a current pose on the hand guide path, is not pulled to a target pose (of the reference) on the hand guide path that is closest to this current pose. In one embodiment, the robot, in one embodiment, the reference,In the emergency operating mode, the hand is (instead) virtually bound to the hand guide path by control technology in such a way that the reference, which is in a current pose on the hand guide path, can be freely moved by the hand guiding force in the direction of a path tangent in the target pose (the reference) closest to the current pose. The path tangent can, in particular, run through the target pose closest to the current pose and a target pose adjacent to this on the hand guide path, or can be determined accordingly. Thus, in particular, a direction through two adjacent target poses is also referred to as a (discretized) path tangent in these target poses within the meaning of the present invention. In one embodiment, this allows for advantageous, particularly more sensitive and / or more precise, restraint or bound hand guidance.particularly in the case of target poses that are far apart from one another. In one embodiment, in the emergency operating mode, a movement of the robot is damped by control technology; in a further development, a damping force is implemented by control technology that counteracts a movement of the robot and / or increases with the speed of the robot. Additionally or alternatively, in one embodiment, in the emergency operating mode, the speed of the robot is or will be more limited than when traveling along the path traveled up to the collision. This can increase safety in one embodiment. According to one embodiment of the present invention, a system for controlling a robot, in particular hardware and / or software, in one embodiment programmatically, is configured to carry out a method described here and / or has means for executing an emergency operating mode of the robot following a detected collision.wherein the system or its means controls the robot in the emergency operating mode such that it can be moved by a manual hand-guiding force applied to the robot and is thereby virtually bound, in terms of control technology, to a hand-guiding path that has a path at least partially traveled by the robot until the detected collision, or the system or its means is configured for this purpose. In one embodiment, the system or its means comprises: - means for moving the robot, in particular drives of the robot and / or means for controlling the drives of the robot; and / or 118970P524 9 / 19 Kuka Deutschland GmbH 2022P00028 DE - means for detecting a collision of the robot,in particular sensors and / or means for processing sensor signals or collision detection information based thereon; and / or - (means for executing (the emergency operating mode by means of)) an impedance control or admittance control for virtually restraining the robot to the hand guide path; and / or - means for control-technically virtually restraining the robot to the hand guide path in the emergency operating mode such that a hand guide force of 1 N and / or a hand guide force of 10 N and / or a hand guide force of 200 N does not cause the robot to deviate from the hand guide path, or such that a hand guide force of 1 N and / or a hand guide force of 10 N and / or a hand guide force of 200 N can cause the robot to deviate from the hand guide path against a control-technically induced virtual resistance,wherein, in one embodiment, this virtual resistance is greater for a first distance of the robot from the path than for a smaller second distance, and in a further development, increases with the distance of the robot from the path; and / or - means for the control-technically virtual tying of the robot to the hand guide path in the emergency operating mode such that a robot-fixed reference located in a current pose on the hand guide path is pulled to a target pose on the hand guide path that is closest to this current pose, or such that a robot-fixed reference located in a current pose on the hand guide path is not pulled to a target pose on the hand guide path that is closest to this current pose,in one embodiment (instead) in the direction of a path tangent in the target pose closest to the current pose by the manual guiding force; and / or - means for control-technically damping a movement of the robot in the emergency operating mode; and / or - means for limiting a speed of the robot in the emergency operating mode more than when traveling along the path at least partially traveled up to the collision. A system and / or a means within the meaning of the present invention can be designed in hardware and / or software, in particular at least one, preferably data- or signal-connected, in particular digital, processing unit, in particular a microprocessor unit (CPU), graphics card (GPU) or the like, and / or one or more programs or program modules. The processing unit can be designed to execute commands,which are implemented as a program stored in a memory system, to process input signals from a data bus, and / or to output output signals to a data bus. A memory system can comprise one or more, in particular different, storage media, in particular optical, magnetic, solid-state, and / or other non-volatile media. The program can be designed in such a way that it embodies or is capable of executing the methods described here, so that the processing unit can execute the steps of such methods and thus, in particular, can control the robot. Controlling within the meaning of the present invention particularly comprises regulating. In one embodiment, a computer program product can comprise 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 particular. 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 configured to do so. In one embodiment, one or more, in particular all, steps of the method are fully or partially computer-implemented or one or more, in particular all, steps of the method are carried out fully or partially automatically, in particular by the system or its means. In one embodiment, the system comprises the robot. Further advantages and features emerge from the subclaims and the exemplary embodiments. In this regard,partially schematic: 118970P524 11 / 19 Kuka Deutschland GmbH 2022P00028 DE Fig. 1: a system for controlling a robot according to an embodiment of the present invention; and Fig. 2: a method for controlling the robot according to an embodiment of the present invention. Fig. 1 shows a robot (arm) 1 with, in the exemplary embodiment, six rotary joints, the joint positions of which are indicated by q1,...,q6 = q, and a reference E fixed to the robot end effector or flange, the current pose of which is indicated by xE, as well as a robot controller 2. By x, k ,…, x k+3 a given target path of robot 1 or its reference E is indicated. For example, x k+2 the current pose x E next target pose and with t a path tangent to this of the current pose x E next target pose x E,dindicated. In the exemplary embodiment, the hand guide path is the specified target path. The dynamics of the robot can be generally described by the equation ^ = M ^d²q / dt² + c(q, dq / dt) + g(q) (1) with the mass matrix M, the gyroscopic forces c, the gravitational forces g, and the generalized forces ^ in the space of the joint coordinates q. Using the well-known concept of the Operational Space Control Framework, the drive target torques ^ d in the joints of the robot 1 advantageously according to ^ d = J T ^{ ^ ^[K p ^(x E,d - x E ) + K d ^(dx E,d / dt - dx E / dt)] + ^ + p} + + N ^[ M ^(-K damp ^dq / dt) + c + g] (2) with the transpose J T the Jacobian matrix J = ^(dx E / dt) / ^(dq / dt), the mass matrix in the operational space ^ = (J ^M -1 ^J T ) -1 , the gyroscopic forces ^ = J T ^c - ^^dJ / dt ^dq / dt and gravitational forces p = J T ^g in the operational space, the null space projector N = 1 - 118970P524 12 / 19 Kuka Deutschland GmbH 2022P00028 DE J T ^J T with J T = M -1 ^J T ^ ^, the stiffness Kp of a virtual spring of the restraint, which can in particular be a scalar factor kp, the damping Kd of a virtual damper of the restraint, which can in particular be a scalar factor kd, and the damping -Kdamp ^dq / dt, which depends on the speed of the robot and is opposite to its movement and projected into the null space of the restraint (stask), where Kdamp can also be a scalar factor kdamp, are determined. The current pose x E the reference E located on the path next target pose x E,d on the track can be considered as that of the target poses x i can be found for which a norm |xi - xE| becomes minimal, in Fig.1: x E,d = x i ^{ x1,…, x k-2 , xk-1 , x k , x k+1 ,…, x n} with |x i - x E | = minimal By the above implementation (2), the reference E located in the current pose on the trajectory is pulled by a virtual spring to the next target pose on the trajectory that is closest to this current pose (cf. in particular the term K p ^(x E,d - x E)). As soon as the operator, who is manually guiding robot 1, has moved the reference far enough along the path beyond the target pose, to which the reference is virtually bound by the control system, that another target pose on the path is closer to the (now or new) current pose of the reference, this other target pose forms the new target pose closest to the current pose, to which the reference is then virtually bound by the control system. In other words, the spring "snaps" to or into the target pose closest to the current pose. In particular, to make hand guidance smoother, one embodiment proceeds as follows: The controller 2 determines a path tangent t in the target pose xE,d closest to the current pose, for example, with the direction vector zd = (xE,d - xE,d-1) / |xE,d - xE,d-1|, the rotation axis u =

[0001] T ^ zd and the rotation angle ^ = (

[0001] T ^zd) / (|

[0001] T| ^|zd|) of a rotation matrix R, which conveys a rotation around this rotation axis and this rotation angle, transforms the Jacobian matrix with this rotation matrix into 118970P524 13 / 19 Kuka Deutschland GmbH 2022P00028 DE d J = and calculates the above equation (2), where J is d J, xE,d by d xE,d = R T ^xE,d, xE by d xE = R T ^xE, dxE,d / dt by d xE,d / dt = R T ^dxE,d / dt and dxE / dt by d xE / dt = R T ^dxE / dt replaced, ^, ^ and p using d J instead of J and only the first two rows or x- and y-components of the Jacobian matrix d J and the poses or velocities d x E,d , d x E , d x E / dt or d x E, d / dt can be used. This way, the current pose x EThe reference E located on the path is not pulled to the target pose xE,d closest to the current pose on the path, as in the variant first explained with reference to equation (2), but is freely movable in the direction of the path tangent t in the target pose xE,d closest to the current pose by the hand guiding force, since the corresponding constraint (component) is masked out. In a method shown in Fig. 2 for controlling the robot 2 by the robot controller 1, in a first step S10 the robot travels the specified target path and is monitored for collisions.If a collision is detected during travel (step S20: "Y"), the system switches to an emergency operating mode and, in the emergency operating mode, the robot is controlled as described above such that it can be moved by a manual guide force exerted on the robot and is virtually bound, in terms of control technology, to a manual guide path which has a path at least partially traveled by the robot up to the detected collision (Fig. 2: step S30). Otherwise (step S20: "N"), the robot continues to travel along the specified target path. In contrast to an automated retraction movement, the operator can determine how far and fast the robot, bound to the at least partially traveled path, travels back by appropriately dosing the manual guide force and, if necessary, move it further or again in the previous direction of travel.Although exemplary embodiments have been explained in the preceding description, it should be noted that a multitude of modifications are possible. 118970P524 14 / 19 Kuka Deutschland GmbH 2022P00028 DE Thus, in the present exemplary embodiment, a predefined target path was used as the wrist guide path. Likewise, an actual (executed) path can also be used, which can improve reliability and enable use when moving the robot based on operator inputs during movement. On the other hand, the use of a target path predefined on the basis of predefined target poses can be computationally advantageous and / or compensate for unwanted deviations from the target path before the collision. Furthermore, it should be noted that the exemplary embodiments are merely examples and are not intended to limit the scope of protection, applications, or design in any way.Rather, the foregoing description provides the person skilled in the art with a guide for the implementation of at least one exemplary embodiment, whereby various changes, in particular with regard to the function and arrangement of the described components, can be made without departing from the scope of protection as it results from the claims and combinations of features equivalent to these.

[0002] 118970P524 15 / 19 Kuka Deutschland GmbH 2022P00028 DE List of reference symbols 1 Robot (arm) 2 (Robot) controller E Robot-fixed reference q1,…,q6 Joint coordinates t Path tangent xk,…, xk+3 Target poses xE Current pose x E, d the current pose next target pose

Claims

118970P524 16 / 19 Kuka Deutschland GmbH 2022P00028 DE Patent claims 1. A method for controlling a robot (1), comprising the steps of: - moving (S10) the robot; - detecting (S20) a collision of the robot; and - executing (S30) an emergency operating mode of the robot as a result of the detected collision; wherein in the emergency operating mode, the robot is controlled such that it can be moved by a manual hand-guiding force exerted on the robot and is thereby virtually bound by control technology to a hand-guiding path that has a path at least partially traversed by the robot up to the detected collision.

2. The method according to claim 1, characterized in that in the emergency operating mode, the robot is virtually bound to the hand-guiding path by means of an impedance control, in particular with the aid of the Operational Space Control Framework. 3.Method according to claim 1, characterized in that in the emergency operating mode the robot is virtually tied to the hand guide path by means of an admittance control.

4. Method according to one of the preceding claims, characterized in that in the emergency operating mode the robot is virtually tied to the hand guide path in terms of control technology in such a way that a hand guide force of 1 N and / or a hand guide force of 10 N and / or a hand guide force of 200 N cannot cause the robot to deviate from the hand guide path.

5. Method according to one of the preceding claims 1-3, characterized in that in the emergency operating mode the robot is virtually tied to the hand guide path in terms of control technology in such a way that a hand guide force of 1 N and / or a hand guide force of 10 N and / or a hand guide force of 200 N can cause the robot to deviate from the hand guide path against a control-induced virtual resistance. 118970P524 17 / 19 Kuka Deutschland GmbH 2022P00028 DE 6. The method according to claim 5, characterized in that the virtual resistance for a first distance of the robot to the hand guide path is greater than for a smaller second distance, in particular increases with a distance of the robot to the hand guide path.

7. The method according to one of the preceding claims, characterized in that the robot, in the emergency operating mode, is virtually tied to the hand guide path in a control-technical manner such that a robot-fixed reference (E) located in a current pose (xE) on the hand guide path is moved to a target pose (x E, d) is pulled along the hand guide path.

8. Method according to one of the preceding claims 1-6, characterized in that in the emergency operating mode, the robot is virtually bound to the hand guide path by control technology in such a way that a robot-fixed reference (E) located in a current pose (xE) on the path is not pulled towards a target pose (xE, d) on the hand guide path that is closest to this current pose, in particular the robot is instead freely movable in the direction of a path tangent (t) in the target pose closest to the current pose by the hand guide force.

9. Method according to one of the preceding claims, characterized in that in the emergency operating mode, a movement of the robot is damped by control technology.

10. Method according to one of the preceding claims, characterized in that in the emergency operating mode, a speed of the robot is more limited than when traveling along the path traveled up to the collision. 11.System for controlling a robot (1), which is set up to carry out a method according to one of the preceding claims and / or has means for executing an emergency operating mode of the robot as a result of a detected collision, wherein in the emergency operating mode the robot is controlled such that it can be moved by a manual hand guiding force exerted on the robot and is thereby virtually bound in terms of control technology to a hand guiding path which has a path traveled by the robot up to the detected collision. 118970P524 18 / 19 Kuka Deutschland GmbH 2022P00028 DE 12. A computer program or computer program product, wherein the computer program or computer program product contains instructions stored in particular on a computer-readable and / or non-volatile storage medium, which, when executed by one or more computers or a system according to claim 11, cause the computer(s) or the system to carry out a method according to one of claims 1 to 10.

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