Robot Device Configured to Determine an Interaction Machine Position of at Least One Element of a Predetermined Interaction Machine, and Method

A robot device, comprising:

• an optical detection device configured to detect a surrounding area image of an area surrounding the robot device;
• and
• a control device in which a predetermined reference marking and a predetermined reference position of the reference marking with respect to at least one element of an interaction machine are stored, wherein the control device is configured to:
• detect an image detail that shows the reference marking of the interaction machine in the surrounding area image of the area surrounding the robot device,
• detect the predetermined reference marking in the image detail,
• determine a distortion of the predetermined reference marking in the image detail,
• determine a spatial position of the reference marking with respect to the robot device from the distortion of the reference marking,
• determine an interaction machine position of at least one element of the interaction machine with respect to the robot device from the spatial position of the reference marking with respect to the robot device and the reference position of the reference marking with respect to the at least one element of the interaction machine, and
• subject the robot device to closed-loop control and/or open-loop control for performing a predetermined interaction with the at least one element of the interaction machine in the interaction machine position.

A method for determining an interaction machine position of at least one element of a predetermined interaction machine with respect to a robot device, the method comprising:

• detecting, using an optical detection device of the robot device, a surrounding area image of an area surrounding the robot device;
• storing, using a control device of the robot device, a predetermined reference marking and a predetermined reference position of the reference marking with respect to the at least one element of the predetermined interaction machine is stored;
• detecting an image detail that shows the reference marking of the interaction machine in the surrounding area image of the area surrounding the robot device;
• detecting the predetermined reference marking in the image detail is detected;
• determining a distortion of the predetermined reference marking in the image detail;
• determining a spatial position of the reference marking with respect to the robot device from the distortion of the reference marking;
• determining the interaction machine position of the at least one element of the interaction machine with respect to the robot device from the spatial position of the reference marking with respect to the robot device and the reference position of the reference marking with respect to the at least one element of the interaction machine;
• and
• subjecting the robot device to closed-loop control and/or open-loop control for performing a predetermined interaction with the at least one element of the interaction machine in the interaction machine position.