Controlling an automation assembly

Abstract

The invention relates to a method for controlling an automation assembly which has a robot assembly with at least one robot (10) and a detection means assembly with at least one detection means (21-23), said method having the following at least partly automated steps: providing (S10) a first sequence of first ordinate data (q.sub.1, q.sub.2, dq.sub.2/dt, τ.sub.1, τ.sub.2) assigned to successive first abscissa points (t) on the basis of first training data (q.sub.1, q.sub.2, τ.sub.1, X.sub.2); identifying (S20) a first event point (t.sub.E) within the first abscissa points of the first sequence; and determining (S30) a first event criterion on the basis of the first sequence and the first event point.

Claims

1. A method for controlling an automation arrangement having a robot arrangement with at least one robot (10) and a capture means arrangement with at least one capture means (21-23), having the at least partially automated steps of: providing (S10) a first sequence of first ordinate data (q.sub.1, q.sub.2, dq.sub.2/dt, τ.sub.1, τ.sub.2) assigned to successive first abscissa points (t) on the basis of first training data (q.sub.1, q.sub.2, τ.sub.1, τ.sub.2); identifying (S20) a first event point (t.sub.E) within the first abscissa points in the first sequence; and determining (S30) a first event criterion on the basis of the first sequence and the first event point, characterized in that: that the provision of the first sequence of ordinate data assigned to successive first abscissa points on the basis of training data comprises capturing the first training data in an at least partially automated manner by means of the capture means arrangement during operation of the robot arrangement, and/or simulating the first training data in an at least partially automated manner and/or storing, loading and/or filtering, amplifying, differentiating one or more times and/or integrating, the training data simulated and/or captured using the capture means arrangement during operation of the automation arrangement; at least one capture means in the capture means arrangement captures positions of and/or forces and/or torques in joints of at least one robot in the robot arrangement, in an at least partially automated manner; at least one additional capture means in the capture means arrangement additionally captures the first event and outputs a corresponding event signal and an abscissa point at which this event signal is output is identified as the first event point; and the determination of the first event criterion on the basis of the first sequence and the first event point comprises, in an at least partially automated manner, varying a selection of a logical and/or temporal link between: a limit value criterion for ordinate data in one said sequence; and a limit value criterion for ordinate data in another said sequence.

2. The method as claimed in claim 1, having the at least partially automated steps of: providing (S10) at least one second sequence of second ordinate data (q.sub.1, q.sub.2, dq.sub.2/dt, τ.sub.1, τ.sub.2) assigned to successive abscissa points (t) on the basis of training data (q.sub.i, q.sub.2, τ.sub.1. τ.sub.2); and determining (S30) the first event criterion on the basis of the second sequence.

3. The method as claimed in claim 1, having the at least partially automated steps of: identifying (S20) at least one second event point within the successive first abscissa points in the first sequence; and determining (S30) the first and/or at least one second event criterion on the basis of the first sequence and the second event point.

4. The method as claimed in claim 1, characterized in that: the at least one capture means in the capture means arrangement captures said forces and/or torques in said joints of said at least one robot in the robot arrangement, in said at least partially automated manner.

5. The method as claimed in claim 1, characterized in that: the at least one additional capture means captures said first event visually or auditorily.

6. The method as claimed in claim 1, having the at least partially automated steps of: capturing (S10) the training data by means of the capture means arrangement during operation of the automation arrangement, in particular the robot arrangement; repeating (S20) this operation or a recording of it at a variably reduced speed, and/or with variable pauses; and capturing (S20) the user input during this repetition.

7. The method as claimed in claim 1, characterized in that the determination of an event criterion on the basis of at least one sequence and at least one event point comprises varying a limit value for ordinate data in this sequence in an at least partially automated manner.

8. The method as claimed in claim 1, characterized in that the variation comprises capturing a user specification in an at least partially automated manner.

9. The method as claimed in claim 1, characterized in that at least one event criterion has real-time capability.

10. The method as claimed in claim 1, having the at least partially automated steps of: capturing (S40) current data by means of the capture means arrangement during operation of the robot arrangement; and controlling (S40) the robot arrangement on the basis of the current data and at least one event criterion, the controlling triggering at least one action of the robot arrangement as a result of at least one event criterion being satisfied by the current data.

11. The method as claimed in claim 1, comprising an at least partially automated generating and/or modifying (S40) a program for controlling the robot arrangement, using at least one event criterion.

12. The method as claimed in claim 1, characterized in that: the first event is a contact; and the at least one additional capture means captures said contact via a laser-based or ultrasound-based distance measurement.

13. A system which is set up to cavy out a method as claimed in claim 1, and has: means (3) for providing a first sequence of first ordinate data (q.sub.1, q.sub.2, dq.sub.2/dt, τ.sub.1, τ.sub.2) assigned to successive first abscissa points (t) on the basis of first training data (q.sub.1, q.sub.2, τ.sub.1, τ.sub.2); means (3) for identifying a first event point (t.sub.E) within the first abscissa points in the first sequence; and means (3) for determining a first event criterion on the basis of the first sequence and the first event point.

14. An arrangement having an automation arrangement, which has a robot arrangement with at least one robot (10) and a capture means arrangement with at least one capture means (21-23), and having a system as claimed in claim 13, for controlling the automation arrangement.

15. A computer program product having a program code which is stored on a computer-readable medium and is intended to carry out a method as claimed in claim 1.

16. A method for controlling an automation arrangement having a robot arrangement with at least one robot (10) and a capture means arrangement with at least one capture means (21-23), having the at least partially automated steps of: providing (S10) a first sequence of first ordinate data (q.sub.1, q.sub.2, dq.sub.2/dt, τ.sub.1, τ.sub.2) assigned to successive first abscissa points (t) on the basis of first training data (q.sub.1, q.sub.2, τ.sub.1, τ.sub.2); identifying (S20) a first event point (t.sub.E) within the first abscissa points in the first sequence; and determining (S30) a first event criterion on the basis of the first sequence and the first event point, characterized in that: the determination of an event criterion on the basis of at least one sequence and at least one event point comprises, in an at least partially automated manner, varying a selection of at least two sequences of a limit value criterion for ordinate data.

17. The method as claimed in claim 16, having the at least partially automated steps of: providing (S10) at least one second sequence of second ordinate data (q.sub.1, q.sub.2, dq.sub.2/dt, τ.sub.1, τ.sub.2) assigned to successive abscissa points (t) on the basis of training data (q.sub.1, q.sub.2, τ.sub.1, τ.sub.2); and determining (S30) the first event criterion on the basis of the second sequence.

18. The method as claimed in claim 17, having the at least partially automated steps of: identifying (S20) at least one second event point within the successive first abscissa points in the first sequence; and determining (S30) the first and/or at least one second event criterion on the basis of the first sequence and the second event point.

19. A method for controlling an automation arrangement having a robot arrangement with at least one robot (10) and a capture means arrangement with at least one capture means (21-23), having the at least partially automated steps of: providing (S10) a first sequence of first ordinate data (q.sub.1, q.sub.2, dq.sub.2/dt, τ.sub.1, τ.sub.2) assigned to successive first abscissa points (t) on the basis of first training data (q.sub.1, q.sub.2, τ.sub.1, τ.sub.2); identifying (S20) a first event point (t.sub.E) within the first abscissa points in the first sequence; determining (S30) a first event criterion on the basis of the first sequence and the first event point; capturing (S40) current data by means of the capture means arrangement during operation of the robot arrangement; and controlling (S40) the robot arrangement on the basis of the current data and at least one event criterion, the controlling triggering at least one action of the robot arrangement as a result of at least one event criterion being satisfied by the current data, characterized in that: at least one capture means in the capture means arrangement captures positions of and/or forces and/or torques in joints of at least one robot in the robot arrangement, in an at least partially automated manner; at least one additional capture means in the capture means arrangement additionally captures the first event and outputs a corresponding event signal and an abscissa point at which this event signal is output is identified as the first event point; and the determination of an event criterion on the basis of the first sequence and the first event point comprises, in an at least partially automated manner, varying a selection of a logical and/or temporal link between: a limit value criterion for ordinate data in one said sequence; and a limit value criterion for ordinate data in another said sequence.

20. The method as claimed in claim 19, wherein: the first event is a contact; the at least one capture means in the capture means arrangement captures said forces and/or torques in said joints of said at least one robot in the robot arrangement, in said at least partially automated manner; and the at least one additional capture means captures said contact auditorily.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) Further advantages and features emerge from the subclaims and the exemplary embodiments. In this respect, in a partially schematic manner:

(2) FIG. 1 shows an arrangement having an automation arrangement, which has a robot arrangement with a robot and a capture means arrangement with capture means, and having a system for controlling the automation arrangement according to one embodiment of the present invention;

(3) FIG. 2 shows various sequences of provided ordinate data; and

(4) FIG. 3 shows a method for controlling the automation arrangement according to one embodiment of the present invention.

DETAILED DESCRIPTION

(5) FIG. 1 shows an arrangement having an automation arrangement, which has a robot arrangement with a robot 10 and a capture means arrangement with capture means 21-23, and having a system 3 for controlling the automation arrangement according to one embodiment of the present invention.

(6) For a better overview, in the exemplary embodiment which is accordingly highly simplified, the robot 10 has only a first rotating joint, which can be adjusted with respect to the environment by the rotation angle q.sub.1 about a vertical axis, and an arm which can be adjusted with respect to the first rotating joint by the rotation angle q.sub.2 about a horizontal axis. Position and torque sensors 21, 22 in these joints provide the system 3 with corresponding position data q.sub.1, q.sub.2 and force or torque data τ.sub.1, τ.sub.2.

(7) In addition, in the exemplary embodiment, for better understanding, the capture means arrangement has a force sensor or pressure switch 23 which provides the system 3 with an event signal when actuated.

(8) FIG. 2 indicates, again in a highly simplified manner, the position data q.sub.1, the first time derivative dq.sub.2/dt of the position data q.sub.2 and the force or torque data τ.sub.1, τ.sub.2 against the time t when the robot 10 actuates the force sensor or pressure switch 23 by pivoting down its arm. It is seen that this event is not reflected in the data q.sub.1, τ.sub.1 relating to the first joint, whereas the speed dq.sub.2/dt decreases greatly and the torque τ.sub.2 increases to a greater extent than before in the second joint.

(9) FIG. 3 shows a method for controlling the automation arrangement according to one embodiment of the present invention, which method is carried out by the system 3. In this respect, reference is made to the fact that the system 3 may also have a two-part design, in particular, and, according to one embodiment of the present invention, may have a part (subsystem) for determining at least one event criterion and generating and/or modifying a program for controlling the automation arrangement, in particular the robot arrangement, using this event criterion and a further part (subsystem) which is, in particular, separate therefrom and is intended to execute the program or control the automation arrangement, in particular the robot arrangement.

(10) In a step S10, the force sensor or pressure switch 23 is actuated during training operation by pivoting down the robot arm and position data q.sub.1, q.sub.2 and force or torque data τ.sub.1, τ.sub.2 are captured in the process by the sensors 21, 22 as training data.

(11) On the basis of these training data, the system 3 provides, in step S10, ordinate data in the form of time series q.sub.1(t), q.sub.2(t), τ.sub.1(t), τ.sub.2(t) by means of filtering and/or amplification and provides further ordinate data in the form of further time series dq.sub.1/dt, dq.sub.2/dt by means of differentiation.

(12) In a step S20, a visual recording of this actuation is repeated at a reduced speed which is set by the user, with the result that a user can precisely determine the moment at which contact is made with the switch when viewing the visual recording, for example by means of a voice command, a key press or the like, and can input this moment as an event (time) point t.sub.E, as indicated in FIG. 2. Equally, an event signal from the force sensor or pressure switch 23 can also be used, for example, to identify the event (time) point t.sub.E in a completely automated manner.

(13) In a step S30, the system 3 now varies a selection of the available ordinate data q.sub.1(t), q.sub.2(t), τ.sub.1(t), τ.sub.2(t), dq.sub.1/dt, dq.sub.2/dt, different threshold values for these ordinate data, for example dq.sub.2/dt<G.sub.1, dq.sub.2/dt<G.sub.2 etc., as well as different links of these threshold values, for example dq.sub.2/dt<G.sub.1 AND τ.sub.2>G.sub.3 etc., and determines that event criterion which best detects the event (time) point t.sub.E.

(14) In the exemplary embodiment (which is highly simplified for illustration), the ordinate data q.sub.1(t), τ.sub.1(t) and dq.sub.1/dt, for example, do not have any correlation with the event (time) point t.sub.E, the ordinate data τ.sub.2(t) have a medium correlation and the ordinate data dq.sub.2/dt have a large correlation, wherein the undershooting of a threshold value G.sub.1 best detects the event (time) point t.sub.E. It should be emphasized that this exemplary embodiment is highly simplified for better understanding and contact could be detected in an (even) better manner, for example, on the basis of an absolute value of an acceleration limit value being exceeded, but no ordinate data |d.sup.2q.sub.2/dt.sup.2| are taken into account in the exemplary embodiment for better clarity.

(15) Accordingly, in step S30, the system 3 determines that the threshold value G.sub.1 is undershot by the speed dq.sub.2/dt in the second rotating joint as the event criterion for detecting actuation of the force sensor or pressure switch 23 by the robot 10.

(16) This event criterion is then used in a step S40 in a program for the robot 10 and the robot is controlled on the basis of this program.

(17) If a program for actuating a more rigid switch is intended to be created, the same method can be carried out again in principle.

(18) In this case, the user can already restrict the available ordinate data to the ordinate data dq.sub.2/dt in step S30 since it is known from the previous application that these ordinate data are particularly suitable for detecting actuation of a switch. The system then determines only the new threshold value suitable for the more rigid switch in step S30.

(19) It also becomes clear from the exemplary embodiment (which is highly simplified for illustration) that, in step S10, further training data could also be provided, for example by measuring or simulating actuation of more rigid switches, and that event criterion which is overall most suitable for these different training data could be determined in step S30, with the result that a particularly robust event criterion can be advantageously determined.

(20) It also becomes clear that the user in FIG. 2 could also input further event points for detecting further events, for instance a collision of the robot 10 rotating about the vertical axis, or for detecting the same event if repeated actuation of the pressure sensor or switch 23 is measured.

(21) Although exemplary embodiments have been explained in the description above, it should be pointed out that a multiplicity of modifications are possible. In addition, it should be pointed out that the exemplary embodiments are only examples which are not intended to restrict the scope of protection, the applications and the structure in any manner. Rather, the description above provides a person skilled in the art with a guideline for implementing at least one exemplary embodiment, in which case various changes can be made, in particular with regard to the function and arrangement of the components described, without departing from the scope of protection which emerges from the claims and these equivalent combinations of features.

LIST OF REFERENCE SIGNS

(22) 10 Robot 21-23 Sensor (capture means) 3 System