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System for generating sets of control data for robots

10493625 ยท 2019-12-03

Assignee

Inventors

Cpc classification

International classification

Abstract

The invention relates to a system for generating sets of control data for networked robots, comprising a plurality of robots (R.sub.i), wherein i=1, 2, 3, . . . , n, and n2, an optimizer (OE) and a database (DB), which are networked via a data network, wherein each robot (R.sub.i) includes at least: a control unit (SE.sub.i) for controlling and/or regulating the robot (R.sub.i); a storage unit (SPE.sub.i) for controlling sets of control data SD.sub.i(A.sub.k), which in each case enable the control of the robot (R.sub.i) in accordance with a predetermined task (A.sub.k), wherein k=1, 2, 3, . . . , m; a unit (EE.sub.i) for specifying a new task A.sub.m+1 for the robot (R.sub.i), wherein A.sub.m+1A.sub.k; a unit (EH.sub.i) for determining a set of control data SD.sub.i(A.sub.m+1) for execution of the task (A.sub.m+1) by the robot (R.sub.i), an evaluation unit (BE.sub.i), which evaluates the set of control data SD.sub.i(A.sub.m+1) determined by the unit (EH.sub.i), with regard to at least one parameter (P1) with the characteristic number K.sub.P1(SD.sub.i(A.sub.m+1)), and a communication unit (KE.sub.i) for communication with the optimizer (OE) and/or the database (DB) and/or other robots (R.sub.ji), the optimizer (OE), which is designed and configured in order to determine, upon request by a robot (R.sub.i), at least one optimized set of control data SD.sub.i,P2(A.sub.m+1) with regard to at least one predetermined parameter (P2), wherein the request by the robot (R.sub.i) occurs when the characteristic number K.sub.P1(SD.sub.i(A.sub.m+1)) does not meet a predetermined condition, and the data base (DB) stores the set of control data SD.sub.i,P2(A.sub.m+1) optimized by the optimizer (OE) and provides it to the robot (R.sub.i) for execution of the task (A.sub.m+1).

Claims

1. A system to generate sets of control data for networked robots, the system comprising a plurality of robots R.sub.i, wherein i=1, 2, 3, . . . , n, and n2, an optimizer OE, and a database DB, which are networked via a data network DN, wherein: each robot R.sub.i comprises at least: a control unit SE.sub.i to control the robot R.sub.i; a storage unit SPE.sub.i to store sets of control data SD.sub.i(A.sub.k), which in each case enable control of the robot R.sub.i in accordance with a predetermined task A.sub.k, wherein k=0, 1, 2, . . . , m; a unit EE.sub.i to specify a new task A.sub.m+1 not yet solved for the robot R.sub.i, wherein A.sub.m+1A.sub.k, and wherein the unit EE.sub.i comprises a haptic, acoustic, and/or optical input interface configured to enable a user to locally enter user input causing the unit EE.sub.i to specify the new task A.sub.m+1; a unit EH.sub.i to determine a set of control data SD.sub.i(A.sub.m+1) for execution of the new task A.sub.m+1 by the robot R.sub.i; and an evaluation unit BE.sub.i to evaluate the set of control data SD.sub.i(A.sub.m+1) determined by the unit EH.sub.i, with regard to at least one parameter P1 with a characteristic number K.sub.P1(SD.sub.i(A.sub.m+1)); the optimizer OE to determine, upon request by the robot R.sub.i, at least one optimized set of control data SD.sub.i,P2(A.sub.m+1) with regard to at least one predetermined parameter P2, wherein the request by the robot R.sub.i occurs when the characteristic number K.sub.P1(SD.sub.i(A.sub.m+1)) does not meet a predetermined condition; and the database DB to store the optimized set of control data SD.sub.i,P2(A.sub.m+1) as optimized by the optimizer OE, and to provide the optimized set of control data SD.sub.i,P2(A.sub.m+1) to the robot R.sub.i for execution of the new task A.sub.m+1.

2. The system according to claim 1, wherein the parameter P1 and the parameter P2 are identical.

3. The system according to claim 1, wherein the parameter P1 or the parameter P2 is a partial energy consumption or a total energy consumption of the robot R.sub.i in execution of a respective set of control data SD.sub.i, or a total time period which the robot R.sub.i needs for execution of the respective control data SD.sub.i or a combination thereof.

4. The system according to claim 1, wherein the unit EH.sub.i is configured to be self-learning, wherein the set of control data SD.sub.i(A.sub.m+1) is determined based on the set of control data SD.sub.i(A.sub.k) for k=0 to m.

5. The system according to claim 4, wherein the unit EH.sub.i is configured so that the set of control data SD.sub.i(A.sub.m+1) is determined based on characteristic numbers K(SD.sub.i(A.sub.k)).

6. The system according to claim 1, wherein the optimizer OE is configured to be self-learning, wherein the optimized set of control data SD.sub.i,P2(A.sub.m+1) is determined based on already determined optimized sets of control data SD.sub.i,P2.

7. The system according to claim 1, wherein the optimizer OE is configured as a collaborative agent system in the data network DN, the collaborative agent system comprising at least the units EH.sub.i as agents, wherein the optimized set of control data SD.sub.i,P2(A.sub.m+1) is determined in one or more or all of the units EH.sub.i.

8. The system according to claim 1, wherein the optimized set of control data SD.sub.i,P2(A.sub.m+1) is determined by the optimizer OE using sets of control data SD.sub.i(A.sub.k), wherein k=0, 1, m, stored on the storage units SPE.sub.i.

9. The system according to claim 1, wherein the characteristic numbers K.sub.P1(SD.sub.i(A.sub.k)) are stored on the storage unit SPE.sub.i.

10. A method of generating sets of control data for networked robots in a system comprising a plurality of robots R.sub.i, wherein i=1, 2, 3, . . . , n, and n2, an optimizer OE, and a database DB, which are networked via a data network DN, wherein each robot R.sub.i comprises at least a control unit SE.sub.i, a storage unit SPE.sub.i, a unit EE.sub.i, a unit EH.sub.i, and an evaluation unit BE.sub.i, the method comprising: controlling each robot R.sub.i via a control unit SE.sub.i of the robot R.sub.i; storing in the storage unit SPE.sub.i of the robot R.sub.i sets of control data SD.sub.i(A.sub.k), which in each case enable control of the robot R.sub.i in accordance with a predetermined task A.sub.k, wherein k=0, 1, 2, . . . , m; specifying a new task A.sub.m+1 for the robot R.sub.i via the unit EE.sub.i of the robot R.sub.i, wherein A.sub.m+1A.sub.k, and wherein the unit EE.sub.i comprises a haptic, acoustic, and/or optical input interface configured to enable a user to locally enter user input causing the unit EE.sub.i to specify the new task A.sub.m+1; determining via the unit EH.sub.i of the robot R.sub.i a set of control data SD.sub.i(A.sub.m+1) for execution of the new task A.sub.m+1; evaluating via the evaluation unit BE.sub.i of the robot R.sub.i the set of control data SD.sub.i(A.sub.m+1) determined by the unit EH.sub.i, with regard to at least one parameter P1 with a characteristic number K.sub.P1(SD.sub.i(A.sub.m+1)); determining via the optimizer OE, upon request by the robot R.sub.i, at least one optimized set of control data SD.sub.i,P2(A.sub.m+1) with regard to a predetermined parameter P2, wherein the request by the robot R.sub.i occurs when the characteristic number K.sub.P1(SD.sub.i(A.sub.m+1)) does not meet a predetermined condition; and storing in the database DB the optimized set of control data SD.sub.i,P2(A.sub.m+1) as optimized by the optimizer OE, and providing the optimized set of control data SD.sub.i,P2(A.sub.m+1) to the robot R.sub.i for execution of the task A.sub.m+1.

11. The method according to claim 10, wherein the parameter P1 and the parameter P2 are identical.

12. The method according to claim 10, wherein the parameter P1 or the parameter P2 is a partial energy consumption or a total energy consumption of the robot R.sub.i in execution of a respective set of control data SD.sub.i, or a total time period which the robot R.sub.i needs for execution of the respective control data SD.sub.i, or a combination thereof.

13. The method according to claim 10, wherein the unit EH.sub.i is configured to be self-learning, wherein the set of control data SD.sub.i(A.sub.m+1) is determined based on the set of control data SD.sub.i(A.sub.k) for k=0 to m.

14. The method according to claim 13, wherein the unit EH.sub.i is configured so that the set of control data SD.sub.i(A.sub.m+1) is determined based on characteristic numbers K(SD.sub.i(A.sub.k)).

15. The method according to claim 10, wherein the optimizer OE is configured to be self-learning, wherein the optimized set of control data SD.sub.i,P2(A.sub.m+1) is determined based on already determined optimized sets of control data SD.sub.i,P2.

16. The method according to claim 10, wherein the optimizer OE is configured as a collaborative agent system in the data network DN, the collaborative agent system comprising at least the units EH.sub.i as agents, wherein the optimized set of control data SD.sub.i,P2(A.sub.m+1) is determined in one or more or all of the units EH.sub.i.

17. The method according to claim 10, wherein the optimized set of control data SD.sub.i,P2(A.sub.m+1) is determined by the optimizer OE using sets of control data SD.sub.i(A.sub.k), wherein k=0, 1, m, stored on the storage units SPE.sub.i.

18. The method according to claim 10, wherein the method comprises storing the characteristic numbers K.sub.P1(SD.sub.i(A.sub.k)) on the storage unit SPE.sub.i.

19. The method according to claim 10, wherein the method comprises enabling provision of communication via a communication unit KE.sub.i of each robot R.sub.i with the optimizer OE, the database DB, and other robots R.sub.ji over the data network DN.

20. The system according to claim 1, wherein each robot R.sub.i further comprises a communication unit KE.sub.i enabled to provide communication of the robot R.sub.i with the optimizer OE, the database DB, and other robots R.sub.ji over the data network DN.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) In the drawings:

(2) FIG. 1 shows a schematic structure of a variant of the proposed system.

DETAILED DESCRIPTION

(3) FIG. 1 shows a schematic structure of a variant of the proposed system for generating sets of control data for networked robots, including three robots R.sub.1, R.sub.2, R.sub.3, an optimizer OE, and a database DB, which are networked via a data network DN. Each of the robots R.sub.i, wherein i=1, 2, 3, includes: a control unit SE.sub.i to control and/or regulate the robot R.sub.i, a storage unit SPE.sub.i to store sets of control data SD.sub.i(A.sub.k), which each enable the control of the robot R.sub.i in accordance with the predetermined task A.sub.k, wherein k=0, 1, 2, . . . , m; a unit EE.sub.i to specify a new task A.sub.m+1 for the robot R.sub.i, wherein A.sub.m+1A.sub.k; a unit EH.sub.i to determine a set of control data SD.sub.i(A.sub.m+1) for execution of the task A.sub.m+1 by the robot R.sub.i, an evaluation unit BE.sub.i to evaluate the set of control data SD.sub.i(A.sub.m+1) determined by the unit EH.sub.i with regard to at least one parameter P1 with the characteristic number K.sub.P1(SD.sub.i(A.sub.m+1)), and a communication unit KE.sub.i enabled to provide communication of the robot R.sub.i with the optimizer OE, and/or with the database DB, and/or other robots R.sub.jI via data network DN. The data communication between the respective robots R.sub.i and the local units associated therewith (SE.sub.i, SPE.sub.i, EH.sub.i, EE.sub.i, BE.sub.i and KE.sub.i) can be obtained in this example embodiment in accordance with the arrows shown.

(4) The optimizer OE is designed and configured to determine, upon request by a robot R.sub.i, a set of control data SD.sub.i,P2(A.sub.m+1) which has been optimized with regard to at least one predetermined parameter P2, wherein the requirement by the robot R.sub.i occurs if the characteristic number K.sub.P1(SD.sub.i(A.sub.m+1)) does not meet a predetermined condition. The database DB stores the sets of control data SD.sub.i,P2(A.sub.m+1) optimized by the optimizer OE and provides them to the robot R.sub.i for execution of the task A.sub.m+1.

(5) Although the invention is illustrated further and explained in detail by preferred example embodiments, the invention is not limited to the disclosed examples, and other variants can be derived therefrom by the person skilled in the art, without departing from the scope of protection of the invention. Therefore, it is clear that a plurality of possible variations exists. It is also clear that embodiments mentioned as examples in fact only represent examples which in no way can be conceived of as limiting, for example, the scope of protection, the application possibilities, or the configuration of the invention. Instead, the predetermined description and the FIGURE description allow the person skilled in the art in the position to concretely implement the example embodiments, wherein the person skilled in the art, having learned the disclosed inventive thought, can make multiple changes, for example, with regard to the function or the arrangement of individual elements mentioned in an example embodiment, without departing from the scope of protection which is defined by the claims and their legal equivalences, for example, further explanations in the description.