OPERATING AN APPLICATION OF A ROBOT SYSTEM

Abstract

A method for operating an application of a robot system includes selecting a first robot system situation module from a situation module library that comprises a plurality of predefined application-independent robot system situation modules for the robot system, each of which modules maps at least one input signal onto at least one output signal; linking the first robot system situation module to at least one additional selected robot system situation module from the situation module library, and/or to at least one application-class-specific application class situation module that is predefined for a class of a plurality of applications and maps at least one input signal onto at least one output signal, and/or to at least one application-specific application situation module that maps at least one input signal onto at least one output signal, to form a first application situation module that maps the input signals of its linked situation modules onto at least one output signal; and operating the application on the basis of the first application situation module.

Claims

1-9. (canceled)

10. A method for operating an application of a robot system, the method comprising: selecting a first robot system situation module from a situation module library that comprises a plurality of predefined application-independent robot system situation modules for the robot system, each of which modules maps at least one input signal onto at least one output signal; linking the first robot system situation module to at least one of: at least one additional selected robot system situation module from the situation module library, at least one application-class-specific application class situation module that is predefined for a class of a plurality of applications and which maps at least one input signal onto at least one output signal, or at least one application-specific application situation module that maps at least one input signal onto at least one output signal, to form a first application situation module that maps the input signals of its linked situation modules onto at least one output signal; and operating the application on the basis of the first application situation module.

11. The method of claim 10, wherein the situation module library comprises at least one predefined application-independent robot system situation module of a first level of complexity, and at least one predefined application-independent robot system situation module of a second, higher level of complexity.

12. The method of claim 10, wherein mapping of the at least one input signal onto the at least one output signal of at least one of the situation modules is machine-learned.

13. The method of claim 10, wherein the robot system comprises at least one of: at least one robot; at least one robot tool; at least one fixing device; at least one transport device; or at least one storage device.

14. The method of claim 10, further comprising: mapping, with at least one of the situation modules, at least one of: at least one position input signal, at least one movement input signal, or at least one load input signal onto at least one output signal.

15. The method of claim 14, wherein the at least one position input signal, the at least one movement input signal, or the at least one load input signal are input signals of at least one component of the robot system.

16. The method of claim 10, wherein operating the application comprises at least one of programming, executing, monitoring, or evaluating the application.

17. A situation module library for a method of operating an application of a robot system, wherein a selected first robot system situation module is linked with at least one of: at least one additional selected robot system situation module from the situation module library, at least one application-class-specific application class situation module that is predefined for a class of a plurality of applications and which maps at least one input signal onto at least one output signal, or at least one application-specific application situation module that maps at least one input signal onto at least one output signal, to form a first application situation module that maps the input signals of its linked situation modules onto at least one output signal; the situation module library comprising: a plurality of predefined application-independent robot system situation modules for the robot system, each of which modules maps at least one input signal onto at least one output signal.

18. A system for operating an application of a robot system, the system comprising: means for selecting a first robot system situation module from a situation module library that comprises a plurality of predefined application-independent robot system situation modules for the robot system, each of which modules maps at least one input signal onto at least one output signal; means for linking said first robot system situation module to at least one of: at least one additional selected robot system situation module from the situation module library, at least one application-class-specific application class situation module that is predefined for a class of a plurality of applications and maps at least one input signal onto at least one output signal, or at least one application-specific application situation module that maps at least one input signal onto at least one output signal, to form a first application situation module that maps input signals of its linked situation modules onto at least one output signal; and means for operating the application on the basis of the first application situation module.

19. A computer program product for operating an application of a robot system, the computer program product comprising program code stored on a non-transitory, computer-readable storage medium, the program code, when executed by a computer, causing the computer to: select a first robot system situation module from a situation module library that comprises a plurality of predefined application-independent robot system situation modules for the robot system, each of which modules maps at least one input signal onto at least one output signal; link the first robot system situation module to at least one of: at least one additional selected robot system situation module from the situation module library, at least one application-class-specific application class situation module that is predefined for a class of a plurality of applications and which maps at least one input signal onto at least one output signal, or at least one application-specific application situation module that maps at least one input signal onto at least one output signal, to form a first application situation module that maps the input signals of its linked situation modules onto at least one output signal; and operate the application on the basis of the first application situation module.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0085] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and, together with a general description of the invention given above, and the detailed description given below, serve to explain the principles of the invention.

[0086] FIG. 1 shows a robot system according to one embodiment of the present invention;

[0087] FIG. 2 illustrates a method for operating an application of the robot system according to one embodiment of the present invention; and

[0088] FIG. 3 illustrates a linked first application situation module according to one embodiment of the present invention.

DETAILED DESCRIPTION

[0089] FIG. 1 shows a robot system for operating an application according to one embodiment of the present invention.

[0090] The robot system comprises a robot (arm) 1, which guides a robot tool 2, a conveying device 3 for conveying workpieces 4, and a cell controller 5 for controlling the robot system.

[0091] FIG. 2 illustrates a method for operating the application of the robot system according to one embodiment of the present invention.

[0092] In a first step S10, a user selects a first robot system situation module from a situation module library that comprises a plurality of predefined application-independent robot system situation modules for the robot system, each of which modules maps at least one input signal onto at least one output signal.

[0093] By way of example, in this respect a plurality of robot system situation modules R.sub.1, i, i=1, . . . , 3 of a first, lowest complexity level, i.e. a plurality of robot system basic situation data R.sub.1, i, are indicated in FIG. 3. Such robot system basic situation data for example map sensor data or traces of the robot 1 onto the situation or the output signal “axis 1 of the robot 1 is moving,” “axis 2 of the robot 1 is moving,” etc., “axis 6 of the robot 1 is moving.”

[0094] Furthermore, by way of example a plurality of robot system situation modules R.sub.2, i, i=1, . . . , 3 of the first, lowest complexity level, i.e. a plurality of robot system basic situation data R.sub.2, i are indicated in FIG. 3. Said robot system basic situation data for example map sensor data or traces of the robot 1 onto the situation or the output signal “no contact force on the robot 1 in X-direction,” “no force contact on the robot 1 in Y-direction,” etc.

[0095] In turn by way of example, and as also indicated in FIG. 3, these robot system basic situation data are also linked with more complex robot system situation modules R.sub.1, R.sub.2, R.sub.3. These map the output signals of the robot system basic situation data onto output signals, for example according to the provision or the axiom: “at least one of the axes of the robot 1 is moving⇔robot 1 is moving” or “none of the axes of the robot 1 is moving⇔robot 1 is not moving” (R.sub.1) or “contact force in at least one direction on the robot 1⇔robot 1 in contact” or “no contact force in any direction on the robot 1⇔robot 1 not in contact” (R.sub.2) or “robot 1 is moving AND robot 1 not in contact⇔(collision-)free travel” or “robot 1 is not moving OR robot 1 in contact⇔no (collision-)free travel” (R.sub.3).

[0096] In a step S20, the user links these predefined application-independent robot system situation modules from the situation module library with application-class-specific application class situation modules and/or application-specific application situation modules, which are indicated in FIG. 3 by A.sub.i, i=1, . . . , 7 and which can in turn be of different complexity levels. For example, an application-class-specific application class situation module “component grasped by robot” can be an application-specific, in particular first, application situation module “electrical component grasped by robot” or the like, or can map the corresponding input signals onto corresponding output signals.

[0097] On the basis of the situation modules thus linked to the first application situation module, in a step S30, the application can then be operated, in particular programmed, executed, monitored and/or evaluated, for example causes can be determined from observable error symptoms, or arising eventualities in the application can be reacted to dynamically.

[0098] Although embodiments have been explained in the preceding description, it is noted that a large number of modifications are possible.

[0099] It is also noted that the embodiments are merely examples that are not intended to restrict the scope of protection, the applications, and the structure in any way. Rather, the preceding description provides a person skilled in the art with guidelines for implementing at least one embodiment, with various changes, in particular with regard to the function and arrangement of the described components, being able to be made without departing from the scope of protection as it arises from the claims and from these equivalent combinations of features.

[0100] While the present invention has been illustrated by a description of various embodiments, and while these embodiments have been described in considerable detail, it is not intended to restrict or in any way limit the scope of the appended claims to such de-tail. The various features shown and described herein may be used alone or in any combination. Additional advantages and modifications will readily appear to those skilled in the art. The invention in its broader aspects is therefore not limited to the specific details, representative apparatus and method, and illustrative example shown and described. Accordingly, departures may be made from such details without departing from the spirit and scope of the general inventive concept.

LIST OF REFERENCE SIGNS

[0101] 1 Robot (arm) [0102] 2 Robot tool [0103] 3 Transport device [0104] 4 Workpiece [0105] 5 Cell controller [0106] R.sub.i(, j) Robot system situation module (i=1, 2, . . . ; j=1, 2, . . . ) [0107] A.sub.i Application (class) situation module (i=1, . . . , 7)