DE102018112647A1 - Method for operating a robot by means of a special process calculus - Google Patents

Abstract

The invention relates to a method for operating a robot (1), wherein the robot (1) has a computing unit (9) and a plurality of actuator units (3) and / or sensor units (5), wherein the arithmetic unit (9) is designed for execution a task, a control of the actuator units (3) and / or the sensor units (5) by a plurality of parallel executable processes, wherein for at least a first part of the processes, a first hierarchy is defined and for at least a second part of the processes defines a second hierarchy wherein, in the first hierarchy, a second one of the processes under a first one of the processes is scheduled to execute on the arithmetic unit (9) when the first one of the processes is terminated, in the second hierarchy one over a plurality of fourth ones of the processes third of the processes is terminated when all fourth of the processes are terminated, and wherein for a third part of the processes au f a command execution is started within a fifth of the processes of the third part, depending on the task, a sixth of the processes of the third part, or a sixth active process of the third part is parameterized or terminated during execution of the fifth of the processes.

Description

The invention relates to a method for operating a robot, a device for operating a robot, and a robot with such a device.

The object of the invention is to make management of processes in the operation of a robot more efficient.

The invention results from the features of the independent claims. Advantageous developments and refinements are the subject of the dependent claims.

A first aspect of the invention relates to a method for operating a robot, wherein the robot has a computing unit and a multiplicity of actuator units and / or sensor units, wherein the arithmetic unit for carrying out a task controls the actuator units and / or the sensor units in parallel by a multiplicity executable processes, wherein for at least a first part of the processes, a first hierarchy is defined and for at least a second part of the processes, a second hierarchy is defined, wherein in the first hierarchy a second of the processes under a first of the processes when executed on the Arithmetic unit is terminated when the first of the processes is terminated, wherein in the second hierarchy one of a plurality of fourth of the processes third of the processes is terminated, when all fourth of the processes are terminated, and wherein for a third part of the processes to a Befehlsausf within a fifth of the processes of the third part, depending on the task, a sixth of the processes of the third part is started, or a sixth of the processes of the third part active during the execution of the fifth of the processes is parameterized or terminated.

Processes that can be executed in parallel are, in particular, processes in which one process does not have to wait for a result from another process in order to be executable on its own, but processes that can be executed independently of one another simultaneously or quasi-simultaneously (in particular on a single-core processor).

A particular process from the multiplicity of processes is understood to mean, in particular, an executable program part, wherein the program part is preferably available as executable machine-readable code of the arithmetic unit. This executable program part is preferably present as a compiled source code, also called "binary", or alternatively preferably as an executable script. In particular, a respective process contains, in particular, a multiplicity of possible or even necessary instruction executions, wherein each of the instruction executions is implemented in the form of a programmed function in the executable code underlying a respective process. In the execution of a process, in particular, machine-readable code is read into a main memory of the arithmetic unit and executed from this main memory. A respective process is designed, in particular, to control one of the actuator units and / or one of the sensor units, the term "activation" being to be understood in such a way that a respective one of the actuator units is subjected to a desired value during the activation, whereas the activation of a respective one of the sensor units is effected it is to be understood that the processes executed on the arithmetic unit which actuate a respective one of the sensor units does not maintain a data connection to the sensor unit, that is, reads in information acquired by the sensor unit and if necessary processes it accordingly. If no activation of one of the sensor units in the above-mentioned sense takes place by means of a respective process, then there is no data connection between one of the sensor units and the respective process. Furthermore, controlling one of the sensor units by a respective process is to be understood as a control of one of the sensor units in the actual sense if the sensor unit has a parameterizable size, for example if an aperture angle of a camera unit can be set by control or if a numerical measuring range of a sensor unit passes through Control is changeable or when a sensor unit can detect a signal in a variety of frequency spectra, wherein by driving a spectral range is selectable.

Preferably, the first part of the processes, the second part of the processes, and the third part of the processes are mutually non-exclusive, that is, a respective one of the processes can be assigned to exactly one of the parts, or exactly two of the parts can be assigned, or exactly three of the three parts can be assigned or can not be assigned to any of the parts.

• - ein sechster der Prozesse wird gestartet, oder
• - ein während der Ausführung des fünften der Prozesse aktiver sechster der Prozesse wird parametriert,
• - ein während der Ausführung des fünften der Prozesse aktiver sechster der Prozesse wird terminiert.

In particular for a third part of the processes, one of the following possibilities is executed for a specific command execution within a fifth of the processes, depending on the task:

• - a sixth of the processes is started, or
• a sixth of the processes active during the execution of the fifth of the processes is parameterized,
• a sixth of the processes active during the execution of the fifth of the processes is terminated.

Which of the three options is chosen by a particular command execution depends on the task, in particular the current progress of the task execution and / or the type of task. Furthermore, it depends on whether a sixth of the processes is active during the execution of the fifth of the processes, that is to say carried out. For each of the three options, a separate command execution is preferably available in the fifth of the processes, wherein each of the command executions preferably takes the form of a function call, that is, a so-called "function call".

It is an advantageous effect of the invention that the management of processes in the operation of a robot is made more efficient and in particular a central unit for managing the processes is omitted or at least reduced to a minimum, in particular because the processes can control each other.

According to an advantageous embodiment, the plurality of fourth of the processes are used to control in each case at least one of the actuator units, and the third of the processes is a process for activating at least one of the sensor units for monitoring the fourth of the processes and / or the actuator units controlled by the fourth of the processes.

In particular, monitoring the fourth of the processes describes monitoring for an occurrence of an error in at least one of the fourth processes.

According to a further advantageous embodiment, the plurality of fourth of the processes are used for driving in each case at least one of the actuator units, and the third of the processes is a process for controlling the fourth of the processes.

In controlling the fourth of the processes, the third of the processes assumes a management role, that is, it serves as the process manager through the fourth of the processes.

According to a further advantageous embodiment, the second of the processes is started by the first of the processes.

In particular, the second of the processes is already started at the beginning of the execution of the first of the processes, so that the second of the processes is a so-called "child process" of the first of the processes.

According to a further advantageous embodiment, when terminating the third of the processes, a seventh of the processes for further execution of the task is started, wherein by the seventh of the processes further of the processes for activating the actuator units and / or sensor units are started.

According to a further advantageous embodiment, at least one of the actuator units for executing a seek motion of an end effector of a robot manipulator of the robot for finding a recess in an object is driven by the sixth of the processes, and by the fifth of the processes at least one of the sensor units for monitoring a vertical speed of the end effector, wherein the sixth of the processes is terminated by the fifth of the processes when the fifth of the processes detects a vertical velocity of the end effector above a predefined limit.

According to a further advantageous embodiment, the second of the processes activates at least one of the actuator units for exerting a force by the robot on an object and the first of the processes activates at least one of the sensor units for monitoring a position of an end effector of a robot manipulator of the robot.

According to a further advantageous embodiment, all processes are terminated when at least one of the first to seventh of the processes is unexpectedly terminated by an error.

Another aspect of the invention relates to a device for operating a robot, wherein the robot has a computing unit and a plurality of actuator units and / or sensor units, wherein the computing unit is designed to perform a task by driving the actuator units and / or the sensor units by means of a plurality performing parallel executable processes, wherein for at least a first part of the processes, a first hierarchy is defined and for at least a second part of the processes, a second hierarchy is defined, wherein in the first hierarchy, a second of the processes under a first of the processes at execution the arithmetic unit is terminated when the first of the processes is terminated, wherein in the second hierarchy, a third of the processes over a plurality of fourth of the processes is terminated, when all fourth of the processes are terminated, and wherein for a third part of the processes e In the case of a command execution, a sixth of the processes of the third part is started within a fifth of the processes of the third part, depending on the task, or a sixth of the processes of the third part active during the execution of the fifth of the processes is parameterized or terminated.

Another aspect of the invention relates to a robot with a device as described above and below.

Advantages and preferred developments of the proposed method result from an analogous and analogous transmission of the statements made above in connection with the proposed device.

Further advantages, features and details will become apparent from the following description in which - where appropriate, with reference to the drawings - at least one embodiment is described in detail. The same, similar and / or functionally identical parts are provided with the same reference numerals.

• 1 ein Verfahren zum Betreiben eines Roboters gemäß einem Ausführungsbeispiel der Erfindung, und
• 2 einen Roboter mit einer Vorrichtung zum Betreiben des Roboters gemäß einem weiteren Ausführungsbeispiel der Erfindung.

Show it:

• 1 a method of operating a robot according to an embodiment of the invention, and
• 2 a robot with a device for operating the robot according to another embodiment of the invention.

The illustrations in the figures are schematic and not to scale.

1 shows a method for operating a robot 1 , where the robot 1 an arithmetic unit 9 and a plurality of actuator units 3 and / or sensor units 5 , wherein by the arithmetic unit 9 to perform a task, a control of the actuator units 3 and / or the sensor units 5 is performed by a plurality of parallel executable processes, wherein for at least a first part of the processes, a first hierarchy is defined and for at least a second part of the processes, a second hierarchy is defined, wherein in the first hierarchy, a second of the processes under a first of the processes when executed on the arithmetic unit 9 is terminated when the first of the processes is terminated, wherein in the second hierarchy, a third of the processes over a plurality of fourth of the processes is terminated, when all fourth of the processes are terminated, and wherein for a third part of the processes Command execution within a fifth of the processes of the third part depending on the task, a sixth of the processes of the third part is started, or during the execution of the fifth of the processes active sixth of the processes of the third part is parameterized or terminated. The three parts are in 1 With " I "," II " and " III " designated.

2 shows a robot 1 with a device 10 to operate a robot 1 , where the robot 1 an arithmetic unit 9 and a plurality of actuator units 3 and / or sensor units 5 has, wherein the arithmetic unit 9 to do this, a task by controlling the actuator units 3 and / or the sensor units 5 by performing a plurality of parallel executable processes, wherein for at least a first part of the processes, a first hierarchy is defined and for at least a second part of the processes, a second hierarchy is defined, wherein in the first hierarchy, a second of the processes under a first of the processes when executed on the arithmetic unit 9 is terminated when the first of the processes is scheduled, wherein in the second hierarchy, a third of the processes over a plurality of fourth ones of the processes is terminated, when all fourth ones of the processes are terminated, and wherein for a third portion of the processes is a command execution within a fifth of the processes of the third part, depending on the task, a sixth of the processes of the third part is started, or a sixth of the processes of the third part active during the execution of the fifth of the processes is parameterized or terminated.

Although the invention has been further illustrated and explained in detail by way of preferred embodiments, the invention is not limited by the disclosed examples, and other variations can be derived therefrom by those skilled in the art without departing from the scope of the invention. It is therefore clear that a multitude of possible variations exists. It is also to be understood that exemplified embodiments are really only examples that are not to be construed in any way as limiting the scope, applicability, or configuration of the invention. Rather, the foregoing description and description enable the skilled artisan to practice the exemplary embodiments, and those of skill in the knowledge of the disclosed inventive concept may make various changes, for example, to the function or arrangement of particular elements recited in an exemplary embodiment. without departing from the scope defined by the claims and their legal equivalents, such as further explanation in the specification.

LIST OF REFERENCE NUMBERS

1

robot

3

actuator units

5

sensor units

9

computer unit

10

device

Claims (10)

Method for operating a robot (1), wherein the robot (1) has a computer unit (9) and a multiplicity of actuator units (3) and / or sensor units (5), wherein a control unit is provided by the computer unit (9) for executing a task the actuator units (3) and / or the sensor units (5) are implemented by a multiplicity of parallel executable processes, wherein for at least a first part of the processes a first hierarchy is defined and for at least a second part of the processes a second hierarchy is defined, wherein in the first hierarchy, a second one of the processes under a first one of the processes is terminated when executed on the arithmetic unit (9) when the first of the processes is terminated, wherein in the second hierarchy, a third of the processes over a plurality of fourth ones of the processes is terminated when all fourth ones of the processes are terminated, and wherein, for a third part of the processes for a command execution within a fifth of the processes of the third part, a sixth of the processes of the third part is started depending on the task, or a sixth of the processes of the third part active during the execution of the fifth of the processes is parameterized or is terminated. Method according to Claim 1 wherein the plurality of fourth one of the processes for driving each of at least one of the actuator units (3) and the third of the processes, a process for driving at least one of the sensor units (5) for monitoring the fourth of the processes and / or by the fourth of the processes actuated actuator units (3). Method according to Claim 1 wherein the plurality of fourth of the processes are for driving at least one of the actuator units (3), respectively, and the third of the processes is a process for controlling the fourth of the processes. Method according to Claim 1 wherein the second of the processes is started by the first of the processes. Method according to one of the preceding claims, wherein at the termination of the third of the processes, a seventh of the processes for further execution of the task is started, wherein by the seventh of the processes more of the processes for driving the actuator units (3) and / or sensor units (5) started become. Method according to one of the preceding claims, wherein at least one of the actuator units (3) for executing a seek movement of an end effector of a robot manipulator of the robot (1) is searched by the sixth of the processes for finding a recess in an object and by the fifth of the processes at least one of the sensor units (5) for a Monitoring a vertical speed of the end effector is driven, and wherein the sixth of the processes is terminated by the fifth of the processes when a vertical velocity of the end effector above a predefined limit is detected by the fifth of the processes. Method according to one of the preceding claims, wherein at least one of the actuator units (3) for exerting a force by the robot (1) is driven onto an object by the second of the processes and by the first of the processes at least one of the sensor units (5) for monitoring a position of an end effector of a robot manipulator of the robot (1) is driven. Method according to one of the preceding claims, wherein all processes are terminated when at least one of the first to seventh of the processes is unexpectedly terminated by an error. Device (10) for operating a robot (1), wherein the robot (1) has a computing unit (9) and a plurality of actuator units (3) and / or sensor units (5), wherein the computing unit (9) is designed to perform a task by controlling the actuator units (3) and / or the sensor units (5) by means of a plurality of parallel executable processes, wherein for at least a first part of the processes, a first hierarchy is defined and defines a second hierarchy for at least a second part of the processes is wherein, in the first hierarchy, a second one of the processes under a first one of the processes is terminated when executed on the arithmetic unit (9) when the first of the processes is terminated, wherein, in the second hierarchy, a third of the processes over a plurality of fourth of the processes is terminated when all fourth of the processes are terminated, and wherein for a third portion of the processes, a command execution within a fifth of the processes of the third part is dependent upon the task is started a sixth of the processes of the third part, or during the execution of the fifth of the processes active sixth of the processes of the third part is parameterized or terminated. Robot (1) with a device (10) according to Claim 9 ,

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