EP3631591A1 - Commande de processus - Google Patents

Commande de processus

Info

Publication number
EP3631591A1
EP3631591A1 EP18726810.7A EP18726810A EP3631591A1 EP 3631591 A1 EP3631591 A1 EP 3631591A1 EP 18726810 A EP18726810 A EP 18726810A EP 3631591 A1 EP3631591 A1 EP 3631591A1
Authority
EP
European Patent Office
Prior art keywords
arrangement
station
processes
fleet
vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP18726810.7A
Other languages
German (de)
English (en)
Inventor
Andreas Bauer
Horst-Moritz MAUS
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KUKA Systems GmbH
Original Assignee
KUKA Systems GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by KUKA Systems GmbH filed Critical KUKA Systems GmbH
Publication of EP3631591A1 publication Critical patent/EP3631591A1/fr
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
    • G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1375—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning stacker-crane or truck
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
    • G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the transport system
    • G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/32—Operator till task planning
    • G05B2219/32283—Machine scheduling, several machines, several jobs
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50393—Floor conveyor, AGV automatic guided vehicle
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the present invention relates to a process control system for a system with at least one workstation and at least one transport vehicle, a system with a system and the process controller for controlling the system, a method for controlling a system using the process controller, and a
  • PLCs Programmable Logic Controllers
  • Object of the present invention is to improve a control system with at least one workstation and at least one transport vehicle.
  • Claims 8, 15 protect a system having a plant described herein and a process controller for controlling the plant or a computer program product described therein for carrying out a method described here.
  • the subclaims relate to advantageous developments. According to one embodiment of the present invention, a plant has a
  • the or one or more of the workstation (s) in each case has / have one or more robots and / or will be (partially) automatically or partially automated controlled by means of work or this is set up or used for this purpose ,
  • the present invention can be used with particular advantage, in particular by such systems or workstations advantageously particularly variable, especially dialing and / or fall or
  • the plant has a
  • Vehicle arrangement with one or more transport vehicles which is / are partially or completely automated, or is / are partially or completely automated, or is / are partially or completely automated, or is / are / is / are / is / are set up for this purpose.
  • Transport vehicle in particular rail-bound or -builds suspension, especially wheels, caterpillars or tracked chassis, and / or a vehicle control for at least partially automated steering of the vehicle and / or transported / transported goods, in particular
  • Starting materials in particular starting materials and / or semi-finished products, end products and / or tools to, within the) and / or from the
  • Station arrangement in particular to, from and / or between the or one or more of the workstation (s) or is / are / is for this purpose used.
  • the or one or more of the transport vehicle (s) is / are a driverless (acting) vehicle
  • AGV Automatic Guided Vehicle
  • the present invention can be used with particular advantage, in particular by such systems or transport vehicles advantageously particularly variable, in particular election and / or case or as needed, different processes are performed.
  • the system in one embodiment is a so-called matrix system with a plurality of variably usable workstations and one or more material and / or tool bearings, by the vehicle arrangement or their
  • Transport vehicles interact variably with each other, in particular the
  • a process controller which controls or is used for this purpose, in particular hardware and / or software, in particular program technology, has a process controller, in particular one
  • Station arrangement communicates / communicate.
  • Process by the plant or its station arrangement include, in particular.
  • Commanding a movement of a transport vehicle can in one
  • Transport vehicles include, in particular.
  • the process and the fleet means communicate with each other or are for this purpose, in particular hardware and / or software, in particular program technology, set up.
  • Observing processes of the station arrangement and planning, executing and / or observing movements of the vehicle arrangement are linked to one another, in particular coordinated with each other, in particular interact with each other.
  • Workstations considered the provision and / or collection of output products, in particular starting materials and / or semi-finished products, end products and / or tools by transport vehicle of the vehicle arrangement, in particular this planned on the basis of the planned processes and / or
  • the process means and the working means arrangement communicate with one another or are set up for this purpose, in particular hardware and / or software, in particular program technology.
  • the process agent can advantageously carry out and / or observe planned processes using the work equipment arrangement or its working means, and in particular monitor and / or accordingly plan accordingly based on feedback by the work equipment arrangement.
  • the fleet means and the working means arrangement with each other or are for this purpose, in particular hardware and / or software, in particular programmatically, set up.
  • working equipment can advantageously request, direct, actuate and / or observe transport vehicles in one embodiment.
  • process and fleet means and working equipment arrangement within or through the process control in particular corresponding (communication) interfaces
  • processes of workstations and transports between them can be coordinated, in particular interconnected controlled and / or monitored in one embodiment, become.
  • Synchronization of the station arrangement and the vehicle arrangement can be realized or improved.
  • the process control has a user means, by which data, in particular parameters, in particular for planning the processes and / or movements, are entered by an operator and / or data, in particular current and / or planned states of the workstations and / or
  • Transport vehicles issued to an operator, in particular visualized or displayed graphically, or this, in particular hardware and / or software, in particular programmatically, is set up.
  • Movements influenced, in particular parameterized, and / or the implementation of Processes and / or positions, in particular movements, the transport vehicles are displayed.
  • the process and the fleet means and / or the process means and the work equipment arrangement and / or the fleet means and the work equipment arrangement communicate and / or the user and the process means and / or the user and the fleet means and / or the user means and the
  • a particularly advantageous communication within the process control realized and / or their means are particularly advantageous linked together.
  • the process means plans processes of the station arrangement, in particular the or one or more of their workstations and / or one or more of their components, in particular robots, based on
  • Starting products in particular starting materials and / or semifinished products, and / or end products and / or process step sequences, in particular temporally, in particular (time) deterministic or with deterministic or, in particular, reliable, predictable time (points) and / or backward and / or or while the station arrangement performs processes, or is for this purpose, in particular hardware and / or software, in particular program technology, set up.
  • the starting products and / or end products and / or process steps are at least partially predetermined, in particular in the form of lists and / or by an operator, partially or fully automated production planning, a partially or fully automated goods management system or the like.
  • processes in one embodiment can advantageously be planned at least partially automated by specifying the corresponding output products, end products or process step sequences.
  • the process agent may schedule assembly of a vehicle door at a workstation if the vehicle door (front / rear, left / right, etc.) and / or the vehicle (series, paint, etc.) and / or the
  • Assembly sequence (gripping, placing, fastening, etc.). be specified.
  • backward tarpaulin i. Beginning with a time later, in particular last, process, especially production step and then continuing, in particular-progressing, with or at a time earlier, in particular (respectively) preceding process or production step can be reduced in one embodiment, the risk of planning blind alley ,
  • the process agent schedules processes of
  • Station arrangement temporally, in particular (time) deterministic or with
  • the fleet means schedules movements of the vehicle arrangement temporally, in particular (time) deterministically or with deterministic or, in particular, reliable, predictable
  • Time (point) en or is for this purpose, in particular hardware and / or software, in particular program technology, set up.
  • scheduling includes scheduling future processes, movements, and / or times or durations.
  • individual processes and / or movements can be synchronized and / or at least partially parallelized.
  • the process control can control the positions of individual
  • process and / or fleet resources schedule (time) deterministically or with deterministic or, in particular, reliable, predictable time (points).
  • processes can be planned in advance and / or processes currently being carried out (dynamically) can be rescheduled.
  • Planning in one embodiment generally also includes optimizing or planning to reduce, in particular minimize, a one- or multi-dimensional quality criterion.
  • Movements are each improved, in particular be planned quickly and / or timely.
  • the process means allocates different workstations of the station arrangement for carrying out processes of the station arrangement, in particular those planned by the process means, and / or
  • the process means for a planned installation of a vehicle door allocate a suitable, for the assembly time (still) free, workstation and at the appropriate times still free AGVs for transporting the door (s), fasteners or the like.
  • the process means can advantageously plan the processes, in particular optimally utilize existing resources.
  • the fleet means communicates with the vehicle arrangement via one or more fleet managers, in a development with the or one or more transport vehicles alternatively via a (selected) of several (provided, in particular existing) fleet managers and / or with at least a first of the Transport vehicles via a (first) fleet manager and with at least a second of the transport vehicles via another (second) fleet manager or is for this purpose, in particular hardware and / or software, in particular program technology, set up.
  • a fleet manager directs, in particular controls and / or monitors, in one embodiment transport vehicles and / or communicates, in particular for this purpose, with these, in one embodiment directly and / or wirelessly or by wire.
  • the process controller can advantageously use different fleet managers and thus be adapted to different boundary or operating conditions. Additionally or alternatively, other means of the
  • Process control in particular their process means and / or their user agent and / or the or one or more work equipment their work equipment arrangement (respectively) - on the or the fleet manager - with transport vehicles
  • the fleet means plans stays of transport vehicles of the vehicle arrangement at different predetermined locations, in particular workstations, in particular different positions within the workstations, and / or charging stations, in particular for charging transport vehicles of the vehicle arrangement with electrical energy and / or fuel Installation, in particular in terms of time, in particular (time) deterministically or with deterministic or, in particular, reliable, predictable time (points), and / or while the station arrangement is carrying out processes, or for this purpose, in particular hardware and / or software , in particular programmatically, set up.
  • Scheduling stays of transport vehicles at predetermined locations or nodes involves allocating or reserving timeslots at the appropriate location or node for the corresponding transport vehicles.
  • the path planning of the vehicle arrangement can be advantageously carried out by the liquor means of the process control and, in particular, coordinated with or on the process planning thereof and / or independently of the fleet manager (s) used.
  • the one or more communicates
  • station control in particular therefore a PLC and / or a robot controller, for controlling and / or monitoring (respectively) one or more workstation (s) of the station arrangement, in particular one or more of its components, in particular while the station arrangement performs processes, or is / are for this purpose, in particular hardware and / or software, in particular
  • station controllers can be used by the process control for execution and / or monitoring and assigned to them by means of working equipment of the working means arrangement assigned to them.
  • the process control in particular its process means, can set up work programs via the work equipment arrangement
  • station controllers can communicate with transport vehicles via the work equipment arrangement and the fleet means, in particular by issuing and / or monitoring commands (start and / or stop), in particular taking into account their position (s).
  • a means in the sense of the present invention may be designed in terms of hardware and / or software, in particular a data or signal-connected, preferably digital, processing, in particular microprocessor unit (CPU) and / or a memory and / or bus system or multiple programs or program modules.
  • the CPU may be configured to execute instructions implemented as a program stored in a memory system, to capture input signals from a data bus, and / or
  • a storage system may comprise one or more, in particular different, storage media, in particular optical, magnetic, solid state and / or other non-volatile media.
  • the program may be such that it is capable of embodying or executing the methods described herein, so that the CPU may perform the steps of such methods, and thus, in particular, control the system.
  • a computer program product may have, in particular, a storage medium for storing a program or a program stored thereon, in particular non-volatile memory, wherein execution of this program causes a system or a controller, in particular a computer, to perform a described here Execute method or one or more of its steps.
  • a means, in particular the processing means, the liquor and / or the or one or more of the working means of the working means arrangement have an interface, in particular, in particular
  • Fleet means an interface for communication with the fleet manager (s) and / or a working means an interface for communication with the station controller assigned to it, in particular temporarily or permanently.
  • the present invention can be used in the body shop or the process control system or system or the method or system can be used for this purpose.
  • the process agent is superior to the liquor agent and / or the working fluid arrangement. This can do it in one
  • Flottenffen and / or work equipment arrangement are subordinate or subordinate, in particular act.
  • the system can be particularly advantageous in one embodiment
  • Process controlled, in particular optimized processes and / or the communication and / or synchronization of process and fleet means and / or process means and working equipment arrangement and / or fleet means and working equipment arrangement can be improved.
  • the process agent centralizes processes from two or more of the workstations of the station assembly,
  • the process agent may plan, execute, in particular command, monitor, especially monitor, or monitor processes of the station arrangement using, in particular, artificial intelligence (AI)
  • AI artificial intelligence
  • the (process) control of the system can be (further) improved, in particular in combination with the higher-level and / or centralized acting). Processes of the station arrangement are optimized and / or better coordinated with the transport of conveyed goods.
  • Fig. 1 a part of a system with a plant and a process controller for controlling the plant according to an embodiment of the present invention.
  • Fig. 1 shows a part of a system with a plant and a process controller 100 for controlling the plant according to an embodiment of the present invention.
  • the plant has a station arrangement with - in the exemplary embodiment exemplarily two - workstations 10, 20 and a vehicle arrangement with - in
  • Embodiment exemplified three - automated transport vehicles in the form of AGVs 30, 31 and 32 for the transport of goods to and from, in particular between the workstations 10, 20 of the station assembly and bearings 50 of the system.
  • the workstations 10, 20 in the exemplary embodiment each have a robot 1 1 or 21 and a PLC 12 or 22 for controlling and / or monitoring the
  • a PLC can also control several robots.
  • the process control 100 has a process means 110 for centralized planning, execution and / or monitoring, in particular monitoring, of processes of the station arrangement 10, 20, of a subordinate fleet means 120 for planning, executing and / or monitoring, in particular monitoring, of
  • the process controller 100 includes user means 140 for inputting data 40 by an operator and outputting data 41 to an operator.
  • User means 140 communicate with each other, as indicated in phantom in Fig.1.
  • a means 1 13 of the process means 1 10 plans processes of the station arrangement 10, 20 on the basis of lists of starting and / or end products 1 11 and
  • the means 1 13 can do so on the basis of the bodies and doors and windows to be mounted on them (basic products) or on the bodies to be created with doors and windows (end products) and the steps necessary for this, in particular in terms of time, for example, the workstation 10, the door assembly and the workstation 20, in particular temporally coordinated, assign window installation and also the process in the individual workstations, especially in time, plan, for example, the sequence of doors to be mounted or windows and / or the sequence of this each necessary steps, such as gripping the corresponding component, arranging on the body and then attaching it.
  • a means 1 14 of the processing means 110 allocates the corresponding ones
  • a means 1 15 of the processing means 1 10 allocates according to the process planning of the means 1 13 transport vehicles 30 - 32 for delivering or collecting the
  • the (means 1 14) of the process agent (s) 110 communicates with the fleet means 120, in particular its means 121, which stays from
  • Transport vehicles of the vehicle arrangement schedules at different predetermined locations.
  • the means 121 reserves time windows for the various transport vehicles 30 - 32 at different nodes of a graph or network.
  • the fleet means 120 comprises means 122 which communicates with the vehicle arrangement 30-32 via fleet managers 300, 310.
  • fleet manager 300 controls this example
  • Vehicles 30, 31 and fleet manager 310 vehicle 32 This is intended only the Illustrate the power of process control. In modifications not shown, only a fleet manager, in particular either one of
  • the exemplary embodiment also illustrates that the planning and commanding of the movement of the transport vehicles of the vehicle arrangement by (means 121 of the) fleet means (s) 120 which communicates through the means 122 with the fleet managers 300, 310, which in turn the transport vehicles 30-32 direct control.
  • Means 121 may also plan the on-demand start of charging stations 60 for electrical charging and / or refueling the transport vehicles (a) in the planning.
  • a means 1 16 of the process means 1 10 now executes the planned processes by the work programs created by means 1 13, for example, to grasp the corresponding component, arranging on the body and then
  • Fleet managers 300 and 310 can command and / or monitor the transport vehicles, for example, by SPS 12 an arrival of
  • Transport vehicle 30 reports to the fleet manager 300 and / or its Eintial. Continue in the or the workstation 10 triggers.
  • a means 1 17 of the processing means 1 10 monitor the processes carried out by the workstations 10, 20 and communicate accordingly with their PLCs 12, 22 via the working means 130 or 131 assigned to them, as described above that it can reschedule, for example re-sort and / or postpone further processes as needed.
  • User means 140 an operator on the one hand enter data 40, for example, to parameterize processes or the like.
  • the user means 140 can display data 41 to him, in particular current and / or planned states of the processes and / or workstations 10, 20 and / or positions of transport vehicles 30 - 32 display.
  • FIG. 1 represents in a compact manner the process controller 100 as well as a method performed by it for controlling the plant according to an embodiment of the present invention.

Abstract

L'invention concerne une commande de processus (100) pour une installation qui comprend un agencement de stations comprenant au moins une station de travail (10, 20) au moins partiellement automatisée et un agencement de véhicules comprenant au moins un véhicule de transport (30-33) au moins partiellement automatisé et destiné au le transport de produits vers, dans et/ou à partir de l'agencement de stations, le procédé comprenant : un moyen de processus (110) pour la planification, l'exécution et/ou l'observation, en particulier la surveillance, de processus de l'agencement de stations, un moyen de flotte (120) pour la planification, l'exécution et/ou l'observation, en particulier la surveillance, de déplacements de l'agencement de véhicules et un agencement de moyens de travail comprenant au moins un moyen de travail (130, 131) pour la commande et/ou la surveillance d'au moins une station de travail de l'agencement de stations, les moyens de processus et de flotte et/ou le moyen de processus et l'agencement de moyens de travail et/ou le moyen de flotte et l'agencement de moyens de travail étant conçus pour la communication entre eux.
EP18726810.7A 2017-06-02 2018-05-25 Commande de processus Pending EP3631591A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017005350.2A DE102017005350A1 (de) 2017-06-02 2017-06-02 Prozesssteuerung
PCT/EP2018/063763 WO2018219796A1 (fr) 2017-06-02 2018-05-25 Commande de processus

Publications (1)

Publication Number Publication Date
EP3631591A1 true EP3631591A1 (fr) 2020-04-08

Family

ID=62235976

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18726810.7A Pending EP3631591A1 (fr) 2017-06-02 2018-05-25 Commande de processus

Country Status (5)

Country Link
US (1) US11305937B2 (fr)
EP (1) EP3631591A1 (fr)
CN (1) CN110692024A (fr)
DE (1) DE102017005350A1 (fr)
WO (1) WO2018219796A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102020124684B4 (de) 2020-09-22 2024-05-02 Audi Aktiengesellschaft Verfahren sowie Steuereinheit zum automatisierten Einlasten jeweiliger Fertigungsprozesse von Werkstücken unterschiedlicher Typen in einem gewünschten Verhältnis

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EP1457854B1 (fr) * 2001-11-09 2008-04-09 Amada Company, Limited Systeme compose de traitement de toles
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CN106292461B (zh) * 2016-10-09 2019-02-15 江苏蓝鑫电子科技有限公司 一种冷链运输安全远程监管系统

Also Published As

Publication number Publication date
US20200156870A1 (en) 2020-05-21
US11305937B2 (en) 2022-04-19
WO2018219796A1 (fr) 2018-12-06
DE102017005350A1 (de) 2018-12-06
CN110692024A (zh) 2020-01-14

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