EP3934858A1

EP3934858A1 - Method, system and nonvolatile storage medium

Info

Publication number: EP3934858A1
Application number: EP20710474.6A
Authority: EP
Inventors: Christian PIECHNICK; Klaus Wagner
Original assignee: Wandelbots GmbH
Current assignee: Wandelbots GmbH
Priority date: 2019-03-07
Filing date: 2020-03-06
Publication date: 2022-01-12
Also published as: JP2022524385A; DE102019105820A1; US20220143830A1; WO2020178435A1; KR20220002279A; CN113710430A

Abstract

The invention relates to various embodiments according to which a method can comprise: determination (103) of a machine-independent process model (104m) on the basis of data, wherein the data represents the handling of a tool (104) when carrying out (101) a process sequence, wherein the process sequence has a plurality of partial processes, wherein the process model (104m) links a process activity with physical information from the partial process for each partial process of the plurality of partial processes; mapping (105) of the machine-independent process model (104m) onto a machine-specific control model (116m) of a machine, using a model (114m) of the machine (114), wherein, for each partial process of the plurality of partial processes, the machine-specific control model (116m) defines a working point of the machine (114) which corresponds to the process activity and the physical information from the partial process.

Description

description

Process, system and non-volatile storage medium

Various exemplary embodiments relate to a method, a system and a non-volatile storage medium.

Both the programming of an industrial robot and the programming of the associated system control are conventionally dependent on the manufacturer and the robot. The

Programming is usually done in the form of program code by one or more specially trained staff

Experts. Programming is therefore time-consuming and expensive, especially for a rail-based application (e.g. welding, gluing, painting).

The cost makes automation by means of a

Industrial robots (also referred to as robots in a simplified manner) are economically unattractive for small and medium-sized companies, since they usually do not produce large quantities with little production variability, which could outweigh the costs. For large companies, on the other hand, the lack of flexibility in programming can be unattractive. Retrofitting the programming is time-consuming, making it shorter and uneconomical

Production cycles arise.

The complexity of the programming increases due to the integration of the industrial robot with its diverse components, such as an end effector (e.g. a

Glue gun), a sensor system (e.g. a camera) and a control system (e.g. a programmable logic device

Control - PLC). In this regard, the following sub-aspects are conventionally considered and dealt with: the

Motion planning and motion control in the form of a

Trajectory, the integration and control of the tools attached to the robot, including the process logic Error detection and handling, the process parameters and possible adaptations to changed framework conditions, and the integration of the control of the robot into the control of the overall system.

Programming an industrial robot can

be done manually by an expert, for example. This currently still applies to more than 96% of the applications.

A programmer manually writes the program code that allows the robot to carry out the application autonomously at execution time.

The programming of an industrial robot can alternatively or additionally be carried out by the expert using CAD-based code generation. A virtual

Representation of reality (also as a virtual world

labeled) and programmed the robot in the virtual world. In addition to the simulation, this also enables easier accessibility. However, this CAD-based code generation cannot easily be implemented by a technical layperson. In addition, the virtual world often deviates significantly from reality. Even small deviations can lead to significant discrepancies in the

Perform the robot's work in reality. For this reason, the program code that is generated by means of the code generation

is generated, usually additionally by a

Programmer adapted.

As an alternative to completely manual programming, a learning process (also referred to as teach-in) is conventionally used.

For the learning process, the robot can be controlled manually, for example. A sensitive robot (also referred to as a co-bot) can also be hand-operated, for example. With both mechanisms the trajectory (ie the path on which the robot should move) can be shown. Activities going beyond the trajectory that the

Robots are supposed to perform, however, remain complex and are therefore conventionally not taken into account by the learning process. The complexity consists, for example, in the integration of the various components of the robot, such as the end effector, the sensors and the control system, into the process to be carried out, which is therefore done manually

needs to be programmed.

The learning process can alternatively or additionally take place via an interactive input device. This will be

conventionally a manufacturer-specific input device, such as a 6d mouse or an interaction pen, is used. Analogous to manual control or hand-guided control, only the trajectory can be learned in this case. The integration of the various

Components of the robot are therefore carried out manually

Programming.

The learning process can alternatively or additionally take place by means of sensor data processing. To be

Various extensions are provided for the end effector of a robot equipped for this purpose, which integrate a sensor system (e.g. a camera) directly into the robot controller.

Due to the technical limitations, this has so far only been possible for one assembly application (also as pick-and-place

Applications) applicable.

In general, there is traditionally always some manual programming involved. Hence this

Common to conventional methods is that the implementation cannot be carried out completely by a technical layperson if the manual programming part is beyond his

Skills. This is due to the fact that the overall application is an interaction of diverse sub-problems (such as the trajectory, the end effector control, the sensor data processing and the integration in the process control). Simple learning process

therefore concentrate exclusively on the specification of the trajectory. The learning process with

Sensor data processing is based on sensors that are attached directly to the robot. However, the field of vision is often restricted by the end effector and robot. In addition, changing light conditions or air particles (e.g. when painting) affect the sensors on the robot.

According to various embodiments, a method, a system and a non-volatile storage medium

provided which automate a

Facilitate the process flow.

According to various embodiments, a method can include: determining a machine-independent

Process model based on data, the data indicating a handling of an implement when performing a

Represent process flow, wherein the process flow has a plurality of sub-processes, wherein the process model for each sub-process of the plurality of sub-processes a process activity with spatial information of the

Sub-process linked; Mapping of the machine-independent process model to a machine-specific control model of a machine using a model of the machine, the machine-specific control model defining an operating point of the machine for each sub-process of the plurality of sub-processes that corresponds to the process activity and the spatial information of the sub-process. The data can be used during the handling of the implement

Represent performing the process sequence by means of the implement.

According to various embodiments, a machine-unspecific process model is clearly generated which describes the overall human process of the process task to be performed. The process model can be created, for example by tracking how the process task is done by a person.

The machine-unspecific process model is then transferred to a machine-specific control model, which is tailored to the hardware platform (generally also referred to as a machine) that is to perform the process task automatically. Be there

machine-specific information of the selected

Hardware platform taken into account.

From the machine-specific control model,

subsequently the control program can be formed, which the hardware platform, e.g. whose PLC (programmable logic controller) can execute.

Show it

Figures 1 and 3 each show a method according to different

Embodiments in a schematic

Side view;

Figures 2 and 4A each show a method according to different

Embodiments in a schematic

Flow chart;

FIG. 4B shows a system for performing a method according to various embodiments in one

schematic system diagram;

FIG. 5 shows the method according to various embodiments in a schematic model diagram;

FIG. 6 shows the method according to various embodiments in a schematic flowchart; and FIG. 7 shows a machine in accordance with various embodiments in a schematic structural diagram.

In the following detailed description, reference is made to the accompanying drawings, which form a part hereof and in which specific illustrations are given

Embodiments are shown in which the invention can be practiced. In this regard, will

Directional terminology such as "top", "bottom", "front", "back", "front", "back", etc. are used with reference to the orientation of the character (s) being described. There

Components of embodiments in a number

Can be positioned in various orientations, the directional terminology is used for purposes of illustration and is in no way limiting. It goes without saying that other embodiments can be used and structural or logical changes can be made without departing from the scope of protection of the present invention. It goes without saying that the features of the various exemplary embodiments described herein can be combined with one another, unless specifically stated otherwise. The following detailed description is therefore not to be taken in a restrictive sense, and the

The scope of the present invention is defined by the appended claims.

In the context of this description, the terms

"connected", "connected" and "coupled" are used to describe both a direct and an indirect connection, a direct or indirect connection and a direct or indirect coupling, e.g. one

mechanical, hydrostatic, thermal and / or

electrical, e.g. direct or indirect, connection and / or interaction. In the figures, identical or similar elements are given identical reference symbols

provided that this is appropriate. A clutch can be set up, a mechanical interaction (e.g.

Power, torque, etc.).

The term "processor" can be used as any type of entity

to be understood involving the processing of data or

Signals allowed. The data or signals can

for example, treated according to at least one (i.e., one or more than one) specific function performed by the processor. A processor can be an analog circuit, a digital circuit, a

Mixed signal circuit, a logic circuit, a

Microprocessor, a central processing unit (CPU), a graphics processing unit (GPU), a digital one

Signal processor (DSP), a programmable gate arrangement (FPGA), an integrated circuit or any other

Have a combination thereof or be formed therefrom. Any other type of implementation of the respective functions, which are described in more detail below, can also be understood as a processor or logic circuit. It is understood that one or more of the detailed herein

described method steps by a processor

can be executed (e.g. implemented) by one or more specific functions performed by the processor

are executed.

The term "system" can be used as a phrase interacting

Entities are understood. The phrase interacting

For example, entities can include at least one mechanical component, at least one electromechanical transducer (or other types of actuators), at least one electrical component, at least one instruction (e.g. in a

Storage medium), and / or at least one

Have control device or be formed therefrom.

The term “actuator” (also referred to as an actuator or actuator) can be understood as a component that is used to influence a mechanism or a process in Response to a control is set up. The actuator can convert instructions issued by the control device (the so-called activation) into mechanical movements or

Implement changes in physical quantities such as pressure or temperature. The actuator, e.g. an electromechanical

Converter, for example, can be set up to convert electrical energy into mechanical energy (e.g. by movement) in response to an activation.

The term "control device" can be understood as any type of logic implementing entity that

for example can have an interconnection and / or a processor which can execute software that is stored in a storage medium, in firmware or in a combination thereof, and can issue instructions based thereon. The control device can for example be configured by means of code segments (e.g. software) to enable the operation of a system (e.g. its operating point), e.g. a machine or a plant, e.g. at least its kinematic chain to control.

Controlling can be understood as an intended influencing of a system. The state of the

System can be changed according to a specification using an actuator. Regulation can be understood as controlling, whereby a change in the state of the system due to disruptions is also counteracted. The

Control have a forward control path and thus clearly implement a sequence control that converts an input variable into an output variable. The control path can, however, also be part of a control loop, so that regulation is implemented. In contrast to the pure forward control, the control has a continuous influence of the output variable on the input variable, which is effected by the control loop (feedback). Process flow can be understood as the sum of all processes (eg a chronological sequence of controlled events) that fulfill a predefined process task. The sub-processes of the process flow can each fulfill a sub-task (ie part of the process task). The individual sub-processes can, depending on the type of process flow,

interlock and / or build on one another, e.g. be in a strict order and / or be independent of one another, e.g. be interchangeable. A conditional

Sub-process can, for example, be carried out, started or ended precisely when a process situation assigned to it is present, e.g. a threshold value for a measured variable is not reached or a pattern recognition recognizes the workpiece to be processed.

A process activity and at least one vector of the process activity can be assigned to each sub-process. The vector can have at least one position, its change, a spatial distribution and / or at least one direction of the

Define process activity. The spatial information about the

Process activity can also be more complex or detailed (more general herein as spatial information

designated) . Optionally, the spatial information can be assigned a time indication about the process activity, which e.g. Define the duration, the beginning, the end and / or a cycle of the process activity.

If the process sequence is carried out by a hand-held device, the process activity can add the total

Describe processes that are carried out by means of the implement

be carried out to achieve the appropriate effect

Achievement of the process task on a workpiece

to provide (ie to fulfill the subtask). The corresponding spatial information can describe where and / or with what distribution the effect is to be provided and / or in what spatial position (ie Position and / or orientation) the implement is located for this purpose. The handling of the work device can describe the way in which the work device is guided and / or actuated when a process sequence is carried out, for example how it is held, how strongly pressed, and / or how long the

Operation is carried out.

A data-based (e.g. digital and / or virtual) representation of an original can be understood as a model, e.g. a physical object (e.g. a machine) or a process (e.g. a control process or a

Process flow). To build the model (the so-called

Modeling, i.e. the image of the original on the

Model) the original can be abstracted, parameterized

and / or simplified. The model can, for example, contain physical information (e.g. length, distance, weight, volume, composition, etc.), movement-related

Information (e.g. position, alignment, direction of movement, acceleration, speed of movement, etc.), logical information (links, sequence, couplings,

Interrelationships, dependencies, etc.), time-related

Information (e.g. time, total duration, frequency,

Period, etc.) and / or functional information (e.g. current intensity, effect, map or characteristic curve,

Working point space, force, degree of freedom, etc.) via the

Exhibit original.

The control model can accordingly be a formal one

Designate representation of an automated control. The control model can contain a variety of instructions for

Control (e.g. to bring the machine to a working point) and further criteria, the fulfillment of which triggers the instruction assigned to them, ends or

maintains. Furthermore, the control model can be a

Have control logic which logically links several criteria and / or several instructions with one another, and / or which implements a process (eg a process plan) according to which the control takes place.

In an analogous way, the process model can be a formal

Designate representation of a process flow. The

Process model can have a large number of links between a process activity and the corresponding spatial information and optionally assign corresponding process situations to the process activities

for example, are present, condition or terminate the process activity. Furthermore, the process model can have a process logic that logically links several process situations and / or several process activities with one another, and / or which has a sequence (e.g. a

Schedule) according to which the process flow is implemented. For example, the process situation can cause a process activity assigned to it in accordance with the spatial information (which represents the conditioned sub-process).

The same process activity, e.g. on

different locations, depending on which one

Process situation exists.

In general, a flow chart can have at least branches, jumps and / or loops. The presence or absence of a process situation can generally be represented by means of at least one criterion, which is fulfilled, for example, in the presence or absence of the process situation.

The mapping can be the transfer of elements of a

Have the starting set (also referred to as archetype) in a target set, the elements of the target set then being the image (mapping) of the archetype. The mapping can assign at least one element of the mapping to each element of the original image. The mapping can have, for example, operators, transformations and / or on the elements of the initial set

Apply shortcuts. The elements can in general have: logical relationships, links, information, properties, coordinates or the associated coordinate system, mathematical objects (such as formulas or numbers), processes, activities, etc.

A code generator can be understood as a computer program which is set up to produce a model, e.g. is available in a modeling language, in a

To transfer programming language, e.g. the programming language of the machine's control device. Alternatively or

in addition to the modeling language, e.g. one

unified modeling language (UML), but the model can also be in a markup language, a structogram, a decision table or another formal one

Language. The code generator generates code segments (also referred to as code generation) which can be combined with other optional program parts to form a program.

The spatial information of the orientation and / or position of an object can be understood here as spatial position (also referred to as position information or, in simplified form, as position). The position can clearly describe the location (e.g. a point) in space and the orientation the respective orientation (e.g. a direction) of an object relative to the space. A series of spatial positional information that is taken up one after the other by an object can be understood as a trajectory. The position information can optionally be time-dependent (i.e. movement-related, then also referred to as movement), according to a clocking or

Speed so that movement along the

Trajectory is taken into account. In general, the spatial location information or some other spatial

Information can be described in three-dimensional space using Cartesian coordinates. However, another coordinate system can also be used, for example cylindrical coordinates. FIG. 1 illustrates a method 100 according to various embodiments in a schematic side view.

Furthermore, a machine 114 to be programmed is shown in FIG. The machine 114 to be programmed may be a robot, e.g. an industrial robot for handling, assembling or processing a workpiece. The method 100 enables, for example, the end-user programming of the complete automation application (including

Process parameters and integration) by a technical layperson.

The machine 114 to be programmed can generally have a manipulator 114p, 114e and a frame 114u on which the manipulator 114p, 114e is supported. Of the

The term manipulator 114p, 114e summarizes the entirety of the movable members 114v, 114g, 114e of the machine 114, the control of which enables a physical interaction with the environment, e.g. carry out a process flow. For control, the machine 114 can have a control device 712 which is set up to implement the interaction with the environment in accordance with a control program. The last link 114e of the manipulator 114p, 114e (also referred to as the end effector 114e) may have one or more than one tool, such as one

Welding torch, a gripping instrument, a painting device or the like.

The manipulator 114p, 114e can at least one

Positioning device 114p, for example a

Robotic arm 114p (also referred to more generally as an articulated arm), to which the end effector 114e is attached. The robotic arm 114p illustratively provides a mechanical arm which can provide functions similar to those of a human arm. The links of the positioning device 114p can be, for example, connecting links 114v and joint links 114g, the connecting links 114v being connected by means of the

Hinge members 114g are interconnected. A

For example, joint member 114g may have one or more joints, each joint of which is the one connected thereto

Links 114v can provide rotational movement (i.e., rotational movement) and / or translational movement (i.e., displacement) relative to one another. The movement of the joint members 114g can be set in motion by means of actuators which are controlled by the control device 702.

In 101, a sensor arrangement 102 (having at least one tracker) can be or will be mounted on a work device 104. A person 106 carries out an activity for completing the process task by means of the working device 104 to which the sensor arrangement 102 is attached (e.g. painting,

Manufacturing and / or assembling a component). The work device 104 can be, for example, any hand-held work device 104 that a human worker 106 can use, relocate, hold, lift and / or manipulate (e.g., a handheld screwdriver, a spray gun, a) in the course of his job

Cordless screwdriver or a glue gun).

During this, the sensor arrangement 102 transmits data to an external receiver, which data are detected by an integrated sensor system of the sensor arrangement 102. The data can for example be a position and / or a movement (e.g.

Acceleration and / or speed) of the sensor arrangement 102 in space, and optionally data from

have at least one actuation sensor (for example a button or switch, more generally also referred to as a trigger), which detects an actuation on the implement 104 (for example when and / or with what force the trigger is actuated). The external receiver thus receives the time-dependent position of the sensor arrangement 102 in the room 701, 703, 705. Based on this, the time-dependent position of the work device 104 can be determined. Optionally, data from an additional external sensor system 112 (also referred to as an additional sensor arrangement 112) and / or PLC data can be obtained from the receiver. The additional sensor arrangement 112 can in

Generally be set up stationary and have, for example, a laser scanner, a camera and / or a distance sensor.

As a result, time-based data, for example at a high frequency, are acquired and recorded by means of the sensor arrangements 102, 112, which cover the entire process sequence

describe.

This data can optionally be job-specific

Have process parameters, as more precisely later

is described. Activity-specific process parameters can include the parameters of the respective function and / or of the operating point of the work device 104 (e.g. a volume flow of the paint spray gun).

Based on the data and the optional

Activity-specific process parameters can be determined in 103 a platform-independent model 104m (also referred to as process model 104m) of the process task. This process model 104m clearly describes the overall human process of the process task. The process model 104m can optionally be examined and adapted by a person 106.

In one example, the incoming data are time-based movement data of the human-held work device 104, data of the trigger (s) and data of further external ones

Sensors that are synchronized and related via time stamps. These data are preprocessed. It will the amount of data is reduced without causing any significant loss in the informative value of the data. The time sequence of the data is then broken down into sub-processes using task-specific analytical algorithms (e.g. taking the

Start position, start of the painting process, painting,

Completing the process). An instance of a platform-independent process model 104m, e.g. in the form of a metamodel. The metamodel describes the data types of the model instance and their possible ones

Relations. In this case, a model is, for example, a directed graph with typified nodes. Nodes have a data type (node of the metamodel) that describes the parameters of the model and their value ranges. The generation of the model instance on the basis of the input data takes place with the help of, for example, artificial neural networks. The

Artificial neural networks (kNN) can use conventional training methods, for example the so-called

Backpropagation procedures, are trained. In the training, the training vectors are set according to the input parameters required in each case (for example, spatial coordinates of a sub-object of an implement, associated time, working points / control points of the implement,

Process parameters of the implement, spatial orientation (position information) of the implement, etc.). It should be noted that both the parameters contained in the input vector of the kNN and the parameters contained in the output vector of the kNN are highly application-dependent or

are process-dependent and are selected accordingly.

Furthermore, a specific hardware platform 114 (also referred to more generally as a machine 114) can be selected (e.g. a specific robot type or end effector, etc.). The machine specifics (e.g. structure) of the machine 114 can be taken into account by means of a model 116m of the machine 114.

Based on the 114m model of the machine 114 and the

Process model 104m can be software in 105 Generate platform-specific model 116m (also referred to as control model 116m) for a robot controller 702. For example, the machine-specific

Process parameters (e.g. volume flow at the paint end effector and / or movement sequences) can be determined which correspond to the activity-specific process parameters.

In one example, the incoming data is an instance of the platform-independent metamodel (more generally

platform-independent model 104m) as well as additional information about the automation devices used (robots,

End effector etc.). Via a model-to-model transformation, the platform-independent model 104m is converted into the

platform-dependent model 116m transformed. The

platform dependent model 116m is also available via a

Metamodel described. Analogous to the platform-independent model 104m, the platform-dependent model 116m describes the data types and relationships of the platform-independent models 104m. The model transformation describes a

Mapping function, such as nodes or groups of nodes from the platform-independent model 104m on nodes or

Node groups of the platform-dependent model 116m are mapped. It also describes how these generated nodes are related to each other. The mapping takes place, for example, taking into account the respective

Peculiarities / characteristics of the respective platform used, e.g. machine.

A model of the machine can contain, for example, and thus take into account:

- physical information (i.e. the physical

Architecture) of the machine, e.g. Length of the end effector and / or length of the components of the

Positioning device;

Information on the map or the characteristic curve of the

Machine, e.g. maximum gripping force of the end effector and / or degrees of freedom or freedom of movement of the

Positioning device;

the logical architecture of the machine, e.g. the

Interaction and / or logical coupling of the individual components (e.g. actuators) of the machine

among themselves;

- the specific or potentially available tool selection or its tool properties;

- Parameters of the control path or the control loop, e.g.

Control variables or controlled variables, input variables of the individual actuators or output variables of the individual sensors;

- programming-specific information, e.g.

Programming language, programming interface, etc.

- the coordinate system of the machine, e.g. each the

stacked partial coordinate systems of the

individual actuators or articulated links of the machine, origin of the individual sub-coordinate systems,

End positions of the partial coordinate systems;

permissible operating parameters of the machine, such as

for example the maximum operating temperature.

The figure clearly describes the influence of the

Characteristics of a specifically used platform (e.g. machine) on the abstract process flow according to the process model.

In 107, on the basis of the control model 116m, a code generator 412 can be used to generate a program code 116 (e.g.

Source code). The program code 116 can denote the respective code in which the control program 116 is written. Depending on the process task,

Information technology infrastructure and the specific

Various target platforms on which the program code 116 is to be listed can be served. The program code 116 can be generated for a communicating overall system (for example the robot controller and the PLC controller). The program code 116 can optionally have predefined parts to which the program code 116 can be adapted by a developer.

In one example, the code is generated in the form of templates that exist for each target language. This

Templates have instances of the platform-dependent model as input and describe how from them at the metamodel level

Text fragments are generated. In addition, these templates also have a pure text output

Control structures (e.g. branches). A template engine in turn has a template and an instance of the

platform-independent model as input and generates one or more text files from it.

Fig. 2 illustrates the method 100 according to various embodiments in a schematic flow diagram 200.

The method 100 may include in 101: attaching 201 a mobile sensor arrangement 102 to the work device 104 of the manual process flow generated by the machine 114 (e.g.

an industrial robot) is to be taken over. Of the

Process flow is, for example, rail-based (e.g. for gluing, welding, painting or milling).

The sensor arrangement 102 can be fastened to the work device 104 magnetically, with clamping screws, with a clip or Velcro tape, and optionally sequentially on several

Work devices 104 of the manual process flow are attached.

The sensor assembly 102 can be one or more than one

Sensor, for example several different sensor types, for example each for the different measured variables to be measured (for example for position, acceleration, etc.). The sensor arrangement 102 can optionally have one or more than one mobile unit, each mobile unit having at least one sensor of the sensor arrangement 102, eg a mobile unit with a trajectory sensor (also known as a tracker). The or each mobile unit can be self-sufficient, for example to its own

Energy supply and / or for wireless communication. For example, several sensors can be accommodated together in a housing of a mobile unit (also referred to as internal sensors).

As a sensor (also referred to as a detector), a transducer can be understood that is set up to provide a

Sensor type to record the corresponding property of its environment qualitatively or quantitatively as a measured variable, e.g. a physical or chemical property and / or a material nature. The measured variable is the physical variable to which the measurement using the sensor applies.

Depending on the context of the measured variable, a sensor can be, for example, a certain type of sensor,

for example, an operating point sensor, an actuation sensor or a traction sensor. The operating point sensor can, for example, detect the operating point of the implement 104. The trajectory sensor can, for example, a movement and / or the position (i.e. orientation and / or

Position).

For example, the sensor arrangement 102 can have at least one optoelectronic sensor (e.g. a camera), at least one traction sensor and / or at least one

Have an operating point sensor (e.g. flow sensor). The traction sensor can, for example, be a motion sensor (e.g. an acceleration sensor and / or

Having speed sensor) and / or a position sensor (e.g. having an orientation sensor and / or a position sensor).

For example, the sensor arrangement 102 and / or the additional sensor arrangement 112 can have at least one sensor have, for detecting an electrodynamic

Property (e.g. current, voltage, magnetic field or power) is set up, have at least one sensor that is set up to detect a location-related property (e.g. alignment and / or position), have at least one sensor that is set up to detect a movement-related property

Property (e.g. speed and / or acceleration) is set up, have at least one sensor that is set up to detect a thermal property (e.g. temperature or temperature difference), have at least one sensor that is set up to detect a geometric property (e.g. distance, solid angle, volume ) is set up, have at least one sensor that is set up to detect a photometric property (e.g. light intensity, brightness, color, energy, or power) and / or have at least one sensor that is set up to detect a mechanical property (e.g. force, pressure, Mass, energy, power, torque, actuation, etc.) is set up.

At least one (i.e. one or more than one) sensor of the

Sensor arrangement 102 can optionally be separate from the

Mobile unit be or will be provided. The at least one sensor can, for example, have an actuation sensor and / or an operating point sensor. The at least one sensor can be attached to the manual implement 104, e.g.

a supply device of the manual work device 104 (e.g. for measuring a volume flow, a temperature or a current strength). For example, the manual implement 104 can be a handheld device that is powered by a stationary supply device, e.g. with a fluid and / or with energy.

The operating point can describe the point in the characteristics map or on the characteristic curve of a technical device that is assumed due to the system properties and external influences and parameters of the device. The working point can clearly describe the operating status of the device.

The method 100 can optionally further comprise in 101:

Calibrating 203 the sensor arrangement 102. The calibration can include calibrating the position of the sensor arrangement 102 in relation to the coordinate system of the implement 104, the additional sensor arrangement 112 and / or a global coordinate system. The global coordinate system can

for example be stationary, i.e. have an invariant position to the earth's surface.

The calibration can include, for example: detecting the position of the sensor arrangement 102 with respect to the working device 104. The calibration can alternatively or additionally include: detecting the position of the sensor arrangement 102 in space, e.g. in terms of the global coordinate system. Using the two position information items that describe the sensor arrangement 102 relatively in space and relative to the work device 104, the trajectory 111 of the work device 104 can be determined on the basis of the trajectory of the sensor arrangement 102 (see FIG. 1).

The method 100 may include at 101: manual

Implementation 205 of the process flow. The manual

Implementation 205 can be understood as that

Work device 104 is carried and / or operated manually (i.e. by a person). For example, the work device 104 can be a work device carried or at least moved by muscle power.

While the process sequence is being carried out 205

at least one sensor arrangement 102, 112 data to the external

Receiver send and / or the external receiver can determine the position and movement of the sensor arrangement 102 in space

detect, for example by means of the additional sensor arrangement 112. For example, a signal transmission to the external receiver via radio (e.g. Bluetooth).

Alternatively or additionally, the sensor arrangement 102 can have at least one trigger, which with a

User interface of the implement 104 is coupled.

The trigger can, for example, record the manual control of the work device 104 at the user interface.

While the process sequence is being carried out 205

alternatively or additionally, the trajectory 111 (e.g. position and / or movement) of the sensor arrangement 102 can be detected by means of at least one camera 112 or another type of sensor 112, e.g. by means of a laser scanner 112, one

Distance sensor 112, a sonar sensor 112 and / or a radar sensor 112.

The method 100 can further optionally include in 103:

Transmission of the data recorded (e.g. during 203 and / or 205) in 191 to a processing unit 302 (see Fig. 3) and optional addition of the data with stored data

activity-specific process parameters of the process flow for forming the process model 104m. Optionally, the movement data or the trajectory 111 can also be smoothed (e.g. so that one is as straight as possible along the

Axes of motion).

Optionally, the stored parameters of the process sequence can have boundary conditions, such as represent optimal and / or limit values. Alternatively or

In addition, the stored parameters can use the

Further specify the process flow, such as the working speed, the holding time, the pressure force, etc.

The determined process model 104m can be set up platform-independent, i.e. do not focus on a specific one

Relate robot 114. The method 100 can have in 105: transferring 209 the process model 104m into the control model 116m. To this end, the process model 104m can be processed with stored machine-specific information 114m from one or more different machines 114 to form the

Control model 116m (also as process and

machine-specific model 116m) for the

Machine 114. The sum of the machine-specific

Information 114m may also be referred to as a model 114m of the or each machine 114.

The machine-specific information 114m can

have machine-specific parameters, such as positioning and repeat accuracy, maximum

Movement space, speeds, acceleration, etc.

Alternatively or additionally, the machine-specific information 114m can include at least one tool 114e of the machine 114 (also referred to as machine tool 114e)

represent, for example, at the

Positioning device 114p of the machine 114 are attached.

Optionally, the method 100 in 103 can include:

Post-processing 207 of the process model 104m. The method 100 in 105 can optionally have: post-processing 211 of the control model 116m that has been formed. The post-processing 207 can for example by a user with the help of a

User interface 406 (also referred to as a user interface) and / or (application) software (e.g. executed on a PC, tablet or smartphone) take place (see FIG. 4A). The method 100 can optionally include in 207 or 211: visualization and simulation of the

Control model 116m or process model 104m in a virtual environment, and / or editing the trajectory 111, 113, the process logic, the process parameters and the

Integration and control of the tools attached to the machine by the user. The optional visualization a spatial sub-model 502 of the process model 104m can, for example, with the representation of the corresponding

Work pieces (see Fig. 5).

Furthermore, the method 100 can have in 107:

Code generation for one or more than one machine 114, optionally of different types, optionally with the

Consideration of possible different PLC control systems. A control program 116, which can be executed by the corresponding machine 114, can be formed by means of the code generation 107.

The code generation 107 takes place, for example, in the form of templates that exist for each target language. This

The code generation 107 can, for example, for a

Robot controller 702 and / or a PLC controller 702

respectively. The code generation 107 can, for example

generate human readable code segments (i.e. source code) and / or machine readable code segments (i.e. machine code). The source code can be generated for different target languages, e.g. depending on which target language is suitable for the corresponding machine. Optionally, the source code, e.g. can be subsequently adapted and edited by a developer, for example by means of the

User Interface 406.

Fig. 3 illustrates the method 100 according to various embodiments in a schematic side view 300. The sensor arrangement 102 can, for example, be a software-based method 100 for teaching a

Enable industrial robot, which is also accessible to a technical layman 106. For example, a non-programmer 106 may be enabled to do a

Fully integrated training of industrial robot 114.

By means of the method 100, at least one task expert 106 (e.g. a mechanic or a welder) can exemplify one or more than one activity of the process flow

demonstrate. Based on this, the necessary

Control software of the robot 114, including all required software components, can be generated completely automatically. The method 100

The control model 116m provided is independent of specific machine types and can therefore also be used for any machine type, e.g. from another manufacturer, can be reused. Conversion of the machine 114 can thus be facilitated.

The method 100 can include in 101: acquiring the data by means of the sensor arrangement 102 (clearly a physical sensor component) and / or an additional (clearly external) sensor arrangement 112. The or each mobile unit can be attached to a work device 104 and by means of at least one integrated therein Sensor detect the position and / or the acceleration of the implement 104. The

Attaching the or each mobile unit of the sensor arrangement 102 to the work device 104 can be carried out in 101 by means of a

Fixing devices (e.g. magnetic, clip, or Velcro).

It is also possible to acquire other measured variables which represent the trajectory (eg position and / or movement) of the work device 104. Furthermore, the sensor arrangement 102 can have at least one trigger 102t (for example on a trigger of a glue gun) which detects manual control of the implement 104. The additional sensor arrangement 112 can determine the position of the

Detect sensor arrangement 102 in space 301. Both the data from the sensor arrangement 102 (e.g. its mobile unit) and the data from the external sensor system 112 can be transmitted in a time-synchronized manner to a computing unit 302 (e.g. PC, laptop, etc.) which has the external receiver or is communicatively connected to it.

Optionally, the sensor arrangement 102 can be calibrated 203 in its relative position (i.e. position and / or orientation) to the work device 104. For example, the position and / or orientation of the sensor arrangement 102 in

Coordinate system of the implement 104 can be determined. Furthermore, a calibration can be carried out in a global

Take place coordinate system, which links the coordinate system of the sensor arrangement 102 with the coordinate system of the machine 114, so that it can be transformed between them.

Fig. 4A illustrates the method 100 according to various embodiments in a schematic flow diagram 400a.

In 101, a person can exemplarily run the process once or several times with the actual work device 104

perform 205. For example, the process sequence can include screwing a screw using an electric screwdriver 104. In this case, the sensor arrangement 102 and / or the additional sensor arrangement 112 can detect at least one measured variable which defines a spatial position (and / or its

Change) of the implement 104. More generally speaking, the trajectory 111 of the work device 104 can be recorded. The trajectory 111 of the implement 104 can, for example, provide information about a speed, a Have the position, an acceleration and / or an orientation of the implement 104.

In an analogous manner, one of the implement 104

provided function (and / or its change) are recorded in a parameterized manner, e.g. a rotational speed of a shaft of the implement, a temperature of a heating device of the implement, a current through a welding tip of the

Work device, etc. Alternatively or additionally, it can be detected in a parameterized manner by means of the trigger 102t as soon as, for as long and / or with what force the work device 104 is actuated. More generally speaking, the trigger 102t can be configured to detect manual control of the implement 104, e.g. at a user interface of the work device 104.

The data 402 collected in 101 can be sent to a processing unit 302 (or another processing unit) and there with activity-specific process parameters 404 (e.g.

Volume flow of a spray gun 104) can be enriched 403. Enriching with activity-specific

Process parameters 404 can for example be done automatically or manually (e.g. via user input).

In one example, the user can choose from a range of tools (e.g. spray guns) in the graphical user interface of the computing unit. Depending on the task, the process-specific parameters (e.g. volume flow) are then queried via an input form.

The computing unit 302 can use the acquired data 402 to create 103 the process model 104m (also referred to as a process-specific model), which describes the process task without reference to a specific automation. The processing unit 302 can optionally be set up to change the data 402, for example to optimize and / or abstract it. For example, changing can include to thin out and / or smooth the trajectory 111 (for example the movement data), to identify and / or optimize sub-processes and to close logic connections.

The process model 104m can optionally by means of a

User interface 406 (e.g. on a PC, tablet or

Smartphone provided).

For example, components (e.g. sections or individual points) of the trajectory 111 of the implement 104 (also referred to as the implement path 111) can be adapted and / or finely adjusted. Alternatively or additionally, an actuation with the at least one trigger 102t can be tracked, changed and / or linked to the trajectory 111.

The process model 104m can further be provided with machine-specific information 114m (e.g. the concrete robot platform 114 or at least the end effector 114e), e.g.

machine-specific process parameters 114m (e.g. a volume flow at the paint end effector), enriched 405. The processing unit 302 can automatically determine the control model 116m from the process model 104m and the provided machine-specific information 114m. The control model 116m represents a

Automation script for a specific hardware platform 112 and constellation.

platform-dependent model 116m transformed. The

platform dependent model 116m is also available via a

Peculiarities / characteristics of the respective platform used, e.g. machine.

A model of the machine can contain, for example, and thus take into account:

- physical information (i.e. the physical

Positioning device;

Information on the map or the characteristic curve of the

Positioning device;

the logical architecture of the machine, e.g. the

among themselves;

- the specific or potentially available tool selection or its tool properties;

- Parameters of the control path or the control loop, e.g.

- programming-specific information, e.g.

Programming language, programming interface, etc.

- the coordinate system of the machine, e.g. each the

stacked partial coordinate systems of the

End positions of the partial coordinate systems; permissible operating parameters of the machine, such as the maximum operating temperature.

The figure clearly describes the influence of the

The machine-specific control model 116m can optionally be post-processed 211 using a user interface 406 (e.g. provided on a PC, tablet or smartphone). For example, the trajectory 113 of the machine 114 (e.g. of the end effector 114e) can be adapted and / or changed. Alternatively or additionally, transitions between different anchor points, travel speeds,

Hold times or the like changed, e.g. can be specified. Optionally, error compensation and / or a communication path with the system control can be defined.

Furthermore, a program code 116 can be generated 107 from the control model 116m, which program code is stored on the control device 702 (also referred to as controller 702) of the machine 114

can be executed and, for example, fully implements the learned process flow.

platform-independent model as input and generates one or more text files from it. An external system, for example a PC, a PLC or the like, can optionally be used to control the end effector 114e. In this case, as an alternative or in addition to the program code 116 for an internal control device 116a of the machine (also referred to as robot code)

Program code 116 for the external system 116b and / or for the communication interface 116b to this can be generated.

More generally speaking, the machine 114 can have an internal 116a and / or external 116b control device 702, which is set up to control the end effector 114e and / or the positioning device 114p of the machine 114. The program code 116 can from the control device 116a,

116b are executed.

The program code 116 can denote the respective code in which the control program 116 is written. Depending on the process task, information technology infrastructure and the specific requirements, various target platforms on which the program code 116 is to be listed can be served. The program code 116 can be generated for a communicating overall system (e.g. the

Robot controller and the PLC controller). Of the

Program code 116 can optionally have predefined parts to which the program code 116 can be adapted by a developer.

Optionally, the program code 116 can be changed subsequently, e.g. be adjusted, for example by means of a

User interface 406 and / or by a person 106.

Fig. 4B illustrates a system 400b for performing the method 100 according to various embodiments in a schematic system diagram.

The system 400b can have at least one sensor arrangement 452, for example that which can be attached to the work device 104 Sensor arrangement 102 or the stationary sensor arrangement 112. The system 400b can furthermore have at least one processing unit 302, which has one or more than one processor

that is set up, the method 100

perform. The system 400b can optionally have a

Have code generator 412 which is set up to convert the machine-specific control model 116m into the

The system 400b can optionally have a machine 114 which has a control device 702 programmed with the control program 116 and a programming interface 702i, by means of which the control program 116 can be provided to the control device 702.

Fig. 5 illustrates the method 100 according to various embodiments in a schematic model diagram 500.

The process model 104m (process-specific model) clearly describes a process task without reference to an underlying automation solution. The process model 104m can have several sub-models 502, 504, 506 (e.g. per sub-process).

A first partial model 502 (also referred to as spatial model 502) can describe physical, geometric, position-related and / or movement-related properties, e.g. Objects whose shape or position in Cartesian space 701, 703, 705, and / or at least one trajectory 111 in the

Cartesian space 701, 703, 705. Furthermore, the spatial model 502 can describe process activities annotated in Cartesian (e.g. gripping an object) and / or the activity-related process parameters. The Cartesian space can be spanned by directions 701, 703, 705 which, for example, are stationary.

Optionally, the first partial model 502 can describe alternative trajectories 111 or sections thereof, which be referenced by means of a third model 506 (also referred to as logic model 506) logic model. The spatial model 502 clearly describes how the process task is carried out in the physical space 701, 703, 705 and which task-specific process activities (for example activating the spray function of a spray gun) are linked to it. The process activities can be carried out by at least one

activity-related process parameters, e.g. of at least one position-related and / or movement-related

Process parameters (e.g. a speed) and / or

at least one functional process parameter (e.g. a volume flow of a spray gun) can be represented.

The spatial model 502 describes, for example, the

Position and rotation of the tool in 3-dimensional space over time.

A second partial model 504 (also referred to as a machine-unspecific adaptation model) can describe which

different process situations 514 can occur (e.g. painting of component A or component B) and / or how these process situations 514 can be distinguished (e.g. based on a shape of component A and / or shape of component B), e.g. based on criteria. For example, the second partial model 504 defines a criterion for

Recognition of a process situation 514 (e.g. by means of a

Camera to recognize the shape of the component). Optional

the second partial model 504 describes reference data for the criteria that were recorded, for example, during the teaching 101 (e.g. example images of the components).

In an example, environment variables are defined for this (e.g. shape of the component, temperature, etc.). Based on the environment variables, situations for certain

Defined value assignments of these environment variables (e.g. car door in cold environment). These situations can then be referenced in a logic model 506 for adaptation the automation process (e.g. driving an alternative trajectory) or the process parameters (e.g. speed).

A third partial model 506 (also referred to as a machine-unspecific logic model) describes the underlying process logic 516. The process logic 516 can include at least one control structure 516s (e.g. loop, branch, jump,

Call, etc.), e.g. a programming language, and can use this with the spatial model 502 and the

Link adaptation model 504. In this way a complex schedule can be represented, e.g. "If component A has been recognized, a jump is made to path 111 with the process parameters annotated there".

The control model 116m can be a fully integrated

Represent automation script for a specific hardware selection (positioning device 114p, control device 702 and / or end effector 114e). The

Control model 116m can have multiple sub-models 552, 554, 556, 558.

An additional first partial model 552 (also referred to as a physical model 552) clearly describes the spatial information analogously to the physical model 502, however, in relation to the machine 114. For example

Process-specific information can be transferred to the coordinate system 705, 713 of the machine 114. The attachment and alignment of the end effector 114e of the machine 114 can be taken into account in order to determine the coordinate system 701, 703, 705 when the implement 104 is detected during the

Teaching process 101 to the coordinate system 705, 713 of the machine 705, 713, e.g. their tool 114e, to be mapped 105a. Optionally, the at least one job-related

Process parameters of the first partial model 502 are mapped 105a to the specific tool of the end effector 114e (ie machine-specific). An additional second partial model 554 (also referred to as a machine-specific adaptation model 554) can describe a large number of parameters and situations. The parameters can have a name and a data type

exhibit. For example, one or more than one criterion can be used to define how a process situation can be recognized using specific parameter values (e.g. using a sensor of the machine 114). For example, the dependency for determining the parameter values (also referred to as measured values) can be specified on the basis of available sensors 114s of the machine 114. The

machine-specific adaptation model 554 can be implemented using

Mapping 105b from the machine-unspecific

Adaptation model 504 can be derived and optionally further refined 211 by the user.

An additional third part model 556 (also as

machine-specific logic model) can be a

Programming language-independent representation of a

procedural programming language with the control structures 516s (e.g. loops, conditions, etc.).

The machine-specific logic model 556 can clearly show the other sub-models, e.g. the physical model 552

Interaction model 558 and the machine-specific

Link adaptation model 556 with each other. The

The machine-specific logic model 556 can be generated from the machine-specific logic model 506 by means of mapping 105c

be determined.

A fourth partial model 558 (also referred to as an interaction model) can describe the integration of the automation script with possible third-party systems 518. The external system 518 can have at least one sensor (for example at least one camera), a control device or a business resource planning system (ERP system). For this purpose, at least one integration-specific protocol can be defined, which the machine 114 communicatively embeds 520 in the system landscape. The interaction model 558 can for example be determined on the basis of the machine-unspecific logic model 504 and can optionally be from

User can be further refined 211.

The physical model 552 can clearly define movement processes and movement sequences in combination with an activity of the end effector 114e. The interaction model

describes how the machine 114 communicates in the system landscape (e.g., transmits data to and / or receives data from the external system 518). The machine-specific

Adaptation model 556 describes under which conditions which procedure is required.

Fig. 6 illustrates the method 100 according to various embodiments in a schematic flow diagram 600.

By means of the code generator 412, the several

Partial models of the control model 116m (process and

machine-specific model) can be converted into code segments. In other words, a control program 116 can be formed which can be executed by the machine 114.

The control program 116 can have source code files which are set up in the respective target format of the machine 114. Each machine 114 (e.g. robot platform) can code the control program 116 in at least one

Execute programming language (e.g. KRL, Rapid, Visual Basic, etc.). The transfer of the several partial models of the

Control models 116m in text (ie on the code segments) can be done using templates. The templates can be instantiated with process- and machine-specific models 114m, 104m and generate the respective program code. Fig. 7 illustrates a machine 114 in accordance with various embodiments in a schematic layout diagram 700.

The machine 114 may herein be a means of a

Control program 116 be programmable machine. Once programmed, the machine 114 can be configured to carry out a process flow autonomously, and optionally the

Process sequence (i.e. the execution of the task) to vary within limits depending on sensor information.

The machine 114 can have a control device 702 which is set up to control at least one actuator 704 (also referred to as an actuator) of the machine 114 in accordance with the control program 116. The control device 702 can

for example have one or more than one processor and / or a storage medium. The manipulator 114p, 114e of the

Machine 114 may have a kinematic chain 706 along which an action of the at least one actuator 704 is transmitted, e.g. along the coupling of the links of the kinematic chain 706 with one another. The

Controller 702 may, for example, be a

have a programmable logic system (PLC).

The kinematic chain 706 can be a

Positioning device 114p and a means of

Positioning device 114p have positionable end effector 114e. The last link of the kinematic chain 706 of the machine 114, which is set up directly on a can be understood as the end effector 114e

Affect the workpiece, e.g. to process this (i.e. to process it). Activities such as acting on the workpiece, a preparatory step for it or a

Follow-up step to the process flow

correspond can be referred to more generally as process activity. The process activity can, for example, be an archetype, joining (e.g. welding, coating, screwing, plugging, contacting, gluing or otherwise assembling) or assembling), separating (e.g. grinding, milling, sawing or otherwise machining, punching or dismantling), forming, heating, relocating (e.g. gripping, fitting, rotating or moving), or the like. The process flow can be web-based, ie by moving the

End effector 114e are mapped along a trajectory 113.

The positioning device 114p may include at least one

Have actuator 704 which is configured to

To relocate end effector 114e to a position (also referred to as positioning). The end effector 114e can

at least one actuator 704 which is arranged to carry out the process activity, e.g. by means of a tool of the end effector 114e. The tool can generally provide a function appropriate to the process activity, by means of which the workpiece is acted upon. The

Tool can, for example, be an archetype tool

Joining tool (e.g. screwdriver, glue gun or

Welding machine), a relocation tool (e.g. gripper), a cutting tool or the like. The joining tool can, for example, be a coating tool (e.g. a

Paint spray gun, a powder coating gun) or be formed from it.

Optionally, the machine 114 can have at least one internal

Have sensor 114i which is configured to have a

To detect the operating point of the kinematic chain 706, e.g. to implement a scheme. Alternatively or additionally, the machine 114 can have at least one external sensor 114s (e.g. a camera) which is set up to detect a property of the environment of the machine 114.

The external sensor 114s can be used, for example, to recognize whether a predefined process situation is present (ie a situation-related criterion is met). Using the property detected by means of the at least one sensor 114s, 114i, it can be determined, for example, whether a criterion is met. If the criterion is parameterized according to the sensor type (ie mapped onto a property that can be detected by the sensor type), the property detected by the sensor can be compared with the parameterized criterion in order to determine whether the criterion is met.

If the process sequence is simulated by the programmable machine 114, the machine 114 as a whole can be integrated into one

Working point are brought which comes as close as possible to the process activity according to the spatial information. The working point can, for example, define which

Position of the end effector 114e brought and what effect this should provide there. The working point can

for example the sum of the states of the individual

Describe actuators 704 of machine 114.

The storage medium can be provided as part of the control device 702 and / or separately therefrom. The storage medium can for example be an electronic one

Semiconductor storage medium, e.g. a

Read-only memory (ROM) or a random access memory (RAM), a memory card, a flash memory, a stick for a universal serial bus (USB stick)

Solid state drive (SSD), and / or a hard disk drive (HDD), a storage disk (MD), a holographic one

Storage medium, an optical storage medium, a compact disc, a digital versatile disc (DCV), or a magneto-optical disc.

In the above, the control model has been described with reference to a machine. By analogy, what has been described can apply to a plurality of separate, e.g. among themselves

communicating machines (e.g. a process line) apply, as well as for a machine, several

Has positioning devices and / or end effectors.

Various examples are described below that relate to those described above and in the figures

Relate the depicted.

Example 1 is a method comprising: determining a machine-independent process model on the basis of data, the data representing handling of a work device when carrying out a process flow, the process flow having a plurality of sub-processes, the process model having one for each sub-process of the plurality of sub-processes Process activity linked with spatial information of the sub-process; Mapping the

machine-independent process model

machine-specific control model of a machine using a model of the machine, the

machine-specific control model for each sub-process of the multitude of sub-processes an operating point of the

Defined machine that corresponds to the process activity and the spatial information of the sub-process.

Example 2 is the method according to Example 1, wherein the mapping comprises the spatial information on one

Map the operating point of a positioning device of the machine; and / or wherein the mapping comprises the

To map process activity to a working point of a (e.g. movably mounted) end effector (e.g. its tool) of the machine; wherein the end effector is movably mounted, for example by means of the positioning device, wherein the positioning device has, for example, a robot arm, the end effector for example for

Implementation of the process activity is set up.

Example 3 is the method according to Example 1 or 2, wherein the machine has at least one actuator on which the Operating point is related, for example, the actuator is a motor, for example, the actuator part of the

Positioning device and / or the end effector is.

Example 4 is the method according to one of Examples 1 to 3, the spatial information being exactly three

Location coordinates (e.g. according to a Cartesian

Coordinate system) and / or has exactly three directional coordinates) and / or wherein the spatial information is related to a rectilinear coordinate system.

Example 5 is the method according to one of Examples 1 to 4, wherein one or more than one sub-process of the plurality of sub-processes is conditional according to a criterion (also referred to as a conditional sub-process), the model of

Machine represents a sensor type of the machine, the mapping having to parameterize the criterion according to the sensor type (e.g. on a sensor detection area

to map), for example determining the

Process model has to determine (e.g. on the basis of the data) the criterion and / or the conditional sub-process.

Example 6 is the method according to one of Examples 1 to 5, wherein the mapping comprises mapping the spatial information onto a coordinate system of the machine (which e.g. is related to the at least one actuator of the machine).

Example 7 is the method according to one of Examples 1 to 6, wherein the determination of the process model comprises assigning one or more than one process logic (e.g. a rule)

determine (e.g. on the basis of the data) according to which the machine-independent process model is run, with the process logic optionally being set up to determine whether the criterion is met, for example the

parameterized criterion can be detected by means of the sensor, with the mapping, for example, having to map the process logic onto a control logic. Example 8 is the method according to one of Examples 1 to 7, the machine-independent process model (eg its process logic) for at least one sub-process of the

Multiple sub-processes at least two links between process activity and spatial information of the

Sub-process, whereby the two links are alternatives, between which a decision is made based on a criterion (e.g. using the process logic).

Example 9 is the method according to one of Examples 1 to 8, wherein the spatial information represents a position and / or orientation of the implement; and / or wherein the process activity is an actuation and / or a

Represents the working point of the implement.

Example 10 is a method according to any of Examples 1 to 9, further comprising: presenting the

machine-independent process model and / or the

machine-specific control model using a

User interface which is set up to change the machine-independent process model or the machine-specific control model on the basis of a user input.

Example 11 is a method according to one of Examples 1 to 10, further comprising: Acquiring the data at least in part by means of a sensor arrangement which is connected to the

Working device is attached, optionally the working device (e.g. directly and / or muscle-powered) being handled and / or carried by a person (e.g. their hand), with, for example, the sensor arrangement being removable (i.e.

reversible) is attached to the implement.

Example 12 is a method comprising: detecting

Data, for example the data according to one of Examples 1 to 11, at least in part by means of a sensor arrangement which can be removed from a (for example manually movable) working device is attached, the data being a handling of the

Work device represent while using the

Work device a process sequence is carried out, wherein the work device is moved by a person; Determination of a machine-independent process model based on the data, which represents the process flow, furthermore

for example comprising: mapping the machine-independent process model onto a machine-specific control model using a model of a machine.

Example 13 is the method according to Example 11 or 12, the sensor arrangement having a fastening device by means of which the sensor arrangement is detachably fastened to the working device.

Example 14 is the method according to any one of Examples 11 to 13, wherein the sensor arrangement (e.g. their

Fastening device) has one or more than one magnet; and / or a clamping device (e.g. comprising a clip and / or clamping screws); and / or has a Velcro strip.

Example 15 is the method according to any one of Examples 11 to 14, wherein the sensor arrangement is separate from that

Working device is supplied with energy; and / or wherein the sensor arrangement is galvanically separated from the working device.

Example 16 is the method according to one of Examples 11 to 15, wherein the sensor arrangement has one or more than one trajectory sensor (e.g. position sensor and / or movement sensor) by means of which the data are recorded.

Example 17 is the method according to one of Examples 11 to 16, the sensor arrangement having an operating point sensor, by means of which an operating point of the working device is detected, with the operating point sensor, for example has a flow sensor, a temperature sensor and / or a current sensor (eg power sensor).

Example 18 is the method according to one of Examples 11 to 17, further comprising: wireless transmission of the data from the sensor arrangement to a base station, the

Base station has, for example, a computing unit, wherein the computing unit is used to determine the

machine-independent process model.

Example 19 is the method according to any one of Examples 1 to 18, wherein the data e.g. by means of the

Sensor arrangement are detected, represent a trajectory (e.g. a position-related and / or movement-related property) of the implement, and / or a property according to the work point of the implement (for example

Volume flow, temperature or current strength).

Example 20 is the method according to Example 19, wherein the determination of the machine-independent process model comprises a trajectory of the process sequence, e.g. along which the implement is guided and / or the sub-processes

take place, to determine, to smooth them and / or to discard one or more than one point of the trajectory.

Example 21 is the method according to one of Examples 1 to 20, wherein the determination of the machine-independent

Process model also has to take into account at least one boundary condition for the process activity and / or the spatial information, wherein, for example, the determination of the machine-independent process model further comprises a model of at least one sub-process of the plurality of

To consider sub-processes, which defines the boundary condition, the boundary condition for example

is parameterized (i.e. defined in parameters), with the boundary condition for example for the entire

Process flow is defined. Example 22 is the method according to Example 21, wherein the at least one boundary condition is related to temporal information and / or mechanical information, wherein, for example, the at least one boundary condition is a

Working speed, a hold time, a force, and / or a pressure.

Example 23 is the method according to one of Examples 1 to 22, the data being recorded in a time-resolved manner.

Example 24 is the method according to any one of Examples 1 to 23, wherein the model of the machine, a sensor type of the machine, an end effector of the machine, a

Positioning device of the machine and / or a

physical architecture of the end effector and / or the

Positioning device taken into account, and / or wherein the model of the machine is a functional property of the

End effector considered.

Example 25 is the method according to one of Examples 1 to 24, the machine-independent process model also representing a result of the process sequence.

Example 26 is the method according to one of Examples 1 to 25, further comprising: mapping the machine-specific control model to a control program which can be executed by the machine, e.g. whose code segments are set up according to a programming interface of the machine.

Example 27 is the method according to Example 26, wherein the mapping of the machine-specific control model to the control program comprises using one or more than one template.

Example 28 is the method according to Example 27, the template using the model of the machine, the process model and / or a model of at least one sub-process

is instantiated.

Example 29 is the method according to one of Examples 1 to 28, further comprising: Acquiring the data at least in part by means of an additional sensor arrangement which is arranged in a stationary manner, for example the acquisition of the additional sensor arrangement and the sensor arrangement and / or the corresponding parts of the data be synchronized.

Example 30 is the method according to Example 29, wherein the additional sensor arrangement is an optoelectronic sensor, a distance sensor, a sonar sensor and / or a

Having radar sensor; and / or wherein the data that are acquired by means of the additional sensor arrangement are a trajectory (e.g. a position-related and / or

movement-related property) of the implement

represent.

Example 31 is a system comprising: one or more than one processor which is set up to carry out the method according to one of Examples 1 to 30, optionally further comprising a wireless communication device for wireless communication with the sensor arrangement and / or the additional sensor arrangement.

Example 32 is the system according to Example 31, furthermore

comprising: one or more than one non-volatile

Memory in which the machine-independent process model, the machine-specific control model and / or the model of the machine are or will be stored; and / or one or more than one sensor arrangement for acquiring the data.

Example 33 is a non-volatile memory comprising code segments that are established when executed by a processor, the method according to any one of Examples 1 to 30. Example 34 is a machine-independent process model, e.g. process model from the method according to one of Examples 1 to 30, the process model for each sub-process of a large number of sub-processes linking a process activity with spatial information of the sub-process, the several sub-processes being part of a process flow, which is carried out by means of a working device, for example the spatial information exactly three

Location coordinates (e.g. according to a Cartesian

Claims

1. Method (100), comprising:

• Determining (103) a machine-independent

Process models (104m) based on data, the data representing handling of a work device (104) when performing (101) a process flow, the process flow having a plurality of sub-processes, the

Process model (104m) for each sub-process of the

Multiple sub-processes link a process activity with spatial information of the sub-process;

• Mapping (105) the machine-independent

Process models (104m) to a machine-specific control model (116m) of a machine (114) using a model (114m) of the machine (114), the machine-specific control model (116m) for each sub-process of the plurality of

Sub-processes defines an operating point of the machine (114) that is related to the process activity and the spatial information of the sub-process

corresponds.

2. The method (100) according to claim 1,

wherein the mapping (105) comprises the spatial

Information on an operating point of a

Map the positioning device (114p) of the machine (114).

3. The method (100) according to claim 2,

wherein the mapping (105) comprises mapping the process activity to an operating point of an end effector (114e) of the machine (114), which by means of the

Positioning device (114p) is movably mounted.

4. The method (100) according to any one of claims 1 to 3,

• being at least one sub-process of the plurality of

Sub-processes are conditioned according to a criterion,

• wherein the mapping (105) comprises the criterion

to parameterize according to a sensor type of the machine (114).

5. The method (100) according to any one of claims 1 to 4,

wherein the spatial information represents a position and / or orientation of the working device (104).

6. The method (100) according to any one of claims 1 to 5,

wherein the process activity represents an actuation and / or an operating point of the implement (104).

7. The method (100) according to any one of claims 1 to 6,

also having:

Presentation of the machine-independent process model (104m) and / or the machine-specific

Control model (116m) by means of a

User interface, which is set up, based on a user input, the machine-independent process model (104m) or the machine-specific

Change control model (116m).

8. The method (100) according to any one of claims 1 to 7,

also having:

Acquisition of the data, at least in part, by means of a sensor arrangement (102) which is attached to the working device (104).

9. The method (100) according to claim 8, further comprising: wherein the data which are detected by means of the sensor arrangement (102)

• a trajectory of the implement (104)

represent; and or • a property according to a work point of

Represent working device (104).

10. The method (100) according to any one of claims 1 to 9,

also having:

Acquisition of the data at least in part by means of an additional sensor arrangement (112) which is arranged in a stationary manner.

11. The method (100) according to any one of claims 1 to 10,

also having:

Mapping of the machine-specific control model (116m) to a control program which is controlled by the

Machine (114) is executable.

12. The method (100) of claim 11, further comprising: wherein mapping the machine-specific

Control model (116m) has on the control program to use one or more than one template.

13. The method (100) according to claim 12, further comprising: wherein the template using the model (114m) of

Machine (114) is instantiated.

14. System, comprising:

one or more than one processor which is set up to carry out the method (100) according to any one of claims 1 to 13.

15. Non-volatile storage medium comprising code segments that are established when by a processor

carried out the method (100) according to one of the

Claims 1 to 13 to carry out.