EP4018275A1 - Système et procédé de commande d'au moins une machine, plus particulièrement d'un ensemble de machines - Google Patents

Système et procédé de commande d'au moins une machine, plus particulièrement d'un ensemble de machines

Info

Publication number
EP4018275A1
EP4018275A1 EP20764589.6A EP20764589A EP4018275A1 EP 4018275 A1 EP4018275 A1 EP 4018275A1 EP 20764589 A EP20764589 A EP 20764589A EP 4018275 A1 EP4018275 A1 EP 4018275A1
Authority
EP
European Patent Office
Prior art keywords
machine
language
control
control function
command
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.)
Withdrawn
Application number
EP20764589.6A
Other languages
German (de)
English (en)
Inventor
Andreas SPENNINGER
Sven Parusel
Simon Haddadin
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.)
Franka Emika GmbH
Original Assignee
Franka Emika 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 Franka Emika GmbH filed Critical Franka Emika GmbH
Publication of EP4018275A1 publication Critical patent/EP4018275A1/fr
Withdrawn legal-status Critical Current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]
    • G05B19/41845—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 system universality, reconfigurability, modularity
    • 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
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/4155—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
    • 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
    • G05B2219/31—From computer integrated manufacturing till monitoring
    • G05B2219/31455—Monitor process status
    • 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 system and a method for controlling at least one machine, in particular a system and a method for the synchronous or asynchronous control of a group of machines.
  • each machine has its own individualized or individual machine language, which is composed of defined command codes.
  • the command structure or command syntax that forms this machine language is designed so that the machine can be programmed or controlled or activated in order to carry out intended functions or, if necessary, generated by autonomous planning, on the basis of which the machine then interacts with the environment.
  • a user controls the machine using machine language and gives the machine instructions using appropriate commands so that it can carry out defined operations.
  • These instructions can refer to the programming of the machine (setup) itself as well as to the actual machine control during operation.
  • a machine is programmed in advance with regard to the operations to be carried out by it within the framework of the programming language provided, in order to generate the corresponding control commands for this purpose, which are then to be carried out after the programming.
  • control commands are entered via a human-machine interface (HMI).
  • HMI human-machine interface
  • the HMI can be designed to display a control command, for example “move effector from position A to position B”, via an individually designed graphical user interface, which the user then actuates from another manufacturer also knows this control command, but it can be implemented in the robot-side input and control system using other algorithms and must be programmed or activated by a user in a different way, for example purely textually.
  • the invention relates to a system for controlling at least one machine, which is assigned an individual machine language that includes defined command variables, with the machine undergoing at least one change of state in the course of the control, comprising: a man-machine interface, the one Interaction language is assigned, which comprises defined command sizes; and at least one control module that is designed to generate at least one control function depending on the type of machine and / or the machine language assigned to it in relation to a command variable of the interaction language and / or in relation to a command variable of the individual machine language, which is designed to transform the command size of the interaction language into an associated command size of the individual machine language.
  • machine in the sense of a generic term is to be understood as a unit or component to be controlled, of any configuration, which one or more operations in an interaction with the Environment, an object, a workpiece and / or a person, and which can include, for example:
  • Has command structure i.e. machine language
  • Communication variables (or also command codes) in the context of this disclosure are to be understood as meaning all instructions which can result from a user input and which cause the machine to fulfill a specific function and / or to carry out a specific operation.
  • control module is also designed as a function of the type of machine and / or to generate at least one inverse rule function of the machine language assigned to this in relation to a state variable of the interaction language and / or in relation to a state variable of the individual machine language, which is designed to transform a state variable of the individual machine language into an associated state variable of the interaction language.
  • State variables (or also signal variables, state signals) in the context of this disclosure are to be understood as meaning all variables which then enable the control module or the user to provide feedback via the transformation in the interaction language in the course of the changes in the state of the machine caused by the command variables, including of a possible influencing disturbance.
  • the essence of the invention can therefore be seen in the fact that, with regard to any control variable, the forward transformation via a first control function between the interaction language and the machine language on the one hand and with regard to any state variable, the reverse transformation via an inverse control function between the Machine language and the interaction language on the other hand are mapped by the system or the method according to the invention in the broadest sense of the program as an implementation of a process computing model.
  • the method and the system according to the invention enable at least one machine to be controlled live by a user with immediate feedback from the machine while the machine is executing the commands entered by the user.
  • control is carried out by the user "on the fly", ie in real time.
  • the codes resulting from the control functions and inverse control functions are generated while the program on which they are based is running.
  • the method implemented according to the invention is quasi a “programming in the loop ".
  • a virtual process computer is implemented according to the invention, the system assuming how the controller programs could be configured with it in the sense of a corresponding control law, the control functions for transforming the command or state variables can be generated, which reflects the actual abstraction process.
  • the system-side control module establishes communication with a machine-side control module in order to establish a communication in the Interaction language of the system-side control module stored command variable, which corresponds to a defined operation, to link with a corresponding command variable that is stored in the machine language of the machine-side control module, the system-side
  • Control module external to the machine-side control module and this is superordinate.
  • the system according to the invention functions more or less analogously to a "simultaneous translator".
  • the process of the process computing model does not necessarily have to be designed to be deterministic.
  • the future output of the controlled variable to be determined via the control function does not necessarily have to be known in advance, since this may also only arise from the interaction of the machine with the environment, with the change in state, for example, due to forces occurring on the machine or due to movement patterns of the Machine is played.
  • control module can furthermore be designed in such a way that the control function is generated as a function of the inverse control function and / or vice versa.
  • control module can be designed in such a way that the control function and / or the inverse control function can be changed during the state change of the machine, specifically, for example, as a function of specified or actual feedback parameters.
  • the system according to the invention can be designed to be open in terms of function and / or time. For example, releases, i.e. what should be implemented on the machine side in any case, and restrictions, i.e. what must not occur on the machine side, can be added to or removed from the individual control functions.
  • the process computation model implemented according to the invention for the forward transformation of command variables and the reverse transformation of state variables brings about an abstraction of an individual machine language specified for a machine.
  • system and the method described below are designed, in particular, for controlling a collective which is composed of several different types or classes of machines.
  • control module being designed for each machine to generate at least one corresponding control function and at least one corresponding inverse control function.
  • the machine languages are usually not compatible with one another, or only with restrictions.
  • the collective can be designed as a potentially heterogeneous system or network, for example a production plant consisting of several machines and robots, each of which performs different tasks and comes from different manufacturers and therefore has different, incompatible machine languages and use.
  • a "collective” should therefore be understood not only as machines that are not physically coupled to one another but that work together in some form, such as in production plants, but also systems that are physically coupled to one another, such as a robot arm that carries a gripper mechanism at its distal end
  • the members / machines of the collective can be distributed locally and / or globally and connected to one another via a network or wirelessly.
  • control module is also designed, the control functions and the inverse Generate control functions in relation to the machines of a collective synchronously or asynchronously.
  • control of the individual machines of the collective by a user via the interaction language can take place individually, simultaneously or as a function of the desired sequence of the collective.
  • the system and the method according to the invention implement a uniform abstraction in the program with respect to all different machine languages that are present in a collective of machines.
  • the interaction language functions as a kind of abstraction language, as a result of which a uniform system for controlling at least one machine of a collective is proposed, which can be used regardless of the internal control system of this machine or the programming type and machine language provided for this, since it is capable to communicate with all the different machine languages of machines, such as robots, of the most varied of designs or from different manufacturers.
  • the user can use the simplified programming of the higher-level system, which can preferably be identified by a simple operating logic (e.g. dialog-based, purely textual or via graphic symbols) of a graphical user interface of the HMI, in order to transfer an operation command to the individual control system of the machine , which is then carried out by the latter without the user having to go into the possibly very complicated logic of the machine-side control system.
  • a simple operating logic e.g. dialog-based, purely textual or via graphic symbols
  • a user therefore does not have to deal in detail with all the programming instructions on the market for control systems of different machines / robots and familiarize themselves with them in order to have a simple operation carried out by the machine / robot or even by a collective of machines / robots, but can only use the higher-level system, which has a much simpler logic in terms of its programming and therefore better user-friendliness.
  • the higher-level system forms, as it were, a generalized operating system for many machines, for example all robots on the market. It can be easily adapted to new operating or control systems, as well as machine languages, from existing or new machine or robot systems and also to new operations to be carried out without great programming effort.
  • system according to the invention enables, in a simple manner, the simultaneous or staggered actuation of machines or machine groups that are spatially separated from one another.
  • system of the invention is also designed to independently recognize which machine-side control system, ie which machine language, it is currently using is connected or is to communicate in order to then independently provide the "translation” or transformation algorithms necessary for the desired command size for generating the control functions.
  • Such an autonomous “mapping" can be achieved by means of appropriate learning or deep learning algorithms or neural Networks are made or implemented.
  • the invention also relates to a method for controlling at least one machine that is assigned an individual machine language that includes defined command values, by means of a control module that interacts with a human-machine interface that is assigned an interaction language that is also defined Command variables, comprising, the machine experiencing a change of state in the course of the control, having the steps:
  • the method comprises the following steps: as a function of the type of machine and / or the machine language assigned to it, generating an inverse control function in relation to a state variable of the interaction language and / or in relation to a state variable of the individual machine language; and Transforming the state variable of the individual machine language into an associated state variable of the interaction language using the inverse rule function.
  • control function can be generated as a function of the inverse control function and / or vice versa.
  • control function and / or the inverse control function can be changed during the state change of the machine.
  • the method according to the invention is preferably designed so that if several machines are provided, each of which is assigned an individual machine language, a control function and an inverse control function are generated for each machine, with the control functions and the inverse control functions synchronously with respect to the machines or can be generated asynchronously.
  • the system or method according to the invention enables a user to control a machine or a collective of machines online directly and in real time via a corresponding network, regardless of the type of machines and their programming and command languages.
  • FIG. 1 shows a schematic representation of a human-machine interface
  • FIG. 2 shows a schematic representation of a machine to be controlled
  • FIG. 3 shows a schematic representation of a structure of a system according to the invention in relation to the control of a single machine K ⁇ ;
  • FIG. 4 shows a further schematic representation of a structure of a system according to the invention in relation to the control of a single machine K ⁇ ;
  • FIG. 6 shows a representation of a robot as a physically connected collective
  • FIG. 7 shows a schematic representation of a structure of a system according to the invention in relation to the control of a group of machines.
  • a man-machine interface HMI is shown schematically, with the help of which a user input commands of an interaction language assigned to this HMI, visually, textually, by voice control, via graphic symbols or a virtual reality device via an input module EM can enter.
  • the user receives feedback via the HMI about the status of a machine, component or unit to be controlled by the system according to the invention or of a collective of machines to be controlled.
  • the interaction language forms, so to speak, the user-side command language which, according to the invention, is preferably designed uniformly with respect to all machines with which the system is to interact.
  • Corresponding command values r lr ..., ri are stored or predefined in the interaction language. If the machine to be controlled is, for example, a robot, the command variable r ⁇ can mean, for example, "Move the robot from position A to position B", whereby the type of robot and its inherent machine language are available to the system and thus to the user Operation of the interaction language are not necessarily known.
  • the machine language of the machine includes all instructions defined by command variables that can be executed directly by the machine in the context of operations, whereby the quantity and the formal structure or syntax of these instructions, i.e. the command set, differ from machine to machine, even if the machines come to the same result when implementing a command variable.
  • a six-axis, position-controlled robot from a first manufacturer with a first machine language (machine code, machine program) as well as a six-axis, position-controlled, technically differently implemented robot from a second manufacturer with a second machine language is able to determine its effectors from the position A to the position B, ie the result or the functional performance of both robots is identical, but the execution takes place via different command values of the machine language.
  • FIG. 2 the structure of a machine Ki to be controlled by the system according to the invention is shown schematically.
  • This machine Ki has its own machine language which is not identical to the user interaction language in terms of type and programming.
  • this Machine language which does not have to be identical and not compatible with machine languages of other machines or machine classes, are also stored command variables Ri, ..., Ri which correspond to the command variables of the interaction language with regard to their execution, ie the result to be achieved.
  • the command variable Ri of the machine language therefore also means "move the robot from position A to position B"
  • the command variables R 2 to Ri can include further commands that can be executed after the command R x.
  • FIG. 3 the structure of a system according to the invention is shown schematically in relation to the control of a single machine K ⁇ .
  • the system according to the invention is designed, for example, by appropriate programming in relation to the software or at least one arithmetic core, in relation to each command variable ri, ..., ri of the interaction language in each case at least one control function fi, ..., fi generate with which these command values r 1 ..., is converted or transformed to the respectively assigned or corresponding command variable Ri, ..., Ri of the machine language of the machine Ki.
  • this process takes place in such a way that the control functions fi,..., Fi are implemented via at least one algorithm stored or implemented in the software or the computing kernel depending on the type or class of the machine K ⁇ , for example a six-axis one , position-controlled robot that determines this machine K ⁇ internal individual (usually manufacturer-dependent) machine language and / or the type of command itself.
  • the command structure or command syntax of the interaction language does not have to know the command structure or command syntax of the machine Ki for this purpose.
  • the machine Ki itself is described as a computer model of a state machine which experiences a change of state in the course of the execution of each command variable, which is indicated by the arrow Z in FIG.
  • the computer model can be described as a Turing machine.
  • the change of state does not necessarily have to be of a dynamic nature.
  • the machine Ki can, for example, also be a sensor of any type whose current state, ie measured value, is queried via a corresponding input in the interaction language by means of a command variable r 2 , e.g. in the sense of "Determine prevailing temperature” by the
  • the system's control module generates a corresponding control function f 2 , which maps this input to the controlled variable R 2 of the machine (sensor) in the sense of "Determine the prevailing temperature” of the sensor.
  • the temperature as a state variable or a state signal can then be transferred back to the control module or the HMI for displaying or transmitting the information to the user, which is to be explained below in connection with FIG. 4.
  • control module is also designed so that in the course of generating the control functions f lf ..., fi there is constant feedback from the command variables R 2 , ..., Ri of the machine K 2 , which is symbolized by the arrows Ui, ..., Ui is shown.
  • the invention is consequently characterized in that it is defined for communication between a user Interaction language and a given, individualized machine language virtually implements a process computing model, in the broadest sense the basic structure of a control loop in which actual and / or virtual state variables and / or disturbance variables are included in the feedback control.
  • a control loop is preferably generated virtually in a program, with the individual command variables as virtual control variables.
  • the system In order to recognize whether and to what extent the status change (e.g. "Robot has moved from position A to position B") of the machine to be controlled has occurred, the system (and thus the user via the HMI) must receive a corresponding feedback to be delivered.
  • the status change e.g. "Robot has moved from position A to position B
  • a set of state variables Si, ..., Si is assigned to the machine language of the machine K ⁇ . These state variables Si, ..., Si in turn correspond to a set of equivalent state variables si, defined in the interaction language,
  • the at least one control module is further designed such that at least one inverse control function fi 1 , ..., fi _1 is generated in relation to a state variable Si, ..., si of the interaction language, which is designed to be a to transform or map the corresponding state variable Si, ..., Si of the machine Ki into the associated state variable si, ..., si of the interaction language.
  • the generation of the inverse control function follows the approach according to the invention, the communication between the machine language and the interaction language as one To map process computing model, with corresponding algorithms being stored in the control module.
  • the output of the information obtained in this way can be conveyed to the user via a correspondingly designed display module DM.
  • the user therefore only needs a single interaction language with a defined set of instructions in order to control machines, components and / or machine collections or to communicate with them.
  • the interaction language is preferably designed to be user-friendly and easy to understand, for example via an app control on a graphical user interface, and is independent and self-sufficient in relation to all machine languages of the machines to be controlled.
  • the system according to the invention is therefore designed to accomplish the abstraction across all different machine languages by means of predetermined algorithms implemented in the system, in that all possible virtual and / or actual parameters in relation to the process calculation model implemented by these algorithms, such as controlled variables, state variables as possible disturbance variables (e.g. latencies) can also be taken into account.
  • the system is used to control a preferably potentially heterogeneously distributed collective of machines, components or units.
  • Each machine K x to K experiences a change of state Zi to Z, which occurs in the course of the control.
  • the machines themselves do not have to be functionally related and can also be located in different locations. However, they can also work together without having to have mutually compatible machine languages, for example within the framework of a joint production facility, which is shown by way of example by the arrows A, B.
  • the machine K can be a machine tool that is equipped by a robot K in that it removes workpieces from a conveyor belt K and transfers them again after processing.
  • machines K to K have different, mutually incompatible machine languages
  • the communication between the machines, their control and possibly also programming takes place via the abstraction principle according to the inventive method with the interaction language as the uniform command language for all machines K7 to K 9 .
  • the collective can, however, also be several components of a single, independent machine that functionally interact, such as a robot arm K from one manufacturer that carries a gripper mechanism K from another manufacturer at its distal end, as shown by way of example in FIG. 6, the robot arm K 3 , or its control / machine language, and the gripper mechanism K 5 , or its control / machine language, being able to have only partial or no information from one another.
  • a robot arm K from one manufacturer that carries a gripper mechanism K from another manufacturer at its distal end, as shown by way of example in FIG. 6, the robot arm K 3 , or its control / machine language, and the gripper mechanism K 5 , or its control / machine language, being able to have only partial or no information from one another.
  • FIG. 7 the control of a collective according to the method according to the invention is shown schematically.
  • Each machine K 2 and K 2 has a set of command variables (Ri, ..., Ri) Ki and (Ri, ..., R 2) K 2 in their own machine language. Likewise, each machine K 2 and K 2 is assigned a set of state variables (Si, ..., Si) Ki and (S 1 , ..., S 2) K 2 , which are already present (e.g. existing temperature) or are only set by a change of state as a result of the control (e.g. then changed temperature).
  • control module software, calculation core.

Abstract

La présente invention concerne, entre autres, un système de commande d'au moins une machine (Ki), auquel un langage machine individuel est attribué, lequel comprend des variables de commande définies (R1,..., Ri) de sorte que lors de la commande, la machine (Ki) subit un changement d'état (Zi), avec un module de commande qui est conçu pour transformer des variables de commande (r1,..., ri) d'un langage d'interaction en des variables de commande correspondantes (R1,..., Ri) d'un langage machine individuel, en fonction du type de machine (Ki) et/ou du langage machine associé à celui-ci.
EP20764589.6A 2019-08-20 2020-08-20 Système et procédé de commande d'au moins une machine, plus particulièrement d'un ensemble de machines Withdrawn EP4018275A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019005787.2A DE102019005787A1 (de) 2019-08-20 2019-08-20 System und Verfahren zur Steuerung zumindest einer Maschine, insbesondere eines Kollektivs von Maschinen
PCT/EP2020/073341 WO2021032841A1 (fr) 2019-08-20 2020-08-20 Système et procédé de commande d'au moins une machine, plus particulièrement d'un ensemble de machines

Publications (1)

Publication Number Publication Date
EP4018275A1 true EP4018275A1 (fr) 2022-06-29

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EP20764589.6A Withdrawn EP4018275A1 (fr) 2019-08-20 2020-08-20 Système et procédé de commande d'au moins une machine, plus particulièrement d'un ensemble de machines

Country Status (7)

Country Link
US (1) US20220283568A1 (fr)
EP (1) EP4018275A1 (fr)
JP (1) JP2022545803A (fr)
KR (1) KR20220050953A (fr)
CN (1) CN114375427A (fr)
DE (1) DE102019005787A1 (fr)
WO (1) WO2021032841A1 (fr)

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3668653A (en) * 1968-10-22 1972-06-06 Sundstrad Corp Control system
GB2350442A (en) * 1999-05-18 2000-11-29 Falcon Machine Tools Co Ltd Computerised numerical controller with profile path editor
DE102012217573A1 (de) * 2012-09-27 2014-03-27 Krones Ag Bediensystem für eine Maschine
US9308647B2 (en) * 2014-06-03 2016-04-12 Bot & Dolly, Llc Systems and methods for instructing robotic operation
US10675761B2 (en) * 2016-10-14 2020-06-09 Magic Leap, Inc. Mode architecture for general purpose robotics
DE102019100766A1 (de) * 2018-08-07 2020-02-13 Still Gmbh Fernbedienbares Flurförderzeug

Also Published As

Publication number Publication date
US20220283568A1 (en) 2022-09-08
DE102019005787A1 (de) 2021-02-25
WO2021032841A1 (fr) 2021-02-25
CN114375427A (zh) 2022-04-19
KR20220050953A (ko) 2022-04-25
JP2022545803A (ja) 2022-10-31

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