WO2012025364A1 - Procédé et système de planification de systèmes mécatroniques dotés d'unités mécatroniques - Google Patents

Procédé et système de planification de systèmes mécatroniques dotés d'unités mécatroniques Download PDF

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Publication number
WO2012025364A1
WO2012025364A1 PCT/EP2011/063638 EP2011063638W WO2012025364A1 WO 2012025364 A1 WO2012025364 A1 WO 2012025364A1 EP 2011063638 W EP2011063638 W EP 2011063638W WO 2012025364 A1 WO2012025364 A1 WO 2012025364A1
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WIPO (PCT)
Prior art keywords
mechatronic
unit data
data structures
data structure
stored
Prior art date
Application number
PCT/EP2011/063638
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German (de)
English (en)
Inventor
Matthias Foehr
Lorenz Hundt
Arndt LÜDER
Thomas Wagner
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Siemens Aktiengesellschaft
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Publication of WO2012025364A1 publication Critical patent/WO2012025364A1/fr

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    • 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
    • G05B17/00—Systems involving the use of models or simulators of said systems
    • G05B17/02—Systems involving the use of models or simulators of said systems electric

Definitions

  • the present invention relates to a method and system for the planning of mechatronic systems with mechatronic units
  • Mechatronics deals interdisciplinary with the interaction of mechanical, electronic and information technology units in mechatronic systems.
  • Mechatronic systems have the function of solving a given technical problem with sensors, processors, actuators and elements of mechanics, electronics and computer science.
  • Mechatronic systems solve the given problem ⁇ in which they combine mechatronic units in a suitable manner.
  • a mechatronic unit the individual components of a mechatronic system are generally referred to.
  • a gripper arm or a conveyor belt can be, for example, mechatronic units.
  • Mechatronic systems that complex problems lö ⁇ sen may consist of a large number of individual units mechatronics. Not infrequently, a mechatronic system consists of several thousand mechatronic units.
  • An object of the present invention is to provide an efficient scheduling method for mechatronic systems be ⁇ riding observed.
  • a planning method for a mechatronic system having a plurality of mechatronic units wherein a mechatronic unit data structure is stored for each mechatronic unit, the mechatronic unit data structure having information or information data about the respective mechatronic unit, and wherein a process sequence data structure is stored, which contains information about the process flow of the mechatronic system, with the following steps:
  • Mechatronic unit data structures based on the process flow data structure, wherein the mechatronic unit data structures are subdivided into higher and lower mechatronic unit data structures,
  • the invention further provides a planning device for planning a mechatronic system, in particular for planning a mechatronic system according to the planning method according to one of claims 1 to 5, comprising:
  • a mechatronic unit data structure memory which stores at least one mechatronic unit data structure
  • a process flow data structure memory which stores at least one process flow data structure, wherein the mechatronics device data structures are subdivided into higher and lower level mechatronic device data structures,
  • a first selection device which selects at least two mechatronic unit data structures based on the at least one stored process flow data structure
  • a creation device that automatically creates a hierarchy of the selected mechatronics unit data structures based on the process flow data structure, the mechatronics unit data structures being divided into higher and lower mechatronics unit data structures,
  • a provisioning device which provides interfaces in the selected mechatronic unit data structures, which correspond to the respective higher-level mechatronic units, based on the interfaces specified in the mechatronics unit data structures of the respective subsidiary mechatronic units, and with
  • a determination device which determines the assignment of each of the provided interfaces of the higher-level mechatronic unit data structures to the interfaces of the respective lower-level mechatronic unit data structures wherein the association is stored in the higher-level and / or the respective lower-level mechatronics unit data structure.
  • individual mechatronic units can in turn be constructed from further mechatronic units.
  • a gripping arm in turn consist of mechatronic units , such as an electric motor, at least one position sensor and a mechanical gripping unit.
  • the present invention recognizes this finding and provides a scheduling method that takes into account this hierarchical view of mechatronic units for automated planning of a mechatronic system.
  • the planning procedure presented here is based on mechatronic unit data structures, which contain the information about a respective mechatronic unit, which are necessary for automated planning of the mechatronic system. Furthermore, the scheduling method is based on a process flow data structure that describes the process and thus the desired function of the mechatronic system being planned.
  • the preparation of the information about mechatronic units in the form of a mechatronic unit data structure enables the automated planning of a mechatronic system.
  • the interfaces which have a mechatronic unit are subdivided into device interfaces and execution interfaces.
  • a mechatronic unit communicates with subordinate mechatronic units via the device interfaces.
  • the mechatronics unit communicates with higher-level mechatronic units via the execution interfaces.
  • the mechatronic planning process is function-oriented. This is reflected above all in the fact that the mechatronic units are regarded as function providers and speaking manner. In the realization of a mechatronic system, therefore, ways must be found to realize the required functions of the mechatronic system by mechatronic units. Accordingly, a selection of useable mechatronic units is based on the functions provided by the mechatronic units. In the mechatronic unit data structure this is described in the functional sequences. Thus, based on the functional sequences predetermined by a planner in the process flow data structure, an automatic selection of available and potentially suitable mechatronic units can be made. The exact (eg control-technical) implementation is not necessarily taken into account.
  • mechatronics units selected out ⁇ chose mechatronics units can be linked together to achieve the desired overall function. Previously, this was done manually by individual signals of a mechatronics unit were connected to the corresponding remote station. Based on the mechatronic unit data structure, the linking process can be automated. Within the cut ⁇ provide structure each signal is always compared with a counterpart. For example, in the hierarchy of the mechatronic system, as described above, signals from exporting approximately ⁇ always interfaced with the device interfaces of the parent mechatronic unit logically connected or comparable ties. In this case, a signal of the opposite type to the type of the connected signal of the subordinate unit exists at the higher-level mechatronic unit.
  • sensor outputs are always connected to an input signal of the device interface.
  • both signals can be connected together or linked.
  • Is a mechatronic system Bot ⁇ tom-up model all the signals from metal can automatically chatroniköen that are subordinate to a higher-level Mechatronikein- beauty, are collected. In this case, taken into ⁇ into account, if it is chatronikü in the signals to the signal of a Ak ⁇ gate or a sensor or to the signal of another metal.
  • signals of actuators or sensors ⁇ Sen all associated signals are transferred directly to the higher-level unit Mechatronics data structure.
  • the respective signal type is determined individually for each signal.
  • a signal from the ge ⁇ genslegidas type for each of the signals of the subordinate mechatronic units will be created automatically.
  • a signal output so a signal input is created and vice versa.
  • neutral signals representing neither an input nor an output signal or a bidirectional signal can be automatically linked together.
  • the original signal and the generated signal are automatically connected to each other.
  • the signal description and the general characteristics of the signals are carried and stored in the mechatronic unit data structure of the higher-level mechatronic unit.
  • the planning method comprises the step of determining a number of input and / or output modules with physical channels for a control of the mechatronic system, wherein a physical channel is stored for each of the inputs stored in the selected mechatronic unit data structures. and / or output signals is provided.
  • the planning method comprises the steps of assigning signal names stored in the selected mechatronic unit data structures to the physical channels of the input and output modules, and communication-relevant parameters based on signal and channel properties stored in the selected mechatronic unit data structures and to store the specified communication-relevant parameters in the selected mechatronics unit data structures.
  • the structure of the controller to be used is determined. Among other things, this raises the question of how the input and output structure of this control hardware must be designed (eg which type of I / O modules (input / output modules) is required and which channels of this card are connected to which mechatronic unit ). It is known how many STEU ⁇ modified later to be used and what POEs are to be implemented on which control can be automatically determine the required I / O modules per controller. For this purpose, all signals of the device interface are checked.
  • the planning method has the step of integrating the function plans stored in the selected mechatronic unit data structures into a superordinate function plan for the mechatronic system. This makes it possible to program controllers of the mechatronic system on a functional-diagram basis, which simplifies the programming and thus the development or planning of the mechatronic system. In alternative embodiments, at least part of the programming is done on a manual basis.
  • the scheduling method includes the step on, a control for the mechatronic Sys ⁇ system, select based on the function block diagram of the mechatronic system, wherein the controller is selected such that all the processes stored in the process-flow data structure executed with this one control and as little control resources as possible are left unused in the controller.
  • the controller is selected such that all the processes stored in the process-flow data structure executed with this one control and as little control resources as possible are left unused in the controller.
  • At least two controls for the mechatronic system are selected. Furthermore, the execution of the processes stored in the process run ⁇ data structure is divided into these at least two controllers. If a controller does not have sufficient resources to control an entire mechatronic system, two or more controllers can be automatically selected. The automatic selection further accelerates the development process.
  • the function of at least one of the elements of the planning device is implemented by a computer or computer.
  • FIG. 2 is a block diagram of a possible embodiment ⁇ form of a planning device according to the invention.
  • 3 shows a diagram of a possible embodiment of a mechatronic unit data structure according to the invention
  • 4 shows a diagram for explaining the consistency rules within a mechatronic unit data structure
  • Fig. 5 is a diagram for explaining the interaction
  • FIG. 1 shows a flow chart of a possible embodiment of a planning method according to the invention.
  • Fig. 1 the planning process starts with the step Sl, and then proceeds to the step S2 in the step S2, to the final step S4.
  • step S1 at least two mechatronic unit data structures ME-DS, based on the process flow data structure PA-DS, are selected.
  • the process sequence data structure PA-DS has information or information data on the function of the mechatronic system to be planned. Among other things, this information includes the functional sequences of the mechatronic system.
  • Based on the most ⁇ th functional sequence of the mechatronic system at least two units Mechatronics data structures are selected, each corresponding to a mechatronic unit, said mechatronic units are adapted to implement therésab ⁇ run the plan to mechatronic system.
  • the sequence of functions described in the process flow data structure, the detection of an object own ⁇ shaft, for example a color of an object, and the specific objects from ⁇ sort may include a gripping arm.
  • Gripper arm z. B. consists of an electric motor, a position sensor for the arm and a mechanical gripper element with an end stop sensor.
  • the mechatronic unit data structure for the color sensor, for the gripper, for the electric motor, the position sensor, for the arm and for the mechanical Greifele ⁇ ment with a Endanschlagssensor are selected, the mechatronic unit data structures have different amounts of information, depending on the type of mechatronic unit to which the respective mechatronic unit data structure is assigned.
  • the amount of information on interfaces and signals may be to reduce the complexity of a mechatronic unit data structure which is of a simple mechatronic unit, such as a motor supplied ⁇ arranged, can be reduced.
  • a detailed functional description is not necessary in such a case.
  • a hierarchy of the mechatronic units based on the process flow data structure, is created.
  • the electric motor, the arm position sensor, and the mechanical gripping member are arranged with an end stop sensor under the gripper arm, and the gripper arm itself and the color sensor are placed on the same plane of the data hierarchy.
  • interfaces are provided in the mechatronic unit data structures of the higher-level mechatronic unit. These form device interfaces there and correspond to control interfaces of the execution interface of a respective subordinate mechatronic unit.
  • mechatronics unit data structure of the gripping arms so the interfaces are in which the mechatronic unit data structures for the electric motor, the position sensor for the arm and for the mechanical Greifele ⁇ ment with an input or output Endanschlagssensor as are specified as new interfaces.
  • the interfaces which are stored in the underweight body ⁇ arranged mechatronic unit data structure as the input interface, provided as an output interface in the parent mechatronic unit data structure and vice versa.
  • a final step S4 the allocation of theticiange ⁇ set interfaces of the parent mechatronic unit data structures to the interfaces of the each subordinate unit Mechatronics data structures is performed.
  • the assignment is stored in the mechatronic unit data structure of the subordinate and higher-level mechatronic units.
  • Fig. 2 shows a block diagram of a possible Ausgestal ⁇ tung form a scheduling apparatus 1 of the invention.
  • the planning device 1 has a mechatronic unit data structure memory 2 which is coupled to a first selection device 4, a creation device 5, a provision device 6 and a fixing device 7. Furthermore, the planning device 1 has a process flow data structure memory 3, which is connected to the first selection device 4 and the creation device 5. Further, the first selector 4 is connected to the construction device 5, the provision device 6, and the attachment device 7. The creation device 5 is connected to the provision device 6, and the provision device 6 is connected to the attachment device 7.
  • the mechatronic data structure memory 2 and the process data structure memory 3 are designed as memories of a computing device, for example a computer.
  • the functions of the first selection device 4, the creation device 5, the provisioning device 6 and the fixing device 7 may be performed in an ASIC, an FPGA or implemented within the processor of a computer.
  • the mechatronic unit data structure memory 2 and the process data structure memory 3 are integrated in a server, which is connected via a network connection with the other components of the planning device 1.
  • the further components of the planning device 1 can be integrated in a single computer.
  • FIG. 3 shows a diagram of a possible embodiment of a mechatronic unit data structure ME-DS according to the invention.
  • the diagram in Fig. 3 uses symbols from the UML standard for class diagrams.
  • a triangle means that the class that is at the end of the arrow where the triangle does not exist is a subclass of the class where the triangle is located.
  • a completed diamond decorates the end that is connected to the whole.
  • an aggregation it is an unfinished rhombus.
  • the composition is a special case of aggregation and is the case where the parts can not exist without the whole.
  • a mechatronic unit ME forms the core element of FIG.
  • a device G is shown as a subclass of the mechatronic unit ME.
  • the device G also forms part of a mechatronic unit ME.
  • a mechatronic unit ME zero to any number of parameters P, at least one functional sequence FA, at least one functions F, exactly one set of geometry and kinematics data G / K and zero to any number of information ⁇ to the execution interface AS on.
  • a function has zero to any number of device interfaces and internal interfaces and at least one POU.
  • Parameter P include certain technical, business administration ⁇ nomic and other data that is valid for a comprehensive Mechatronikein- ME.
  • maximum permissible acceleration , speed or forces can be defined, which for certain reasons may not be exceeded.
  • parameters P that are constant over the life exist (for example, maximum acceleration on the basis of a construction ⁇ artlich predetermined maximum power consumption of a motor), and parameters that can change at runtime (for example, temporarily predetermined maximum acceleration, in order to avoid defects on workpieces) ,
  • the functional sequences FA describe the behavior of the mechatronic unit ME.
  • a controlled behavior gV describes the behavior of the mechatronic unit without the intervention of control and regulation algorithms.
  • the uncontrolled behavior uV represents the maximum possible functional ⁇ frame of a mechatronics unit, which can result from the combination of the application of all possible consequences of control and regulation algorithms.
  • the controlled behavior gV corresponds to the planned behavior of a mechatronic unit ME achieved by intervention of a control.
  • the geometry and kinematics data G / K are CAD data for describing the mechatronic unit ME in three-dimensional space as well as kinematic data, such as equations of motion.
  • the function F describes the applicability of a mechatronic ⁇ no standardized ME. Differences are z.
  • B. Main function HF and secondary functions NF, shown here as subclasses of class Function.
  • main functions HF the actual characteristic functions of the mechatronic unit ME are defined. This can be for example the testing or the Be transporting a workpiece.
  • secondary functions NF ⁇ the functions of the mechatronics unit ME refers not used directly the trial, which performs the mechatronics unit, for example, the diagnosis of a mechatronic unit or lighting.
  • Both function types HF, NF contain:
  • - Device interfaces GS For communication with hierarchically subordinate devices whose sub-functions are required to perform the overall function,
  • POU Program Organization Unit
  • the mechatronics unit ME has an exporting ⁇ approximately interface AS, which must also be displayed.
  • the mechatronic unit ME can be actuated via the execution interface AS and also provide feedback, for example about its current status.
  • FIG. 4 shows a diagram for explaining the consistency rules within a mechatronic unit data structure ME-DS.
  • FIG. 4 again shows a UML diagram in which the function F is represented as a central data element.
  • the function F is connected to an unregulated Verhal ⁇ th uV and controlled behavior gV.
  • the function F with an exemplary interface AS, a Gerä ⁇ te4.000stelle GS, an internal interface IS and a parameter P is connected.
  • the function F is connected to a program organization unit POE.
  • rules of the relationship of the data are defined or specified. These rules ensure that the related sets of information are treated syntactically and semantically compliant.
  • the rules are based on the execution of functions through cooperation of subordinate mechatronic units and the internal function control. The following facts apply to this:
  • Each function F realizes a controlled behavior gV described in the functional sequences. It bases this realization on the use of the described uncontrolled behavior,
  • Each function F is implemented by a set of POE control ⁇ technical, ie the POU describe the control code that is used in the mechatronics unit ME for the realization of the behavior described,
  • Each function F uses for their execution, the interface of ⁇ len and parameters that are described in the data structure Mechatronikisse- ME-DS. The following serve:
  • Execution interfaces AS for interacting with functions of other mechatronics units that call the function F as part of their behavior. These are usually functions of mechatronic units located at a higher level of the hierarchy of the mechatronic system, o device interfaces GS for interacting with functions of other mechatronic units that are called by the function as part of their behavior. These are usually functions of mechatronic units located at a lower level of the hierarchy of the mechatronic system,
  • execution interfaces AS and device interfaces GS differ from mechatronic units ME.
  • different levels of the hierarchy of the mechatronic system interact with each other.
  • the three interface types thus realize an interaction structure between the different functions within the hierarchy of the mechatronic system.
  • the communication between mechatronic units of different levels of the hierarchy of the mechatronic system is shown in FIG.
  • FIG. 5 shows a diagram for explaining the interaction of two mechatronic units ME1, ME2.
  • Each of mechatronics units ME1, ME2 includes the components execution interface AS, radio ⁇ tion F, internal interface IS and GS device interface.
  • the communication of a function with higher-level mechatronic units takes place via the execution interfaces AS. To all the functions can access the exporting ⁇ approximately interface. Several functions F may be coupled to ⁇ additionally via internal interfaces IS together. This allows a variable of one function to be passed to another.
  • the communication of a function F with subordinate mechatronic units ME takes place only via the device interface GS of the respective function F. The per ⁇ stays awhile device interface is available only for the specific function ⁇ on F.
  • a mechatronic system could be designed which has the function to store machine parts on ei ⁇ nem conveyor belt to transport these machine parts on the conveyor belt to a separation point, and based on a property of the machine parts, recordable, the color the machine parts to separate them.
  • the planning method would be supplied with a process sequence data structure which contains information or information data for the above-mentioned process sequence.
  • the planning method would be supplied with mechatronic unit data structures which contain information or information data on mechatronic units with the functions magazine, converter, conveyor belt, ejector and pick & place, etc.
  • the first component of the mechatronic system is a magazine.
  • a Mechatorni unit data structure which contains information or information data on a mechatronic unit which can perform the function of a magazine.
  • the magazine itself consists of a container which contains the machine parts, of two end position sensors which detect the Posi ⁇ tion of a sliding cylinder, a light barrier, which detects the level of the container and a sliding cylinder, which in each case a machine parts from the container promoted.
  • the first step the first of all a Mechatorni unit data structure is selected which contains information or information data on a mechatronic unit which can perform the function of a magazine.
  • the magazine itself consists of a container which contains the machine parts, of two end position sensors which detect the Posi ⁇ tion of a sliding cylinder, a light barrier, which detects the level of the container and a sliding cylinder, which in each case a machine parts from the container promoted.
  • Interfaces are created in the selected mechatronics unit data structure needed to store the magazine with subordinate or sibling mechatronics units to link.
  • the two end position sensors each supply an input signal to the device interface of the mechatronics unit, the signals are given the name “End position in” or “End position out”.
  • the light barrier delivers a signal "light barrier magazine”
  • the signals of the subordinate mechatronic units are the signals, which have been created in the Mechatronikeiheit data structure assigned.
  • output signals of sensors here the signals “end position pure”, “end position out” and the Sig ⁇ nal "light barrier magazine "linked in the Mechatronikiki- data structure of the magazine with the applied there ⁇ input signals.
  • the signals "extend cylinder" as well as the signal which serves for communication with the converter are linked in the mechatronic unit data structure of the magazine with the output signals applied there ..
  • the steps described here are repeated in a planning method according to the invention for all mechatronic units which are necessary zen to the required function umzuset-.
  • it is examined how many a ⁇ or output signals requires a control for the mechatronic system.
  • the mechatronic unit "magazine” the three input and two output signals, which detect a control or must serve. Based on this information, an input / output module for the controller is selected from ⁇ , which if possible includes the exact number of Signalein ⁇ or signal outputs, which has the mechatronic Sys ⁇ tem.

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  • Engineering & Computer Science (AREA)
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Abstract

La présente invention concerne un procédé de planification pour un système mécatronique qui comporte plusieurs unités mécatroniques. Une structure de données d'unité mécatronique qui comporte des informations sur l'unité mécatronique respective est enregistrée pour chaque unité mécatronique. Une structure de données de déroulement de processus, qui comporte des informations sur le déroulement du processus du système mécatronique, est enregistrée. Ledit procédé consiste à : a) sélectionner (S1) au moins deux structures de données d'unité mécatronique, sur la base de la structure de données de déroulement de processus ; b) établir automatiquement (S2) une hiérarchie des structures de données d'unité mécatronique sélectionnées, sur la base de la structure de données de déroulement de processus, les structures de données d'unité mécatronique étant divisées en des structures de données d'unité mécatronique de niveaux supérieur et inférieur ; c) fournir (S3) des interfaces dans les structures de données d'unité mécatronique sélectionnées de niveau supérieur sur la base des interfaces indiquées dans les structures de données d'unité mécatronique de niveau inférieur ; d) déterminer (S4) une assignation de chacune des interfaces préparées des structures de données d'unité mécatronique de niveau supérieur aux interfaces des structures de données d'unité mécatronique de niveau inférieur respectives, l'assignation étant enregistrée dans la structure de données d'unité mécatronique de niveau supérieur et/ou de niveau inférieur respective. L'invention concerne en outre un dispositif de planification.
PCT/EP2011/063638 2010-08-25 2011-08-08 Procédé et système de planification de systèmes mécatroniques dotés d'unités mécatroniques WO2012025364A1 (fr)

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DE201010043405 DE102010043405A1 (de) 2010-08-25 2010-11-04 Verfahren und System zur Planung mechatronischer Systeme mit Mechatronikeinheiten

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DE102013210917A1 (de) 2013-06-12 2014-12-18 Robert Bosch Gmbh Vorrichtung und Verfahren zur Abtrennung von Schmutzpartikeln aus dem Arbeitsmedium einer Turbine
DE102015119414A1 (de) 2015-11-11 2017-05-11 Cideon Software Gmbh & Co. Kg Verfahren zur Entwicklung einer Baugruppe, die mindestens eine mechatronische Komponente aufweist, und eine entsprechende Anordnung

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Der beanspruchte Gegenstand, unter gebührender Berücksichtigung der Beschreibung und der Abbildungen, bezieht sich unter anderem auf Methoden und Aktivitäten für die eine Recherche nach Regel 39.1 PCT nicht notwendig ist. Der Antragsteller wird darauf hingewiesen, dass in Übereinstimmung mit der gängigen Praxis des EPA, keine Recherche im Hinblick auf diese Aspekte der beanspruchten Erfindung durchgeführt werden müssen. Der einzige erkennbare technische Aspekt der beanspruchten Erfindung betrifft die Verwendung von konventionellen Datenverarbeitungsanlagen für die Verarbeitung von Daten nicht technischer Natur. Die eingesetzte Informationstechnik gilt als allgemein bekannt, da sie bereits vor dem Prioritätstag weit verbreitet und für jedermann ohne Weiteres zugänglich war. Die Bekanntheit dieses Stand der Technik kann nicht ernsthaft bestritten werden. Dementsprechend werden keine Beweisunterlagen für notwendig erachtet, da die in der vorliegenden Anmeldung identifizierten technischen *

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