Method, system and nonvolatile storage medium
Disclosed herein is a method, system, and non-volatile storage medium for simplifying the automation of a process of flow. The method may include determining a machine-independent process model based on data representing a handling of a work tool for performing a process flow. The process flow may include a plurality of sub-processes and the process model may link a process activity with spatial information for each sub-process. The method may also include mapping 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 may define an operating point of the machine for each sub-process, and the operating point may correspond to the process activity and to the spatial information.
1. A method, comprising:
determining a machine-independent process model based on data representing a handling of a work tool for performing a process flow, wherein the process flow comprises a plurality of sub-processes, wherein the process model represents a formal representation of the process sequence and links, for each sub-process of the plurality of sub-processes, a process activity with spatial information of the sub-process, and wherein the spatial information is associated with a temporal indication of the duration of the process activity, wherein the process model further comprises a process logic which implements a flow diagram according to which the process sequence takes place and which has branches, jumps, loops, or combinations thereof; and
mapping the machine-independent process model to a machine-specific control model of a machine using a model of the machine, wherein the machine-specific control model defines, for each sub-process of the plurality of sub-processes, an operating point of the machine, wherein the operating point corresponds to the process activity and to the spatial information of the sub-process.
2. The method according to claim 1 ,
wherein the mapping comprises mapping the spatial information to an operating point of a positioning device of the machine.
3. The method according to claim 2 ,
wherein the mapping comprises mapping the process activity to an operating point of an end effector of the machine, wherein the end effector is movably mounted via the positioning device.
4. The method according to claim 1 ,
wherein at least one sub-process of the plurality of sub-processes is determined according to a criterion,
wherein the mapping comprises parameterizing the criterion according to a sensor type of the machine.
5. The method according to claim 1 ,
wherein the spatial information represents a position and/or an orientation of the work tool.
6. The method according to claim 1 ,
wherein the process activity represents an actuation and/or an operating point of the work tool.
7. The method according to claim 1 , further comprising:
presenting the machine-independent process model and/or the machine-specific control model on a user interface configured to modify the machine-independent process model or the machine-specific control model based on a user input.
8. The method according to claim 1 , further comprising:
capturing the data using a sensor arrangement attached to the work tool.
9. The method according to claim 8 ,
wherein the data
represent a trajectory of the work tool and/or
represent a characteristic of an operating point of the work tool.
10. The method according to claim 1 , further comprising:
capturing the data using an additional sensor arrangement attached at a fixed location.
11. The method according to claim 1 , further comprising:
mapping the machine-specific control model to a control program that is executable by the machine.
12. The method according to claim 11 ,
wherein the mapping of the machine-specific control model to the control program comprises using a template.
13. The method according to claim 12 ,
wherein the template is instantiated by the model of the machine.
14. A system, comprising:
a processor configured to:
determine a machine-independent process model based on data representing a handling of a work tool for performing a process flow, wherein the process flow comprises a plurality of sub-processes, wherein the process model represents a formal representation of the process sequence and links, for each sub-process of the plurality of sub-processes, a process activity with spatial information of the sub-process, and wherein the spatial information is associated with a temporal indication of the duration of the process activity, wherein the process model further comprises a process logic which implements a flow diagram according to which the process sequence takes place and which has branches, jumps, loops, or combinations thereof; and
map the machine-independent process model to a machine-specific control model of a machine using a model of the machine, wherein the machine-specific control model defines, for each sub-process of the plurality of sub-processes, an operating point of the machine, wherein the operating point corresponds to the process activity and to the spatial information of the sub-process.
15. The system of claim 14 , further comprising:
a non-volatile memory configured to store the machine-independent process model, the machine-specific control model, and/or the model of the machine; and
a sensor arrangement configured to capture the data.
16. The system of claim 15 , wherein the sensor arrangement is removably attached to the work tool via an attachment device.
17. The system of claim 16 , wherein the attachment device comprises at least one of a magnet, a clamp, and/or a hook-and-loop fastener.
18. The system of claim 15 , wherein the sensor arrangement is galvanically isolated from the work tool.
19. The system of claim 14 , wherein the processor is configured to determine the machine-independent process model by determining datapoints representing a trajectory of the process flow along which the work tool is guided, smoothing the datapoints, and discarding at least one datapoint of the datapoints.
20. The system of claim 14 , wherein the machine-independent process model is further based on at least one boundary condition for the process activity and/or spatial information.