WO2024061602A3 - Verfahren zum ermitteln eines von einem roboter auszuführenden arbeitsvorgangs, verfahren zum ermitteln und prüfen eines von einer anlage auszuführenden arbeitsvorgangs, vorrichtung zur datenverarbeitung, computerprogramm und computerlesbares medium - Google Patents

Verfahren zum ermitteln eines von einem roboter auszuführenden arbeitsvorgangs, verfahren zum ermitteln und prüfen eines von einer anlage auszuführenden arbeitsvorgangs, vorrichtung zur datenverarbeitung, computerprogramm und computerlesbares medium Download PDF

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Publication number
WO2024061602A3
WO2024061602A3 PCT/EP2023/074160 EP2023074160W WO2024061602A3 WO 2024061602 A3 WO2024061602 A3 WO 2024061602A3 EP 2023074160 W EP2023074160 W EP 2023074160W WO 2024061602 A3 WO2024061602 A3 WO 2024061602A3
Authority
WO
WIPO (PCT)
Prior art keywords
determining
computing device
electronic computing
robot
computer
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.)
Ceased
Application number
PCT/EP2023/074160
Other languages
English (en)
French (fr)
Other versions
WO2024061602A2 (de
Inventor
Johannes Klepsch
Yannick van Dijk
Philipp ROSS
Andre Luckow
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.)
Bayerische Motoren Werke AG
Original Assignee
Bayerische Motoren Werke AG
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 Bayerische Motoren Werke AG filed Critical Bayerische Motoren Werke AG
Priority to US18/880,324 priority Critical patent/US20250387913A1/en
Priority to CN202380047022.0A priority patent/CN119365301A/zh
Publication of WO2024061602A2 publication Critical patent/WO2024061602A2/de
Publication of WO2024061602A3 publication Critical patent/WO2024061602A3/de
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1671—Program controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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—Program-control systems
    • G05B19/02—Program-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] or computer integrated manufacturing [CIM]
    • G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
    • 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—Program-control systems
    • G05B19/02—Program-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] or computer integrated manufacturing [CIM]
    • G05B19/41875—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] or computer integrated manufacturing [CIM] characterised by quality surveillance of production
    • 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—Program-control systems
    • G05B19/02—Program-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] or computer integrated manufacturing [CIM]
    • G05B19/41885—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] or computer integrated manufacturing [CIM] characterised by modeling, simulation of the manufacturing system
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/32—Operator till task planning
    • G05B2219/32352—Modular modeling, decompose large system in smaller systems to simulate

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Mathematical Physics (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Automation & Control Theory (AREA)
  • Quality & Reliability (AREA)
  • Mathematical Optimization (AREA)
  • Data Mining & Analysis (AREA)
  • Theoretical Computer Science (AREA)
  • Pure & Applied Mathematics (AREA)
  • Mathematical Analysis (AREA)
  • Computational Mathematics (AREA)
  • Databases & Information Systems (AREA)
  • Software Systems (AREA)
  • Algebra (AREA)
  • Operations Research (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

Die Erfindung betrifft ein Verfahren zum Ermitteln wenigstens eines von wenigstens einem Roboter auszuführenden Arbeitsvorgangs zum Bearbeiten wenigstens eines Bauteils. Mittels einer elektronischen Recheneinrichtung werden Produktdaten ermittelt, welche das wenigstens eine mittels des Roboters bei dem wenigstens einen Arbeitsvorgang zu bearbeitende Bauteil charakterisieren. Mittels der elektronischen Recheneinrichtung: werden Anlagendaten ermittelt, welche eine zumindest den Roboter umfassende Anlage zum Ausführen des wenigstens einen Arbeitsvorgangs charakterisieren. Mittels der elektronischen Recheneinrichtung wird ein die Anlage und das Bauteil nachbildendes Simulationsmodells auf Basis der Produktdaten und der Anlagendaten erzeugt. Mittels der elektronischen Recheneinrichtung wird einer Simulation mittels des Simulationsmodells durchgeführt, wodurch mittels der elektronischen Recheneinrichtung Prozessdaten ermittelt werden, welche mehrere Schrittgruppen beschreiben, wobei die jeweilige Schrittgruppen mehrere, voneinander unterschiedliche Teilschritte des Arbeitsvorgangs umfasst. Mittels der elektronischen Recheneinrichtung wird eine Zielfunktion eines Optimierungsproblems erstellt, dessen Zielfunktion die Teilschritte der Schrittgruppen als Parameter umfasst.
PCT/EP2023/074160 2022-09-20 2023-09-04 Verfahren zum ermitteln eines von einem roboter auszuführenden arbeitsvorgangs, verfahren zum ermitteln und prüfen eines von einer anlage auszuführenden arbeitsvorgangs, vorrichtung zur datenverarbeitung, computerprogramm und computerlesbares medium Ceased WO2024061602A2 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US18/880,324 US20250387913A1 (en) 2022-09-20 2023-09-04 Method for Determining an Operation to be Performed by a Robot, Method for Determining and Checking an Operation to be Performed by a System, Device for Data Processing, Computer Program, and Computer-Readable Medium
CN202380047022.0A CN119365301A (zh) 2022-09-20 2023-09-04 用于确定要由机器人实施的工作过程的方法、用于确定和检查要由设备实施的工作过程的方法、用于数据处理的装置、计算机程序和计算机可读的介质

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102022124067.3 2022-09-20
DE102022124067.3A DE102022124067A1 (de) 2022-09-20 2022-09-20 Verfahren zum Ermitteln eines von einem Roboter auszuführenden Arbeitsvorgangs, Verfahren zum Ermitteln und Prüfen eines von einer Anlage auszuführenden Arbeitsvorgangs, Vorrichtung zur Datenverarbeitung, Computerprogramm und computerlesbares Medium

Publications (2)

Publication Number Publication Date
WO2024061602A2 WO2024061602A2 (de) 2024-03-28
WO2024061602A3 true WO2024061602A3 (de) 2024-05-10

Family

ID=87929307

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2023/074160 Ceased WO2024061602A2 (de) 2022-09-20 2023-09-04 Verfahren zum ermitteln eines von einem roboter auszuführenden arbeitsvorgangs, verfahren zum ermitteln und prüfen eines von einer anlage auszuführenden arbeitsvorgangs, vorrichtung zur datenverarbeitung, computerprogramm und computerlesbares medium

Country Status (4)

Country Link
US (1) US20250387913A1 (de)
CN (1) CN119365301A (de)
DE (1) DE102022124067A1 (de)
WO (1) WO2024061602A2 (de)

Citations (3)

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Publication number Priority date Publication date Assignee Title
US20190321974A1 (en) * 2019-06-27 2019-10-24 Intel Corporation Apparatus and methods for object manipulation via action sequence optimization
US20200319630A1 (en) * 2019-04-08 2020-10-08 Arrival Robotics Limited System and method for flexible manufacturing
US20210220994A1 (en) * 2020-01-22 2021-07-22 Realtime Robotics, Inc. Configuration of robots in multi-robot operational environment

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Publication number Priority date Publication date Assignee Title
JPS59149677A (ja) 1983-01-25 1984-08-27 日産自動車株式会社 コネクタハウジング
US8886359B2 (en) 2011-05-17 2014-11-11 Fanuc Corporation Robot and spot welding robot with learning control function
US20130096719A1 (en) 2011-10-13 2013-04-18 The U.S.A. As Represented By The Administrator Of The National Aeronautics And Space Administration Method for dynamic optimization of a robot control interface
JP2013099815A (ja) 2011-11-08 2013-05-23 Fanuc Ltd ロボットプログラミング装置
DE102014216514B3 (de) 2014-08-20 2015-09-10 Kuka Roboter Gmbh Verfahren zum Programmieren eines Industrieroboters und zugehöriger Industrieroboter
JP6457473B2 (ja) 2016-12-16 2019-01-23 ファナック株式会社 ロボットおよびレーザスキャナの動作を学習する機械学習装置，ロボットシステムおよび機械学習方法
EP3685968B1 (de) 2019-01-22 2025-05-14 Bayerische Motoren Werke Aktiengesellschaft Roboterbewegungsplanung bei der herstellung

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20200319630A1 (en) * 2019-04-08 2020-10-08 Arrival Robotics Limited System and method for flexible manufacturing
US20190321974A1 (en) * 2019-06-27 2019-10-24 Intel Corporation Apparatus and methods for object manipulation via action sequence optimization
US20210220994A1 (en) * 2020-01-22 2021-07-22 Realtime Robotics, Inc. Configuration of robots in multi-robot operational environment

Non-Patent Citations (1)

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Title
ALATARTSEV SERGEY ET AL: "Robotic Task Sequencing Problem: A Survey", JOURNAL OF INTELLIGENT, SPRINGER NETHERLANDS, DORDRECHT, vol. 80, no. 2, 26 March 2015 (2015-03-26), pages 279 - 298, XP035552744, ISSN: 0921-0296, [retrieved on 20150326], DOI: 10.1007/S10846-015-0190-6 *

Also Published As

Publication number Publication date
DE102022124067A1 (de) 2024-03-21
WO2024061602A2 (de) 2024-03-28
US20250387913A1 (en) 2025-12-25
CN119365301A (zh) 2025-01-24

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