Patent Grant
11396098
This application is the U.S. National Phase of International Patent Application No. PCT/EP2017/059558, filed on 21 Apr. 2017, which claims benefit of German Patent Application No. 102016004836.0, filed on 24 Apr. 2016, the contents of which are incorporated herein by reference in their entirety.
The invention relates to a method of controlling a robot system as well as a robot system.
The robot system in this case includes a robot with components driven by actuators; sensors for sensing a current state of the robot; a central control unit, which executes a current control program for controlling and coordinating the robot system; one or more user interfaces; wherein the user interfaces and the control unit are configured for modifying the current control program during the execution thereof into a modified control program; and one or more processor units, which execute services for the central control unit. The robot, the sensors, the central control unit, the user interfaces, and the processor units in this case communicate with one another over a dynamic data network, which is possibly time-variant.
Especially when robots of such robot systems with components driven by actuators can interact with humans, it is necessary, for increasing safety, that the current control program be correctly executable and sturdy, and have almost no errors that could lead to undesirable robot states that are hazardous to humans, and/or the environment, and/or the robot.
The object of the invention is to provide an improved method of controlling a robot system as well as a robot system that has increased, i.e., improved, safety when executing a control program.
The invention results from the features of the main claims. Advantageous further embodiments and designs are the subject matter of the dependent claims. Further features, application options, and advantages of the invention result from the following description, and explanation, of example embodiments of the invention, which are represented in the figures.
A first aspect of the invention relates to a method of controlling a robot system, wherein the robot system includes the following components: a robot ROBO with elements driven by actuators; first sensors S1i for sensing a current robot state Zrobo(t), where i=1, . . . , I; a central control unit ZSE, which executes a current control program SP(t) for controlling and coordinating the robot system; one or more user interfaces NSp, which, together with the control unit, are configured for modifying the current control program SP(t), during the execution thereof at a time t1, into a modified control program SP(t)=SP*(t for t>t1), where p=1, . . . , P; and one or more processor units PEr, which execute services MPSr for the central control unit ZSE and/or for one or more of the other components of the robot system, where r=1, . . . , R.
The term “current robot state Zrobo(t)” is understood to be broadly formulated. It includes, inter alia, mechanical, dynamic, electric, and data-based, time-dependent states of the robot. Furthermore, the term includes states of the robot independent of time such as, for example, the mechanical setup state/configuration thereof, etcetera.
The control unit ZSE is advantageously designed as a computer or processor, which controls and coordinates the robot system, with all of its listed components, based on the current control program SP(t).
The term “a current control program SP(t)” is understood to be a sequence of instructions that satisfies the rules of a certain control programming language. The control program SP(t) may include auxiliary control programs, so-called apps (application software), etcetera.
The central control unit ZSE is connected to one or more processor units PEr, which execute services MPSr for the central control unit ZSE, where r=1, . . . , R.
The term “processor units PEr” is understood to be broadly formulated. It essentially includes all units having their own processor, i.e., their own data processing, which provides, in the broadest of terms, a “service” for the robot system and/or for one or more of its components. These services are characterized in this case as services MPSr. They depend particularly on the type of the respective processor units PEr.
Thus, a processor unit PEr may exclusively further process data coming from the control unit ZSE and/or other components of the robot system, for example, show data or the further processing results thereof, or generate an action, a service, etc. based on the data coming from the control unit ZSE and/or other components of the robot system. Particularly, output units for outputting optical, tactile, and/or acoustic information fall into this category of processor units.
Furthermore, a processor unit PEr can further process data coming from the control unit ZSE and/or other components of the robot system, and transmit the result of the further processing to the control unit ZSE and/or to the other components. In this variant, multiple processor units PEr arranged in a dispersed manner are joined together to provide an increased computing capacity, in order to enable, for example, complex computations in a short period of time. In this variant, time-parallel, diverse tasks may be further executed by various processor units PEr, the results of which are transmitted to the control unit ZSE and/or to other components of the robot system for further processing.
Finally, a processor unit PEr may exclusively generate data itself, which are transmitted to the control unit ZSE and/or to other components of the robot system. This category includes, for example, all sensor systems that acquire, optionally pre-process, and transmit measurement data to the control unit ZSE and/or to other components of the robot system over their own interface.
User interfaces NSp are advantageously equipped with a monitor/display and an interface for manual and/or acoustic input of data and information. The user interfaces NSp are advantageously, for example, computer terminals, notebooks, and smart phones. The user interfaces NSp and the control unit ZSE are configured for modifying the current control program SP(t), during the execution thereof at a time t1, into a modified control program SP(t)=SP*(t for t>t1), wherein changes entered via the user interfaces NSp are advantageously implemented sequentially in the current control program SP(t), where p=1, . . . , P. The formula SP(t)=SP*(t for t>t1) means that the current control program, which is always characterized with SP(t), is specified by the control program SP*(t for t>t1), starting at the time t1.
According to the invention, the robot, the first sensors S1i, the central control unit ZSE, the user interfaces NSp, and the processor units PErr are connected to one another over a possibly dynamic and/or time-variant data network DN such that corresponding data communication can take place among the components of the robot system.
Advantageously, the individual components of the robot system communicate over electrical and/or optical data lines. The data exchanged among components are advantageously encrypted.
The robot ROBO can accept robot states Zrobo according to the invention, wherein the following applies: ZroboϵZrobo,total and Zrobo,total defines a state space, which indicates the quantities of all possible robot states, and wherein a state space Zrobo,permitted is further specified, which defines the quantity of all permitted robot states Zrobo,permitted, wherein the following applies: Zrobo,permittedϵZrobo,permitted and Zrobo,permitted⊆Zrobo,total.
The first sensors S1i can accept sensor states ZS1,i according to the invention, wherein the following applies: ZS1,iϵZS1,i,total and ZS1,i,total defines a state space, which indicates the quantities of all possible sensor states, and wherein a state space ZS1,i,permitted is further specified, which defines the quantity of all permitted sensor states ZS1,i,permitted, wherein the following applies: ZS1,i,permittedϵZS1,i,permitted and ZS1,i,permitted⊆ZS1,i,total.
The control unit ZSE can accept control unit states ZZSE according to the invention, wherein the following applies: ZZSEϵZZSE,total and ZZSE,total defines a state space, which indicates the quantities of all possible control unit states, and wherein a state space ZZSE,permitted is further specified, which defines the quantity of all permitted control unit states ZZSE,permitted, wherein the following applies: ZZSE,permittedϵZZSE,permitted and ZZSE,permitted⊆ZZSE,total,
The user interfaces NSp can accept user interface states ZNS,p according to the invention, wherein the following applies: ZNS,pϵZNS,p,total and ZNS,p,total defines a state space, which indicates the quantities of all possible user interface states, and wherein a state space ZNS,p,permitted is further specified, which defines the quantity of all permitted user interface states ZNS,p,permitted, wherein the following applies: ZNS,p,permittedϵZNS,p,permitted and ZNS,p,permitted⊆ZNS,p,total.
The processor units PErr can accept processor states ZPE,r according to the invention, wherein the following applies: ZPE,rϵZPE,r,total and ZPE,r,total defines a state space, which indicates the quantities of all possible processor states, and wherein a state space ZPE,r,permitted is further specified, which defines the quantity of all permitted processor states ZPR,r,permitted, wherein the following applies: ZPE,r,permittedϵZPE,r,permitted and ZPE,r,permitted⊆ZPE,r,total. The term “processor state” here is understood to be broadly formulated. It includes, for example, all electric, mechanical, temperature-dependent, data-related, operating, etc. states of the processor units PEr that are technically ascertainable.
The services MPSr can accept service states ZMPS,r according to the invention, wherein the following applies: ZMPS,rϵZMPS,r,total and ZMPS,r,total defines a state space, which indicates the quantities of all possible service states, and wherein a state space ZMPS,r,permitted is further specified, which defines the quantity of all permitted service states ZMPS,r,permitted, wherein the following applies: ZMPS,r,permittedϵZMPS,r,permitted and ZMPS,r,permitted⊆ZMPS,r,total. The term “service state” here is understood to be broadly formulated. It includes, for example, all electric, mechanical, temperature-dependent, data-related, operating, etc. states of a service MPSr that are technically ascertainable.
According to the invention, the date network DN can potentially accept dynamic and/or time-variant data network states Zdata, wherein the following applies: ZdataϵZdata,total and Zdata,total defines a state space, which indicates the quantities of all possible data network states, and wherein a state space Zdata,permitted is further specified, which defines the quantity of all permitted data network states Zdata,permitted, wherein the following applies: Zdata,permittedϵZdata,permitted and Zdata,permitted⊆Zdata,total. The term “data network state” here is understood to be broadly formulated. It includes, for example, all electric, mechanical, temperature-dependent, data-related, operating, etc. states of the data network DN that are technically ascertainable.
The proposed method includes the following steps: predictively testing, during the execution of the current control program SP(t), to determine whether a complete execution of the current control program SP(t) will lead to an error state, wherein the error state is defined such that the execution of the current control program SP(t) leads to a:
The proposed method thus executes a predictive test for each current control program SP(t) to determine whether an execution of the complete or to-be-processed current control program SP(t) will lead to an error state. In doing so, a modified current control program SP(t) does not have to be executed completely, which means that this test will have a predictive character. That is, it is not a requirement to wait until the current control program SP(t) generates an error during its execution; instead, these potential errors states can be detected in advance with the present method. This particularly ensures that the robot system will not enter a state that threatens safety. This is particularly advantageous for robot systems including a robot, which interacts with humans and/or dynamic environments.
This predictive test advantageously takes place at the same time as the execution of the current control program SP(t) and advantageously particularly for the part of the control program yet to be processed. In a preferred alternative, this test is executed for the entire modified current control program after a change to the current control program.
An advantageous refinement of the proposed method is characterized in that the state spaces Zrobo,permitted, ZS1,i,permitted, ZZSE,permitted, ZPR,r,permitted, ZMPS,r,permitted, ZNS,p,permitted, Zdata,permitted are defined as a function of an output/action, which is intended to be executed by the robot ROBO by using the control program SP(t). This enables a specification of the state spaces optimized to the task and/or action executable by a robot, and thus a specific definition of error states as a function of the task and/or action.
An advantageous refinement of the proposed method is characterized in that the control program SP(t) is introspective, i.e., that the control program SP(t) recognizes its own structure and can modify it.
Advantageously, the data network state Zdata considers one or more of the following parameters:
Advantageously, the robot state Zrobo considers one or more of the following parameters:
Advantageously, the processor state ZPE,r considers one or more of the following parameters:
Advantageously, the service state ZMPS,r considers one or more of the following parameters:
The invention further relates to a computer system with a data processing device, wherein the data processing device is designed such that a previously described method is executed on a data processing device.
The invention further relates to a digital memory medium with electronically readable control signals, wherein the control signals can cooperate with a programmable computer system such that a previously described method is executed.
The invention further relates to a computer program product with a memory code, stored on a machine-readable carrier, for executing a previously described method when the program code is executed on a data processing device.
The invention further relates to a computer program with program codes for executing a previously described method when the program is running on a data processing device. To this end, the data processing device may be designed as any computer system known from the prior art.
Finally, the invention relates to a robot system, including the following components:
a robot ROBO with elements driven by actuators; first sensors S1i for sensing a current robot state Zrobo(t), where i=1, . . . , I; a central control unit ZSE, which executes a current control program SP(t) for controlling the robot system; one or more user interfaces NSp, where p=1, . . . , P; one or more processor units PEr, which execute services MPSr for the central control unit ZSE and/or for one or more of the other components of the robot system, where r=1, . . . , R; wherein the robot ROBO, the first sensors S1i, the central control unit ZSE, the user interfaces NSp, and the processor units PEr communicate with each other over a data network DN; and wherein the central control unit ZSE and the user interfaces NSp are configured for modifying the current control program SP(t), during the execution thereof at a time t1, into a modified control program SP(t)=SP*(t for t>t1).
According to the invention, the robot ROBO can accept robot states Zrobo, wherein the following applies: ZroboϵZrobo,total and Zrobo,total defines a state space, which indicates the quantities of all possible robot states, and wherein a state space Zrobo,permitted is further specified, which defines the quantity of all permitted robot states Zrobo,permitted, wherein the following applies: Zrobo,permittedϵZrobo,permittedl and Zrobo,permitted⊆Zrobo,total.
According to the invention, the first sensors S1i can accept sensor states ZS1,i, wherein the following applies: ZS1,iϵZS1,i,total and ZS1,i,total defines a state space, which indicates the quantities of all possible sensor states, and wherein a state space ZS1,i,permitted is further specified, which defines the quantity of all permitted sensor states ZS1,i,permitted, wherein the following applies: ZS1,i,permittedϵZS1,i,permitted and ZS1,i,permitted⊆ZS1,i,total.
According to the invention, the control unit ZSE can accept control unit states ZZSE, wherein the following applies: ZZSEϵZZSE,total and ZZSE,total defines a state space, which indicates the quantities of all possible control unit states, and wherein a state space ZZSE,permitted is further specified, which defines the quantity of all permitted control unit states ZZSE,permitted, wherein the following applies: ZZSE,permittedϵZZSE,permitted and ZZSE,permitted⊆ZZSE,total.
According to the invention, the user interfaces NSp can accept user interface states ZNS,p, wherein the following applies: ZNS,pϵZNS,p,total and ZNS,p,total defines a state space, which indicates the quantities of all possible user interface states, and wherein a state space ZNS,p,permitted is further specified, which defines the quantity of all permitted user interface states ZNS,p,permitted, wherein the following applies: ZNS,p,permittedϵZNS,p,permitted and ZNS,p,permitted⊆ZNS,p,total
According to the invention, the processor units PErr 205 can accept processor states ZPE,r, wherein the following applies: ZPE,rϵZPE,r,total and ZPE,r,total defines a state space, which indicates the quantities of all possible processor states, and wherein a state space ZPE,r,permitted is further specified, which defines the quantity of all permitted processor states ZPR,r,permitted, wherein the following applies: ZPE,r,permittedϵZPE,r,permitted and ZPE,r,permitted⊆ZPE,r,total.
According to the invention, the services MPSr can accept service states ZMPS,r, wherein the following applies: ZMPS,rϵZMPS,r,total and ZMPS,r,total defines a state space, which indicates the quantities of all possible service states, and wherein a state space ZMPS,r,permitted is further specified, which defines the quantity of all permitted service states ZMPS,r,permitted, wherein the following applies: ZMPS,r,permittedϵZMPS,r,permitted and ZMPS,r,permitted⊆ZMPS,r,total.
According to the invention, the data network DN can accept data network states Zdata, wherein the following applies: ZdataϵZdata,total and Zdata,total defines a state space, which indicates the quantities of all possible data network states, and wherein a state space Zdata,permitted is further specified, which defines the quantity of all permitted data network states Zdata,permitted, wherein the following applies: Zdata,permittedϵZdata,permitted and Zdata,permitted⊆Zdata,total.
The control unit ZSE of the proposed robot system is further executed and configured such that the following operations are executed:
If such an error state is predicted during the testing, the control unit initiates execution of one or more of the following listed actions:
Advantages and advantageous refinements of the proposed robot system result from an analogous and corresponding transfer of the statements made regarding the proposed method.
Other advantages, features, and details result from the following description, in which at least one exemplary embodiment is described in detail—optionally with reference to the drawing. Equivalent, similar, and/or functionally equivalent parts have been given the same reference numbers.
In the drawings:
The robot ROBO 201 can accept robot states Zrobo, wherein the following applies: ZroboϵZrobo,total and Zrobo,total defines a state space, which indicates the quantities of all possible robot states, and wherein a state space Zrobo,permitted is further specified, which defines the quantity of all permitted robot states Zrobo,permitted, wherein the following applies: Zrobo,permittedϵZrobo,permittedl and Zrobo,permitted⊆Zrobo,total.
The first sensors S1i can accept sensor states ZS1,i 202, wherein the following applies: ZS1,iϵZS1,i,total and ZS1,i,total defines a state space, which indicates the quantities of all possible sensor states, and wherein a state space ZS1,i,permitted is further specified, which defines the quantity of all permitted sensor states ZS1,i,permitted, wherein the following applies: ZS1,i,permittedϵZS1,i,permittedl and ZS1,i,permitted⊆ZS1,i,total.
The control unit ZSE 203 can accept control unit states ZZSE, wherein the following applies: ZZSEϵZZSE,total and ZZSE,total defines a state space, which indicates the quantities of all possible control unit states, and wherein a state space ZZSE,permitted is further specified, which defines the quantity of all permitted control unit states ZZSE,permitted, wherein the following applies: ZZSE,permittedϵZZSE,permittedl and ZZSE,permittedϵZZSE,total.
The user interfaces NSp 204 can accept user interface states ZNS, wherein the following applies: ZNS,pϵZNS,p,total and ZNS,p,total defines a state space, which indicates the quantities of all possible user interface states, and wherein a state space ZNS,p,permitted is further specified, which defines the quantity of all permitted user interface states ZNS,p,permitted, wherein the following applies: ZNS,p,permittedϵZNS,p,permitted and ZNS,p,permitted⊆ZNS,p,total.
The processor units PEr 205 can accept processor states ZPE,r, wherein the following applies: ZPE,rϵZPE,r,total and ZPE,r,total defines a state space, which indicates the quantities of all possible processor states, and wherein a state space ZPE,r,permitted is further specified, which defines the quantity of all permitted processor states ZPR,r,permitted, wherein the following applies: ZPE,r,permittedϵZPE,r,permitted and ZPE,r,permitted⊆ZPE,r,total.
The services MPSr can accept service states ZMPS,r, wherein the following applies: ZMPS,rϵZMPS,r,total and ZMPS,r,total defines a state space, which indicates the quantities of all possible service states, and wherein a state space ZMPS,r,permitted is further specified, which defines the quantity of all permitted service states ZMPS,r,permitted, wherein the following applies: ZMPS,r,permittedϵZMPS,r,permitted and ZMPS,r,permitted⊆ZMPS,r,total.
The data network DN 206 can accept data network states Zdata, wherein the following applies: ZdataϵZdata,total and Zdata,total defines a state space, which indicates the quantities of all possible data network states, and wherein a state space Zdata,permitted is further specified, which defines the quantity of all permitted data network states Zdata,permitted, wherein the following applies: Zdata,permittedϵZdata,permitted and Zdata,permitted⊆Zdata,total.
The proposed method includes the following steps: In a first step 101, predictive testing takes place, during or before the execution of the current control program SP(t), to determine whether an execution of the current control program SP(t) will lead to an error state, wherein the error state is defined such that the execution of the current control program SP(t) leads to a:
If such an error state is predicted during the test 101, execution 102 of one or more of the following listed actions occurs in a second step:
Advantageously, the method is triggered by any change in the current control program SP(t).
The central control unit ZSE 203 and the user interfaces NSp 204 are configured to modify the current control program SP(t), during the execution thereof at a time t1, into a modified control program SP(t)=SP*(t for t>t1).
The robot 201, the first sensors S1i 202, the central control unit ZSE 203, the user interfaces NSp 204, and the processor units PEr 205 communicate with one another over a data network DN 206.
The robot ROBO 201 can accept robot states Zrobo, wherein the following applies: ZroboϵZrobo,total and Zrobo,total defines a state space, which indicates the quantities of all possible robot states, and wherein a state space Zrobo,permitted is further specified, which defines the quantity of all permitted robot states Zrobo,permitted, wherein the following applies: Zrobo,permittedϵZrobo,permittedl and Zrobo,permitted⊆Zrobo,total.
The first sensors S1i can accept sensor states ZS1,i202, wherein the following applies: ZS1,iϵZS1,i,total and ZS1,i,total defines a state space, which indicates the quantities of all possible sensor states, and wherein a state space ZS1,i,permitted is further specified, which defines the quantity of all permitted sensor states ZS1,i,permitted, wherein the following applies: ZS1,i,permittedϵZS1,i,permittedl and ZS1,i,permitted⊆ZS1,i,total.
The control unit ZSE 203 can accept control unit states ZZSE, wherein the following applies: ZZSEϵZZSE,total and ZZSE,total defines a state space, which indicates the quantities of all possible control unit states, and wherein a state space ZZSE,permitted is further specified, which defines the quantity of all permitted control unit states ZZSE,permitted, wherein the following applies: ZZSE,permittedϵZZSE,permittedl and ZZSE,permitted⊆ZZSE,total.
The user interfaces NSp 204 can accept user interface states ZNS,p, wherein the following applies: ZNS,pϵZNS,p,total and ZNS,p,total defines a state space, which indicates the quantities of all possible user interface states, and wherein a state space ZNS,p,permitted is further specified, which defines the quantity of all permitted user interface states ZNS,p,permitted, wherein the following applies: ZNS,p,permittedϵZNS,p,permitted and ZNS,p,permitted⊆ZNS,p,total.
The processor units PEr can accept processor states ZPE,r, wherein the following applies: ZPE,rϵZPE,r,total and ZPE,r,total defines a state space, which indicates the quantities of all possible processor states, and wherein a state space ZPE,r,permitted is further specified, which defines the quantity of all permitted processor states ZPR,r,permitted, wherein the following applies: ZPE,r,permittedϵZPE,r,permitted and ZPE,r,permitted⊆ZPE,r,total.
The services MPSr can accept service states ZMPS,r, wherein the following applies: ZMPS,rϵZMPS,r,total and ZMPS,r,total defines a state space, which indicates the quantities of all possible service states, and wherein a state space ZMPS,r,permitted is further specified, which defines the quantity of all permitted service states ZMPS,r,permitted, wherein the following applies: ZMPS,r,permittedϵZMPS,r,permitted and ZMPS,r,permitted⊆ZMPS,r,total.
The data network DN (206) can accept data network states Zdata, wherein the following applies: ZdataϵZdata,total and Zdata,total defines a state space, which indicates the quantities of all possible data network states, and wherein a state space Zdata,permitted is further specified, which defines the quantity of all permitted data network states Zdata,permitted, wherein the following applies: Zdata,permittedϵZdata,permitted and Zdata,permitted⊆Zdata,total.
The central control unit ZSE 203 is designed and configured such that predictive testing, during execution of the current control program SP(t), to determine whether a complete execution of the current control program SP(t) will lead to an error state, wherein the error state is defined such that complete execution of the current control program SP(t) leads to a:
Although the invention has been illustrated and explained in more detail by preferred example embodiments, the invention is not limited by the disclosed examples and other variations may be derived by one of ordinary skill in the art without extending beyond the protective scope of the invention. It is thus clear that a plurality of variation options exists. It is likewise clear that example embodiments actually only represent examples, which are not to be interpreted in any manner as a limitation, for example, of the protective scope, the use options, or the configuration of the invention. Rather, the previous description and the description of figures should make one of ordinary skill in the art capable of specifically implementing the example embodiments, wherein one of ordinary skill in the art with knowledge of the disclosed concept of the invention can undertake various changes, for example with respect to the function or the arrangement of individual elements listed in an example embodiment, without going beyond the scope of protection, which is defined by the claims and the legal equivalents thereof such as, for example, more extensive explanations in the description.
| Number | Date | Country | Kind |
|---|---|---|---|
| 10 2016 004 836.0 | Apr 2016 | DE | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/EP2017/059558 | 4/21/2017 | WO | 00 |
| Publishing Document | Publishing Date | Country | Kind |
|---|---|---|---|
| WO2017/186596 | 11/2/2017 | WO | A |
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| Number | Date | Country | |
|---|---|---|---|
| 20190134816 A1 | May 2019 | US |
