US 12,420,410 B2
Method, system and nonvolatile storage medium
Christian Piechnick, Dresden (DE); and Klaus Wagner, Osann-Monzel (DE)
Assigned to WANDELBOTS GMBH, Dresden (DE)
Appl. No. 17/436,631
Filed by Wandelbots GmbH, Dresden (DE)
PCT Filed Mar. 6, 2020, PCT No. PCT/EP2020/056052
§ 371(c)(1), (2) Date Sep. 6, 2021,
PCT Pub. No. WO2020/178435, PCT Pub. Date Sep. 10, 2020.
Claims priority of application No. 10 2019 105 820.1 (DE), filed on Mar. 7, 2019.
Prior Publication US 2022/0143830 A1, May 12, 2022
Int. Cl. B25J 9/16 (2006.01); G05B 19/42 (2006.01); G05B 19/423 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 9/1671 (2013.01); G05B 19/423 (2013.01); G05B 2219/36436 (2013.01); G05B 2219/36479 (2013.01); G05B 2219/40116 (2013.01); G05B 2219/40391 (2013.01)] 20 Claims
OG exemplary drawing
 
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.