Process analysis

Abstract

The invention relates to a method having the steps of: providing (S10; S60) digital signal data which is based on the time curve of at least one state variable of a process, and generating (S20; S70) at least one digital image which is an image of the provided signal data. In one embodiment, the method has the step of: ascertaining (S80, S90) an analysis result using an image processing of the generated digital image. In one embodiment, the method has the step of: configuring (S30, S50) at least one parameter of an image processing and / or a detection of at least one event in the process and / or an evaluation of the course of the process and / or the result of the process in order to ascertain an analysis result using an image processing on the basis of the generated digital image. The invention additionally relates to a system or a computer program (product).

Description

[0001] Description

[0002] Process analysis

[0003] The present invention relates to a method and system for analyzing at least one process or for configuring such a process analysis, as well as a computer program or computer program product for carrying out a method described here.

[0004] Processes are often analyzed based on the temporal progression of measured state variables such as a position, a force or the like, in particular in order to monitor, evaluate, parameterize and / or control these processes.

[0005] These measurement data curves are usually handled as mathematical functions over time and analyzed using appropriate numerical operations.

[0006] For example, if a contact between a robot and its environment is to be detected, the speed curve of its end effector position can be determined by numerical differentiation of the measured time course of its end effector position and a contact can be detected if the speed becomes zero within the scope of a processing accuracy despite a planned movement.

[0007] An object of an embodiment of the present invention is to improve the analysis of processes and / or the configuration of such process analyses, preferably the monitoring, evaluation, control and / or parameterization of processes.

[0008] This object is achieved by a method having the features of claim 1 or 11. Claims 12, 13 represent a system or computer program or.

[0009] A computer program product for carrying out a method described herein is protected. The subclaims relate to advantageous developments. According to one aspect of the present invention, a method for analyzing at least one process comprises the steps:

[0010] - Providing digital signal data which depend on a temporal progression of at least one state variable of the process, describing or specifying the temporal progression in an embodiment;

[0011] - generating and, in a further development, at least temporarily storing at least one digital image which has a representation of the signal data provided; and

[0012] - Determining an analysis result or analyzing the process with the aid of or using image processing, in particular image processing software or technology, of this generated digital image.

[0013] An embodiment of the present invention is based on the findings that

[0014] - the analysis of processes using numerical operations on or with measured data trends often

[0015] - a deeper physical understanding of the process, in the example mentioned above the fact that the speed becomes zero upon contact; and / or

[0016] - require in-depth mathematical and / or physical expertise, in this example the knowledge that the velocity in the contact direction can be determined by numerical differentiation of the measured time course of the end-effector position in the contact direction, as well as the appropriate choice of processing accuracy, numerical differentiation including possible filtering, interpolation or the like; and / or

[0017] - are sensitive to quantitative fluctuations in qualitatively similar measurement data; and / or

[0018] - People, often even laypeople, can often assess processes very well, particularly quickly, precisely and / or reliably, based on images, for example they can recognize a drop in the force curve when a robot-guided plug connection snaps into place as a (successful) joining process; and the fundamental idea based on this is to exploit this and, instead of or in addition to numerical operations on or with signal data curves, to carry out this interpretation of images automatically and to use this to analyze processes, and to do this by first converting temporal signal data curves of process state variables into images and then analyzing these using image processing.

[0019] As a result, in one embodiment, processes, in particular more complex processes, can be analyzed better, in particular more quickly, more precisely and / or more reliably, monitored, evaluated, controlled and / or parameterized, and / or the configuration of an analysis can be improved, in particular simplified, accelerated and / or carried out more reliably, in particular at least partially automated and / or by a user, in particular a layperson.

[0020] In one embodiment, the digital image comprises pixels, in particular a pixel map. In a further development, the digital image comprises grayscale—this allows image processing to be improved, in particular simplified and / or accelerated, in one embodiment. In a further development, the digital image comprises color scales—this allows the configuration of image processing and / or analysis to be improved, in particular simplified and / or accelerated, in one embodiment.

[0021] In a particularly preferred embodiment, the process to be analyzed (in each case) is a technical and / or partially or fully automated, in particular automation-technical, and / or machine-supported, preferably robot-supported, process; in a preferred embodiment, it is a manufacturing, processing and / or transport process and / or comprises at least one robot application.

[0022] The present invention is particularly suitable for such processes and their analysis, in particular due to the complexity, requirements for control, parameterization, monitoring and / or evaluation and / or due to the metrological recording of the processes.

[0023] In one embodiment, the provided signal data, the representation of which is provided in the generated digital image, comprises one or more sequences of signal data (signal waveforms), wherein these signal data are (each) assigned to temporally offset values ​​(each) of a state variable of the process, in a particularly preferred embodiment (each) based on measured values ​​(each) of a one-dimensional or multi-dimensional state variable of the process, which are or have been recorded successively in time and, in one embodiment, wherein the measured values ​​for two or more sequences of signal data can be or have been recorded in parallel. Accordingly, the provided signal data can particularly advantageously comprise, in particular be, one or more, in a further development at least partially temporally parallel, signal waveforms.Additionally or alternatively, the signal data provided may particularly advantageously comprise, in particular, measurement data (curves) based on measured values, in particular, optionally processed, measured value (curves).

[0024] In a further development, the signal data provided, the representation of which shows the generated digital image,

[0025] - a sequence of (first) signal data which are assigned to temporally successive values ​​of a first one- or multi-dimensional state variable of the process, in particular based on (first) measured values ​​of the first state variable which are or have been detected by sensors one after the other and in one embodiment (temporal sequence of signal data of a first process state variable); and

[0026] - one or more sequences of ((each) second) signal data, which are (each) assigned to temporally successive values ​​(each) of a second one- or multi-dimensional state variable of the process, in particular based on (second) measured values ​​of the (respective) second state variable of the process, which are or have been detected by sensors one after the other and in one embodiment (temporal sequence of signal data of a second process state variable).

[0027] As a result, in one embodiment, two or more state variables or signal data dependent on or describing their temporal progression can be used jointly to analyze the process, and processes can thereby be analyzed better, in particular more quickly, more precisely and / or more reliably, and / or the configuration of an analysis can be improved, in particular simplified, accelerated and / or more reliably carried out by a user, in particular a layperson, in one embodiment.

[0028] In one embodiment of this development, the or one or more of the second process state variables can each have (fundamentally or physically) different values ​​for the same value of the first process state variable, in particular can be a process state variable that is independent of the first process state variable or is not correlated with it.

[0029] As a result, in one embodiment, very different and / or not directly related state variables or signal data dependent on or describing their temporal progression can be used together to analyse the process, and processes can thus be analysed better, in particular more quickly, more precisely and / or more reliably, and / or the configuration of an analysis can be improved, in particular simplified, accelerated and / or more reliably carried out by a user, in particular a layperson, in one embodiment.

[0030] In one embodiment, the signal data can comprise the acquired measured values ​​themselves and / or the measured values ​​processed, in particular in terms of signal technology and / or numerically, for example by means of filtering, time differentiation, time integration, interpolation, extrapolation, transformation or the like, in particular these acquired or processed measured values, in particular the first signal data can be the acquired first measured values ​​themselves and / or the processed first measured values ​​and / or the second signal data can be the acquired second measured values ​​themselves and / or the processed second measured values. In one embodiment, the provision of signal data comprises the, in particular sensory, acquisition of measured values ​​and optionally processing them to form the signal data and / or the receiving or reading in or retrieving, in particular from a memory, and / or the processing and / or selection of (available) signal data.

[0031] Additionally or alternatively, in one embodiment, the state variable, in particular the first and / or second process state variable (respectively), can have one or more one-, two-, three- or multi-dimensional positions, distances and / or orientations, forces, torques, energy quantities, in particular electrical voltages and / or currents, pressures, temperatures and / or time derivatives thereof, in particular speeds, accelerations or the like, in particular be, in one embodiment of one or more components, in particular one or more machines, in one embodiment one or more robots, of the process.

[0032] The present invention is particularly suitable for such signal data or state variables, in particular due to the complexity, significance, metrological acquisition and / or processing.

[0033] In one embodiment, the generated digital image has at least one graphic display with at least one process-dependent symbol, in particular a warning or a notice (symbol), and / or at least one process-dependent text, in particular a message or a (text) notice, which is preferably taken into account by the image processing or when determining the analysis result with the aid of the image processing of the generated digital image.

[0034] Digital images are often generated and displayed based on measurement data, for example, to enable operating personnel to monitor the process or similar purposes. In particular, graphic displays, such as messages, notes, warnings, or the like, are sometimes generated in the images. In one embodiment, such graphic displays can now also be advantageously taken into account by image processing or when determining the analysis result using image processing of the generated digital image.In particular, through this, but more generally through the additional consideration of graphic displays that depend on the process, processes can be analyzed better, in particular more quickly, more precisely and / or more reliably, and / or the configuration of an analysis can be improved, in particular simplified, accelerated and / or more reliably carried out by a user, in particular a layperson.

[0035] In one embodiment, the digital image is generated based on, in particular in, a defined representation form, which in one embodiment is fixed or unchangeable, and in another embodiment is configurable, in particular configured, in particular based on user input. A defined representation form includes, in one embodiment, the type of representation or mapping of the signal data and, if applicable, graphic display(s), and in one embodiment, a scaling, arrangement, coloring, resolution, selection of a section, or the like.

[0036] By means of a fixed representation form, the image processing can be configured more easily in one embodiment; by means of a configurable representation form, the image can be adapted to the respective process or the signal data and, if applicable, display(s) and the process can thus be analyzed better, in particular more quickly, more precisely and / or more reliably.

[0037] In one embodiment, the method comprises the step of monitoring and / or evaluating the process on the basis of the determined analysis result.

[0038] Accordingly, one aspect of the present invention relates to a (method or system for) monitoring and / or evaluating the process, or this is protected. In one embodiment, evaluating a process comprises evaluating a process sequence and / or at least one process result; in a further development, it comprises quality control. The determined analysis result can in particular (already) be a monitoring or evaluation result, or the determination of the analysis result can (already) be the monitoring and / or evaluation of the process (based on the determined analysis result). Likewise, the analysis result can also be determined first in several stages and then further processed into a monitoring or evaluation result.

[0039] Additionally or alternatively, in one embodiment the method comprises the step of: controlling, in a further development influencing and / or triggering at least one process step, and / or parameterizing, in a further development optimizing or on the basis of an optimization or with the aid of an optimizer, the process on the basis of the determined analysis result and / or, in particular such controlling and / or, in particular such parameterizing a subsequent process on the basis of the determined analysis result of the one or preceding process. Accordingly, one aspect of the present invention relates to a (method or system for) controlling and / or parameterizing the process, in particular (for) controlling and / or parameterizing as well as monitoring and / or evaluating the process, and / or (for) controlling and / or parameterizing a subsequent process, or this is protected.

[0040] This represents particularly advantageous applications of the present invention or of the determined analysis result, in particular processes can be better, in particular more quickly, more precisely and / or more reliably, monitored or evaluated and / or controlled or parameterized, in particular optimized, by the use of an analysis (result) determined according to the invention, and / or the configuration of a preferably automated monitoring, evaluation, control and / or parameterization, in particular by a user, in particular a layperson, can be improved, in particular simplified, accelerated and / or carried out more reliably.

[0041] In one embodiment, the provision of the digital signal data, in particular the acquisition and / or processing of the measurement data or values, the generation of the digital image and the determination of the analysis result, in one embodiment the monitoring, evaluation, control and / or parameterization of the process on the basis of the analysis result of the process, is carried out during the process, in a further development (in each case) for (one of) different (observation) time points during the process, in particular cyclically or periodically, wherein in one embodiment the provided digital signal data each correspond to a temporal profile of the state variable(s) of the process up to the respective (observation) time point or a part thereof, in particular describe this orspecify, and the digital image generated for this (observation) time in one embodiment comprises a representation of these provided signal data or a part thereof, and the analysis result for this (observation) time is determined in each case by means of image processing of the digital image generated for this (observation) time.

[0042] In one embodiment, this makes it possible to intervene in the ongoing process, particularly by parameterizing and / or controlling or regulating, and thus improve it.

[0043] Additionally or alternatively, in one embodiment, at least the determination of the analysis result(s) and / or the evaluation of the process and / or control and / or parameterization of a subsequent process is carried out, in a further development also the generation of the digital image and in one embodiment also the provision of the digital signal data, in particular by reading in data stored during the process or the like, after the end of the process.

[0044] As a result, in one embodiment, a complete process sequence and / or a result of the process carried out can advantageously be evaluated and, for example, a product produced in the process can be categorized accordingly and / or a component involved therein, for example a robot or the like, can be evaluated within the framework of predictive maintenance and / or a subsequent process can be improved by making appropriate corrections.

[0045] In one embodiment, the image processing comprises a recognition of one or more features (feature recognition), in particular one or more objects (object recognition), one or more patterns (pattern recognition), one or more edges (edge ​​recognition), one or more lines (line recognition), one or more areas, in particular one or more blobs (“binary large objects”) (area or blob recognition), one or more brightnesses (brightness recognition) and / or one or more colors (color recognition). Recognition within the meaning of the present invention can in particular comprise a classification into or assignment to two or more classes.

[0046] As a result, in one embodiment, particularly advantageous analyses of the processes, in particular a recognition of events and / or assessment of process sequences and / or results and / or for controlling, parameterizing, monitoring and / or evaluating the processes, can be carried out and processes can thereby be analyzed better, in particular more quickly, more precisely and / or more reliably, and / or the configuration of an analysis can be improved, in particular simplified, accelerated and / or more reliably carried out by a user, in particular a layperson, in one embodiment.

[0047] In one embodiment, one or more parameters of the image processing, in a further development a search area and / or one or more tolerance criteria, in particular of the feature, in particular object, pattern, edge, line, area, in particular blob, brightness and / or color recognition, is / are or will be configurable or configured by a user input and / or process-specifically.

[0048] As a result, processes can be analyzed better, in particular more quickly, more precisely and / or more reliably, and / or their control and / or parameterization and / or monitoring and / or evaluation can be improved and / or the configuration of an analysis, in particular control and / or parameterization and / or monitoring and / or evaluation, can be improved, in particular simplified, accelerated and / or more reliably carried out by a user, in particular a layperson, in one embodiment.

[0049] In one embodiment, determining an analysis result comprises detecting one or more events in the process using image processing, for example detecting a contact, joining process, or the like.

[0050] This represents a particularly advantageous application of the present invention, since various events can be particularly well detected using image processing of digital images, which include a representation of digital signal data and optionally graphic displays, and can be used, in particular, for monitoring, evaluating, controlling, and / or parameterizing processes, for example, initiating (subsequent) process steps, quality controls, or the like. Accordingly, one aspect of the present invention relates to a (method or system for) detecting at least one event in the process, or this is protected.

[0051] Additionally or alternatively, determining an analysis result in one embodiment comprises assessing, in particular classifying, the process flow and / or a process result using image processing, preferably for evaluating the process.

[0052] This represents a particularly advantageous application of the present invention, since the processes and / or results of various processes can be particularly well assessed using image processing of digital images, which include a representation of digital signal data and, if appropriate, graphic displays, and can be used, in particular, for monitoring, evaluating, controlling, and / or parameterizing processes, for example, corrections, sorting, or the like. Accordingly, one aspect of the present invention relates to a (method or system for) assessing the process process and / or at least one process result, or this is protected.

[0053] The detection of at least one event in the process and / or assessment of the process course and / or a process result with the aid of image processing comprises, in one embodiment, at least two stages, in particular

[0054] A) firstly, the recognition of one or more features, in particular object(s), pattern(s), edge(s), line(s), area(s), brightness(ies) and / or colour(s), as described here, using image processing (feature recognition),

[0055] A1) preferably on the basis of at least one parameter that is configurable or configured on the basis of a previous determination of an analysis result and / or by a user input and / or process-specifically, in particular a search area that is configurable or configured on the basis of a previous determination of an analysis result and / or by a user input and / or process-specifically and / or at least one tolerance criterion for this feature recognition that is configurable or configured on the basis of a previous determination of an analysis result and / or by a user input and / or process-specifically; and

[0056] B) a subsequent detection of at least one event in the process (event detection) and / or assessment of the process course and / or a process result (process assessment) on the basis of this feature detection (and thus with the help of image processing),

[0057] B1) preferably on the basis of at least one parameter, in particular tolerance criterion, which is configurable or configured on the basis of a previous determination of an analysis result and / or by a user input and / or process-specifically, for this event detection or process assessment.

[0058] In one embodiment, the analysis can thereby be carried out particularly advantageously, in particular more precisely, variably, and / or reliably. According to one embodiment of the present invention, a method for configuring a process analysis described here, which is protected independently and can be particularly advantageously combined with a method described here for analyzing at least one process, comprises the steps:

[0059] - Providing digital signal data which depend on a temporal progression of at least one state variable of at least one reference process, in particular describing or indicating this temporal progression;

[0060] - generating at least one image comprising a representation of said provided signal data, on the basis of or in a defined, in particular fixed or configurable, in particular configured, form of representation;

[0061] - Configure

[0062] - at least one parameter of the image processing, in particular a search area and / or at least one tolerance criterion for feature recognition, and / or

[0063] - at least one parameter, in particular a tolerance criterion, a detection of at least one event in the process and / or assessment of the process sequence and / or a process result, on the basis of this generated image, in a further development

[0064] - (also) based on user input; and / or

[0065] - based on the determination of an analysis result using image processing of the generated image;

[0066] - and in one version also a configuration of the defined display format.

[0067] In one embodiment, configuration is performed based on several, preferably similar, reference processes, for each of which digital signal data is provided and images are generated based on this data. This can improve the reliability of the configuration in one embodiment.

[0068] The image processing configured as described above, in particular a feature recognition, event recognition, or process assessment configured here or for this purpose based on the user input or the determination of an analysis result, and optionally a configured form of representation can be used or provided particularly advantageously for the analysis of a process described here and preferably combined therewith. Accordingly, the method explained above for configuring a process analysis described here also comprises, in a particularly preferred embodiment, analyzing at least one process according to a method described here, with the steps:

[0069] - Providing digital signal data which depend on a temporal progression of at least one state variable of this process (to be analyzed), in particular describing or specifying this temporal progression;

[0070] - generating at least one digital image comprising a representation of these provided signal data, preferably on the basis of or in the same, preferably configured, defined form of representation; and

[0071] - Determining an analysis result using the configured image processing of this generated digital image and / or the configured event detection and / or process assessment; this method for configuring a process analysis described here is, in one embodiment, a method for analyzing at least one process.

[0072] By configuring at least one parameter of the image processing and / or event detection and / or process evaluation on the basis of the image generated on the basis of the reference process or its signal data and a user input, in one embodiment the configuration of an analysis, control, parameterization, monitoring and / or evaluation by a user, in particular a layperson, can be improved, in particular simplified, accelerated and / or carried out more reliably.

[0073] By configuring at least one parameter of the image processing and / or event detection and / or process assessment on the basis of a determination of an analysis result on the basis of the image (preferably images) generated on the basis of the reference process(es) or its signal data, preferably as described here or carried out with the aid of image processing, an at least partially automated adaptation of the image processing, event detection and / or process assessment can be achieved in one embodiment.

[0074] Process assessment can be carried out, and in one embodiment, the configuration of an analysis, control, parameterization, monitoring, and / or evaluation, in particular of subsequent processes, preferably similar to one another and / or to the reference process(es), can be improved, in particular simplified, accelerated, and / or carried out more reliably. In particular, an at least partially learning process analysis can thus be realized, in which the process analysis of subsequent processes is adapted based on previous processes and their analysis, in particular parameters of image processing and / or event detection and / or process assessment are configured or adapted.

[0075] By using the same defined form of representation when generating the images for the reference process and the process to be analyzed or their signal data, the image processing can, in one embodiment, analyze the images better, in particular more quickly, more precisely and / or more reliably.

[0076] In one embodiment, at least two processes are analyzed according to a method described here, and in a further development, monitored, evaluated, controlled and / or parameterized, wherein preferably the same defined form of representation and / or the same configured image processing is used for both processes.

[0077] Here too, by using the same defined form of representation when generating the images for the at least two processes to be analyzed or their signal data in one embodiment, the (equally configured) image processing can analyze the images better, in particular more quickly, more precisely and / or more reliably.

[0078] According to one embodiment of the present invention, a system, in particular hardware and / or software, is set up to carry out a method described here.

[0079] According to one embodiment of the present invention, a system comprises:

[0080] - means for providing digital signal data which depend on a temporal progression of at least one state variable of a process; and

[0081] - Means for generating at least one digital image comprising a representation of said provided signal data. According to one embodiment of the present invention, said system (for analyzing at least one process) comprises:

[0082] - means for determining an analysis result by means of image processing of this generated digital image.

[0083] Additionally or alternatively, according to an embodiment of the present invention, this system (for configuring a process analysis) comprises:

[0084] - Means for configuring at least one parameter of an image processing and / or a detection of at least one event in the process and / or an assessment of the process sequence and / or a process result for determining an analysis result with the aid of an image processing on the basis of this generated digital image, in one embodiment (also) on the basis of a user input, in particular a user interface for entering this user input, and / or on the basis of determining an analysis result with the aid of or the image processing of the generated image.

[0085] In one embodiment, the system or its means comprise:

[0086] - Means for monitoring and / or evaluating the process based on the analysis result obtained; and / or

[0087] - Means for controlling, in particular triggering at least one process step, and / or parameterising, in particular optimising, the process and / or a subsequent process on the basis of the determined analysis result; and / or

[0088] - means for generating the digital image on the basis of a defined, in particular fixed or configurable, form of representation, in particular for configuring the form of representation on the basis of a user input, in particular a user interface for entering this user input; and / or

[0089] - Means, in particular image processing means, for detecting one or more features, in particular one or more object(s), pattern(s), edge(s), line(s), area(s), brightness(ies) and / or colour(s); and / or

[0090] - Means for configuring at least one image processing parameter, in particular a search area and / or at least one tolerance criterion for feature recognition, based on a user input and / or process-specifically, in particular a user interface for entering this user input; and / or - Means for detecting at least one event in the process and / or assessing the process sequence and / or a process result using image processing, in particular based on at least one classified feature detected using image processing; and / or

[0091] - Means for configuring at least one parameter, in particular tolerance criterion, of said event detection and / or process assessment, based on a user input and / or process-specifically, in particular a user interface for entering said user input.

[0092] A system and / or means within the meaning of the present invention can be designed in hardware and / or software, in particular at least one, in particular digital, processing unit, in particular a microprocessor unit (CPU), graphics card (GPU) or the like, preferably connected to a memory and / or bus system for data or signals, and / or one or more programs or program modules. The processing unit can be designed to execute instructions implemented as a program stored in a memory system, to detect input signals from a data bus, and / or to output signals to a data bus. A memory system can have one or more, in particular different, storage media, in particular optical, magnetic, solid-state, and / or other non-volatile media. The program can be designed in such a way that it embodies the methods described here oris capable of carrying out, so that the processing unit can carry out the steps of such methods and thus in particular can analyze, in particular control, parameterize, monitor and / or evaluate the process(es), or can configure the analysis. In one embodiment, a computer program product can have, in particular be, a storage medium, in particular a computer-readable and / or non-volatile one, for storing a program or instructions or with a program or instructions stored thereon. In one embodiment, execution of this program or these instructions by a system or a controller, in particular a computer or an arrangement of several computers, causes the system or the controller, in particular the computer(s), to carry out a method described here or one or more of its steps, or the program or the instructions are configured to do so.In one embodiment, one or more, in particular all, steps of the method are fully or partially computer-implemented or one or more, in particular all, steps of the method are fully or partially automated, in particular by the system or its means.

[0093] In one embodiment, the system comprises at least one robot for executing the process, wherein the at least one state variable is preferably a state variable of this robot.

[0094] As also explained elsewhere, on the basis of an analysis result determined as described here using image processing of a digital image which contains a representation of signal data of a process, parameters of this process and / or of a subsequent, preferably similar, process can be modified or these process(es) can be parameterized.

[0095] Additionally or alternatively, based on an analysis result determined as described here using image processing of a digital image containing a representation of signal data from a process, parameters of the image processing used and / or detection of at least one event and / or assessment of the process sequence and / or process result can be modified for subsequent, preferably similar, processes, preferably at least partially automated and / or self-learning, or these parameters can be configured. Further advantages and features emerge from the subclaims and the exemplary embodiments. In this regard, the following is shown, partially schematically:

[0096] Fig. 1 : a system for analyzing a process according to an embodiment of the present invention; and

[0097] Fig. 2: A method for analyzing the process according to an embodiment of the present invention. Fig. 1 shows a system for analyzing a process according to an embodiment of the present invention, exemplarily with a robot 1 that inserts a connector 2 into a component 8.

[0098] In a step S10, the process is first configured, for example, control parameters are specified or the like.

[0099] In a step S20, digital signal data which depend on a temporal progression of at least one state variable of the process are then provided, in the exemplary embodiment, for example, on a robot controller 3, digital signal data which depend on a force of or on the robot(s) 1 in the joining direction.

[0100] In a step S30, a digital image is generated on a screen 4, which has a representation 5 of this provided signal data.

[0101] In a step S40, image processing of this digital image is configured based on a user input. In the exemplary embodiment, a search area 6 is defined, and a feature 7 is learned. Additionally, the display format can also be configured.

[0102] In a step S50, the image processing recognizes the learned feature 7 in the search area 6, in the exemplary embodiment, for example, a spike in the image of the (temporal) force curve.

[0103] Based on a user input, in a step S60 an event detection is configured based on the feature 7 detected in step S50 using image processing, in particular a tolerance for the detection, for example a permissible distortion and twisting of the feature.

[0104] After this reference process, a connector joining process by robot 1 is analyzed during operation.

[0105] For this purpose, in a step S70, digital signal data which indicate the temporal progression of the force of or on the robot(s) 1 in the joining direction are provided, and in a step S80, on the basis of or in the same representation form as in step S30, a digital image is generated which comprises an image of these provided signal data.

[0106] In a step S90, the digital image is evaluated using the image processing configured in step S40 and the prong characteristic of the joining is recognized, and in a step S100, on the basis of this feature recognized in step S90 using the image processing, an event of the process, in the exemplary embodiment a completed or successful joining, is recognized.

[0107] On the basis of this determined analysis result, the process sequence and / or a process result is evaluated in a step S110, for example, a quality of the joining connection of the connector 2 is checked.

[0108] Although exemplary embodiments have been explained in the preceding description, it should be noted that a large number of modifications are possible.

[0109] In particular, in addition to or as an alternative to image processing of the image with the depiction of the complete force curve, several images can be evaluated in the same way during the joining process, each of which contains a depiction of the force curve of the corresponding sub-process or up to the corresponding observation time. As soon as the prong 7 appears for the first time in an image, it is detected in the corresponding image by means of image processing and then, in the manner described above, on the basis of this feature detected by means of image processing, the event of a completed or successful joining is recognized. Thus, the current process is monitored and / or a process step is initiated in the current process, for example, the connector 2 is released, and the process is thus controlled.

[0110] Additionally or alternatively, the process, in particular the quality control, can also be carried out in whole or in part on an external system.

[0111] As an example, Fig. 1 also shows a graphic display in the form of a warning message 9, which is shown on the screen 4 during the process. This can also be detected by the image processing and taken into account in the analysis, monitoring, control, parameterization and / or evaluation of the process. Additionally or alternatively, the signal data can also contain signal data from other process state variables, which are depicted together with the force curve in the generated image, and these, in particular their joint occurrence or correlation, can be taken into account by the image processing in the analysis, monitoring, control and / or evaluation of the process. As an example, signal data 10 from another process state variable is indicated in Fig. 1.

[0112] Additionally or alternatively, subsequent processes can be parameterized on the basis of the analysis result determined for a process, for example the control parameters specified in step S10 can be modified in order to improve a process course and / or a process result.

[0113] Additionally or alternatively, based on the analysis result determined for a process, the image processing, event detection, and / or assessment of the process progression and / or process result can be parameterized for subsequent processes. For example, the image processing configured in step S40 can be modified to improve a process analysis. In this case, the configuration of the image processing based on user input in step S40 can also be omitted, and preset default, start, or standard values ​​can be modified instead. Additionally or alternatively, for example, tolerance limits for spike detection in step S90 and / or event detection in step S100 and / or evaluation of the process progression and / or process result in step S110 can also be modified.Furthermore, it should be noted that the exemplary embodiments are merely examples and are not intended to limit the scope of protection, applications, or structure in any way. Rather, the preceding description provides the skilled person with a guide for implementing at least one exemplary embodiment, whereby various modifications, particularly with regard to the function and arrangement of the described components, can be made without departing from the scope of protection as defined by the claims and equivalent combinations of features. List of reference symbols.

[0114] 1 robot

[0115] 2 plugs

[0116] 3 Robot control 4 Screen

[0117] 5 Figure

[0118] 6 Search area

[0119] 7 points (feature)

[0120] 8 Component 9 graphic display

[0121] 10 additional signal data

Claims

Patent claims 1. Method for analyzing at least one process, comprising the steps: - Providing (S60) digital signal data which depend on a temporal course of at least one state variable of the process; - generating (S70) at least one digital image comprising a representation (5) of said provided signal data; and - Determining (S80, S90) an analysis result using image processing of this generated digital image.

2. Method according to claim 1, characterized by at least one of the steps: - Monitoring and / or evaluating the process based on the analysis result (S100); and / or - Controlling, in particular triggering at least one process step, and / or parameterising, in particular optimising, the process and / or a subsequent process on the basis of the determined analysis result.

3. Method according to one of the preceding claims, characterized in that the signal data provided comprise a temporal sequence of signal data of a first process state variable and at least one temporal sequence of signal data of a second process state variable, in particular a second process state variable which can have different values ​​for the same value of the first process state variable.

4. Method according to one of the preceding claims, characterized in that the generated digital image has at least one graphic display with at least one symbol dependent on the process and / or at least one text dependent on the process.

5. Method according to one of the preceding claims, characterized in that the digital image is generated on the basis of a defined, in particular fixed or configurable, form of representation.

6. Method according to one of the preceding claims, characterized in that the provision of the digital signal data, generation of the digital image and determining the analysis result, in particular monitoring, evaluating, controlling and / or parameterizing the process on the basis of the Analysis result of the process during which the process is carried out.

7. Method according to one of the preceding claims, characterized in that the provision of digital signal data and / or generation of the digital image and / or determination of the analysis result, in particular the evaluation of the process and / or control and / or parameterization of a subsequent process on the basis of the analysis result, is carried out after termination of the process.

8. Method according to one of the preceding claims, characterized in that the image processing comprises a recognition of at least one feature (7), in particular at least one object, at least one pattern, at least one edge, at least one line, at least one area, at least one brightness and / or at least one color, and / or at least one parameter of the image processing, in particular a search area and / or at least one tolerance criterion of this recognition, can be configured by a user input and / or process-specifically.

9. Method according to one of the preceding claims, characterized in that the determination of an analysis result comprises a recognition of at least one event in the process and / or assessment of the process course and / or a process result with the aid of image processing, in particular on the basis of at least one feature recognized with the aid of image processing, in particular at least one parameter, in particular tolerance criterion, of this event recognition and / or process assessment, can be configured by a user input and / or process-specifically.

10. Method for analyzing at least two processes, comprising the steps: - Analyzing a first process according to a method according to one of the preceding claims, comprising the steps: - Providing first digital signal data which depend on a temporal course of at least one state variable of the first process; - generating at least one first digital image comprising a representation of said provided first signal data, based on a defined form of representation; and - Determining a first analysis result using image processing of this generated first digital image; and - Analyzing at least one second process according to a method according to one of the preceding claims, comprising the steps: - Providing second digital signal data which depend on a temporal course of at least one state variable of the second process; - generating at least one second digital image comprising a representation of said provided second signal data, based on a, in particular the same, defined form of representation; and - Determining a second analysis result using, in particular, the same, image processing of this generated second digital image.

11. Method, in particular according to one of the preceding claims, for configuring a process analysis, characterized by the steps: - Providing (S10) digital signal data which depend on a temporal profile of at least one state variable of at least one reference process; - generating (S20) at least one image comprising a representation of said provided signal data on the basis of a defined form of representation; - Configuring (S30, S50) at least one parameter of an image processing operation and / or a detection of at least one event in the process and / or an assessment of the process sequence and / or a process result to determine an analysis result using an image processing operation of this generated digital image, wherein this configuration is based on this generated image, in particular a user input and / or a determination of an analysis result using an image processing operation of the generated image; - in particular analyzing at least one process according to a method according to one of the preceding claims with the steps: - Providing digital signal data which depend on a temporal course of at least one state variable of this process; - generating at least one digital image that has a representation of these provided signal data, in particular on the basis of or in the same defined form of representation; and - Determining an analysis result using the configured image processing of this generated digital image and / or the configured detection of at least one event in the process and / or assessment of the process course and / or a process result.

12. System for analyzing at least one process and / or for configuring a process analysis, which is configured to carry out a method according to one of the preceding claims and / or comprises: - means for providing digital signal data which depend on a temporal progression of at least one state variable of a process; and - means for generating at least one digital image comprising a representation of said provided signal data; and - means for determining an analysis result using image processing of this generated digital image; and / or - Means for configuring at least one parameter of an image processing and / or a detection of at least one event in the process and / or an assessment of the process course and / or a process result for determining an analysis result with the aid of an image processing on the basis of this generated digital image.

13. A computer program or computer program product, wherein the computer program or computer program product contains instructions, in particular stored on a computer-readable and / or non-volatile storage medium, which, when executed by one or more computers or a system according to claim 12, cause the computer(s) or the system to carry out a method according to one of claims 1 to 11.

Images