Tool positioning system, tool positioning method and tool monitoring system
A positioning system and monitoring system technology, applied in the field of manufacturing environment, can solve the problems of insufficient to ensure high quality standards, static, etc.
Active Publication Date: 2017-06-16
HEXAGON TECH CENT GMBH
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Problems solved by technology
[0008] A disadvantage of these prior art designs is that, for example, a positioning accuracy of about 50 cm is only sufficient for segmenting into rough workspaces, which can help avoid certain serious mistakes (e.g., locking the tool out of a roughly defined environmental confines). ), but this is not sufficient to ensure high quality standards
[0009] Also, a disadvantage of prior art systems is the fact that they are very static for the manufacturing environment
Moreover, their installation requires the installation of dedicated infrastructure
In terms of ever-changing manufacturing environments, product variants, and flexible order-oriented manufacturing, prior art systems must track every change in the product or environment, and each tracked change must be mapped to those by reprogramming, etc. in the system
Method used
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[0047] figure 1 A sketch according to an embodiment of the invention is shown to illustrate tool positioning and its context. In a manufacturing environment 2 there is a workpiece 3 (for simplicity only some main objects in this environment are shown and referenced). The workpieces 3 are advanced on the assembly line 29, moving at a constant speed or stepwise in the direction indicated by the arrows. The hand-held tool 1 is used by a worker 28 which moves around to perform desired tasks for the workpiece 3 . With the tool 3 the worker attaches, for example, a screw 7 to the workpiece 3, as indicated by the shown dotted arrow. According to the invention, the tool 1 is equipped with a camera 4a capturing images for SLAM navigation. The camera 4a images the workpiece 3 and / or the environment 2, as indicated by dashed arrows. Depending on the pose of the tool 1 to the camera 4 a , the image includes only the workpiece 3 , only the environment 2 , or one part of the image inclu...
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Quality assured manufacturing. The present invention relates to a tool positioning system for a hand-held tool in a manufacturing environment, wherein the tool is equipped with a camera for capturing images. According to the invention, the positioning system comprises numerical evaluation means constructed to determine the tool positioning of the tool by simultaneous positioning and mapping (SLAM) navigation calculations based on the images from the camera. wherein the tool positioning is determined from a portion of the image containing a view of the manufacturing environment relative to a global coordinate system associated with the manufacturing environment, and the tool positioning is determined from a portion of the image containing the workpiece The portion of the view is determined relative to a local coordinate system associated with the workpiece.
Description
technical field [0001] The present invention relates to the technical field of manufacturing environment, for example, such as car body manufacturing, aircraft manufacturing, machine manufacturing and so on. This environment is typically set up as an assembly line or manufacturing cell. [0002] The invention generally also relates to a tool positioning system in a manufacturing environment according to claim 1 and to a method of positioning a hand tool in a manufacturing environment according to claim 12 . Background technique [0003] An autonomous industrial robot for a manufacturing environment is shown in US 2011 / 087360, which is equipped with a camera and force sensors. The computing device is embodied to calculate the desired robot motion based on the camera and sensor data, so that the robot can automatically assemble parts into predetermined positions of randomly moving workpieces, for example, assembling a tire to a car body. [0004] In addition to the automated...
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IPC IPC(8): B25B11/00B25B23/00
CPCB25B11/00B25B23/00G05B19/41805G05B19/4183G05B2219/31027G05B2219/31304G05B2219/37567G05B2219/45127Y02P90/02G05B19/4187G05B2219/40557
Inventor 波·佩特尔松克努特·西尔克斯贝内迪克特·泽布霍塞尔
Owner HEXAGON TECH CENT GMBH