Control device and method for tool arranged to release a prefout prepositioning (POPP) clamp

Abstract

A control device (2) for a tool (3) arranged to release a pre-open pre-positioned (POPP) clamp (6) on an object is provided. The control device is configured to detect an indication of releasing the POPP clamp by the tool; determining a position of the tool upon detection of the indication; and determining that the POPP clamp has been released based on the detected indication and the determined position. By determining the position of the tool upon detection of an indication to release the POPP clip, further parameters are provided as a basis for assessing whether the POPP clip has actually been released. As a result, the risk of erroneous detection is reduced, and the accuracy of traceability of the manufacturing process is improved.

Description

Technical Field

[0001] The present invention generally relates to the field of control devices and methods for tools configured to release pre-opened pre-positioned (POPP) clamps. Background Art

[0002] In many products, hoses (flexible pipes) are used to convey various types of fluids. The hoses can be applied to their fittings by means of so-called pre-opened pre-positioned clamps (hereinafter referred to as POPP clamps). Before installation, the POPP clamps are pre-tensioned in an open position where the diameter of the clamp is slightly wider than the diameter of the clamp in the closed position. A protrusion at one end of the clamp band abuts against a part of the other end of the clamp band in order to keep the clamp tensioned in the open position. When the protrusion is forced out of abutment with the other end, the clamp is released and snaps into its closed position with a narrower diameter, whereby the clamp secures the hose to its fitting.

[0003] POPP clamps are advantageous in industrial manufacturing because their installation during the assembly process is very fast. Using a POPP clamp tool to force the protrusion out of abutment with the other end of the clamp band requires only a single torsional movement of the tool to release the clamp.

[0004] In industrial manufacturing, the traceability of the manufacturing process steps is very important for tracking whether all process steps have been correctly performed. Therefore, POPP clamp tools have been provided that are capable of detecting and recording the release (closure) of POPP clamps. An example of such a tool is disclosed in GB2581406B. When the clamp snaps into its closed position, vibration propagates from the clamp to the tool. This vibration is detected by accelerometers and gyroscopes in the tool.

[0005] There is a risk of erroneously detecting the release of the clamp, for example, when the operator drops the tool on the floor or hits the tool against a hard surface. Then, the production management system may erroneously detect that the clamp has been released even though it has not been released, thereby reducing the accuracy of the traceability of the manufacturing. Summary of the Invention

[0006] It would be advantageous to implement a control device and method that overcomes or at least mitigates the above-mentioned drawbacks. In particular, it is desirable to be able to implement a control device and method that allows for improved traceability in the manufacturing process involving the installation of POPP clamps.

[0007] To better address one or more of these concerns, a control device and method are provided having the features defined in the independent claims. Preferred embodiments are defined in the dependent claims.

[0008] Accordingly, in a first aspect, there is provided a control device for a tool arranged to release a pre-opened pre-positioned (POPP) clamp on an object. The control device is configured to:

[0009] - Detect an indication of the release of the POPP clamp by the tool;

[0010] - Determine the position of the tool when the indication is detected; and

[0011] - Determine that the POPP clamp has been released based on the detected indication and the determined position.

[0012] According to a second aspect, there is provided a method for determining that a pre-opened pre-positioned (POPP) clamp has been released, which is determined by the operation of a tool arranged to release such a clamp on an object. The method includes:

[0013] - Detect an indication of the release of the POPP clamp by the tool;

[0014] - Determine the position of the tool when the indication is detected; and

[0015] - Determine that the POPP clamp has been released based on the detected indication and the determined position.

[0016] In some cases, for example, if the tool hits a hard surface or falls to the ground, the tool may exhibit behaviors such as generating movement and / or sound, similar to as if the POPP clamp has been released (i.e., closed) by the tool. Such behaviors may be detected by the control device as an indication that the POPP clamp has been released by the tool. By determining the position (i.e., location) of the tool when an indication of the release of the POPP clamp is detected (i.e., detecting some parameters characterizing the release of the POPP clamp), further parameters are provided as a basis for evaluating whether the POPP clamp has actually been released. Thereby, the risk of false detection is reduced, and the accuracy of the traceability of the manufacturing process is improved.

[0017] The determined position (location) of the tool may be, for example, relative to the position of the object to be processed / being processed by the tool, or relative to a point at the predetermined position (location) of the object (such as a so-called anchor), and / or relative to the position of the workstation for processing the object.

[0018] According to one embodiment, if (i.e., based on / in response to) the indication of POPP fixture release is detected and the determined position of the tool at the time of detection is within a predetermined area, it can be determined that the POPP fixture has been released. For example, if the POPP fixture release indication is detected while the tool is within a predetermined area (e.g., a predetermined area as defined in a production setup), such as within the area of a specific workstation in a factory, the probability that the detected POPP fixture release indication is the result of an actual fixture release is higher than if such an indication is detected elsewhere. In the latter case, the detected indication is more likely to be caused by, for example, the tool being bumped against a hard surface or dropped on the ground. Thus, the control device can more reliably determine the POPP fixture release, which improves the traceability of the manufacturing process.

[0019] For example, the predetermined area can be an area near an object, such as within the area of a workstation where the object is being processed.

[0020] According to one embodiment, the control device can be further configured to determine the orientation of the tool when the indication is detected. Then, determining that the POPP fixture has been released can be further based on the determined orientation of the tool. Determining the orientation of the tool can provide further basis for positioning the tool when detecting the POPP fixture release. For example, two POPP fixture fittings may be a few centimeters apart from each other, making it difficult to distinguish them by certain positioning techniques, such as radio-based positioning techniques. If the operator has to hold the tool in different ways (different orientations) to approach these two POPP fixture fittings, the determination of the tool orientation can provide further basis for deciding whether the indication of POPP fixture release is made at the correct position.

[0021] Determining the orientation of the tool can be performed by analyzing signals from the orientation sensing devices (such as accelerometers and / or gyroscopes) of the tool.

[0022] According to one embodiment, the control device can be further configured to repeat the steps defined in the first and second aspects for a number of POPP fixtures, where the control device can be further configured to determine the working sequence performed by the tool based on the position of the tool each time the fixture release is determined, compare it with a predetermined working sequence, and then determine whether the performed working sequence is correct based on this comparison. By determining the position of the tool at each fixture release indication, it can be ensured that the POPP fixtures of a specific component are released in the correct sequence as defined in the production setup. Generally, each POPP fixture of a component is associated with a predetermined position according to the product setup.

[0023] The detection of an indication of the release of a POPP fixture can be performed in different ways, as there can be several indicators of fixture release, such as a specific movement pattern of the tool and / or a characteristic sound, such as a click.

[0024] For example, detecting an indication of the release of a POPP fixture by a tool can include detecting a vibrational movement of the tool that indicates the release of the POPP fixture. When the fixture snaps into its closed position, the vibration propagates from the fixture to the tool, which can be detected as an indication of fixture release.

[0025] According to one embodiment, detecting a vibrational movement of the tool that indicates the release of the POPP fixture includes analyzing data from an accelerometer included in the tool. Optionally, data from a gyroscope of the tool can also be analyzed to detect the snapping movement of the tool.

[0026] According to one embodiment, detecting an indication of the release of a POPP fixture by a tool can include detecting a sound that indicates the release of the POPP fixture.

[0027] According to one embodiment, detecting a sound that indicates the release of the POPP fixture can include analyzing data from a microphone included in the tool.

[0028] According to one embodiment, detecting an indication of the release of a POPP fixture by a tool can include detecting a movement of the tool that indicates that the user moves the tool to release the POPP fixture using the tool. Thus, a specific movement pattern of the tool corresponding to the movement of the tool by the user to release the fixture can be detected as an indication of fixture release. Such a movement pattern may sometimes be referred to hereinafter as the user action of the tool.

[0029] According to one embodiment, the movement of the tool (i.e., the user action of the tool) indicating that the user moves the tool to release the POPP fixture is at least one of the following: a torsional movement of the tool along the longitudinal direction of the tool, and a pitching movement of the tool transverse to the longitudinal direction of the tool.

[0030] In this specification, the longitudinal direction of the tool is the same as the longitudinal direction of the axis of the tool (which may also be simply referred to as the axis), at the end of which a hook for releasing the fixture is arranged.

[0031] The torsional or pitching movement of the tool by the user to operate the tool to release the POPP fixture depends on the design of the end (tip) of the axis of the tool. In particular, it depends on the orientation of the hook at the end of the tool axis. The torsional movement of the tool can occur when the user rotates the tool about its longitudinal axis, while the pitching movement of the tool occurs when the user pulls the handle in a direction transverse to the longitudinal direction of the tool (while the tip of the tool is hooked at the fixture).

[0032] According to one embodiment, detecting the movement of a tool indicating that the user moves the tool to release a POPP fixture (i.e., the user action of the tool) includes analyzing data from sensors included in the tool, where the sensors include at least one of the following: a switch arranged to be operated by relative movement between the shaft and the handle of the tool; and a strain gauge arranged to measure strain in the tool, such as strain in the shaft of the tool.

[0033] The advantage of this embodiment is that, compared with the detection provided by an accelerometer, such sensors can provide a more accurate detection of the user action of the tool.

[0034] For example, the switch can be an electromechanical, optical or magnetic switch.

[0035] Other types of sensors can also be contemplated, such as inductive sensors.

[0036] It should be understood that the above embodiments of how to detect an indication of POPP fixture release can be advantageously combined to provide further parameters, and determining that the fixture has been released can be based on these parameters, thereby improving the accuracy of traceability in the manufacturing process.

[0037] According to one embodiment, in response to detecting the movement of a tool indicating that the user moves the tool to release a POPP fixture (i.e., the user action of the tool), monitoring can be started to detect vibrational movement.

[0038] According to one embodiment, in response to detecting the movement of a tool indicating that the user moves the tool to release a POPP fixture, monitoring can be started to detect sound.

[0039] Generally, the user action of the tool always precedes the vibrational movement / snap sound of the tool caused by the actual release of the POPP fixture. With this embodiment, computing power can be saved because the monitoring of the signal for detecting the vibrational movement of the tool and / or the signal for detecting the snap sound can be limited to immediately after detecting the user action, rather than being performed all the time when the tool is turned on.

[0040] According to one embodiment, determining the position of the tool can be based on at least one of the following: analyzing radio signals transmitted between the tool and an anchor located at or at a predetermined position relative to an object; and analyzing data from an imaging device (e.g., a camera), which can be arranged, for example, on the tool or above the tool and the object. Other positioning techniques can also be contemplated.

[0041] According to one embodiment, a system is provided. The system includes: a tool arranged to release a pre-opened pre-positioned (POPP) fixture on an object; and control means defined according to the first aspect or any of its embodiments.

[0042] According to one embodiment, there is provided a computer program comprising instructions which, when executed by a computer, cause the computer to perform the method defined according to the second aspect.

[0043] According to one embodiment, there is provided a computer-readable storage medium comprising instructions which, when executed by a computer, cause the computer to perform the method defined according to the second aspect.

[0044] It should be noted that the embodiments of the present invention relate to all possible combinations of the features described in the claims. In addition, it should be understood that the various embodiments described for the control device can be combined with the method defined according to the second aspect of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] These and other aspects will now be described in more detail in the following illustrative and non-limiting detailed description of the embodiments with reference to the drawings.

[0046] Figure 1 A system is shown which includes a tool and a control device according to an embodiment, and a POPP fixture.

[0047] Figure 2 is a cross-section of the tool taken along line A-A in Figure 1 The cross-section of the tool taken along line A-A in

[0048] Figure 3 A method according to an embodiment is shown.

[0049] All the drawings are schematic, not necessarily drawn to scale, and generally show only the parts necessary for clarifying the embodiments, where other parts may be omitted. Throughout the specification, the same reference numerals denote the same elements. DETAILED DESCRIPTION

[0050] The system 1 according to an embodiment will now be described with reference to Figure 1 The system 1 includes a tool 3 which is adapted to release a pre-opened pre-positioned (POPP) fixture 6 on an object during an industrial assembly process. The POPP fixture 6 has an annular band pre-tensioned in an open position. The tool 3 can be operated to pull a loop 7 located at the end of the band, whereby the POPP fixture 6 is released and snapped into its closed position. A typical object to which the POPP fixture can be applied is a hose fixed to its fitting.

[0051] System 1 further includes a control device 2 for the tool 3. The control device 2 can be arranged separately (optionally remotely) from the tool 3, or it can be incorporated within the tool 3. The control device 2 can include a memory and a processing device. The control device 2 can be, for example, a computer. The control device 2 can be contained in a single unit or distributed among several units (e.g., cloud-based).

[0052] The tool 3 can include a body 16 and a shaft 4. The shaft 4 can, for example, include a replaceable tool tip. The shaft 4 can have a distal portion 4a adapted to engage a POPP clamp 6 to release it. For example, a hook 5 can be arranged at the distal portion 4a of the shaft 4. The hook 5 can be adapted to engage a loop 7 of the POPP clamp such that a user can pull the loop 7 through the tool 3 to release the POPP clamp 6. The body 16 can be designed to be held by a user, thus forming a handle.

[0053] Figure 2 is a cross-section of the tool 3 taken along Figure 1 line A-A in

[0054] The tool 3 can include a battery 9 for powering the electronics of the tool 3.

[0055] The control device 2 is configured to detect an indication of the release of the POPP clamp by the tool 3. The indication can be, for example, a specific movement pattern of the tool that occurs just before / after the release of the POPP clamp. The indication can also be a characteristic clicking sound when the POPP clamp is released.

[0056] The tool 3 can, for example, include a sensor device 10 arranged to sense the movement of the tool 3. For example, the sensor device 10 can be an accelerometer, such as a triaxial accelerometer. The sensor device 10 is capable of recording the vibration of the tool propagated from the POPP clamp when the POPP clamp is released. The control device 2 can be configured to monitor and analyze the signal from the sensor device 10 in order to detect such vibrational movement of the tool 3.

[0057] The control device 2 can be configured to monitor and analyze the signal from the sensor device 10 in order to determine the orientation of the tool 3.

[0058] As an alternative or in addition, the tool 3 can include a microphone 20 arranged to pick up the characteristic sound of the release of the POPP clamp. This can be referred to as a clicking sound. The control device 2 can be configured to monitor and analyze the signal from the microphone 20 in order to detect such a clicking sound.

[0059] According to one embodiment, the control device 2 may be configured to estimate the size of the POPP clip released by the tool 3 based on an analysis of signals from the sensor device 10 and / or the microphone 20. POPP clips of different sizes may produce slightly different vibration patterns and sounds when released. Additionally, the control device 2 may be configured to trigger operator feedback based on the determined POPP clip size.

[0060] The control device 2 may be configured to detect a movement of the tool 3 that represents the user moving the tool 3 to release the POPP clip using the tool 3. Such movement may be, for example, a torsional movement about the longitudinal axis 13 of the tool 3, as shown by the arrow 19 in Figure 2 and / or a pitching movement transverse to the longitudinal axis 13 of the tool 3, as shown by the arrow 18 in Figure 2 .

[0061] For example, the shaft 4 of the tool 3 may be connected to the body 16 such that a (slight) limited relative movement about the longitudinal axis 13 of the tool 3 is allowed (as shown in Figure 2 ). For example, the relative movement may be limited to a few degrees, such as approximately 5 degrees. For example, the proximal portion 4b of the shaft 4 may be connected to the body 16 via a bearing 12 to allow this movement.

[0062] The tool 3 may include, for example, at least one switch 17 arranged to be operated by a relative rotational movement between the shaft 4 and the handle 16. The switch 17 may be, for example, an electromechanical, optical, or magnetic switch. For example, a feature may be provided on the proximal portion 4b of the shaft 4 that is configured to cooperate with another feature provided in the handle 16. These features may be different depending on the type of switch.

[0063] As an alternative (or as a supplement), a piezoelectric sensor may be arranged to be operated by a relative rotational movement between the shaft 4 and the handle 16.

[0064] As an alternative or supplement, the tool 3 may include a strain gauge (not shown) arranged to record the strain generated in the tool 3 due to the user operating the tool 3 to release the POPP clip 6. The strain gauge may be arranged, for example, at the shaft 4. The strain gauge may be arranged to sense the (temporary) torsional deformation of the shaft 4 caused by the torsional movement of the tool 3 (as shown by the arrow 19) and / or the (temporary) bending deformation of the shaft 4 caused by the pitching movement of the tool 3 (as shown by the arrow 18).

[0065] The control device 2 may be configured to monitor and analyze signals from the switch 17 and / or the strain gauge in order to detect a user action of the tool 3 that indicates the user operating the tool 3 to release the POPP clip.

[0066] The tool 3 may include a radio communication device 11. The radio communication device 11 may be arranged to communicate with a remote device, such as the control device 2 and / or an anchor 14 located at or in a predetermined relationship with an object to be processed by the tool 3 ( Figure 1 as shown in), the latter being used to determine the position of the tool.

[0067] The control device 2 is configured to determine the position / orientation of the tool 3 relative to the object to be processed. This may be performed, for example, based on an analysis of radio signals 15 transmitted between the radio communication device 10 of the tool 3 and the anchor 14, such as by determining the time of flight (ToF) of the radio signals. As an alternative or in addition, other positioning techniques may be used to determine the position of the tool 3, such as by a camera (not shown) on the tool and / or by a camera mounted above the workstation where the object is being processed.

[0068] The control device 2 may further be configured to determine whether the POPP clamp has been released by the tool 3 based on an indication of the detected POPP clamp release and based on the position of the tool 3 determined when the indication of the detected POPP clamp release occurs (including just before / at the exact time / just after).

[0069] For example, if an indication of the POPP clamp release is detected when the tool 3 is within a predetermined area (e.g., a predetermined area considered correct according to the production setup), the control device 2 may determine that the POPP clamp has been released. This may be, for example, within the area of the workstation where the object is being processed.

[0070] Optionally, the tool 3 may be provided with means for providing feedback (e.g., visual, audible, or tactile) to the operator if it is determined that the POPP clamp has been correctly released.

[0071] Optionally, the control device 2 may be configured to trigger operator feedback also before releasing the POPP clamp when the tool 3 is in the correct position (near the correct POPP clamp according to the predetermined work sequence). Thus, the operator can be notified when the tool is positioned at the correct POPP clamp to be released next.

[0072] Reference will now be made to Figure 3 describe a method 100 according to an embodiment. The method 100 may be performed, for example, by the above-described control device.

[0073] Method 100 may include step 101, which detects an indication of the release of the POPP fixture by the tool. This step preferably includes a first step 101a that detects a user action of the tool for releasing the POPP fixture (such as the aforementioned twisting / pitching motion). This step 101a can be a trigger for starting to monitor signals from the accelerometer and / or microphone. As a next step 101b, the vibration and / or clicking sound of the tool can be detected.

[0074] Method 100 further includes step 102, which preferably determines the position of the tool in response to the trigger 101a of the detected user action and / or the detected vibration and / or clicking sound 101b.

[0075] The method may further include step 103, which preferably determines the orientation of the tool in response to the trigger 101a of the detected user action and / or the detected vibration and / or clicking sound 101b.

[0076] Method 100 further includes step 104, which determines that the POPP fixture has been released based on the determined position of the tool and the detected indication of the release of the POPP fixture, and optionally also based on the determined orientation of the tool.

[0077] Optionally, method 100 may further include storing / transmitting the result of the determination 104 that the POPP fixture has been released, preferably together with a time / date stamp, and optionally also together with the determined position.

[0078] Those skilled in the art will recognize that the present invention is in no way limited to the above embodiments. On the contrary, within the scope of the appended claims, many modifications and variations are possible.

[0079] In addition, when practicing the claimed invention, those skilled in the art can understand and implement variations of the disclosed embodiments by studying the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other elements or steps, and the phrase "a" or "an" does not exclude a plurality. The fact that certain measures are recited in mutually different dependent claims does not mean that a combination of these measures cannot be used advantageously.

Claims

1. A control device (2) for a tool (3) arranged to release a pre - opened and pre - positioned POPP clamp (6) on an object, the control device being configured to: - Detect an indication of the release of the POPP clamp by the tool; - Determine the position of the tool when the indication is detected; and - Determine that the POPP clamp has been released based on the detected indication and the determined position.

2. The control device according to claim 1, wherein, Determine that the POPP clamp has been released if the indication of releasing the POPP clamp is detected and the determined position of the tool at the time of detection is within a predetermined area.

3. The control device according to claim 1 or 2, further configured to: - Determine the orientation of the tool when the indication is detected, Among them, Determine that the POPP clamp has been released is also based on the determined orientation of the tool.

4. The control device according to any one of the preceding claims, wherein, Detecting an indication of the release of the POPP clamp by the tool includes: - Detecting a vibrational movement of the tool indicative of the release of the POPP clamp.

5. The control device according to any one of the preceding claims, wherein, Detecting a vibrational movement of the tool indicative of the release of the POPP clamp includes analyzing data from an accelerometer (10) included in the tool.

6. The control device according to any one of the preceding claims, wherein, Detecting an indication of the release of the POPP clamp by the tool includes: - Detecting a sound indicative of the release of the POPP clamp.

7. The control device according to any one of the preceding claims, wherein, Detecting a sound indicative of the release of the POPP clamp includes analyzing data from a microphone (20) included in the tool.

8. The control device according to any one of the preceding claims, wherein, Detecting an indication of the release of the POPP clamp by the tool includes: - Detecting a movement of the tool, the movement of the tool indicating that the user moves the tool to release the POPP clamp with the tool.

9. The control device according to claim 8, wherein, The movement of the tool indicating that the user moves the tool to release the POPP clamp is at least one of the following: A torsional movement of the tool along the longitudinal direction of the tool, and A pitching movement of the tool transverse to the longitudinal direction of the tool.

10. The control device according to claim 8 or 9, wherein, Detecting a movement of the tool indicating that the user moves the tool to release the POPP clamp includes analyzing data from sensors included in the tool, the sensors including at least one of the following: A switch (17) arranged to be operated by a relative movement between a shaft (4) and a handle (16) of the tool; and A strain gauge arranged to measure strain in the tool, such as strain in the shaft of the tool.

11. The control device according to any one of claims 8 to 10, which is dependent on claim 3 or 4, wherein, In response to detecting a movement of the tool indicating that the user moves the tool to release the POPP clamp, start monitoring to detect vibrational movement.

12. The control device according to any one of claims 8 to 11, which depends on claim 5 or 6, wherein, In response to detecting a movement of the tool indicating that the user moves the tool to release the POPP clamp, start monitoring to detect sound.

13. The control device according to any one of the preceding claims, wherein, Determining the position of the tool is based on at least one of the following: Analyzing radio signals transmitted between the tool and an anchor, the anchor being located at the object or at a predetermined position relative to the object; and Analyzing data from an imaging device.

14. A system (1), comprising: A tool (3) arranged to release a pre - opened and pre - positioned POPP clamp on an object; And The control device (2) according to any one of the preceding claims.

15. A method (100) for determining that a pre - opened and pre - positioned POPP clamp has been released, determined by the operation of a tool arranged to release such a clamp on an object, the method comprising: - Detecting (101) an indication of the release of the POPP clamp by the tool; - Determine (102) the position of the tool when the indication is detected; and - Determine (104) that the POPP fixture has been released based on the detected indication and the determined position.

16. A computer program comprising instructions that, when executed by a computer, cause the computer to perform the method according to claim 15.

17. A computer-readable storage medium comprising instructions that, when executed by a computer, cause the computer to perform the method according to claim 15.

Images