Method for determining the pivot position of a wing element, in particular a door or a flap, held on a vehicle body.

Abstract

Method for determining a pivot position of a wing element (2) mounted on a structure (1) of a vehicle about a pivot axis (3) relative to the structure (1), wherein the pivot position is determined by means of at least one sensor (7), wherein: - when the sensor (7) is a proximity sensor (7) held on a robot (6), which is moved by means of the robot (6) from a starting position (A) about the pivot axis (3) along a movement path (4); - by means of the proximity sensor (7) detects that, as a result of the movement of the proximity sensor (7) caused by the robot (6), the distance between the proximity sensor (7) and the wing element (2) falls below a threshold value; - Coordinates are determined that characterize a position which the proximity sensor (7) assumes when the threshold value is undershot; and - depending on the coordinates, the pivot position of the wing element (2) is calculated and thereby determined; characterized in that a circular path (4) having a radius (R) is used as the path of movement (4), the center of which lies on the pivot axis (3).

Description

[0001] The invention relates to a method for determining a pivoting position of a wing element held on a body of a vehicle according to the preamble of patent claim 1.

[0002] Such a device and such a method for determining a pivot position of a wing element, such as a door, pivotably mounted on a body of a vehicle, in particular a motor vehicle such as a passenger car, is already known from DE 10 2016 106 488 B3. The wing element is pivotably mounted on the body about a pivot axis relative to the body. The device comprises at least one sensor by means of which the pivot position is determined.

[0003] Furthermore, EP 0 911 603 A1 discloses a method for optically determining the position of a finite rigid body in a spatial coordinate system.

[0004] Furthermore, EP 1 711 777 A1 discloses a method for determining a position and a relative movement of an object.

[0005] WO 2006 / 035259 A1 discloses a door opener assembly for use with an industrial robot. US Pat. No. 8,329,259 B2 discloses an electrostatic painting device. US Pat. No. 4,988,260 A discloses a device for opening and closing a vehicle door. DE 10 2004 005 380 A1 discloses a method for determining the position of an object in space.

[0006] The object of the present invention is to provide a method of the type mentioned above so that the pivoting position of the wing element can be determined in a particularly simple and robust manner.

[0007] This object is achieved according to the invention by a method having the features of patent claim 1. Advantageous embodiments with expedient further developments of the invention are specified in the remaining patent claims.

[0008] The invention relates to a method for determining a pivot position of a wing element that is mounted on a vehicle body so as to be pivotable about a pivot axis relative to the body. The vehicle is, for example, a motor vehicle, in particular a motor vehicle such as a passenger car. Alternatively or additionally, it is conceivable for the body to be designed as a self-supporting body. In the method, the pivot position is determined by means of at least one sensor. Since the wing element is mounted on the body so as to be pivotable, the wing element can be pivoted about the pivot axis relative to the body and can thereby be moved into a plurality of mutually different pivot positions. A first of the pivot positions is, for example, a first end position of the wing element, wherein a second of the pivot positions is, for example, a second end position of the wing element.The wing element can be pivoted from end position to end position, but not beyond that, relative to the structure around the pivot axis, so that the wing element can, for example, be pivoted up to the respective end position, but not beyond the respective end position.

[0009] Furthermore, the wing element can be pivoted between the end positions and thus pivoted into pivot positions arranged between the end positions. One of the end positions is, for example, a closed position of the wing element, which in the closed position at least partially, in particular at least predominantly or completely, covers and thereby closes a corresponding opening formed by the structure. The other end position is, for example, a maximum open position of the wing element, which in the maximum open position maximally exposes the corresponding opening, so that, for example, the wing element in the maximum open position is the furthest or maximum distance from the structure relative to all pivot positions.

[0010] Within the scope of the method, at least one of the pivot positions is determined using the sensor. The pivot position determined within the scope of the method according to the invention is, for example, one of the pivot positions into which the wing element was previously moved, i.e., before the pivot positions were determined.

[0011] In order to be able to determine the pivot position of the wing element in a particularly precise and robust as well as particularly simple and thus cost-effective manner, the invention provides that a proximity sensor held on a robot is used as the sensor, which is also referred to as a proximity sensor or proximity switch. Within the scope of the inventive method, the proximity sensor is moved by means of the robot, starting from an initial position, about the pivot axis along a, in particular predeterminable, movement path. In particular, the proximity sensor is moved in space by means of the robot. The robot is, for example, an industrial robot and / or has a plurality of interconnected robot arms which are movable relative to one another, in particular pivotable relative to one another, and which are also referred to as robot axes.The robot arms are, for example, components of a kinematic chain or form a kinematic chain of the robot. Along the kinematic chain, for example, the first robot arm is connected to a base, with the robot being held to a floor via the base, for example. The last element of the kinematic chain, or the last robot arm of the kinematic chain, is a so-called end effector of the robot, with the proximity sensor, for example, being attached to the end effector.

[0012] In this case, the proximity sensor, which is held in the robot, in particular on an end effector, is moved by the robot, for example, along the movement path in such a way that at least two of the robot arms or all of the robot arms are moved relative to one another. Furthermore, the invention provides that the proximity sensor detects that, as a result of the movement of the proximity sensor caused by the robot, a distance between the proximity sensor and the wing element falls below a, in particular predeterminable, threshold value. In other words, it is detected that the proximity sensor is approaching or has approached the wing element, wherein this approach of the proximity sensor to the wing element results from the proximity sensor being moved along the movement path by the robot.Thus, it is particularly provided that the proximity sensor is moved by the robot along the movement path relative to the wing element, but in particular toward the wing element. In other words, the proximity sensor is moved by the robot in the direction of the wing element, in particular starting from the starting position. The starting position is thus, for example, a starting point or a starting position to which the proximity sensor is initially moved by the robot. Starting at the starting position or starting from the starting position, the proximity sensor is then moved by the robot along the movement path, in particular in the direction of the wing element.

[0013] Furthermore, the invention provides, in particular by means of an electronic computing device, to determine coordinates that characterize or describe a position assumed by the proximity sensor when the threshold value is undershot. This means that the proximity sensor assumes the stated position when or at a time when or at which it is detected by the proximity sensor that the distance between the proximity sensor and the wing element falls below the threshold value, wherein the position is characterized, defined, or described by the stated coordinates, also referred to as position coordinates. The coordinates are, in particular, coordinates, in particular spatial coordinates, in a, in particular, predefinable coordinate system.

[0014] Finally, the method according to the invention provides that the pivoting position of the wing element is calculated and thereby determined as a function of the coordinates, in particular by means of the electronic computing device.

[0015] The invention is based in particular on the following finding: In applications in the automotive industry, in particular in the manufacture of vehicles, it is often necessary to determine the positions of components that are movably held on the respective vehicle bodies, in particular as part of a manufacturing process, in order to ensure, for example, that the respective component assumes a desired position, in particular a pivoting position. This desired pivoting position is also referred to as the target position or target pivoting position and enables the desired and problem-free further course of the manufacturing process. Especially in painting processes, it is desirable for wing elements such as doors, flaps and lids to assume their desired pivoting position so that these wing elements can be advantageously painted in a downstream painting process with a high quality finish and thus provided with at least one coating.

[0016] Typically, a wing element pivotably mounted on a vehicle body is first opened, particularly during vehicle manufacture, and then pivoted away from the corresponding body, particularly into an end position that is typically checked using cameras. In other words, cameras are used to check whether the wing element is actually in its desired end position. This is done, in particular, by the cameras detecting a specific edge of the wing element. In particular, image processing is used to check the edge to see whether the wing element is in its desired end position. The cameras are part of a system for checking the end position, but purchasing and adjusting the system is time-consuming and costly.In particular, during a pre-production test, it was found that approximately 50 percent of malfunctions occurring during vehicle painting can be attributed to faulty detection by the cameras. Such faulty detection is caused, for example, by the cameras identifying incorrect edges or by at least one of the cameras being dirty due to paint overspray. Furthermore, the installation and calibration of this system are very expensive. The system and the described final position verification therefore have high acquisition costs, very high service costs, a need for specialized qualifications for employees, and a very high susceptibility to failure.

[0017] These problems and disadvantages can now be avoided by means of the method according to the invention, since the method according to the invention can be carried out particularly simply and robustly, i.e. with the aid of particularly simple and robust technology. Compared to the previously mentioned system, the method according to the invention can be implemented with significantly lower acquisition costs. In addition, downtimes can be reduced, so that vehicles can be manufactured in a time- and cost-effective manner. A further disadvantage of the previously described system is that adapting the system to different vehicle models or vehicle types is very time-consuming and cost-intensive. Compared to the conventional system, the method according to the invention can be adapted to different vehicle models or vehicle types in a particularly simple and thus time- and cost-effective manner, and can therefore be converted in a time- and cost-effective manner.In addition, the method can be carried out at least essentially independently of environmental influences, so that, for example, the pivot position as the desired end position of the wing element can be determined robustly and in a time- and cost-effective manner.

[0018] The invention provides for a circular path with a radius, the center of which lies on the pivot axis, to be used as the movement path. This allows the pivot position to be determined particularly precisely and robustly.

[0019] In a particularly advantageous embodiment of the invention, the pivot position is calculated as a function of a distance between the movement path and the pivot axis. The distance is, for example, recorded and / or stored in a memory device, in particular the electronic computing device, and retrieved from the memory device. In particular, the distance can be known, for example, or can be determined empirically and programmed into the electronic computing device. This allows the pivot position to be calculated and thus determined particularly precisely, as well as time- and cost-effectively.

[0020] It has proven particularly advantageous to use the radius of the circular path as the distance between the movement path and the pivot axis. This allows the process to be carried out particularly quickly and cost-effectively.

[0021] In order to be able to determine the pivot position particularly precisely and easily, a further embodiment of the invention provides that an opening angle of the wing element is calculated as the pivot position. Since the wing element, designed for example as a door, flap or lid, can be pivoted about the pivot axis relative to the structure, designed for example as a self-supporting body, the wing element can be opened and closed, for example. When the wing element is opened, the wing element is pivoted away from the structure. In particular, the wing element is pivoted away from the structure by the aforementioned opening angle, starting from the aforementioned closed position, wherein the opening angle describes the pivot position particularly precisely.As a result, it can be checked particularly precisely whether the pivoting position currently assumed by the wing element is suitable, for example, for carrying out at least one downstream process such as a painting process.

[0022] A further embodiment is characterized in that a maximum position or a starting position corresponding to a maximum position is used as the starting position, wherein the wing element, in its pivotally held state on the structure, can be pivoted to the maximum extent, in particular away from the structure, into the maximum position. In other words, the starting position, from which the proximity sensor is moved by the robot, in particular in the direction of the wing element, is preferably the aforementioned maximum open position of the wing element. Since the wing element cannot be moved up to the maximum position but beyond it, the fact that the proximity sensor is moved by the robot starting from the maximum position ensures that the proximity sensor can detect when the threshold value is undershot and, consequently, the pivot position.This means that the process can be carried out in a particularly robust and reproducible manner.

[0023] In a further embodiment of the invention, it is conceivable that the falling below the threshold value is detected by the proximity sensor coming into contact with the wing element, i.e. the proximity switch touching the wing element.

[0024] However, it has proven particularly advantageous if the proximity sensor is used to detect contactlessly that the distance between the proximity sensor and the wing element has fallen below the threshold value as a result of the movement of the proximity sensor caused by the robot. In other words, contactless detection of the falling below the threshold value is preferably provided with respect to the proximity sensor and the wing element, so that contact between the proximity sensor and the wing element is avoided when detecting the falling below the threshold value. This reliably prevents damage caused by the proximity sensor, such as scratches on the wing element, so that the method can be carried out in a particularly robust and time- and cost-effective manner.

[0025] In order to be able to carry out the method in a particularly time- and cost-effective manner, a further embodiment of the invention provides that—before the proximity sensor is moved along the movement path by the robot—the wing element is pivoted by the robot about the pivot axis relative to the structure and, in particular, is pivoted away from the structure. In other words, it is preferably provided that the same robot by which the proximity sensor is moved along the movement path moves the wing element into the pivot position to be determined. The robot thus performs a dual function, so that the number of parts and thus the costs can be kept to a particularly low level.

[0026] Finally, it has proven particularly advantageous if the calculated pivot position is compared with a target position, wherein the structure and the wing element are provided with at least one coating after the comparison if the pivot position corresponds to the target position. The feature that the pivot position corresponds to the target position can be understood in particular to mean that any deviation between the target position and the determined pivot position is within certain limits or falls below a limit value, so that the current pivot position of the wing element is at least almost equal to the target position.

[0027] During the coating process, for example, the wing element and the structure are each at least partially, in particular at least predominantly or completely, painted, i.e., subjected to at least one painting process. This allows the process to be carried out particularly time-efficiently and cost-effectively. In particular, for a coating or painting process, it is particularly advantageous if the current pivot position of the wing element corresponds to the desired target position, since then, and in particular only then, can the painting process be carried out in a time-efficient and cost-effective manner, as well as with particularly high quality. This can be ensured by the method according to the invention in a robust, time-efficient, and cost-effective manner.

[0028] Also disclosed is a device for determining a pivot position of a wing element mounted on a body of a vehicle, in particular a motor vehicle and preferably a passenger car, pivotable about a pivot axis relative to the body, which may be configured, for example, as a self-supporting body. The device comprises at least one sensor with which the pivot position can be determined.

[0029] In order to be able to determine the swivel position in a particularly robust, precise and simple manner, it is provided that the sensor is designed as a proximity sensor, which is also referred to as a proximity sensor or proximity switch and is held on a robot of the device.

[0030] The robot of the device is designed to move the proximity sensor around the pivot axis along a movement path, starting from an initial position into which the proximity sensor can be moved, for example, by means of the robot. The proximity sensor, in turn, is designed to detect that, as a result of the movement of the proximity sensor caused by the robot, a distance between the proximity sensor and the wing element falls below a threshold value.

[0031] The device further comprises an electronic computing device configured to determine coordinates that characterize a position assumed by the proximity sensor when the threshold value is undershot. Furthermore, the electronic computing device is configured to calculate and thereby determine the pivoting position of the wing element based on the coordinates. Advantages and advantageous embodiments of the method according to the invention are to be regarded as advantages and advantageous embodiments of the disclosed device, and vice versa.

[0032] Further details of the invention will become apparent from the following description of a preferred embodiment with the accompanying drawings. In the drawings: Fig. 1 a schematic plan view of a body of a vehicle, a wing element pivotably mounted on the body and a device by means of which a pivoting position of the wing element can be determined in a particularly precise and robust manner; Fig. Figure 2 is a further schematic plan view of the structure, the wing element and the device; Fig. 3 is a further schematic plan view of the structure, the wing element and the device; and Fig. 4 a flowchart illustrating a method for determining the pivot position of the wing element.

[0033] In the figures, identical or functionally identical elements are provided with the same reference numerals.

[0034] Fig. 1 to 3 show, in a respective schematic plan view, a body of a vehicle, designated as a whole by 1, which is designed, for example, as a motor vehicle and in particular as a passenger car. The body 1 is designed as a self-supporting body. In addition, Fig. 1 to 3 show a wing element 2 designed as a door, in particular as a side door, which is pivotably held on the structure 1. The wing element 2 can thus be pivoted on the structure 1 about a pivot axis 3 relative to the structure 1. The wing element 2, in its pivotally held state on the structure 1, can be pivoted about the pivot axis 3 relative to the structure 1 into two end positions, but not beyond the end positions, as well as into further pivot positions lying between the end positions, wherein the end positions are also pivot positions into which the wing element 2 can be pivoted. The end positions are respective maximum positions of the wing elements 2, which can be pivoted about the pivot axis 3 relative to the structure 1 from maximum position to maximum position, but not beyond the respective maximum position.A first of the end positions is a closed position of the wing element 2, which in the closed position at least partially, in particular at least predominantly or completely, covers and thus closes a corresponding opening delimited by the structure 1 and in this case designed as a door opening. In the closed position, the wing element 2 is arranged closest to the structure 1 with respect to the pivot positions into which the wing element 2 can be pivoted. The second end position is a maximum open position of the wing element 2, which in the maximum open position maximally exposes the corresponding opening. This means that in the maximum open position, the wing element 2 is furthest or maximally away from the structure 1 with respect to the pivot position into which the wing element 2 can be pivoted.

[0035] The pivot positions of the wing element 2 between the end positions are also referred to as intermediate positions, whereby the respective intermediate position is, for example, an open position. Fig. 1 to 3 one of the intermediate positions, so that the wing element 2 in Fig. 1 to 3 is open and is located between the end positions. When the wing element 2 pivots about the pivot axis 3 relative to the structure 1, for example, the wing element 2 describes a Fig. 3 Movement path illustrated by a dotted line in the form of a circular path, which in Fig. 3 is designated 4.

[0036] In particular, Fig. 1 to 3 illustrate a production or at least part of the production of the vehicle. During the production of the vehicle, the body 1 and the wing element 2 are painted, in particular in a state in which the wing element 2 is pivotably held on the body 1. The body 1 and the wing element 2 are painted during a painting process and thus provided with at least one coating, which is applied to the body 1 and the wing element 2, in particular as a layer of paint. In order to be able to carry out the painting process in a time- and cost-effective manner and with a high quality, it is desirable that the body 1 and the wing element 2 are painted together, while the wing element 2 Fig. 1 to 3 as the target position or as the desired end position.

[0037] For this purpose, for example, the wing element 2, which is initially in a pivot position different from the target position, is pivoted by means of a robot 6 about the pivot axis 3 relative to the structure 1 and thereby pivoted into one of the pivot positions into which the wing element 2 can be moved. During this pivoting of the wing element 2 caused by the robot 6, it is desirable that the wing element 2 is moved into the target position by means of the robot 6. The pivot position into which the wing element 2 is pivoted by the robot 6 before painting can, however, deviate from the desired target position. The following describes a device and a method by means of which the pivot position into which the wing element 2 is or was moved by the robot 6 can be determined.In other words, the device can be used to determine by means of the method whether the wing element 2 is in the desired position or in another pivot position after the pivoting effected by the robot 6.

[0038] For this purpose, the device designated by 6 comprises the robot 6 and a sensor 7 designed as a proximity sensor, which is held on the robot 6, in particular on an end effector 8 of the robot 6. The robot 6 comprises a plurality of robot arms 9 and 10 and the end effector 8, which is, for example, another robot arm. The robot arms 9 and 10 and the end effector 8 are connected to one another, for example, in a movable, in particular pivotable, manner. By means of the method, the pivot position can be determined which results from the pivoting of the wing element 2 caused by the robot 6 and is thus assumed by the wing element 2. The determined pivot position is compared, for example, with the target position, whereby it can be checked whether the current pivot position of the wing element 2 corresponds to the target position or not.

[0039] For this purpose, the proximity sensor 7 is moved by the robot 6 from a Fig. 2, the proximity sensor 7 is moved about the pivot axis 3 along the movement path formed as the circular path 4 in the direction of the wing element 2. The starting position A is the aforementioned maximum open position of the wing element 2 or a point at which at least part of the wing element 2 is arranged in the maximum open position. This ensures that the wing element 2 is detected by the proximity sensor 7 when the proximity sensor 7 is moved along the circular path 4 by the robot 6. In order to move the proximity sensor 7 along the circular path 4, for example, the robot arms 9 and 10 and the end effector 8 are moved, in particular pivoted, relative to one another.

[0040] Fig. Figure 4 shows a flow chart illustrating the method. In a first step S1 of the method, as described above, the wing element 2 is pivoted, in particular opened, by means of the robot 6 and thereby moved into the pivot position to be determined. In a second step S2 of the method, as shown in Fig. 2 - the proximity sensor 7 is moved into the starting position A by means of the robot 6. For this purpose, the robot 6, for example, moves to a maximum opening angle of the wing element 2, which is pivoted by the maximum opening angle or is to be pivoted in order to move the wing element 2 into the maximum open position.

[0041] In a third step S3 of the method, the robot 6 travels the circular path 4, as shown in Fig. 3 can be seen. By traveling along the circular path, it is to be understood in particular that the proximity sensor 7 is moved by means of the robot 6, starting from the starting position A, along the circular path 4 in the direction of the wing element 2. In a fourth step S4 of the method, the proximity sensor 7 detects that, as a result of the movement of the proximity sensor 7 caused by the robot 6, a distance between the proximity sensor 7 and the wing element 2 falls below a threshold value. This is carried out in particular in a contactless manner, so that the proximity sensor 7 detects that the threshold value has been fallen below without there being any contact between the proximity sensor 7 and the wing element 2. In particular, there is no contact between the wing element 2 and the device 5 at all.

[0042] Furthermore, in the fourth step S4, for example, it is provided that, in particular by means of an electronic computing device 11 of the device 5, specifically illustrated in the figures, coordinates are determined that characterize or describe a position assumed by the proximity sensor 7 when the threshold value is undershot. Furthermore, in a fourth step S4, it is provided that, depending on the coordinates, the current pivot position of the wing element 2 is calculated and thereby determined, in particular by means of the electronic computing device 11.

[0043] As from Fig.3, the current pivot position of the wing element 2 corresponds to an opening angle α, which can be calculated and thereby determined in the manner described. Thus, for example, in the fourth step S4, the opening angle α is measured or determined or calculated, so that the pivot position is determined as the opening angle α. Since the movement path is the circular path 4, which has a radius R, the radius R of the circular path 4 is a distance between the pivot axis 3 and the circular path 4. In particular, from the coordinates of the pivot axis 3, the radius R of the circular path 4, and the coordinates of the proximity sensor 7 on the robot 6 characterizing the said position, a circular arc length b can be determined, by which the proximity sensor 7 is moved, starting from the starting position A, until the value falls below the threshold value.Then the opening angle α or the swivel position can be calculated using the following formula:. α=b×180°R×π In a fifth step S5 of the method, the determined and current pivot position of the wing element 2 is compared with the target position. If, for example, the determined and therefore current pivot position of the wing element 2 corresponds to the target position, so that, for example, a possible slight deviation between the current pivot position and the target position falls below a predeterminable limit value, a sixth step S6 of the method is carried out, with the painting process starting in the sixth step S6. If it is determined in a fifth step S5 that the current pivot position does not correspond to the target position, so that, for example, the said deviation between the target position and the determined pivot position corresponds to the limit value or exceeds the limit value, a seventh step S7 of the method is carried out.In the seventh step S7, the wing element 2 is opened or closed by the robot 6, for example, starting from the current pivot position. This means that it is pivoted about the pivot axis 3 relative to the structure 1 and, in particular, moved in the direction of the target position, in particular with the aim of moving the wing element 2 into the target position. As a result, the wing element 2 moves into a new pivot position, which is again determined in the manner described. Thus, the seventh step S7 is again followed by the second step S2.

[0044] Overall, it can be seen that the method and device 5 for determining the current pivot position of the wing element 2 dispenses with optical object detection and instead uses the proximity sensor 7. The method and device 5 rely on the fact that a respective pivot position of movable wing elements, such as flaps, as are frequently provided on automobile bodies, is geometrically uniquely described via the radius R and the pivot axis 3, also referred to as the pivot point, which limits the spatial positions of the wing elements. This makes it possible to check the respective pivot position of the respective wing element with the aid of the proximity sensor 7 held on the robot 6. For this purpose, the robot 6 traverses the circular path 4, starting at the starting position A, in the direction of the wing element 2 around its pivot point in the form of the pivot axis 3.If the proximity sensor 7 detects the wing element 2, in particular in such a way that the proximity sensor 7 detects that the threshold value has been undershot, the circular arc length b can be determined from the given coordinates of the pivot point, the radius R of the circular path 4 and the coordinates of the proximity sensor 7 on the robot 6.

[0045] Furthermore, it can be seen that the current pivot position of the wing element 2 is determined by the same robot 6 that was used to move the wing element 2 into the pivot position to be determined in a previous work step. In this way, after a successful measurement, either the painting process can be started or the robot 6 can pivot the wing element 2 again.

[0046] The device 5 offers significant cost advantages over optical systems, as costly new acquisitions and recalibrations of optical systems are eliminated. Furthermore, compared to optical systems, environmental influences on the determination of the pivot position can be significantly reduced, as fewer sensitive elements are used to implement the method and the device 5. Furthermore, unlike with optical systems, specialized training of employees is not required, as employees are usually already trained in robotics.

Claims

[1] Method for determining a pivoting position of a wing element (2) which is held pivotably about a pivot axis (3) relative to the body (1) on a body (1) of a vehicle, in which the pivoting position is determined by means of at least one sensor (7), wherein: - a proximity sensor (7) held on a robot (6) is used as the sensor (7), which is moved by means of the robot (6) starting from an initial position (A) about the pivot axis (3) along a movement path (4); - the proximity sensor (7) detects that, as a result of the movement of the proximity sensor (7) caused by the robot (6), a distance between the proximity sensor (7) and the wing element (2) falls below a threshold value; - coordinates are determined which characterise a position which the proximity sensor (7) assumes when the threshold value is undershot; and - the pivoting position of the wing element (2) is calculated and thereby determined as a function of the coordinates; characterized by that a circular path (4) having a radius (R) is used as the movement path (4), the center of which lies on the pivot axis (3). [2] Method according to claim 1, characterized by that the swivel position is calculated as a function of a distance (R) between the movement path (4) and the swivel axis (3). [3] Method according to claim 2, characterized by that the radius (R) of the circular path (4) is used as the distance (R) between the movement path (4) and the pivot axis (3). [4] Method according to one of the preceding claims, characterized by that an opening angle (α) of the wing element (2) is calculated as the pivot position. [5] Method according to one of the preceding claims, characterized bythat a maximum position is used as the starting position (A), into which the wing element (2) can be pivoted to the maximum, in particular away from the structure (1), in its state held pivotably on the structure (1). [6] Method according to one of the preceding claims, characterized by that the proximity sensor (7) detects without contact that the distance between the proximity sensor (7) and the wing element (2) falls below the threshold value as a result of the movement of the proximity sensor (7) caused by the robot (6). [7] Method according to one of the preceding claims, characterized by that before the proximity sensor (7) is moved along the movement path (4) by means of the robot (6), the wing element (2) is pivoted by means of the robot (6) about the pivot axis (3) relative to the structure (1), in particular pivoted away from the structure (1). [8] Method according to one of the preceding claims, characterized bythat the calculated pivot position is compared with a desired position, wherein the structure (1) and the wing element (3) are provided with at least one coating after the comparison if the pivot position corresponds to the desired position.

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