Process, system and processing facility

Abstract

The invention relates to a method for the computer-aided generation of a surface model (200) of a component (100) for deriving a processing strategy for a processing process, such as a cleaning process or a machining process, in a processing system (1001), comprising at least the following method steps: at least introducing the component (100) into a workspace (1); and multiple optical recording by recordings (8) of at least a portion (101) of the three-dimensional surface (102) of the component (100) within the workspace (1) as measurement data and evaluating the recorded measurement data and generating the surface model (200) from the measurement data. The invention further relates to a system (1000) and a coating system (1001) for carrying out the method.

Description

[0001] The present invention relates to a method at least for the computer-aided generation of a surface model of a component for deriving a processing strategy for a processing process, such as a cleaning process or a coating process, a system and a coating plant for carrying out the method.

[0002] Modern coating systems use surface models of components to derive a computer-aided processing strategy. Such systems can fully automatically detect or even capture components to be coated. Based on a surface model, robot-assisted processing processes, such as cleaning or coating processes, are planned and executed.

[0003] Various methods for detecting the component to be machined have become known in the state of the art.

[0004] On the one hand, there are processes in which a component to be machined is also recognized by a camera. For example, images of the surface are analyzed and compared with CAD models stored in a database. A machining strategy is derived based on a stored CAD model of the component. The disadvantage here is that, even for minor changes in production, an up-to-date CAD model that corresponds to the actual component must always be available for automatic recognition to function. Updating and providing CAD models is cumbersome and cost-intensive, especially when components need to be slightly adjusted during production, for example to derive a path plan for a robot-assisted machining process. Therefore, this type of process is only suitable to a limited extent for fully automated machining systems that are fed with various components.

[0005] Secondly, there are methods in which the component surface is measured in detail, i.e. recorded. Reference markers whose position within the recording area is fixed are present in the recording area. The reference markers are intended to help compensate for optical effects and small interfering movements when taking images and to derive a surface model. A particular disadvantage here is that a variation in depth of field and stray light from outside can lead to calculation errors, which can significantly affect the quality of the derived surface model. Furthermore, the smallest movements, such as interfering movements caused by a conveyor for components in a processing system, can have a negative impact on the quality of a derived surface model. This type of method therefore requires particularly high-quality images of the surface of the stationary component. An evaluation of the measured data takes a relatively long time.The process is therefore not suitable for direct integration into a coating line of a coating system, such as a painting system, and is therefore often carried out separately for individual components.

[0006] It is therefore the object of the present invention to provide a method for at least the computer-aided generation of an improved surface model of a component. In particular, the method should be rapid and preferably cost-effective, making it suitable for direct integration into a processing system.

[0007] The object is achieved by a method having the features of claim 1 and a system having the features of claim 16, as well as a processing system having the features of claim 26. Preferred developments are the subject of the dependent claims. Further features and properties emerge from the general description and from the description of the exemplary embodiments.

[0008] The method according to the invention for at least the computer-aided generation of a surface model of at least part of a surface of at least one component, in particular for deriving a processing strategy for a processing process, such as a cleaning process or a coating process, within a processing system, such as a coating system, comprises at least the following method steps: - at least placing the component in a work area; - multiple, and in particular temporally offset, optical recording by recording at least part of a three-dimensional surface of the component within the working space as measurement data; and - Evaluation of the images; and generation of the surface model from the evaluated images.

[0009] The invention has many advantages. A significant advantage of the invention is that multiple, and in particular staggered, recordings of at least a portion of the three-dimensional surface of the component enable the generation of a surface model from the measurement data, which requires neither comparison with reference markers nor with a predefined CAD model. By evaluating the multiple optical measurement data acquired, a particularly fast and cost-effective derivation of a surface model can be achieved, which can be directly used to derive a machining strategy. This also advantageously allows machining systems with individual part production to be fully automated.

[0010] When evaluating the measurement data, a position comparison is preferably carried out for the optically recorded part of the surface relative to one another, in particular from the majority of individual images of the part of the recorded surface. In particular, for this purpose, patterns in a surface topology of the recorded parts of the surface are compared, preferably using a computer algorithm. Examples of patterns that can be considered are the position of edges or surfaces, such as ribs, solid surfaces, and the like, relative to one another on a component, which do not change. By comparing the positions of such patterns in the individual images, an offset or displacement between two images in the workspace is determined.This advantageously allows for compensating for disturbances in components caused, for example, by environmental influences, particularly by transport movements, vibrations induced by machine tolerances of a transport unit, and the like, for evaluation. No reference markers are required, since the similarity of the patterns in the surface topologies is considered here.

[0011] Particularly preferred is the correction of blurriness in the images during evaluation. Advantageously, the alignment of lines and edges of the component can be determined and, in particular, interpolated by comparing the images in pairs. This advantageously allows even more details of the component's surface to be captured, eliminating the need to compare the surface model with a CAD model or component database. Furthermore, the influence of stray light can also be compensated, making the process particularly susceptible to errors due to environmental influences.

[0012] Preferably, the component is transported through the workspace, especially with optical scanning. This allows the process to be advantageously integrated directly into processing systems. Furthermore, transporting the component through the workspace enables particularly time-efficient scanning of the component's surface.

[0013] In particular, the component is transported through the workspace at a speed of, in particular up to, several meters per minute. In particular, the component is transported through the workspace at a speed between one meter per minute and twenty meters per minute, preferably between two and fifteen meters per minute, and particularly preferably between five and ten meters per minute during detection. Furthermore, a transport speed can be more than twenty meters per minute or even higher. Advantageously, a transport speed of several meters per minute corresponds to a transport speed that prevails, for example, in an automated processing system, such as a coating system or a machining system.This method makes it particularly easy to capture all the necessary details of the component's surface, even at such transport speeds. Furthermore, the transport speed can be significantly lower than one meter per minute. In particular, the component can also be stationary in the workspace for capture.

[0014] In particular, the optical detection is carried out by at least one optical detection unit or a plurality of optical detection units that are stationary or that move at least partially during detection. Advantageously, particularly rapid detection of the surface can be achieved by stationary optical detection units, wherein in particular several optical detection units may be necessary to optically detect different parts of the surface. Alternatively or additionally, one or more moving optical detection units can be used in a particularly variable manner and detect several areas of the surface, so that overall only a small number of optical detection units and in particular only one optical detection unit is required. Preferably, moving optical detection units can be implemented by a robot guide, such as an articulated arm robot.

[0015] Advantageously, a plurality of parts of the three-dimensional surface are captured. In particular, the parts cover at least a substantial part and / or almost the entire surface of the component. Additionally, a mapping of at least part of a spatial environment with further components and / or at least part of a transport unit is also possible. Advantageously, a surface model of the entire surface of the component can be created. The surface model can therefore also be used particularly advantageously for path planning of processing robots. Preferably, the component must be visually accessible from all sides to capture the entire surface, e.g., by suspending the component from a rod or hook.

[0016] Preferably, several parts of the detected surface of the component can be joined together to represent at least one region of the surface or the entire surface of the component. Advantageously, derived point clouds can be joined together to represent at least one region of the surface of the component. Advantageously, the detected parts of the surface of the component overlap at least partially for this purpose. Joining detected parts can be carried out based on a pairwise comparison of patterns of surface topologies, such as edge profiles or other surface details of the detected parts of the surface of the component, which, for example, overlap in the detected parts of the surface.

[0017] In particular, during the evaluation, at least one point cloud of at least part of the surface is derived from the measurement data, in particular from the evaluated images. The point cloud preferably has a point density that is at least fine enough to represent all details of the component required for processing, such as screw heads, cooling fins, and the like. The point cloud preferably has a resolution of at least 100 dots per inch (dpi), or 200 dpi, or 300 dpi, or an even greater number. Preferably, at least one position adjustment and / or one correction of blurring is carried out at least taking the derived point cloud into account.

[0018] Preferably, at least one comparison of at least the images or at least the surface model is performed with at least one database. This can advantageously achieve, for example, even greater accuracy in the representation of details in the surface model, if necessary and, for example, if a corresponding reference model is available. Furthermore, additional component information such as type designations, information on materials, color selection, and the like, which are relevant for a machining process, can be determined.

[0019] Preferably, additional reference markers can also be present in the workspace, which can be used, for example, for optical detection. Calibration of the detection units and the process can advantageously be performed using reference markers, if necessary to further optimize the evaluation.

[0020] In particular, during the evaluation, the surface model is generated in STL (stereolithography), STEP (Standard for Exchange of Product Model Data), and / or IGES (Initial Graphics Exchange Specification) format, or the like. Preferably, a generated point cloud serves as the basis for generating the surface model. Such a surface model can advantageously be used as the basis for deriving a machining strategy for a machining process or a control strategy for a control process, including at least one analysis and evaluation of a machining result, or the like.

[0021] In particular, the surface model can also include other objects, such as transport fixtures or rods, that are at least partially captured. This can be used, in particular, to derive a processing strategy, especially to avoid collisions.

[0022] Advantageously, an orientation and / or a position of the surface model in space, in particular in the workspace, is determined. In particular, the orientation comprises at least the angles of inclination around the spatial axes, preferably referred to as roll, pitch, and yaw. An orientation can be determined based on the dimensions of the component and, in particular, a profile of edges of the component. Advantageously, knowledge of an orientation is particularly relevant for a machining process, such as a coating process or a cleaning process, and / or an automated inspection process. This has a particular influence on path planning for robot-assisted surgical processes, such as machining and / or cleaning and / or inspection of a machining result.

[0023] Advantageously, the images are evaluated and the surface model is generated automatically using an algorithm, particularly a computer-controlled one. Advantageously, the images are evaluated and the surface model is generated based on artificial intelligence. Particularly advantageously, artificial intelligence enables at least the independent derivation of rules for capturing three-dimensional surfaces and / or for positional alignment and / or for correcting blur and / or other process steps.

[0024] Preferably, at least one analysis of the properties of the surface model, in particular the surface topology of the surface model, and a derivation of a machining strategy based on the surface topology are performed, in particular by a control unit. Advantageously, the machining strategy can be derived solely based on the surface model. Preferably, at least one machining operation is performed by at least one machining robot based at least on the derived machining strategy.

[0025] Preferably, at least one operating program, preferably for carrying out the method, such as a recording program, is optimized, in particular during production operation of a processing system, such as a coating system. Advantageously, the method can thereby be optimized directly during production with regard to a required cycle time, a recording speed, a quality of the images generated and / or a quality of the surface model generated, or other process parameters. Advantageously, this allows, in particular, a speed for recording the component surface, for evaluating the images, and for generating the surface model to be adapted to a transport speed within a processing system. This advantageously enables particularly fast and efficient use of the processing system.

[0026] In particular, a machining result is monitored, preferably automatically, by at least one analysis unit. Advantageously, an analysis and evaluation of a machining result are carried out based on a machining strategy. Preferably, an evaluation of the machining result can be used to optimize individual operation programs, such as a capture program for generating the surface model or the like, preferably fully automatically.

[0027] Further advantageous developments of the method are the subject of the general description and the description of the embodiments.

[0028] The system according to the invention, in particular for carrying out a method described above, comprises: - at least one working space for a component; and - at least one optical detection unit for detecting images of at least part of the three-dimensional surface of the component; and - at least one control unit for evaluating and further processing the recordings.

[0029] Preferably, at least a plurality of optical detection units, in particular separate optical detection units arranged separately from one another, are included. Preferably, the optical detection units are spatially arranged around the workspace such that at least part of the three-dimensional surface of the component and its position within the workspace can be separately detected by at least a plurality of mutually different optical detection units.

[0030] The system according to the invention also has many advantages. A significant advantage of the system is that it can be used to generate a surface model of at least part of the component. In particular, two different optical detection units enable convenient and rapid spatial detection of the surface of the component to generate a surface model. This advantageously also makes the system usable for detecting moving components.

[0031] Preferably, the control unit is at least configured and designed to at least partially carry out the method described above.

[0032] Preferably, the at least one optical detection unit is at least partially configured as a laser scanner, camera, and / or 3D camera. Advantageously, multiple optical detection units enable the recording of a surface topology, and in particular the position of individual points, of the three-dimensional surface of the component in the workspace.

[0033] The system advantageously comprises at least three identical optical detection units for detecting at least one observed part of the surface. Preferably, three identical optical detection units enable at least one detailed optical detection of one observed part of the three-dimensional surface of the component within the work space, so that a precise evaluation of the position in space can be carried out. Preferably, at least three different images of a part of the surface are suitable for positional comparison. In particular, the system comprises five or eight or even more identical optical detection units. The exact number preferably depends on the complexity of the geometry of the surface of the component to be detected and on whether the optical detection unit is arranged to be movable or not.

[0034] Redundant detection of parts of the component's surface is advantageously possible. In particular, detection areas overlap, especially those of multiple optical detection units, so that detected parts of the surface can be easily aligned using the redundantly detected portions.

[0035] Preferably, the majority of optical detection units are arranged such that detection of at least almost the entire surface of the component is possible. This advantageously allows the entire component to be derived as a surface model. For this purpose, the component is preferably suspended from a rod with a hook.

[0036] Preferably, at least one processing robot is included. In particular, at least one optical detection unit is mounted on the articulated-arm robot for optically detecting the surface of the component. In particular, the processing robot is designed as an articulated-arm robot, for example, with six or more axes of movement, as a SCARA robot, or even as a delta robot. Preferably, at least a plurality of processing robots are included. Advantageously, a processing robot enables movement of an optical detection unit.

[0037] Preferably, at least one tool change receiving unit is included with a plurality of tool units that can be received, wherein at least one tool unit is designed as an optical detection unit. Preferably, a further tool unit can be designed as at least one processing unit, such as a coating unit and / or a cleaning unit, and / or an analysis unit at least for analyzing and evaluating a processing result. Advantageously, optical detection and / or processing can thus be carried out by a single or multiple processing robots.

[0038] In particular, at least one transport unit is included for positioning within the work area, and in particular for transporting through the work area. In particular, the transport unit is a component of a processing system. The transport unit preferably comprises at least one chain conveyor and / or an industrial conveyor. Advantageously, the component can be attached to the chain conveyor, e.g., by means of a rod with a hook or a belt or the like. This advantageously enables the component to be grasped from all sides. Advantageously, a plurality of components can be transported simultaneously by an industrial conveyor. In particular, the industrial conveyor is designed as a skid-type, inverter-powered, free-moving, or even an AGV conveyor. In particular, industrial conveyors preferably allow at least one multi-part loading with components, which can in particular be processed by different processing robots.

[0039] In particular, at least one optical shielding unit, such as a scanning cabin, is included. Advantageously, the component can be shielded against stray light and other environmental influences, allowing for even faster scanning.

[0040] A coating system according to the invention comprises at least one system as described above. Detection of the components and generation of a surface model can be carried out quickly and cost-effectively, so that a speed, in particular a conveying speed within the processing system, is not influenced or predetermined by the optical detection and generation of the surface model.

[0041] Further developments of the system according to the invention and the processing plant result from the general description and from the description of the embodiments.

[0042] Further features and advantages of embodiments of the invention are described below with reference to the drawings. The same reference numerals are used for identical or similar parts and for parts with identical or similar functions. They show: Fig. 1 a schematic perspective view of a system according to the invention for carrying out the method according to the invention; Fig. 2a-d a schematic flow of the method according to the invention; and Fig. 3 a further schematic view of a further embodiment of a further system according to the invention for carrying out the method according to the invention.

[0043] It is not necessary for a method according to the invention, a system according to the invention, and a processing plant according to the invention to have all of the features described below. It is also possible for a method according to the invention, a system according to the invention, and a processing plant according to the invention to have only individual features of the exemplary embodiments described below.

[0044] Fig. 1 shows a schematic perspective view of a system 1000 according to the invention for carrying out the method according to the invention. The system 1000 forms a component of a processing system 1001 according to the invention, which is embodied here as a painting system 1001. The system 1000 comprises a total of eight optical detection units 2, which are embodied here as 3D cameras 2. The optical detection units 2 are fixedly mounted on a frame. The optical detection units 2 are oriented towards a workspace 1, in which a component 100 is inserted for optical detection to generate the surface model 200.

[0045] Here, the component 100 with the surface 101, which includes the parts 102, is present in the workspace 1. The optical detection units 2 are arranged around the component 100 such that the entire surface 101 can be detected multiple times and redundantly in parts 102 by separate optical detection units 2. The detection areas 2a of the optical detection units 2 overlap.

[0046] The optical detection units 2 are connected to the control unit 4. The captured images 8 of the optical detection units 2 are evaluated by the control unit 4. A surface model 200 is generated, which is used to derive a machining strategy for a machining process such as a robot-assisted coating process or a cleaning process.

[0047] The component 100 is transported here by the transport unit 3 through the work space 1. The transport unit 3 is designed here as a chain conveyor 3. The component 100 is held here on a rod 6 on the conveyor chain of the chain conveyor 3. The component 100 is transported through the work space 1 at a speed of more than one meter per minute. Machine tolerances of the chain conveyor 3 in conjunction with the inertia of the component 100 result in disruptive movements 7 of the component, here in the form of the component 100 swinging back and forth on the rod 6. Due to the transport unit 3, disruptive movements 7, such as vibrations of the component 100, occur during detection.

[0048] Fig. 2a to d show a schematic flow of the method according to the invention based on the system 1000 according to Fig. 1. The component 100 is optically recorded multiple times and redundantly by means of recordings 8 during transport through the working space 1, see Fig. 2a. At least two optical detection units 2 detect a portion 102 of the surface 101 of the component 100 multiple times. Almost the entire surface 101 of the component 102 is detected, possibly except for a small area where the component 100 is suspended from the rod 6.

[0049] The images 8 are transmitted to the control unit 4. In the control unit 4, the images 8 are adjusted for position and blurring of the individual images 8 is corrected. The evaluated images 8a, see Fig. 2b, converted to point clouds 5, see Fig. 2c. The point clouds 5 have a resolution of more than 300 dpi, so that all required details of the surface 101 of the component 100 can be displayed.

[0050] A position comparison is carried out for the individual images 8 of part 102 of surface 101 of component 100. For this purpose, the position of several points of the point cloud 5 in space between the images 8 is compared, so that a displacement of the individual point clouds 5 of the temporally different images 8 in space with respect to a position 9 and an orientation 1 to a reference coordinate system 9 can be determined. Based on the images 8, a blurring of the images 8 can also be compensated for by comparing the position of component edges between the images 8 and then interpolating them, for example if a position of a component edge cannot be derived with sufficient accuracy from an image 8.

[0051] A point cloud 5 is created for the captured part 102 of the surface 101 of the component 100. The surface model 200, here an STL model, is then generated from the points of the point cloud 5. The orientation angles 10 of the surface model are derived, see Fig. 2d.

[0052] The method enables particularly fast and cost-effective scanning of components 100 with different surfaces 200 one after the other and direct generation of the surface model 200 from the recordings, which is also subject to disruptive movements 7 during transport. Particularly advantageously, the method does not require any reference markers or the like to derive the surface model 200. Furthermore, a comparison with a surface model 200 in a database 11 can take place, e.g., to determine further properties such as type designations and the like. The surface model 200 can then be further used to derive a machining strategy. Due to the scanning at high conveyor speeds, direct integration into a machining system 1001 is possible. An operating program, e.g., a scanning program, can be optimized, in particular, by specifying a cycle time.

[0053] Due to the multiple acquisitions, optical shielding is not necessary. Nevertheless, a shielding unit 12, such as a scanning booth 12, can further increase the acquisition speed, see. Fig. 1.

[0054] Fig.3 shows a further embodiment of a system 1000 according to the invention in a processing system 1001. Here, an optical detection unit 2 is present, which is designed as an exchangeable tool unit 1004 of a tool change holding unit 1003. The tool change holding unit 1003 is mounted on a processing robot 1002. The processing robot 1002 is designed here as an articulated-arm robot 1002. The articulated-arm robot 1002 can repeatedly detect the required parts of the surface 101 of the component 100 and evaluate them using the method. The robot can then change the tool unit 1004 to a processing unit 1004 and process the component 100 directly, for example, by cleaning or coating it. A processing result can then be checked by an analysis unit (not shown) or again by the optical detection unit 2.The transport unit 3 is designed here as a floor conveyor 3. Reference symbols: 1 workroom 2 optical detection units 2a Detection area 3 transport units 4 Control unit 5 point cloud 6 Interference contour, rod 7 Disturbance movement 8 Recording 8a evaluated recordings 9 Coordinate system, position 10 orientation angles 11 Database 12 Shielding unit, scanning cabin 100 components 101 Surface of the component 102 Part of the surface of the component 200 surface model 1000 systems 1001 processing plant, painting plant 1002 processing robots 1003 Tool change unit 1004 Tool unit, processing unit, recording unit, analysis unit

Claims

[1] Method for at least the computer-aided generation of a surface model (200) of at least one part (101) of a surface (102) of at least one component (100) for deriving a processing strategy for a processing process, such as a cleaning process or a machining process, within a processing system (1001), comprising at least the following method steps: - at least introducing the component (100) into a working space (1); - multiple, in particular temporally offset, optical recording by recordings (8) of at least a part (101) of the three-dimensional surface (102) of the component (100) within the working space (1) as measurement data; and - Evaluation of the images (8) and generation of the surface model (200) from the evaluated images (8a). [2] Method according to claim 1, wherein, during the evaluation of the measurement data, a position adjustment is carried out at least with respect to the detected part (102) of the three-dimensional surface (101) of the component (100), in particular the individual images of the part (102) of the detected three-dimensional surface (101) relative to one another. [3] Method according to one of the preceding claims, wherein a correction of a blur of the recorded measurement data, in particular of the plurality of recordings of the part (102) of the three-dimensional surface (102), is carried out during the evaluation of the measurement data. [4] Method according to one of the preceding claims, wherein the component is transported through the working space (1). [5] Method according to the preceding claim, wherein the component (200) is transported through the working space (1) at a speed of several meters per minute. [6] Method according to one of the preceding claims, wherein the optical detection is carried out by one or more detection units (2) which are stationary or which move at least partially during the detection. [7] Method according to one of the preceding claims, wherein at least a plurality of parts (102) of the three-dimensional surface (101) are detected, and wherein the parts (102) cover at least a substantial portion or almost the entire three-dimensional surface (101) of the component (200). [8] Method according to the preceding claim, wherein the detected parts (102) of the three-dimensional surfaces (101) are joined together in order to represent at least a region of the surface (102) or the entire surface (102) of the component (100) by the surface model (200). [9] Method according to one of the preceding claims, wherein during the evaluation of the images at least one point cloud (5) of at least the part (102) of the three-dimensional surface (101) is derived. [10] Method according to one of the preceding claims, wherein at least one comparison with a database (11) is carried out. [11] Method according to one of the preceding claims, wherein an orientation (10) and / or a position (9) of the surface model (200) in the working space (1) is determined. [12] Method according to one of the preceding claims, wherein an evaluation of the recordings (8) and a generation of the surface model (200) are carried out automatically by an algorithm which is based on artificial intelligence. [13] Method according to one of the preceding claims, - wherein an analysis of the properties of the surface model (200) and a derivation of a machining strategy are carried out; and / or - wherein processing based on the processing strategy is carried out by at least one processing robot (1002). [14] Method according to the preceding claim, wherein a processing result is automatically controlled by an analysis unit (1004). [15] Method according to one of the preceding claims, wherein at least one operation program, such as a detection program, is optimized in the production operation of a processing plant (1001). [16] System (1000) for carrying out a method according to one of the preceding claims, at least comprising: - at least one working space (1) for a component (100); and - at least one optical detection unit (2) for detecting images of at least one part (102) of the three-dimensional surface (101) of the component (100); and - at least one control unit (4) for evaluating and further processing the recorded measurement data. [17] System (1000) according to the preceding claim, comprising at least a plurality of separate and mutually separately arranged optical detection units (2) at least for detecting images of at least a part (102) of the three-dimensional surface (101) of the component (100), and wherein the optical detection units (2) are in particular spatially arranged around the recording area (1) in such a way that at least the part (102) of the three-dimensional surface (101) of the component (101) and its position (9) and orientation (10) within the working space (1) can be detected separately by at least a plurality of mutually different detection units (2). [18] System (1000) according to the preceding claim, wherein the optical detection units (2) are designed as laser scanners (2), cameras (2) and / or 3D cameras (2). [19] System (1000) according to one of the two preceding claims, comprising at least three similar detection units (2), in particular five or eight or more similar detection units (2). [20] System (1000) according to one of the three preceding claims, wherein the detection units (2) are arranged such that detection of at least almost the entire surface (101) of the component (100) is possible. [21] System according to one of the four preceding claims, comprising at least one processing robot (1002), and wherein at least one optical detection unit (2) is accommodated on the processing robot (1002) for optically detecting the surface (101) of the component (100). [22] System (1000) according to the preceding claim, comprising at least one tool change receiving unit (1003) with a plurality of tool units (1004) that can be received, wherein at least one tool unit (1004) is designed as an optical detection unit (2). [23] System (1000) according to one of the six preceding claims, comprising at least one transport unit (3) for transporting and positioning the component (100) within the working space (1) and / or for transporting through the working space (1). [24] System (1000) according to the preceding claim, wherein the transport unit (3) comprises at least one chain conveyor (3) and / or one floor conveyor (3). [25] System (1000) according to one of the eight preceding claims, comprising at least one optical shielding unit (12), such as a scanning booth (12). [26] Processing plant (1001) comprising a system (1000) according to one of the nine preceding claims.

Images