Control device and method for a tool arranged to release pre-opened pre-positioned (POPP) clamps

Abstract

A control device (2) for a tool (3) arranged to release pre-opened pre-positioned (POPP) clamps (6) on an object is provided. The control device is configured to detect an indication of a release of a POPP clamp by the tool; determine a position of the tool at the time of the detection of the indication; and determine that a POPP clamp has released based on the detected indication and the determined position. By determining the position of the tool at the time of a detection of an indication of a release of a POPP clamp a further parameter is provided as a basis for estimating whether the POPP clamp has actually been released. Thereby, the risk of false detections is reduced and the accuracy of the traceability of the manufacturing process is improved.

Description

[0001] CONTROL DEVICE AND METHOD FOR A TOOL ARRANGED TO RELEASE PRE¬

[0002] OPENED PRE-POSITIONED (POPP) CLAMPS

[0003] Field of the invention

[0004] The present invention generally relates to the field of control devices and methods for tools arranged to release pre-opened pre-positioned (POPP) clamps.

[0005] Background of the invention

[0006] In many products, hoses (flexible pipes) are used to convey various types of fluids. The hoses may be applied to their fittings by means of so called preopened pre-positioned clamps (in the following referred to as POPP clamps). Prior to mounting, POPP clamps are pre-tensioned in an open position, in which the diameter of the clamp is slightly wider than in the clamp’s closed position. A protrusion in one end of the clamp band abuts a portion of the other end of the clamp band so as to hold the clamp under tension in the open position. When the protrusion is forced out of abutment with the other end, the clamp is released and snaps to its closed position with a narrower diameter, whereby the clamp will secure the hose to its fitting.

[0007] POPP clamps are advantageous to use in industrial manufacturing, as their installation during the assembly process is fast. A POPP clamp tool is used to force the protrusion out of abutment with the other end of the clamp band and it will only take a single twist movement of the tool to release the clamp.

[0008] In industrial manufacturing, traceability of the manufacturing process steps is important to keep track of that all the process steps has been performed correctly. Therefore, POPP clamp tools have been provided that are able to detect and record the releasing (closing) of POPP clamps. An example of such a tool is disclosed in GB2581406B. A vibration propagates to the tool from the clamp when it snaps into its closed position. This vibration is detected by means of accelerometers and a gyroscope in the tool.

[0009] There is a risk that a false detection of a clamp release is made e.g. if an operator drops the tool on the floor or hits the tool against a hard surface. A production management system may then erroneously detect that a clamp has been released even if it has not, whereby the accuracy of the traceability of the manufacturing is reduced.

[0010] Summary of the invention

[0011] It would be advantageous to achieve a control device and method overcoming, or at least alleviating, the above mentioned drawback. In particular, it would be desirable to enable a control device and method that allows an improved traceability in manufacturing processes involving mounting of POPP clamps.

[0012] To better address one or more of these concerns, a control device and a method having the features defined in the independent claims are provided. Preferable embodiments are defined in the dependent claims.

[0013] Hence, according to a first aspect, a control device for a tool arranged to release pre-opened pre-positioned (POPP) clamps on an object is provided. The control device is configured to:

[0014] - detect an indication of a release of a POPP clamp by the tool;

[0015] - determine a position of the tool at the time of the detection of the indication; and

[0016] - determine that a POPP clamp has released based on the detected indication and the determined position.

[0017] According to a second aspect, a method of determining that a pre-opened prepositioned, POPP, clamp has released by the operation of a tool arranged to release such clamps on an object is provided. The method comprises:

[0018] - detecting an indication of a release of a POPP clamp by the tool;

[0019] - determining a position of the tool at the time of the detection of the indication; and - determining that a POPP clamp has released based on the detected indication and the determined position.

[0020] In some situations, the tool may be caused to behave, such as making a movement and / or sound, similar to as if a POPP clamp was release (i.e. closed) by the tool, e.g. if the tool is hit against a hard surface or dropped on the floor. Such a behavior may be detected by the control device as an indication that a POPP clamp has been released by the tool. By determining the position (i.e. the location) of the tool at the time of a detection of an indication of a release of a POPP clamp (i.e. a detection of some parameter characterizing the release of a POPP clamp) a further parameter is provided as a basis for estimating whether the POPP clamp has actually been released. Thereby, the risk of false detections is reduced and the accuracy of the traceability of the manufacturing process is improved.

[0021] The determined position (location) of the tool may e.g. be a position relative to the object that is to be / being processed by the tool or to a point (such as a so called anchor) at a predetermined location (position) relative to the object and / or a position relative to a work station at which the object is processed.

[0022] According to an embodiment, it may be determined that a POPP clamp has released if (i.e. on the condition that / in response to) said indication of a release of a POPP clamp is detected and said determined position of the tool at the time of the detection is within a predetermined area. For example, if a POPP clamp release indication is detected when the tool is within a predetermined area (e.g. as specified in a production set-up), such as within the area of a particular work station in a factory, the probability of the detected POPP clamp release indication being a consequence of an actual clamp release is higher than if such an indication is detected else where. In the latter case, the detected indiation may be more likely to be caused by e.g. the tool being hit against a hard surface or dropped on the floor. Hence, the control device can make a more well- founded determination of a POPP clamp release, which improves the traceabillity of the manufacturing process. For example, the predetermined area may be an area in vicinity of the object, such as within the area of a work station at which the object is being processed.

[0023] According to an embodiment, the control device may be further configured to determine an orientation of the tool at the time of the detection of the indication. The determining that a POPP clamp has released may then further be based on the determined orientation of the tool. Determining the orientation of the tool may provide further basis for localizing the tool at the time of detecing a release of a POPP clamp. For example, two POPP clamp fittings may be located a few centimeters from each others, making it hard to distinguish them by some positioning techniques, such as radio based positioning techniques. If an operator has to hold the tool in different ways (oriented differently) to access these two POPP clamp fittings, a determination of the orientation of the tool may provide further basis for the decision wether the indication of a release of a POPP clamp has been made in the right place.

[0024] Determining the orientation of the tool may be made by analysis of a signal from an orientation sensing device of the tool, such as an accelerometer and / or gyro.

[0025] According to an embodiment, the control device may be further configured to repeat the steps defined according to the first and second aspects for several POPP clamps, wherein the control device may be further configured to determine a work sequence performed by the tool based on the position of the tool at each determined clamp release and compare that with a predefined work sequence and then determine whether the performed work sequence was correct based on the comparison. By determining the position of the tool at the time of each clamp release indication, it is possible to ensure that the POPP clamps of a certain assembly are released in the correct order as specified in a production set up. Typically, each POPP clamp of an assembly are associated with a predetermined position according to a production set up.

[0026] The detecting of an indication of a release of a POPP clamp may be made in different ways since there may be several indicators of a clamp release, such as a particular movement pattern of the tool and / or a characteristic sound, such as a snapping sound. For example, the detecting of an indication of a release of a POPP clamp by the tool may comprise detecting a vibration movement of the tool indicative of a release of a POPP clamp. When the clamp snaps into its closed position, a vibration propagates from the clamp to the tool that may be detected as an indication of a clamp release.

[0027] According to an embodiment, the detecting of the vibration movement of the tool indicative of a release of a POPP clamp comprises analyzing data from an accelerometer comprised in the tool. Optionally, also data from a gyroscope of the tool may be analyzed for detecting the snapping movement of the tool.

[0028] According to an embodiment, the detecting of an indication of a release of a POPP clamp by the tool may comprise detecting a sound indicative of a release of a POPP clamp.

[0029] According to an embodiment, the detecting of a sound indicative of a release of a POPP clamp may comprise analyzing data from a microphone comprised in the tool.

[0030] According to an embodiment, the detecting of an indication of a release of a POPP clamp by the tool may comprise detecting a movement of the tool indicative of a user moving the tool in order to release a POPP clamp with the tool. Hence, a particular movement pattern of the tool corresponding to the movement of the tool that the user does in order to release the clamp may be detected as an indication of a clamp release. Such a movement pattern may in the following sometimes be referred to as a user movement of the tool.

[0031] According to an embodiment, said movement of the tool indicative of a user moving the tool in order to release a POPP clamp (i.e. the user movement of the tool) is at least one of: a twisting movement of the tool along a longitudinal direction of the tool, and a pitching movement of the tool transverse to a longitudinal direction of the tool.

[0032] In the present specification, the longitudinal direction of the tool is the same as the longitudinal direction of an shaft (which also may be refered to simply as a shaft) of the tool, at the end of which shaft, the hook for releasing the clamp is arranged.

[0033] Whether a twisting or pitching movement of the tool is made by the user in order to operate the tool to release a POPP clamp depends on the design of the end (tip) of the shaft of the tool. In particular, it depends on the orientation of the hook at the end of the tool shaft. A twisting movement of the tool may be when the user rotates the tool around its longitudinal axis, while a pitching movement of the tool is 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 clamp).

[0034] According to an embodiment, the detecting of the movement of the tool indicative of a user moving the tool in order to release a POPP clamp (i.e. the user movement of the tool) comprises analyzing data from a sensor comprised in the tool, the sensor comprising at least one of: a switch arranged to be operated by a relative movement between an shaft and handle of the tool; and a strain gauge arranged to measure strain in the tool, such as in the shaft of the tool.

[0035] The present embodiment is advantageous in that such sensors may provide a more accurate detection of the user movement of the tool compared to that providable by an accelerometer.

[0036] For example, the switch may be an electromechanical, optical or magnetic switch.

[0037] Other types of sensors may also be envisaged, such as an inductive sensor.

[0038] It will be appreciated that the above described embodiments of howto detect the indication of a POPP clamp release may advantagesouly be combined so as to provide further parameters on which the determiniations that a clamp has released may be based, whereby the accuracy of the traceabillity of the manufacturing process is improved.

[0039] According to an embodiment, a monitoring in order to detect the vibration movement may be started in response to the detecting of the movement of the tool indicative of a user moving the tool in order to release a POPP clamp, (i.e. the user movement of the tool).

[0040] According to an embodiment, a monitoring in order to detect the sound is started in response to the detecting of the movement of the tool indicative of a user moving the tool in order to release a POPP clamp.

[0041] The user movement of the tool will as a rule always preceed the vibration movement of the tool / snapping sound caused by the actual release of a POPP clamp. With the present embodiments, computational power may be saved, as the monitoring of the signal that is used to detect the vibration movement of the tool and / or the signal that is used to detect the snapping sound may be limited to be made just after the detection of the user movement instead of constantly when the tool is on.

[0042] According to an embodiment, the determining of the position of the tool may be based on at least one of: analysis of a radio signal transmitted between the tool and an anchor positioned at, or at a predetermined position relative to, the object; and analysis of data from an imaging device (e.g. a camera), which e.g. may be arranged at the tool or above the tool and object. Other positionig techniques may also be envisaged.

[0043] According to an embodiment, a system is provided. The system comprises a tool arranged to release pre-opened pre-positioned, POPP, clamps on an object; and a control device as defined in accordance with the first aspect or any of its embodiments.

[0044] According to an embodiment, a computer program is provided, the computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the method as defined in accordance with the second aspect.

[0045] According to an embodiment, a computer-readable storage medium is provided comprising instructions which, when executed by a computer, cause the computer to carry out the method as defined in accordance with the second aspect. It is noted that embodiments of the invention relates to all possible combinations of features recited in the claims. Further, it will be appreciated that the various embodiments described for the control device are all combinable with the method as defined in accordance with the second aspect of the present invention.

[0046] Brief description of the drawings

[0047] These and other aspects will now be described in more detail in the following illustrative and non-limiting detailed description of embodiments, with reference to the appended drawings.

[0048] Figure 1 shows a system comprising a tool and a control device according to an embodiment, and a POPP clamp.

[0049] Figure 2 is a cross-section of the tool taken along line A-A in Figure 1.

[0050] Figure 3 shows a method according to an embodiment.

[0051] All the figures are schematic, not necessarily to scale, and generally only show parts which are necessary in order to elucidate the embodiments, wherein other parts may be omitted. Like reference numerals refer to like elements throughout the description.

[0052] Detailed description of embodiments

[0053] A system 1 according to an embodiment will be described with reference to Figure 1. The system 1 comprises a tool 3 for releasing a pre-opened prepositioned, POPP, clamp 6 on an object during an industrial assembly process. The POPP clamp 6 has a circular band that is pre-tensioned in an open position. The tool 3 can be operated to pull a loop 7 at the end of the band, whereby the POPP clamp 6 releases and snaps into its closed position. Typical objects to which POPP clamps can be applied are hoses to be secured to their fittings.

[0054] The system 1 further comprises a control device 2 for the tool 3. The control device 2 may be arranged separately (and optionally remote) from the tool 3 or it may be comprised within the tool 3. The control device 2 may comprise a memory and processing means. The control device 2 may e.g. be a computer. The control device 2 may be comprised in a single unit or be distributed in several units (such as being cloud based).

[0055] The tool 3 may comprise a body 16 and a shaft 4. The shaft 4 may e.g. comprise a replaceable bit. The shaft 4 may have a distal end portion 4a adapted to engage the POPP clamp 6 for release thereof. For example, at the distal end portion 4a of the shaft 4, a hook 5 may be arranged. The hook 5 may be adapted to engage with the loop 7 of the POPP clamp such that the user can pull the loop 7 by means of the tool 3 in order to release the POPP clamp 6. The body 16 may be designed to be held by a user, thereby forming a handle.

[0056] Figure 2 is a cross-section of the tool 3, taken along line A-A in Figure 1.

[0057] The tool 3 may comprise a battery 9 for powering the electronics of the tool 3.

[0058] The control device 2 is configured to detect an indication of a release of a POPP clamp by the tool 3. The indication may e.g. be a particular movement pattern of the tool that occurs just before / right after the release of the POPP clamp. The indication may also be the characteristic snapping sound of the release of a POPP clamp.

[0059] The tool 3 may e.g. comprise a sensor device 10 arranged to sense movements of the tool 3. For example, the sensor device 10 may be an accelerometer, such as a three axis accelerometer. The sensor device 10 may be able to register a vibration of the tool that has propagated from the POPP clamp upon release thereof. The control device 2 may be configured to monitor and analyze a signal from the sensor device 10 in order to detect such a vibration movement of the tool 3.

[0060] The control device 2 may be configured to monitor and analyze the signal from the sensor device 10 in order to determine an orientation of the tool 3.

[0061] As an alternative, or as a complement, the tool 3 may comprise a microphone 20 arranged to pick up the sound being characteristic of a POPP clamp being released. This may be referred to as a snapping sound. The control device 2 may be configured to monitor and analyze a signal from the microphone 20 in order to detect such a snapping sound. According to an embodiment, the control device 2 may be configured to estimate a size of the POPP clamp released by the tool 3 based on analysis of the signal from the sensor device 10 and / or the microphone 20. Different sizes of POPP clamps may generate slightly different vibration patterns and sounds when released. Further, the control device 2 may be configured to trigger operator feedback based on the determined POPP clamp size.

[0062] The control device 2 may be configured to detect a movement of the tool 3 indicative of a user moving the tool 3 in order to release a POPP clamp with the tool 3. Such a movement may e.g. be a twisting movement around a longitudinal axis 13 of the tool 3, as indicated by arrow 19 in Figure 2, and / or a pitching movement transverse to the longitudinal axis 13 of the tool 3, as indicated by arrow 18 in Figure 2.

[0063] For example, the shaft 4 of the tool 3 may be connected to the body 16 such that a (slight) limited relative movement around the longitudinal axis 13 of the tool 3 is allowed (as illustrated in Figure 2). For example, the relative movement may be limited to a few degrees, such as around 5 degrees. For example, a proximal end portion 4b of the shaft 4 may be connected to the body 16 via a bearing 12 to allow that movement.

[0064] The tool 3 may e.g. comprise at least one switch 17 arranged to be operated by the relative rotational movement between the shaft 4 and the handle 16. The switch 17 may e.g. be an electromechanical, optical or magnetic switch. A feature may e.g. be arranged on the proximal end portion 4b of the shaft 4, which feature is arranged to cooperate with another feature arranged in the handle 16. These features may be different in nature dependent on the type of switch.

[0065] Alternatively (or as a complement), a piezoelectric sensor may be arranged to be operated by the relative rotational movement between the shaft 4 and the handle 16.

[0066] Alternatively, or as a complement, the tool 3 may comprise a strain gauge (not shown) arranged to register a strain in the tool 3 occurring as a consequence of the user operating the tool 3 in order to release a POPP clamp 6. The strain gauge may e.g. be arranged at the shaft 4. The strain gauge may be arranged to sense a (temporary) torsional deformation of the shaft 4 resulting from a twisting movement (as indicated by arrow 19) of the tool 3, and / or a (temporary) bending deformation of the shaft 4 resulting from a pitching movement (as indicated by arrow 18) of the tool 3.

[0067] 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 the user movement of the tool 3 indicating that a user operates the tool 3 in order to release a POPP clamp.

[0068] The tool 3 may comprise a radio communication device 11. The radio communication device 11 may be arranged to communicate with remote devices, such as the control device 2 and / or an anchor 14 positioned at, or in a predetermined relation to the object to be processed by the tool 3 (illustrated in Figure 1), the latter for the purpose of determining a position of the tool.

[0069] The control device 2 is configured to determine a position / location of the tool 3 in relation to the object to be processed. This may e.g. be made based on analysis of a radio signal 15 transmitted between the radio communication device 10 of the tool 3 and the anchor 14, such as by determining a time of flight (ToF) of the radio signal. Alternatively, or as a complement, other positioning techniques may be used in order to determine the position of the tool 3, such as by means of a camera on the tool (not shown) and / or by means of camera(s) mounted above the work station where the object is processed.

[0070] The control device 2 may be further configured to, based on the detected indication of a POPP clamp release and on the determined position of the tool 3 at the time of (that includes just before / right at / just after) the detection of the indication of the POPP clamp release, determine whether a POPP clamp has been released by the tool 3.

[0071] For example, the control device 2 may determine that a POPP clamp has been released if the indication of a POPP clamp release is detected when the tool 3 is within a predetermined area, such as a predetermined area considered correct according to a production set-up. This may e.g. be within the area of a work station where the object is being processed. Optionally, the tool 3 may be provided with means to give the operator feedback

[0072] (e.g. visual, audial or haptic) if it is determined that a POPP clamp has been released correctly.

[0073] Optionally, the control device 2 may be configured to trigger operator feedback when the tool 3 is in the right place (in the vicinity of the correct POPP clamp according to a predetermined work sequence) also before the POPP clamp is released. Thereby, the operator may be notified when the tool is positioned at the correct POPP clamp next to be released.

[0074] A method 100 according to an embodiment will now be described with reference to Figure 3. The method 100 may e.g. be performed by the control device describe above.

[0075] The method 100 may comprise a step 101 of detecting an indication of a release of a POPP clamp by the tool. This step may preferably comprise a first step 101a of detecting a user movement of the tool for releasing a POPP clamp (such as the twisting / pinching movement described above). This step 101a may be a trigger for starting to monitor the signal from the accelerometer and / or the microphone. As a next step 101b, a vibration of the tool and / or a snapping sound may be detected.

[0076] The method 100 further comprises a step 102 of, preferably in response to the trigger 101a of the detected user movement and / or the detected 101b vibration and / or snapping sound, determining a position of the tool.

[0077] The method may further comprise a step 103 of preferably in response to the trigger 101a of the detected user movement and / or the detected 101b vibration and / or snapping sound, determining an orientation of the tool.

[0078] The method 100 further comprises a step 104 of determining that a POPP clamp has been released based on the determined position of the tool and the detected indication of a POPP clamp release and optionally also on the determined orientation of the tool. Optionally, the method 100 may further comprise storing / communicating 104 the result of the determination the POPP clamp release, preferably together with a time / date stamp, and optionally also together with the determined position.

[0079] The person skilled in the art realizes that the present invention by no means is limited to the embodiments described above. On the contrary, many modifications and variations are possible within the scope of the appended claims.

[0080] Additionally, variations to the disclosed embodiments can be understood and effected by the skilled person in practicing the claimed invention, from a study of the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other elements or steps, and the indefinite article "a" or "an" does not exclude a plurality. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.

Claims

CLAIMS1. Control device (2) for a tool (3) arranged to release pre-opened prepositioned, POPP, clamps (6) on an object, the control device being configured to:- detect an indication of a release of a POPP clamp by the tool;- determine a position of the tool at the time of the detection of the indication; and- determine that a POPP clamp has released based on the detected indication and the determined position.

2. The control device as defined in claim 1, wherein it is determined that a POPP clamp has released if said indication of a release of a POPP clamp is detected and said determined position of the tool at the time of the detection is within a predetermined area.

3. The control device as defined in claim 1 or 2, further configured to:- determine an orientation of the tool at the time of the detection of the indication, wherein the determining that a POPP clamp has released is further based on the determined orientation of the tool.

4. The control device as defined in any one of the preceding claims, wherein the detecting of an indication of a release of a POPP clamp by the tool comprises:- detecting a vibration movement of the tool indicative of a release of a POPP clamp.

5. The control device as defined in any one of the preceding claims, wherein the detecting of the vibration movement of the tool indicative of a release of a POPP clamp comprises analyzing data from an accelerometer (10) comprised in the tool.

6. The control device as defined in any one of the preceding claims, wherein the detecting of an indication of a release of a POPP clamp by the tool comprises:- detecting a sound indicative of a release of a POPP clamp.

7. The control device as defined in any one of the preceding claims, wherein the detecting of a sound indicative of a release of a POPP clamp comprises analyzing data from a microphone (20) comprised in the tool.

8. The control device as defined in any one of the preceding claims, wherein the detecting of an indication of a release of a POPP clamp by the tool comprises:- detecting a movement of the tool indicative of a user moving the tool in order to release a POPP clamp with the tool.

9. The control device according to claim 8, wherein said movement of the tool indicative of a user moving the tool in order to release a POPP clamp is at least one of: a twisting movement of the tool along a longitudinal direction of the tool, and a pitching movement of the tool transverse to a longitudinal direction of the tool.

10. The control device according to claim 8 or 9, wherein the detecting of the movement of the tool indicative of a user moving the tool in order to release a POPP clamp comprises analyzing data from a sensor comprised in the tool, the sensor comprising at least one of: a switch (17) arranged to be operated by a relative movement between an shaft (4) and handle (16) of the tool; and a strain gauge arranged to measure strain in the tool, such as in the shaft of the tool.

11. The control device according to any one of claims 8-10 dependent on claim 3 or 4, wherein a monitoring in order to detect the vibration movement is started in response to the detecting of the movement of the tool indicative of a user moving the tool in order to release a POPP clamp.

12. The control device according to any one of claims 8-11 dependent on claim 5 or 6, wherein a monitoring in order to detect the sound is started in response to the detecting of the movement of the tool indicative of a user moving the tool in order to release a POPP clamp.

13. The control device as defined in any one of the preceding claims, wherein the determining of the position of the tool is based on at least one of: analysis of a radio signal transmitted between the tool and an anchor positioned at, or ata predetermined position relative to, the object; and analysis of data from an imaging device.

14. System (1) comprising: a tool (3) arranged to release pre-opened pre-positioned, POPP, clamps on an object; and a control device (2) as defined in any one of the preceding claims.

15. Method (100) of determining that a pre-opened pre-positioned, POPP, clamp has released by the operation of a tool arranged to release such clamps on an object, the method comprising:- detecting (101) an indication of a release of a POPP clamp by the tool;- determining (102) a position of the tool at the time of the detection of the indication; and- determining (104) that a POPP clamp has released based on the detected indication and the determined position.

16. Computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the method as defined in claim 15.

17. Computer-readable storage medium comprising instructions which, when executed by a computer, cause the computer to carry out the method as defined in claim 15.

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