Method and monitoring system for automotive vehicle manufacturing robot

Abstract

The invention relates to a method for monitoring a manufacturing robot. The manufacturing robot is located in a safety enclosure with a manufacturing area for an automotive part. The manufacturing robot comprises a control unit and a movable arm. The monitoring method comprises the following steps: connection (110) of a user to the manufacturing robot's control unit via a connection interface outside the safety enclosure; acquisition (112) of a first video of the manufacturing robot and the manufacturing area via a fixed camera; acquisition (114) of a second video of the manufacturing area by a movable camera attached to the movable arm; combination (116) of the first and second videos to generate a combined video; display (120) of the combined video on a display screen of the connection interface. Figure to be published with the abbreviation: Figure 2

Description

Title of the invention: Method and monitoring system for a robot manufacturing an automotive vehicle

[0001] The invention relates to the remote monitoring of an automotive production line. The invention concerns the remote programming and real-time visualization of a manufacturing robot within a safety enclosure on an automotive production line. More specifically, the invention provides a method for monitoring a robot. The invention also relates to a monitoring system for an automotive manufacturing robot.

[0002] The manufacture of a motor vehicle involves several production lines, each with different manufacturing robots. These robots allow for the manipulation of parts or assemblies of parts, stamping, machining, welding, or bonding of some of them. Some manufacturing robots also allow for the application of coatings such as a varnish film or a layer of paint.

[0003] Due to the precision and delicacy required, these manufacturing robots must be programmed accurately. This can be done using an on-site programmer. However, this option requires the programmer to travel to the site. Furthermore, their presence in the robots' environment exposes them to physical risks. Alternatively, it is possible to program the manufacturing sequences while analyzing them through simulations. However, this solution requires digitizing each robot and still introduces approximations that the manufacturing process programming aims to minimize.

[0004] Finally, it is possible to analyze the process remotely, via a connected solution.

[0005] Document US8670868B2 describes a system and method for providing secure remote access to a plurality of robot controls located at a local site for a person located at a remote site.The system includes a plurality of robot controllers, each capable of receiving credentials and including an authentication component to authenticate the credentials, and an authorization component to manage access authorization to the robot controller based on the authentication result, a remote computer located at a remote site and capable of communicating with the robot controllers and having an interface capable of receiving credentials and configured to send credentials to the robot controllers, a server component capable of communicating with the robot controllers, and an identification component positioned at the local site configured to receive. A local access proof. The identification component is positioned within reach of a person working on the local site, for example, on the robot controller, the portable programming unit, or on a wall of the building housing the robot controllers. This configuration presents certain risks both to the person on site and to the equipment itself.

[0006] The invention aims to address at least one of the problems or drawbacks encountered in the prior art. In particular, the invention aims to improve the monitoring accuracy of a motor vehicle production line. The invention also aims to optimize the monitoring accuracy and safety of a monitoring system for a motor vehicle manufacturing robot.

[0007] According to a first aspect, the invention provides a method for monitoring a manufacturing robot for an automotive vehicle production line; the manufacturing robot being in a safety enclosure with a manufacturing area for an automotive vehicle part, the manufacturing robot comprising a control unit, and a mobile arm in the manufacturing area intended to operate on said part; notable in that the monitoring method comprises the following steps: connection of a user to the control unit of the manufacturing robot via a connection interface outside the safety enclosure; said connection interface comprising a display screen; acquisition of a first video of the manufacturing robot and the manufacturing area via a camera fixed relative to the safety enclosure; acquisition of a second video of the manufacturing area by a mobile camera attached to the mobile arm of the manufacturing robot;combining the first and second videos to generate a combined video including the manufacturing area; displaying the combined video on the connection interface display screen.

[0008] The invention provides a global view of the safety enclosure and a more precise view of the area in which the manufacturing robot operates. Specifically, one camera provides a wide view around the manufacturing area, while the mobile camera provides a precise view within the manufacturing area itself. This allows the programmer to anticipate the risk of collisions between the robot and a fixed obstacle or even another manufacturing robot intersecting the manufacturing area.

[0009] Document EP0758469B1 describes a telemanipulation system for manipulating objects located in a workspace on a remote worksite by an operator, such as in a remote surgical system. The remote worksite includes a manipulator with a terminal effector for manipulating an object at the workspace level, a controller comprising a manual control at the operator's station for remotely controlling the manipulator, an image capture device, and a device for Image output to reproduce a visible image in real time. However, this system is not relevant to production lines with robots for the manufacture of motor vehicles.

[0010] Preferably, at the connection stage, the user connects a physical device with a digital key to the connection interface.

[0011] Preferably, at the connection stage, said connection is authorized for a given duration from the beginning of the connection stage.

[0012] Preferably, the connection step includes a substep of transmitting a user digital key from the connection interface to a server, a substep of comparing the user digital key to pre-registered digital keys on said server, a substep of validating the user's connection provided that the user digital key matches one of the pre-registered digital keys.

[0013] Preferably, at the combination stage, the combined video includes a representation of the movable arm and / or the motor vehicle part.

[0014] Preferably, the combined video is a three-dimensional video.

[0015] Preferably, at the connection stage, the control unit allows the user to connect provided that the robot is in a predefined robot position.

[0016] Preferably, the control unit allows user connection provided that the movable arm is in a predefined arm position.

[0017] Preferably, the control unit includes a memory with first manufacturing instructions intended to be executed by the manufacturing robot; the manufacturing process further includes a step of modifying the first manufacturing instructions, via the connection interface, in order to define second manufacturing instructions; a step of recording the second manufacturing instructions in said memory; a step of executing the second manufacturing instructions by the manufacturing robot.

[0018] Preferably, the monitoring method includes a security enclosure inspection step to detect a person in the security enclosure; at the connection step, the control unit authorizes the user's connection provided that at the inspection step no person is detected in the security enclosure.

[0019] Preferably, the manufacturing line includes a safety barrier surrounding the manufacturing robot, and a presence sensor in the safety enclosure.

[0020] Preferably, the manufacturing robot is a first manufacturing robot; the manufacturing line further comprises a second manufacturing robot; prior to the connection step, the monitoring process includes a step of selecting the first manufacturing robot; the first manufacturing robot has a first area of ​​action; the second manufacturing robot has a second area of ​​action reaching the first area of ​​action.

[0021] Preferably, the monitoring method includes a combined video wave communication step, the waves comprising a frequency greater than 700 MHz.

[0022] Preferably, the frequency is greater than or equal to 1200 MHz.

[0023] Preferably, the frequency is greater than or equal to 3400 MHz.

[0024] Preferably, prior to the execution of the first manufacturing instructions, the monitoring process includes a step of detecting a person in the safety enclosure, and a step of interrupting the execution of the first manufacturing instructions in the event of detection of a person in the safety enclosure.

[0025] Preferably, the movable arm includes a tool suitable for transforming the part.

[0026] Preferably, the communication step includes encoding digital signals by orthogonal frequency division in the form of multiple subcarriers.

[0027] Preferably, the security barrier has an access door with badge access control.

[0028] Preferably, prior to the connection step, the monitoring process includes a change in the operating mode of the manufacturing robot from an automatic mode to a manual mode.

[0029] Preferably, the manual mode is a local manual mode.

[0030] Preferably, the monitoring method includes a step of communicating the first video by waves.

[0031] Preferably, the monitoring method includes a step of communicating the second video by waves.

[0032] According to another aspect, the invention proposes a computer program comprising instructions which, when the program is executed by a computer, lead the latter to implement the monitoring method according to the invention.

[0033] According to another aspect, the invention proposes a monitoring system for a manufacturing robot with a movable arm for a production line of automotive parts; the monitoring system comprising: a control unit for the manufacturing robot; a safety enclosure for housing the manufacturing robot and delimiting a manufacturing area for the automotive part; a connection interface to the control unit; notable in that the monitoring system further comprises a camera fixed relative to the safety enclosure and configured to acquire initial video of the manufacturing robot and the manufacturing area; a movable camera for attachment to the movable arm of the manufacturing robot, the a mobile camera being configured to acquire a second video of the manufacturing area; a server configured to combine the first video and the second video in order to generate a combined video of the manufacturing area; and in that the connection interface is outside the security enclosure, and includes a display screen configured to display the combined video.

[0034] Preferably, the monitoring system is configured to carry out the monitoring process according to the invention.

[0035] Preferably, the safety enclosure surrounds the manufacturing area.

[0036] Each feature introduced by the expression "preferably" given in relation to one of the aspects of the invention applies to all other aspects of the invention.

[0037] The invention will be well understood and other aspects and advantages will become clear upon reading the following description, given with reference to the attached figures listed below.

[0038] The [Fig. 1] is a diagram of a manufacturing robot monitoring system for an automotive vehicle manufacturing line according to the invention.

[0039] Fig. 2 is a diagram of a manufacturing robot monitoring method for an automotive vehicle manufacturing line according to the invention.

[0040] In the following description, the term "include" is synonymous with "include" and is not limiting in that it permits the presence of other elements in the monitoring system or other steps in the monitoring process to which it relates. It is understood that the term "include" includes the terms "consist of." The terms "external" and "internal" shall respectively refer to what is directed outward from the vehicle and inward from the security enclosure.

[0041] In this description, the technical characteristics are defined in the mounting configuration of the monitoring system, unless otherwise explicitly stated.

[0042] Throughout the description, the different figures use the same reference signs to designate identical or similar entities.

[0043] Fig. 1 represents a monitoring system 10 for a manufacturing robot 12 in a manufacturing line 14 of a part 16 of an automotive vehicle, according to an embodiment of the invention.

[0044] A motor vehicle (not shown) includes energy storage means and at least one motor, adapted to drive said motor vehicle. The motor vehicle includes a structure that connects a powertrain, a powertrain supply system, suspension systems, a steering system, braking systems, openings, and bumper systems. The structure may be formed from an assembly of cut, stamped sheet metal. and welded together. The motor vehicle includes various compartments including a passenger compartment, a cargo area, and an engine compartment.

[0045] Part 16 of the motor vehicle is here a side door. However, the present invention applies to the engine, an electric battery, the structure, a seat, the suspension systems, the steering system, the braking systems, other openings, the bumpers, the bodywork, and the trim. The invention covers any entity or assembly of parts of the motor vehicle.

[0046] The manufacturing line 14 has at least one safety enclosure 18. The safety enclosure 18 is a protective enclosure and / or a manufacturing enclosure. It includes protective means. Its purpose is to prevent projections that could injure an operator or damage a part or a manufacturing robot. The safety enclosure 18 is enclosed. Its purpose is to prevent an operator from approaching the manufacturing robot. The safety enclosure 18 is surrounded by a barrier such as a grid. It includes an access door with a badge access control device to restrict access. When badge access is detected, the manufacturing robot stops and optionally moves to a predefined position.

[0047] The manufacturing robot 12 is a first manufacturing robot 20. The manufacturing line 14 further includes a second manufacturing robot 22. The second manufacturing robot 22 is in the safety enclosure 18. The first manufacturing robot 20 has a first operating zone; the second manufacturing robot 22 has a second operating zone extending to the first operating zone. Each operating zone corresponds to the space swept by the moving arm of the associated manufacturing robot.

[0048] The first manufacturing robot 20 and the second manufacturing robot 22 each comprise a movable arm 24. The movable arm 24 is rotationally movable. It may also be translationally movable. It may be an articulated arm made up of several segments movable relative to each other. The movable arms 24 each comprise a tool 26 suitable for cooperating with the workpiece 16. They comprise different tools 26. The tools 26 are selected from: a welding clamp, a paint or varnish gun, a gripper, a suction cup, a screwdriver, a milling cutter, a polishing roller. Other tools are also considered.

[0049] In the following description, the first manufacturing robot 20 will be referred to as manufacturing robot 12, unless otherwise specified.

[0050] The manufacturing robot 12, or more generally the monitoring system 10, includes a control unit 28 for the manufacturing robot 12. The control unit 28 is specific to one manufacturing robot. The monitoring system 10 includes one control unit 28 for each manufacturing robot 12. Alternatively, the system The monitoring system includes a common control unit for several manufacturing robots. The control unit 28 is connected to the manufacturing robot 12 by a wired link.

[0051] The control unit 28 is, for example, a programmable electronic board. The control unit 28 comprises a computer, such as a processor, and internal memory. The computer is adapted to execute code instructions stored in its memory. It includes instructions for carrying out a manufacturing sequence with the manufacturing robot 12. The control unit 28 is configured for remote or local control of the manufacturing robot 12. Local control can be manual, for example, via a joystick or a touchscreen (not shown). The control unit 28 is located in the safety enclosure 18. Manual control is possible provided there is a badge connection.

[0052] The monitoring system 10 has a manufacturing zone 30. The manufacturing zone 30 is dedicated to the manufacturing, handling, and inspection of the motor vehicle part 16. The manufacturing zone 30 is the area in which the movable arm 24 moves. The tool 26 acts on the part 16 within the manufacturing zone 30. The first and second action zones reach the manufacturing zone 30. They overlap within the manufacturing zone 30.

[0053] The surveillance system 10 further comprises at least one fixed camera 32 relative to the security enclosure 18. In this case, two fixed cameras 32 are shown. However, the invention covers any other number of fixed cameras 32, for example, four fixed cameras 32. Generally, each fixed camera 32 is a first camera. Each fixed camera 32 is capable of providing several images per second. It is sensitive to visible light. It comprises a field of view covering the manufacturing area 30. Each fixed camera 32 is at least partially within the manufacturing enclosure.

[0054] The at least one fixed camera 32 optionally includes a three-dimensional camera. Each fixed camera 32 is configured to acquire an initial video of the manufacturing robot 12 and the manufacturing area 30. Several fixed cameras 32 allow initial videos of the manufacturing robot 12 and the manufacturing area 30 to be obtained from different angles, thus limiting blind spots. This also allows for the creation of a three-dimensional video.

[0055] The monitoring system 10 includes a movable camera 34 attached to the movable arm 24 of the manufacturing robot 12. Preferably, the monitoring system 10 includes a movable camera 34 associated with each manufacturing robot 12, and attached to its movable arm 24. Each movable camera 34 is capable of covering, or scanning, the manufacturing area 30 via its field of view. It may be a wide-angle camera. The mobile arm 24 can be within its field of vision. The mobile camera(s) 34 are configured to acquire a second video of the manufacturing area 30. The surveillance system 10 also includes lighting 36 associated with the manufacturing area 30. It emits light within the visible range of the fixed camera 32 and the mobile camera 34.

[0056] The monitoring system 10 includes a server 38. The server 38 is configured to combine the first and second videos; preferably, the server 38 is configured to combine each first and second video; in order to generate a combined video 40 of the manufacturing area 30. The combined video 40 is generally an animation. The combined video 40 represents the part 16 and the tool 26. It optionally shows a portion of the movable arm 24, and thus its movements. The combined video 40 has a higher definition of the manufacturing area 30, which facilitates automatic or operator monitoring. According to another aspect, the combined video 40 optionally has more frames per second than each first and second video. The combined video 40 is optionally a virtual reality or augmented reality video.Data on the operation or status of tool 26 is embedded there.

[0057] The monitoring system 10 includes a connection interface 42. The connection interface 42 includes a display screen 44 configured to display the combined video 40. The connection interface 42 is located outside the safety enclosure. Thus, it is possible to connect to the control unit 28 and take control of the manufacturing robot 12 without physically entering the safety enclosure 18. An operator does not take any risks during this step. Furthermore, this option limits downtime.

[0058] The connection interface 42 is generally a computer device such as a computer. It includes a processing unit, such as a processor, and memory. The connection interface 42 is connected by wire to the control unit 28. According to an alternative embodiment of the invention, they are connected wirelessly.

[0059] The server 38 comprises a processor 46 and a memory 48. The processor 46 may comprise one or more programmable electronic microprocessors or microcontrollers. In addition, the processor may comprise a central processing unit (CPU), a memory (in addition to or as separate memory illustrated by reference number 48), and an input / output (I / O) interface through which the processor 46 can receive a plurality of input signals. Such an I / O interface is also configured to generate a plurality of output signals, including, but not limited to, those used to control and / or provide data to the screen. display 44, and a first wireless network interface 50 and the second wireless network interface 52 specific to the connection interface 42.

[0060] Thus, the server 38 and the control unit 28 can communicate via a wireless protocol. They communicate preferentially via the 5G protocol, which limits latency and optimizes the communication throughput. Therefore, the definition and frame rate of the combined video 40 remain high despite the wireless communication.

[0061] The memory 48 is intended for storing data and instructions or code (i.e., software for a monitoring process) for and readable and / or writable by the processor 46. The memory 48 may comprise various forms of non-volatile (i.e., non-transient) memory. Non-volatile memory includes flash memory or read-only memory (ROM), any type of programmable read-only memory (e.g., PROM, EPROM, EEPROM). The memory 48 optionally comprises volatile memory, including random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), and synchronous dynamic random access memory (SDRAM). According to the invention, the memory may be internal to the processor 46, or alternatively form a separate component.

[0062] The characteristics described in relation to the processor 46 and the memory 48 of the server also apply to the processor and memory of the control unit and the connection interface.

[0063] During operation, the manufacturing robot sends positioning data and status data to the control unit 28. The positioning data includes angular positions, elongations, and coordinates in a geometric reference frame. The control unit 28 is configured to transmit this data for display on the display screen.

[0064] The or at least one or each fixed camera 32 transmits its data, in this case its first video to the connection interface 42. The or at least one or each mobile camera 34 transmits its data, in this case its second video to the connection interface 42 via the control unit 28. Then, the connection interface 42 transmits each first video and each second video to the server 38. The latter combines them, then sends the combined video 40 back to the connection interface 42 which displays it in real time and continuously.

[0065] The safety enclosure 18 includes a safety barrier surrounding the manufacturing robot, and an operator presence sensor 54 within the safety enclosure 18. An access door allows entry through the safety barrier. The presence sensor is, for example, a photoelectric sensor. The photoelectric sensor includes a light source, such as a laser, and a sensor that receives the light radiation from the light source. If an operator passes through the enclosure safety enclosure 18, it cuts off the light radiation; which the photoelectric sensor identifies as the presence of an operator in the safety enclosure 18. The presence sensor 54 is connected to the control unit 28. The control unit 28 is configured to block the user connection when the presence sensor 54 detects the presence of an operator in the safety enclosure.

[0066] According to an alternative of the invention, the presence sensor includes an infrared camera.

[0067] Figure 2 shows a diagram of a method for monitoring a manufacturing robot for an automotive vehicle part assembly line, according to an embodiment of the invention. The manufacturing robot is integrated into a production line corresponding to that shown in Figure 1. The manufacturing robot is associated with a monitoring system corresponding to that shown in relation to Figure 1.

[0068] The manufacturing robot is housed in a safety enclosure encompassing a manufacturing area for an automotive part. In particular, the manufacturing robot comprises a control unit and a mobile arm within a manufacturing area designed to cooperate with and act upon said part. According to one option of the invention, the manufacturing robot is a first manufacturing robot; the manufacturing line further comprises a second manufacturing robot. The first manufacturing robot has a first operating area; the second manufacturing robot has a second operating area extending to the first operating area.

[0069] The monitoring method comprises the following steps, in particular carried out in the following order:

[0070] inspection 100 of the security enclosure in order to detect any person in the security enclosure;

[0071] selection 102 of a manufacturing robot, in particular from a set of manufacturing robots from the assembly line;

[0072] change 104 of manufacturing robot control mode;

[0073] positioning 106 of the manufacturing robot in a predetermined position;

[0074] connection 110 of a user to the control unit of the manufacturing robot via a connection interface outside the safety enclosure; said connection interface comprising a display screen;

[0075] acquisition 112 of a first video of the manufacturing robot and the manufacturing area by at least one fixed camera facing the security enclosure;

[0076] acquisition 114 of a second video of the manufacturing area by a mobile camera attached to the mobile arm of the manufacturing robot;

[0077] combination 116 of the first video and the second video in order to generate a combined video of the manufacturing area;

[0078] communication 118 by combined video waves;

[0079] display 120 of the combined video on the display screen of the connection interface which was connected during the connection step 110;

[0080] modification 122 of first instructions into second instructions;

[0081] recording 124 of the second instructions on the manufacturing robot control unit;

[0082] execution 126 of the second manufacturing instructions by the manufacturing robot in order to manufacture the motor vehicle part.

[0083] The safety enclosure includes a safety barrier surrounding the manufacturing robot and a presence sensor for detecting a person within the safety enclosure. During inspection step 100, the presence sensor detects a person entering the safety enclosure. The control unit blocks the user login step 110 when the presence sensor indicates the presence of a person within the safety enclosure.

[0084] The inspection step 100 is generally a person detection step within the safety enclosure. It is performed continuously, preferably throughout the entire process. If a person is detected at the end of or during the inspection step, the connection step 110 is blocked. In the event of the detection or identification of a person within the safety enclosure, the process includes a step to interrupt the execution of the initial manufacturing instructions. During or before the inspection step 100, the manufacturing robot follows the initial manufacturing instructions.

[0085] In connection step 110, the control unit allows the user to connect provided that no person is detected in the security enclosure during the inspection step. The control unit allows the user to connect to said control unit provided that the presence sensor does not detect any presence in the security enclosure. It allows connection step 110 when inspection step 100 returns a status of "no human(s)" in the security enclosure. The presence sensor includes a photoelectric cell. In connection step 110, the connection interface is outside the factory, off the production line. Connection step 110 is a remote connection step.

[0086] Prior to the connection step 110, the monitoring method includes the changeover step 104 of the manufacturing robot's control mode, from an automatic control mode to a manual, and preferably local, control mode. Using the manual control mode, the manufacturing robot is placed in a predefined robot position during the positioning step 106. It can be placed there by activating a manual command on the control unit. The manufacturing robot includes position sensors. When the robot is in From a predetermined position, it sends positioning data according to the predefined position, and / or a connection authorization signal to the control unit. This signal is preferably sent provided that the mobile arm is in a predefined arm position.

[0087] In connection step 110, the user connects a physical device with a digital key to the connection interface. The physical device may be an electronic card or a storage medium with electrical connection ports. In connection step 110, said connection is authorized for a given duration from the start of the connection.

[0088] The connection step 110 includes a substep 128 of transmitting a user's digital key from the connection interface to a server, a substep 130 of comparing the user's digital key to pre-registered digital keys on said server, and a substep 132 of validating the user's connection, provided that the user's digital key matches one of the pre-registered digital keys. When the user's digital key does not match one of the pre-registered digital keys, the connection is blocked. The user does not have access to the manufacturing robot. Thus, access to the control unit is restricted. This prevents an unauthorized third party from connecting to, and potentially taking control of, the manufacturing robot.

[0089] At connection step 110, the control unit allows the user to connect provided that the manufacturing robot is previously in a predefined robot position. Connection step 110 is permitted provided that positioning step 106 has been performed. Preferably, the control unit allows the user to connect provided that the movable arm is in a predefined arm position, thanks to positioning step 106.

[0090] The combination step 116 is a video assembly step. Their images are added together. Their pixels produce pixels with more precise brightness levels, as well as color definition. In the combination step 116, the combined video includes a representation of the moving arm and / or the automotive part. According to one option of the invention, the combined video includes a representation of the tool. Preferably, the combined video is a three-dimensional video. These features facilitate the identification of hazards, such as potential collisions between robots, or between a robot and a fixed obstacle in the manufacturing area.

[0091] In modification step 122, the initial manufacturing instructions include: maximum positions, trajectories, travel speeds, and statuses. Statuses include, for example, tool statuses. One of the tools may be a milling cutter in a resting status and a machining status.

[0092] The control unit includes a memory containing initial manufacturing instructions intended to be executed by the manufacturing robot. The modification step 122 is performed via the connection interface using a human-machine interface. During the modification step 122, the user adapts the initial manufacturing instructions into secondary manufacturing instructions, which are saved during the recording step 124.

[0093] During the modification stage, maximum positions are shifted, and movement speeds are accelerated or decelerated. Tool statuses are changed. Subsequently, the second manufacturing instructions are followed and executed by the manufacturing robot during the execution step 126.

[0094] According to one option of the invention, prior to the connection step 110, the method includes the selection step 102 of the first manufacturing robot; preferably, the first manufacturing robot has a first action zone, and the second manufacturing robot has a second action zone reaching the first action zone. These two zones overlap locally. Thus, the invention makes it possible to precisely visualize any potential collisions between the first manufacturing robot and the second manufacturing robot.

[0095] During the combined video wave communication step 118, the wave communication has a frequency greater than 700 MHz, preferably greater than or equal to 1200 MHz, and more preferably greater than or equal to 3400 MHz. The frequency is between 1200 MHz and 1500 MHz; preferably between 3400 MHz and 3800 MHz. The communication step 118 comprises orthogonal wave communication. The waves are radio waves. They are electromagnetic waves. The communication step 118 comprises digital signal coding by orthogonal frequency division into multiple subcarriers. It preferably comprises communication according to the 5G protocol, to benefit from its data rate and latency.

[0096] According to one alternative or option, the wave communication step includes the communication of the first video and the second video.

[0097] The invention comprises the combination of all the embodiments illustrated by all the figures.

Claims

Demands

1. A method for monitoring a manufacturing robot (12) for a motor vehicle manufacturing line (14); the manufacturing robot (12) being in a safety enclosure (18) with a manufacturing area (30) for a motor vehicle part (16), the manufacturing robot (12) comprising a control unit (28), and a mobile arm (24) in the manufacturing area (30) intended to operate on said part (16); characterized in that the monitoring method comprises the following steps: • connection (110) of a user to the control unit (28) of the manufacturing robot (12) via a connection interface (42) outside the safety enclosure (18); said connection interface (42) comprising a display screen (44); • acquisition (112) of a first video of the manufacturing robot (12) and of the manufacturing area (30) via a fixed camera (32) in relation to the security enclosure (18);• Acquisition (114) of a second video of the manufacturing area (30) by a mobile camera (34) attached to the mobile arm (24) of the manufacturing robot (12); • Combination (116) of the first video and the second video in order to generate a combined video (40) including the manufacturing area (30); • Display (120) of the combined video (40) on the display screen (44) of the connection interface (42).

2. A monitoring method according to claim 1, characterized in that at the connection step (110), the user connects a physical device with a digital key to the connection interface (42); preferably, at the connection step (110), said connection is authorized for a given duration from the beginning of the connection step (110).

3. A monitoring method according to claim 2, characterized in that the connection step (110) comprises a substep of transmitting (128) a user digital key from the connection interface (42) to a server (38), a substep of comparing (130) the user digital key to pre-registered digital keys on said server (38), and a connection validation substep (132). of the user provided that the user's digital key matches one of the pre-registered digital keys.

4. A surveillance method according to any one of claims 1 to 3, characterized in that at the combination step (116), the combined video (40) includes a representation of the movable arm (24) and / or the part (16) of the motor vehicle; preferably, the combined video (40) is a three-dimensional video.

5. A monitoring method according to any one of claims 1 to 4, characterized in that at the connection step (110), the control unit (28) allows the user to connect provided that the robot is in a predefined robot position; preferably, the control unit (28) allows the user to connect provided that the movable arm (24) is in a predefined arm position.

6. A monitoring method according to any one of claims 1 to 5, characterized in that the control unit (28) comprises a memory with first manufacturing instructions intended to be executed by the manufacturing robot (12); the manufacturing method further comprising a modification step (122) of the first manufacturing instructions, via the connection interface (42), in order to define second manufacturing instructions; a recording step (124) of the second manufacturing instructions in said memory; an execution step (126) of the second manufacturing instructions by the manufacturing robot (12).

7. A monitoring method according to any one of claims 1 to 6, characterized in that the monitoring method comprises an inspection step of the safety enclosure (18) in order to detect a person in the safety enclosure (18); at the connection step (110), the control unit (28) authorizes the user's connection provided that at the inspection step no person is detected in the safety enclosure (18); preferably, the manufacturing line (14) comprises a safety barrier surrounding the manufacturing robot (12), a presence sensor (54) in the safety enclosure (18).

8. A monitoring method according to any one of claims 1 to 7, characterized in that the manufacturing robot (12) is a first manufacturing robot (20); the manufacturing line (14) further comprises a second manufacturing robot (22); prior to the connection step (110), the monitoring method comprises a step selection (102) of the first manufacturing robot (20); the first manufacturing robot (20) has a first action zone; the second manufacturing robot (22) has a second action zone reaching the first action zone.

9. A surveillance method according to any one of claims 1 to 8, characterized in that the surveillance method comprises a communication step (118) by combined video waves (40), the waves comprising a frequency greater than 700 MHz, preferably greater than or equal to 1200 MHz, more preferably greater than or equal to 3400 MHz.

10. Monitoring system (10) of a manufacturing robot (12) with a mobile arm (24) for a manufacturing line (14) of parts (16) of motor vehicles; the monitoring system (10) comprising: a control unit (28) of the manufacturing robot (12); a safety enclosure (18) intended to receive the manufacturing robot (12) and delimiting a manufacturing area (30) of the part (16) of motor vehicle; a connection interface (42) to the control unit (28); characterized in that the monitoring system (10) further comprises a fixed camera (32) relative to the safety enclosure (18) and configured to acquire a first video of the manufacturing robot (12) and of the manufacturing area (30); a mobile camera (34) intended to be attached to the mobile arm (24) of the manufacturing robot (12), the mobile camera (34) being configured to acquire a second video of the manufacturing area (30);a server (38) configured to combine the first video and the second video in order to generate a combined video (40) of the manufacturing area (30); and in that the connection interface (42) is outside the security enclosure (18), and includes a display screen (44) configured to display the combined video (40); preferably, the monitoring system (10) is configured to carry out the monitoring method according to any one of claims 1 to 9.

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