Multitasking device with a camera and a single spindle for positioning the camera in a focusing position - Patent 7326965

Abstract

The invention relates to a multitasking device 1 comprising a single drive spindle 7 capable of rotational and / or translational movements along the same axis and capable of individually cooperating with a movable member and capable of rotating and / or translating the latter and making the latter perform a given task, and a camera 83 having a depth of field and mounted so as to be movable at least between a storage position not on the axis of the single spindle 7 and an intermediate position on the axis of the single spindle 7. The spindle 7 acts on the camera 83 and is capable of moving the camera 83 to at least one focusing position in which the surface of the structure to be worked on is located within the depth of field of the camera 83;

Description

[Technical field]

[0001] 1. Field of the invention The field of the invention is the design and manufacture of machines implemented in industry to carry out various tasks on structures to be worked on, in particular in the aeronautical industry. [Background technology]

[0002] 2. Conventional Technology Typically, a number of devices are implemented to perform various tasks or operations on the structure being worked on, such as drilling holes, countersinking, installing temporary fasteners, applying mastic to rivets and then installing the rivets into holes drilled in the structure, or other operations.

[0003] Movable machines are being developed to enable tasks to be performed on complex structures such as aircraft.

[0004] These devices include in particular those of the type that comprise a tool located at the end of a robotic arm that is manipulated and moved relative to the structure to be worked on, and that have fastening means, for example suction cups, that allow the tool to be fixed to the structure to be worked on, absorbing the forces involved in carrying out the task and relieving the robotic arm.

[0005] Some of these types of devices are called multitasking devices and are often fitted with several functional modules, each of which performs a specific task.

[0006] Such an apparatus has a single output spindle which can be driven in rotation and / or translation along the same axis by drive and control means.

[0007] This single spindle can alternately cooperate with various attached modules, each capable of carrying out its own dedicated task.

[0008] Patent documents 1 to 5 filed by the present applicant describe multitasking devices. [Prior art documents] [Patent documents]

[0009] [Patent Document 1] International Application No. PCT / EP2020 / 069158 [Patent Document 2] International Application No. PCT / EP2020 / 069159 [Patent Document 3] International Application No. PCT / EP2020 / 069160 [Patent Document 4] International Application No. PCT / EP2020 / 069161 [Patent Document 5] International Application No. PCT / EP2020 / 069162 Summary of the Invention [Problem to be solved by the invention]

[0010] In order to be able to carry out the various operations at precise positions on the structure to be worked on, it is necessary to be able to determine the spatial position of the device with respect to that structure, in particular the orthogonality of the output spindle axis with respect to the surface of the structure to be worked on and the position of the intersection of the spindle axis and the surface of the structure to be worked on relative to a mark on this surface, and to be able to adjust these geometric criteria to the manufacturing requirements.

[0011] There may also be a need for a means to be able to control the quality of work after it has been performed.

[0012] The object of the invention is in particular to improve the technique for adjusting the position of a multitasking device relative to a structure on which work is being carried out and / or to make it possible to control a task after it has been carried out.

[0013] 3. Purpose of the invention The present invention aims inter alia to provide an effective solution to at least some of these various problems.

[0014] In particular, in accordance with at least one embodiment, one object of the present invention is to provide a technique that allows for easy identification and adjustment of the relative position of a multi-tasking device with respect to the surface of a structure being worked on.

[0015] In particular, it is an object of the present invention, according to at least one embodiment, to provide a technique that makes it possible to control and adjust the orthogonality of the spindle in relation to the surface of the structure to be worked on.

[0016] In particular, it is an object of the present invention, according to at least one embodiment, to provide a technique that makes it possible to control and adjust the position of the intersection between the axis of the spindle and the surface of the structure to be worked on relative to a mark on this surface.

[0017] In particular, it is an object of the invention, according to at least one embodiment, to provide a technique that makes it possible to control the quality of the work carried out.

[0018] In particular, it is an object of the present invention, according to at least one embodiment, to provide such a technique that can be implemented in a compact manner.

[0019] Another object of the present invention, according to at least one embodiment, is to provide a technique that is reliable and / or robust. [Means for solving the problem]

[0020] 4. Description of the invention To this end, the present invention relates to a multitasking device, comprising: A frame, means for fastening said frame to motorized handling means capable of moving said device at least partially in space relative to the structure to be worked on; means for positioning and / or fixing said device relative to the surface of the workpiece such that the distance between said device and the surface of the workpiece can be varied between an approach position and a docking position; At least two functional modules having at least one movable member capable of performing a given task on the structure to be worked on; a single drive spindle capable of rotational and / or translational movement along the same axis and capable of individually cooperating with said movable members to rotate and / or translate said movable members to perform a given task; a camera having a depth of field and mounted for movement between at least a stowed position off the axis of the single spindle and an intermediate position on the axis of the single spindle; Equipped with the spindle acts on the camera to move the camera to at least one focusing position where the surface of the structure to be worked on is located within the depth of field of the camera; A multitasking device is proposed.

[0021] Thus, according to this aspect of the invention, a single spindle of the multitasking device on which the camera is mounted can be used to move the camera for focusing purposes.

[0022] Thus, according to the invention, it is possible to use a camera without autofocus, for example, to localize the multitasking device in space with respect to the structure to be worked on and / or to control the quality of the tasks being performed.

[0023] This technology, which does not require autofocus, is very robust and takes up very little space, so implementing this type of camera makes it possible to obtain multitasking devices with particularly robust and compact cameras.

[0024] According to a possible alternative embodiment, the device according to the invention comprises means for coupling said single spindle with said camera, said coupling means being capable of translating said single spindle with said camera, said camera being movable along said axis between said intermediate position and said at least one focusing position.

[0025] Such coupling means can be implemented to perform the coupling step.

[0026] According to a possible alternative embodiment, the camera is mounted for translational movement along an axis perpendicular to the axis of movement of the single spindle between the storage position and the intermediate position.

[0027] According to a possible alternative embodiment, the multitasking device according to the invention comprises means for guiding and driving said camera so that it can be translated between the stowed position and the intermediate position.

[0028] Such means may be used to guide and drive the camera so that it can translate between a stowed position and an intermediate position.

[0029] According to a possible alternative embodiment, the translationally guiding means comprises a camera support plate connected to the frame by a sliding connection of an axis perpendicular to the axis of the single spindle.

[0030] This allows for simple, yet precise and robust camera movement.

[0031] According to one possible feature, said plate is provided with a hole through which said single spindle can pass when the camera is in the retracted position.

[0032] According to one possible characteristic, the multitasking device according to the invention comprises means for controlling said camera and for analysing the images taken by said camera.

[0033] Such means may be used to control the camera and to analyze the images captured by the camera.

[0034] <Detection of undesirable movement of the device> According to a possible alternative embodiment, the controlling and analysing means, when the device according to the invention is used to implement a method for performing at least one task, are capable of detecting, in particular in the detection step, undesired movements of the device relative to the surface when the device is fixed to the surface by the fixing means.

[0035] According to a possible alternative embodiment, the undesired movement of the device relative to the surface, detectable by the controlling and analysing means, is a movement substantially parallel to the surface.

[0036] According to a possible alternative embodiment, the control and analysis means are adapted to identify singular points on the surface of the structure to be worked on and to monitor the movement of the singular points in successive images taken by the camera, thereby making it possible to deduce undesirable movements of the device relative to the surface of the structure to be worked on.

[0037] This can be implemented to identify singular points on the surface of the structure to be worked on, monitor their movement in successive images taken by the camera, and estimate undesirable movement of the device relative to the surface of the structure to be worked on.

[0038] <Detecting the position of the multitasking device relative to the marking element> According to one possible feature, the control and analysis means is capable of detecting marking elements provided on the surface and estimating the position of the multitasking device relative to the marking elements from the position of the marking elements in an image captured by the camera.

[0039] This can be implemented to detect marking elements on the surface and estimate the position of the multitasking device relative to the marking elements from their position in an image captured by the camera.

[0040] According to one possible feature, the functional module comprises at least: A drilling module; a module for installing mastic coated or uncoated rivets; A module for installing temporary fasteners; Belongs to a group that includes

[0041] <Control of Hole or Countersink Pattern> According to one possible feature, the controlling and analysing means are able to control the behaviour of the holes or countersinks formed by the drilling module and to verify their compliance with pre-set visual quality criteria.

[0042] This can be implemented to perform steps to control the appearance of the hole or countersink.

[0043] <Control of mastic application> According to one possible feature, the controlling and analysing means can control the manner in which the mastic crown projects laterally from the head of the rivet set by the rivet setting module, to verify accurate continuity indicative of fit around the rivet head.

[0044] This can be implemented to perform a step of controlling the crown of the mastic projecting laterally from the head of the countersink.

[0045] <Projection of a given pattern onto a surface> According to a possible alternative embodiment, the multitasking device according to the invention comprises means for projecting a predetermined pattern onto said surface, said control and analysis means being able to photograph and analyze said pattern and thereby deduce the lack of precision of said single spindle with respect to said surface.

[0046] This can be implemented to perform the steps of projecting a predetermined pattern onto the surface and controlling the accuracy of the single spindle relative to the surface.

[0047] According to a possible alternative embodiment, the multitasking device according to the invention comprises means for fixing said device to motorized handling means capable of moving said multitasking device at least partially in space relative to said surface between at least one approach position in which said device is spaced away from said surface and a docked position in which said device is pressed against said surface.

[0048] This can be used to perform the step of moving the multitasking device in space relative to the surface between at least one approach position in which the device is spaced away from the surface and a docked position in which the device is pressed against the surface.

[0049] According to a possible alternative embodiment, the control and analysis means can control the shape of the hole or countersink, or the shape of the mastic corolla projecting laterally from the head of the rivet, or any undesired movement of the device relative to the surface when the device is in the docked position.

[0050] According to one possible feature, the control and analysis means are capable of detecting marking elements provided on the surface when the device is in the approach position and, from the position of the marking elements in the image taken by the camera, of estimating the position of the multitasking device relative to these marking elements or detecting a lack of accuracy of the single spindle relative to the surface.

[0051] The invention also relates to a method of performing a task using a multitasking device according to any one of the alternative embodiments herein above.

[0052] The method includes the step of the spindle moving the camera to at least one focusing position where a surface of the structure being worked on is within a depth of field of the camera.

[0053] 5. Description of the drawings Other characteristics and advantages of the invention will become apparent on reading the following description of particular embodiments, given by way of brief illustrative and non-limiting example, and on reading the accompanying drawings, in which: [Brief description of the drawings]

[0054] [Figure 1] 1 is a perspective view showing an example of a multitasking device according to the present invention; [Diagram 2] 2 is a partial cross-sectional view taken along a plane passing through the axis of the spindle of the device of FIG. 1 with the camera in a retracted position; FIG. [Diagram 3] FIG. 2 is a partial cross-sectional view taken along a plane through the axis of the spindle of the device of FIG. 1 with the camera in an intermediate position; [Figure 4] 2 is a partial cross-sectional view taken along a plane perpendicular to the axis of the spindle of the device of FIG. 1 with the camera in the retracted position; FIG. [Diagram 5] FIG. 2 is a partial perspective view of the device of FIG. 1. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0055] 6. Description of Specific Embodiments Configuration <Means for fastening to handling means> An example of a multitask device according to the present invention will be described with reference to FIGS.

[0056] As shown in these figures, the multitasking device 1 comprises a frame 2 .

[0057] The frame 2 is provided with means 3 for fastening to an electric handling device (not shown) and can be fixed so as to be at least partially movable relative to a structure (not shown) to be worked on.

[0058] These motorized handling means are in particular A robot arm; For example, a walking robot based on the principle described in patent document French Patent No. 2809034, For example, a digital grid according to the principles described in the patent application WO 2003 / 49899 A2 Belongs to a group that includes

[0059] Such fastening means 3 are known per se and will not be described further. The fastening means 3 can include quick fastening means such as, for example, a plate-type and bolt system, a clamp-type clamp or a cam system.

[0060] The motorized handling means can move the multitasking device at least partially in space (especially when the controller is fixed) between at least one approach position in which the device is spaced apart from and close to the surface of the structure to be worked on, and a docked position in which the device is pressed against the surface, for example taking into account that it is fixed to fixing means, if any, provided, and can also be placed in a storage position when the multitasking device is not used for work.

[0061] <Single output spindle> The apparatus comprises a single drive spindle 7 capable of rotational and / or translational movement along the same axis.

[0062] The device also comprises motor and transmission means MT for enabling the spindle to undergo rotational and / or translational movement along its longitudinal axis, these motor and transmission means being known per se and will not be described in further detail here.

[0063] <Controller> The apparatus typically comprises a controller 4 which includes control and power electronics enabling control and powering of the apparatus.

[0064] The controller 4 is preferably housed in a box located away from the frame 2 and fixed in place at the site.

[0065] However, the controller 4, or at least some of its components, may be provided on the frame 2.

[0066] <Means for fixing to the structure being worked on (optional)> The device may optionally, but preferably, be provided with means 5 for fastening to the structure to be worked on.

[0067] These fastening means can be of various types.

[0068] To improve the fastening of the structure to the surface, the fastening means may for example comprise suction cups 51 fixed to the frame 2 and connectable to vacuum means, for example a vacuum pump. These suction cups may be assembled in groups to form a suction pad.

[0069] If no means for fixing to the structure to be worked on is provided, the handling device may comprise not only means for positioning the frame relative to the structure to be worked on, but also means for fixing the position of the frame relative to the structure to be worked on.

[0070] <Pressure element (optional)> The device may, if desired, comprise a tubular pressing element 6 mounted for translational movement relative to the frame 2 along the axis of movement of the spindle 51 and its extension.

[0071] The pressing element is a hollow tube through which the spindle and camera can pass.

[0072] Such a pressing element 6 can be used, for example, to apply a compressive force to the structure to be drilled during the drilling operation, in particular to ensure contact between the plates of the stack and to prevent the formation of burrs between these plates during drilling.

[0073] <Function module> This device can be equipped with a plurality of function modules MF.

[0074] Each of these functional modules MF makes it possible to carry out a specific task, for example drilling and / or countersinking, setting rivets, setting temporary fasteners (e.g. clips), applying (or coating) a bead of sealing mastic onto the fastening elements (rivets or screws), etc. Further functions are conceivable, such as screwing, etc.

[0075] The functional module may, for example, include at least At least one of a drilling module and a countersinking module; a module for installing rivets with or without mastic coating; A module for installing temporary fasteners; Belongs to a group that includes

[0076] A temporary fastener used in the aeronautical industry is a mechanical element that makes it possible to fasten at least two walls together in order to carry out manufacturing operations necessary for the final assembly of these walls, such as counter drilling and setting screws or rivets.

[0077] Once the walls have been assembled using screws or rivets, the temporary fasteners, as their name suggests, are removed.

[0078] The temporary fasteners are placed into holes drilled in the walls after initial relative positioning of the walls.

[0079] The temporary fasteners only need access to one side of one wall.

[0080] Such functional modules are particularly described in Patent Documents 1 to 5 filed by the present applicant.

[0081] The device comprises means 12 making it possible to align and position the various mounting modules on the spindle 7 in order to perform a task. These means include, for example, carousels, cartridge belts, etc.

[0082] <Camera function module> The multitasking device includes a camera module 8 .

[0083] The camera module 8 comprises an outer tubular portion 81 and an inner tubular portion 82 provided so as to be capable of translational movement within the outer tubular portion 81. The inner tubular portion 82 comprises a movable member of the camera module.

[0084] The inner tubular part 82 has an end 821 facing the spindle 7 and an opposite end 822 on which the camera 83 is mounted.

[0085] Camera 83 is a camera without autofocus and with a depth of field that is delimited by two parallel, spaced apart sharpness planes located in the extension of the camera's lens. Images captured by the camera of objects located between the two sharpness planes are sharp.

[0086] Camera 83 is at least A storage position in which the camera 83 is not on the extension line of the axis of the single spindle 7 (see FIG. 2 ); The camera 83 is positioned at a middle position on the axis of the single spindle 7 (see FIG. 3) is movably mounted between

[0087] In this embodiment, the camera 83 is mounted for translational movement along an axis perpendicular to the axis of movement of the single spindle 7, between a stowed position and an intermediate position. In the stowed position, the camera is offset laterally with respect to the axis of the spindle.

[0088] For this purpose, the multitasking device comprises means 9 for guiding and driving the camera 83 so that it can be translated between the stowed position and an intermediate position.

[0089] The means 9 for guiding and driving the translational movement of the camera comprise a camera support plate 91 connected to the frame 2 by a sliding connection on an axis perpendicular to the axis of the single spindle 7 .

[0090] The outer tubular portion 81 is embedded and connected to a camera support plate 91 .

[0091] The plate 91 is provided with a hole 92 which allows the single spindle 7 to pass through when the camera 83 is in the retracted position.

[0092] The means 9 for guiding and driving the translational movement comprise an actuator. In this embodiment, the actuator is a cylinder 93. The plate 91 is connected by a pin 94 at the end of a rod 931 of the cylinder 93, which can be moved so that the plate can move in one direction or the other. This cylinder 93 allows the camera 83 to be moved between the retracted position and an intermediate position.

[0093] Camera 83 is at least The intermediate position, a focusing position where the surface of the structure to be worked on is located within the depth of field of the camera; The shaft 7 is mounted so as to be capable of translational movement along the axis of the shaft 7 between the shaft 7 and the shaft 7.

[0094] The spindle 7 can act on the camera 83 so as to be able to move it between an intermediate position and a focused position. For this purpose, the device comprises connection means 10 which connect the spindle 7 and the camera 83 in a translational manner along the axis of the spindle.

[0095] The inner tubular part 82 has an end 821 facing the spindle 7. This end 821 is provided with first connecting means, the shape of which is complementary to second connecting means arranged at the end of the spindle 7. These connecting means may for example be of the ball expander type etc.

[0096] These first and second coupling means allow a translational connection between a single spindle 7 and the inner tubular part 82 such that the spindle 7 can translate the inner tubular part 82 along its axis within the outer tubular part 81. In so doing, the spindle moves a camera 83 supported by the inner tubular part 82.

[0097] Such connecting means are described in particular in Patent Documents 1 to 5 filed by the applicant.

[0098] The end of the camera may be surrounded by an LED strip 830.

[0099] <Means for controlling the camera and analyzing the images captured by the camera> The device comprises means 40 for controlling the camera 83 and for analysing the images taken by the camera 83. Such control and analysis means 40 are known per se to the person skilled in the art and therefore will not be described in detail. Within the scope of the invention, these means are nevertheless adapted to perform certain specific functions which will be explained in detail below.

[0100] Determining and controlling the position of the device with respect to the structure being worked on, in particular the correct position of the intersection of the axis of the spindle with the surface relative to a mark on the surface In order to perform a task on the structure being worked on, the multi-tasking device must be pre-positioned relative to the structure being worked on at the exact location where the task needs to be performed.

[0101] The surface of the structure to be worked on may be provided with visual marks designed to identify the drilling positions, such as paint lines, templates, marker holes, etc. These marks constitute marking elements.

[0102] In this case, the control and analysis means 40 detects the presence of such marking elements on the surface of the structure to be worked on when the device is in the approach position, analyzes their position in images successively taken by the camera and can deduce therefrom the relative position of the marking elements and therefore of the multitasking device with respect to the structure to be worked on.

[0103] In this way, the relative position of the device with respect to the structure to be worked on is taken into account and the handling means are controlled in order to appropriately position the multitasking device with respect to the structure to be worked on.

[0104] More precisely, a correct positioning of the spindle axis relative to the marking element is required to perform the work correctly. The control and analysis means therefore make it possible not only to estimate the positioning of the multitasking device relative to the structure to be worked on, but also in particular to determine the position of the spindle axis relative to the structure to be worked on. If this position is incorrect and there are unacceptable deviations with respect to the desired position, the control means control the handling means in order to correct this position by moving the device in a direction parallel to the surface until the spindle axis is properly positioned relative to the structure to be worked on.

[0105] Detection of undesired movement of the device relative to the structure being worked on When fastening the device according to the invention with the suction cups 51 to the structure to be worked on, the device approaches the surface side of the structure to be worked on and a vacuum is created inside after the suction cups 51 are applied to the surface of the structure to be worked on. If a pressure element 6 is provided, the pressure element 6 is then pressed against the surface of the structure to be worked on. This completes the fastening of the device to the structure to be worked on. The purpose of this fastening is to keep the position of the device with respect to the structure to be worked on exactly.

[0106] During this fixation phase, in particular during the generation of the vacuum in the suction cups 51 and the application of the pressure element 6 to the surface of the structure to be worked on, the device should therefore remain fixed with respect to the structure to be worked on for reasons of precision and quality. In this figure, the control and analysis means 40 are able to detect undesired movements of the device with respect to the surface of the structure to be worked on when the device is fixed to and / or positioned with respect to the surface of the structure to be worked on by the fixation and / or positioning means.

[0107] Preferably, the control and analysis means 40 are capable of detecting undesired movements of the device substantially parallel to the surface of the structure being worked on.

[0108] The surface of the workpiece may have certain visual inhomogeneities, such as bumps, stains, material frames, etc. These involuntary visual inhomogeneities constitute singularities on the surface of the workpiece.

[0109] According to a particular embodiment, the control and analysis means 40 are able to identify such singular points on the surface of the work target structure, monitor their movement in successive images taken by the camera 83 and deduce therefrom undesired movements of the device with respect to the surface of the work target structure. In other words, the control means 40 control the camera 83 so as to take successive images of the surface of the work target structure while the device is fixed to the work target structure. The analysis means 40 compare the successive images taken during fixation and detect or do not detect movements of singular points and are able to deduce on the basis of whether the device is moving or not moving with respect to the work target structure while the device is fixed.

[0110] Alternatively or additionally, marking elements provided on the surface of the structure to be worked on can also be used to detect undesired movement of the device relative to the surface during fixation to the structure to be worked on.

[0111] In these two alternative embodiments, and also when the device only comprises positioning means without means for fixing to the structure to be worked on, the control and analysis means 40 are nevertheless able to detect undesired movements of the device with respect to the structure to be worked on, in particular when the pressure element is applied to the surface and / or when the work is performed.

[0112] <Control of Hole or Countersink Pattern> In one embodiment, the control and analysis means 40 is able to control the aspects of the holes or countersinks formed by the drilling module and to verify their conformity with respect to pre-set visual quality criteria.

[0113] In other words, after the drilling and / or countersinking operations are completed, the control means 40 control the camera 83 to take at least one image of the hole and / or countersink made in the structure to be worked on. The analysis means 40 compares this at least one image with at least one reference image representing the hole and / or countersink having an aspect corresponding to the expected quality level and can deduce on the basis thereof whether the hole and / or countersink made is suitable. In order to control the aspect of the hole and / or countersink on several levels, the control means can control the movement of the camera along the axis of the single spindle in order to move the sharpness plane of the camera at least partially along the axis of the hole.

[0114] <Control of the shape of the crown-like part of the mastic protruding from the head of the rivet> The device according to the invention can be implemented to set rivets in holes in the structure to be worked on. The rivets are generally set after being coated with a sealing mastic, for example by applying a spiral or parallel bead of mastic to the body of the rivet and a corolla of mastic to the joint between the body and the head of the rivet.

[0115] Thus, according to one embodiment, the control and analysis means 40 can control the manner in which the mastic corolla protrudes laterally from the head of the rivet set by the rivet setting module and verify its correct continuity around the head of the rivet proving its suitability.

[0116] In other words, after the operation of setting a rivet coated with at least one corolla of mastic has been performed, the control means 40 control the camera 83 to take at least one image of the head of the rivet installed in the structure to be worked on. The analysis means compare this at least one image with at least one reference image representing a uniform, continuous and properly projecting corolla from the head of the rivet, and can deduce therefrom whether the seal at the head of the rivet is compatible or not.

[0117] <Controlling the orthogonality of the spindle to the workpiece structure> In order to optimally perform the various tasks which can be performed with the device according to the invention, it is preferable to be able to control the spindle to be actually perpendicular to the surface of the structure to be worked on before performing the task.

[0118] Therefore, in one embodiment, the device comprises means for controlling the orthogonality of the spindle with respect to the surface of the structure being worked on.

[0119] The means for controlling the orthogonality preferably comprise means for projecting a predetermined pattern onto the surface. Preferably, these projection means comprise two or three lasers 11 fixed to the frame 2 and capable of projecting a radius onto the structure in the area of ​​the hole to be formed.

[0120] The control and analysis means 40 are able to take at least one image of the pattern projected by the projection means onto the surface of the structure to be worked on, from which, if necessary, it is able to analyse the pattern and deduce any lack of accuracy of the single spindle 7 with respect to the surface.

[0121] If an orthogonality defect is detected, the controller 40 of the apparatus controls the handling means so as to correct the orthogonality until the axis of the spindle 7 is orthogonal to the surface of the structure being worked on.

[0122] 6.2.Work To perform a task on a structure to be worked on, firstly a handling means is implemented which moves the multitasking device to the location of the structure where the task has to be performed.

[0123] The multitasking device is positioned in close proximity at a certain distance from the surface of the structure to be treated.

[0124] The camera is moved to an intermediate position and coupled to the spindle.

[0125] The spindle 17 is moved along its axis such that the camera can be placed in a focusing position by moving the inner tubular portion 82 .

[0126] In order for the spindle to position the camera in the proper focusing position, the control means must calculate the movement that the spindle must impart to the inner tubular portion 82 that supports the camera, relative to the intermediate position of the camera.

[0127] To this end, the control means takes into account: The distance between the sharpness plane of the camera and the reference plane of the inner tubular part 82 in the retracted position. This distance is predefined and depends on the camera and its integration into the module. The distance between the surface of the structure and the same reference surface of the inner tubular portion 82 when the inner tubular portion 82 is in the retracted position. This distance can vary depending on whether the effector is in the approach position, docked on the structure, or whether the image to be taken is on a surface or in a hole.

[0128] As a result, the means for controlling the effector calculates the movement to be transmitted to the module as the difference between the two advance distances.

[0129] To ensure proper positioning of the device with respect to the structure to be worked on, in particular to properly position the axis of the spindle with respect to the structure to be worked on, the control and analysis means 40 use the camera 83 to take images of the surface of the workpiece and detect marking elements in these images for controlling the handling means.

[0130] The laser 11 then projects a predetermined pattern onto the surface of the structure to be worked on, and the control and analysis means 40 controls the camera 83 to take at least one image of the projected pattern. The analysis means analyzes the image(s) taken by the camera and deduce therefrom whether the axis of the spindle is perpendicular to the surface. If this is not the case, the control means act on the handling means to correct the orthogonality of the spindle until the axis of the spindle is perpendicular to the surface.

[0131] Once the position of the device (particularly the axis of the spindle) and the orthogonality of the spindle are correct, the device moves towards a docking position in a direction perpendicular to the surface.

[0132] Fixing means, such as suction cups, optionally secure the frame to the structure to be worked on.

[0133] During fastening, the pressure element is pressed, if necessary, against the surface of the structure to be worked on.

[0134] To control the effector from sliding relative to the surface during fixation, the camera module is moved by a spindle to a new focusing position on the surface.

[0135] During this fixation, the control and analysis means verify whether the device has moved relative to the surface of the work structure by determining, from a comparison of the images taken by the camera during fixation, whether a singular point of the work surface has moved from one image to another, in which case the fixation means are released and the fixing of the device to the work structure is carried out again after which the handling means are implemented to correct the position of the device.

[0136] If no fixing means are implemented, the holding of the position of the frame with respect to the surface is performed by the handling means, in which case the control and analysis means check during each task whether the device has slid with respect to the structure to be worked on.

[0137] Once the device is properly positioned and / or secured, the camera is placed in an intermediate position and then decoupled from the spindle and placed in a stowed position.

[0138] A module corresponding to a task to be performed is positioned on the axis of the spindle and coupled to the spindle.

[0139] The spindle is then moved to perform the desired operation, such as, for example, drilling and / or countersinking, setting coated or uncoated rivets, setting temporary fasteners, etc.

[0140] Once the task has been performed, the spindle is disengaged from the functional module and the functional module is moved so that it is no longer aligned with the axis of the spindle.

[0141] The camera is moved to an intermediate position and then coupled to the spindle.

[0142] The control means then move the camera to a focusing position and the analysis means can control the quality of the work done, e.g. the quality of the hole and / or the quality of the countersink or the quality of the seal at the head of the rivet, etc. Information on whether the work done is compliant or not is recorded in the controller.

[0143] Other tasks can then be performed at the same location (eg, inserting a rivet into a hole) or at another location on the structure being worked on.

Claims

1. A multitasking device, The frame and means for fastening said frame to motorized handling means capable of moving said apparatus at least partially in space relative to the structure to be worked on; a means for at least one of positioning and fixing the device relative to the surface of the workpiece so that the distance between the device and the surface of the workpiece can be changed between an approach position and a docking position; at least two functional modules each having at least one movable member capable of performing a given task on the structure to be worked on; a single drive spindle capable of rotational and / or translational movement along the same axis and capable of individually cooperating with said movable members to rotate and / or translate said movable members to perform a given task; a camera having a depth of field and mounted so as to be movable at least between a stowed position off the axis of the single spindle and an intermediate position on the axis of the single spindle; Equipped with the spindle acts on the camera to move the camera to at least one focusing position where the surface of the structure to be worked on is located within the depth of field of the camera; Multitasking device.

2. 2. The multitasking apparatus of claim 1, further comprising means for coupling said single spindle with said camera, said coupling means being capable of translating said single spindle with said camera, said camera being movable along said axis between said intermediate position and said at least one focused position.

3. 3. The multitasking device according to claim 1, wherein the camera is mounted so as to be able to move in translation along an axis perpendicular to the axis of movement of the single spindle between the storage position and the intermediate position.

4. 4. A multitasking device according to claim 3, further comprising means for guiding and driving said camera so that said camera can be translated between a stowed position and an intermediate position.

5. 5. The apparatus of claim 4, wherein said translationally guiding means comprises a camera support plate connected to said frame by a sliding connection on an axis perpendicular to the axis of said single spindle.

6. 6. The multitasking device of claim 5, wherein the plate has a hole through which the single spindle can pass when the camera is in a stowed position.

7. 3. A multitasking device according to claim 1, further comprising means for controlling the camera and for analyzing images taken by the camera.

8. 8. The multitasking device of claim 7, wherein the controlling and analyzing means is capable of detecting undesired movement of the device relative to the surface when the device is secured to the surface by the securing means.

9. 9. The multitasking device of claim 8, wherein the undesired movement of the device relative to the surface that the controlling and analyzing means is capable of detecting is movement generally parallel to the surface.

10. 9. The multitasking apparatus of claim 8, wherein the control and analysis means is capable of identifying singular points on the surface of the structure being worked on and monitoring the movement of the singular points in successive images taken by the camera, thereby estimating undesired movement of the apparatus relative to the surface of the structure being worked on.

11. 8. The multitasking device of claim 7, wherein the controlling and analyzing means is capable of detecting marking elements on the surface and estimating the position of the multitasking device relative to the marking elements from the positions of the marking elements in images captured by the camera.

12. The functional module comprises: a drilling module; a module for installing mastic coated or uncoated rivets; A module for installing temporary fasteners and Belonging to a group that includes at least 3. The multitasking device according to claim 1 or 2.

13. 8. The multitasking device according to claim 7, wherein the means for controlling and analyzing are capable of controlling the appearance of the holes or countersinks formed by the drilling module and verifying their compliance with predetermined visual quality standards.

14. 8. The multitasking apparatus of claim 7, wherein the controlling and analyzing means controls the manner in which a corolla of mastic protrudes laterally from the head of the rivet set by the rivet setting module to verify accurate continuity indicative of fit around the rivet head.

15. 3. A multitasking apparatus according to claim 1 or 2, comprising means for projecting a predetermined pattern onto the surface, the controlling and analyzing means being able to photograph and analyze the pattern and estimate the lack of accuracy of the single spindle relative to the surface.

16. means for securing the device to motorized handling means; the motorized handling means is capable of moving the multitasking device at least partially in space relative to the surface between at least one approach position in which the multitasking device is spaced from the surface and a docked position in which the device is pressed against the surface; 3. The multitasking device according to claim 1 or 2.

17. the control and analysis means are capable of controlling any of the following when the device is in the docked position: the appearance of the hole or countersink; the appearance of the mastic corolla projecting laterally from the rivet head; and any undesired movement of the device relative to the surface.

17. The multitasking device of claim 16.

18. the control and analysis means are capable of detecting marking elements provided on the surface when the device is in the approach position and of estimating the position of the multitasking device relative to these marking elements from the position of the marking elements in the images taken by the camera, or of detecting a lack of accuracy of the single spindle relative to the surface; 17. The multitasking device of claim 16.

19. 3. A method for performing a task using a multitasking device according to claim 1 or 2, comprising: The method includes the step of the spindle moving the camera to at least one focusing position where the surface of the structure being worked on is located within the depth of field of the camera.

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