Method and related system for performing industrial work operations in a work environment

Abstract

A method for performing construction and / or assembly and / or maintenance and / or repair and / or inspection operations in a work environment with the assistance of a mobile robot unit (1). The mobile robot unit (1) comprises a multi-axis manipulator robot (2) holding an operating head (4), and a carrier (3) holding the robot (2). The method comprises moving the carrier (3) to a predetermined work area in the work environment and fixing the carrier (3) at this position, starting a learning phase of the robot (2), where the operator (O) provides information about the positions in the space of a plurality of work points to an electronic controller (E) with the assistance of a programming tool (5), and processing a plurality of working trajectories of the operating head (4) based on the information obtained at the positions in the space of the work points and also based on a selection from a plurality of predetermined work programs that can be performed by the operating head (4).

Description

Technical Field

[0001] Explanation text The present invention relates to a system and related method for performing work operations of an industrial process within a work environment.

[0002] More specifically, the system according to the present invention is configured to perform construction and / or assembly and / or maintenance and / or repair and / or inspection operations within a work environment, for example, within a ship structure or a floating or semi-submersible marine structure, or within an aircraft or a building structure or an outdoor space, and includes a mobile robot unit.

[0003] The mobile robot unit can be configured to perform any type of work involving continuous or discontinuous processes such as welding, sealing, riveting, nailing, screwing, cutting, application of sealant, addition of materials by additive manufacturing techniques, etc.

Background Art

[0004] A system of the type shown above is described, for example, in document CN 107 030 349 A. This document actually discloses a mobile robot unit configured to perform welding operations within a work environment, particularly within a ship. The robot unit includes a carrier mounted with a manipulator robot having a welding head.

[0005] The present invention starts from the desire to create a system and method of the type shown above that enables the flexibility and efficiency of work execution to be improved in order to enable work cycles to be performed in a versatile, simple, and fast manner.

[0006] Object of the Invention The object of the present invention is to provide a system of the type shown above having high flexibility and efficiency characteristics.

[0007] A further object of the present invention is to provide a system of the type shown above that is extremely intuitive for the operator using it, and in particular to provide detection and control techniques that are simple to implement.

[0008] A further object of the present invention is to create a learning operation of the system that is extremely intuitive and fast and precedes the execution of the work.

SUMMARY OF THE INVENTION

[0009] To achieve these objects, the present invention relates to a method for performing construction and / or assembly and / or maintenance and / or repair and / or inspection operations in a work environment such as, for example, within a ship structure or a floating or semi-submersible marine structure or within an aircraft or within a building structure or in an outdoor space, with the assistance of a mobile robot unit, the mobile robot unit comprising: a multi-axis manipulator robot holding an operating head, a carrier for holding the robot, which is configured to be wire-guided or remotely controlled by an operator or to have an autonomous driving function, wherein the method comprises the following steps: moving the carrier to a work area in the work environment and fixing the carrier at this position; starting a learning phase of the robot, wherein the operator, with the assistance of a programming tool, provides the electronic controller (E) with information about the positions in space of a plurality of work points where the operating head needs to operate; processing, through the electronic controller, a plurality of working trajectories of the operating head based on the information obtained at the positions in space of the work points and based on a selection made by the operator through a human-machine interface from a plurality of predefined work programs contained in a memory accessible by the electronic controller and operable by the operating head; and starting the selected work program, wherein the operating head is automatically controlled to move along the processed working trajectories.

BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Further features and advantages of the invention will become apparent from the following description with reference to the accompanying drawings, which are provided by way of non-limiting example only.

Figure 1

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[0011] For the purpose of a deep understanding of examples of one or more embodiments, various specific details are described in the following description. Embodiments can be made without one or more of the specific details, or with other methods, components, materials, etc. In other cases, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring various aspects of the embodiments. References to "an embodiment" or "one embodiment" within the framework of this description mean that a particular configuration, structure, or feature described in relation to the embodiment is included in at least one embodiment. Thus, phrases such as "in an embodiment" or "in one embodiment" that may appear in different places in this description do not necessarily refer to the same embodiment. Furthermore, a particular form, structure or feature can be suitably combined in one or more embodiments and / or associated with the embodiments in a manner other than that described herein. As a result, for example, features illustrated herein with respect to a figure can be applied to one or more embodiments illustrated in different figures.

[0012] The reference signs shown herein are for convenience only and thus do not limit the scope of protection or the scope of the embodiments.

[0013] Referring to FIG. 1, reference sign S denotes an entire system for performing construction and / or assembly and / or maintenance and / or repair and / or inspection operations within a work environment. The system S includes a mobile robot unit 1 that can be configured to perform any type of work involving continuous or discontinuous processes, such as welding, sealing, riveting, nailing, screwing, cutting, applying a sealant, adding materials by additive manufacturing techniques, etc.

[0014] The figure shows an embodiment related to a system S configured to perform welding operations, particularly arc welding. As shown above, since the present invention is applicable to any type of industrial work involving continuous or discontinuous processes, this example is not considered limiting in any way.

[0015] According to the present invention, the mobile robot unit 1 includes a multi-axis manipulator robot 2 that holds an operation head 4, and a carrier 3 on which the robot 2 is mounted. The operation head 4 includes working means configured to perform a plurality of construction and / or assembly and / or maintenance and / or repair operations within a work environment.

[0016] In a preferred embodiment, the work environment consists of a ship structure, and the mobile robot unit 1 and method are set up to assemble a part of a ship under construction.

[0017] Referring to FIG. 1 in which the mobile robot unit 1 is shown, the robot 2 is a multi-axis manipulator robot having a base 14 and a column mounted on the base 14 and rotatable about a first vertically oriented axis. The robot 2 has an arm 15 mounted on the column and articulating about a second horizontally oriented axis; reference numeral 16 indicates a front arm mounted on the arm 15. The front arm 16 also articulates about a third horizontally oriented axis; the front arm 16 also has the ability to rotate about its longitudinal axis and is provided at its end with a wrist having the ability to rotate about two mutually perpendicular axes. According to techniques known per se, each of the six axes of the robot 2 is controlled by a respective electric motor. The electric motors of the robot 2 are controlled in a manner known per se by an electronic control unit. At the distal end of the wrist of the robot 2, a flange is provided for attaching an operation head 4 that holds working means for performing operations involving continuous or discontinuous processes. Preferably, the attachment flange is a sensor flange for avoiding any collisions.

[0018] In the embodiment described with reference to FIGS. 1 and 3A, the operating head 4 includes welding means. Preferably, the welding means includes a welding torch 25 provided for performing gas shielded metal arc welding (MIG / MAG). Reference numeral 26 denotes a wire feeder held by the robot 2. Of course, the present invention is also relevant when welding means configured to perform other types of welding (for example, laser, resistance welding, etc.) are provided.

[0019] As previously shown, the multi-axis manipulator robot 2 is held by the carrier 3. Referring again to FIG. 1, the carrier 3 includes a frame 17 and forward / moving means 18 configured to move on the ground, for example, on a metal surface or other material and on soil. Preferably, the forward / moving means 18 is a pair of endless tracks configured to enable easy movement of the robot unit 1 even on a non-uniform ground that is prone to deformation. Of course, instead of the endless tracks, the carrier 3 may provide other types of forward / moving means 18. The carrier 4 also includes a plurality of stationary legs 19 supported by respective stabilizer arms 20 extending from the frame 17. Preferably, the arms 20 are in symmetric positions with respect to each other with respect to the mobile robot unit 1. The stabilizer arms 20 can be extended or folded and can be automatically controlled by respective actuator means to rest on the ground and maintain the carrier 3 in a stable position on the ground.

[0020] In a preferred embodiment of the present invention, the carrier 3 is configured to be wired-guided or remotely controlled by the operator O. However, it should be noted that the carrier 3 can be configured to move automatically in a predetermined or programmed manner and autonomously reach different areas of the work area where various work operations are performed.

[0021] According to the description of FIG. 1, the mobile robot unit 1 is mechanically connected to the service trolley 13 equipped with wheels 27 in a trailer configuration. In this regard, the carrier 3 includes a connection hinge 28 for pulling the trolley 13, which has a vertical support portion 21 provided to support various components for controlling the unit 1 at an ergonomic height for the operator O. Among the above components, there is a human-machine interface (HMI) 12 configured to enable the operator O to program and control the work cycle. According to the preferred embodiment described in FIG. 1, various electronic components for controlling the work cycle are also mounted and arranged on the carrying platform 13, including a support body 29 for supporting the reel of welding wire, a safety push-button panel 30 for safely controlling some basic functions of the work cycle, and a remote control 31 for controlling the carrier 3. The trolley 13 is connected to a service unit (not shown) by a connection cord 11. The cord 11 includes a cable and a service pipe. According to the preferred example shown, the connection is made by a pair of cords 11 joined along their lengths, thereby enabling easier movement and maintenance compared to providing a single cord that bears more weight than the total weight divided between two parallel cords.

[0022] According to the features of the present invention, the system S comprises an electronic controller E configured to start a learning phase of the robot 2 before the execution of the work. In one or more embodiments, the controller E is held by the service trolley 13.

[0023] The learning phase includes a plurality of preliminary sub-phases described in more detail below, among which there is a preliminary programming phase, where the operator O provides the electronic controller E with information about the positions in space of a plurality of work points where the operating head 4 needs to operate, with the assistance of the programming tool 5.

[0024] In one or more embodiments, and as described in FIG. 2, the programming tool 5 is a marker device provided to generate points and processing trajectories that can be automatically recognized by the robot unit 1. The marker device can be manually used by the operator O each time to define a working point.

[0025] As described in the embodiment of FIG. 2, the marker device is a rod 7 operable by the operator O and includes at least one pointer element 9 acting as a marker for the robot unit 1. The pointer element 9 is optically detectable by means of the vision device 6. In one or more embodiments, the vision device 6 is mounted on the robot 2. In other embodiments, the vision device 6 is arranged outside the robot 2. The rod 7 includes a proximal portion 22 configured to be gripped by the operator O and a distal portion 8 including the pointer element 9 that can be automatically recognized by the robot 2. Preferably, the pointer element 9 is configured at the tip of the marker device, thereby performing the step of indicating a working point, which is particularly intuitively manually performed by the operator O. The rod 7 can also be telescopic and include a plurality of tubular elements configured to slide one inside the other. Thanks to this feature, the operator O can change the extension of the marker device according to the characteristics of the working area being operated and the distance from the point intended to be indicated using the pointer element 9.

[0026] As previously shown, the manipulator robot 2 includes a vision device 6 provided to detect the position of the pointer element 9. This vision device 6 can be made up of optical and electronic components, such as one or more video cameras, for example, that enable the acquisition, recording, and processing of a sequence of detected images. The result of the processing is the recognition of specific features of the image to command the control and selection of the position of the pointer element 9. As described in FIGS. 3A - 3B, the vision device 6 is a video camera mounted near the operating head 4 integrated with the axis of the robot 2.

[0027] According to the features described in FIGS. 3A and 3C, at the end of the pointer element 9, there is a check sphere 32 for "contacting" various elements arranged within the space of the working area. From the check sphere 32, a polygonal body 33 including a plurality of faces extends in the direction of the proximal portion 22, where at least one face shows a QR code (registered trademark) 34 that can be read by the visual device 6. Alternatively, the pointer element 9 may include a three-dimensional element having a specific shape previously recognized by the visual device 6 according to the preliminary programming phase of the unit 1.

[0028] In both cases, the visual device 6 can detect and identify the position of the pointer element 9, thereby uniquely estimating the orientation and position of the robot 2 within the space.

[0029] Referring to FIGS. 3D - 3E, the proximal portion 22 of the marker device includes a handle 35, on which there are various buttons for controlling the working cycle. Among these are: · For example, at least one selection button 23 for providing input commands during cycle execution, such as activating the search function of the pointer element 9, identifying the specific positions indicated as obstacles to be bypassed, and avoiding collisions with the head 4; · A "dead man" safety button 36 for the robot 2 to come to a complete stop after the pressure exceeds a given load; An emergency button 37 There is.

[0030] In other embodiments, the buttons described above are separated from the rod 7 that holds the pointer element 9.

[0031] Preferably, the marker device also includes a support body 24 associated with the handle 35 for supporting the forearm of the operator O, thereby facilitating the support of the tool 5.

[0032] Thanks to the features described above, it is possible to teach the robot 2 the working points for performing the working operations by the working head 4 in a particularly fast and intuitive manner by means of the pointer element 9 which is automatically recognizable by the robot 2.

[0033] In the case of work involving a continuous process, the operator O uses the pointer element 9 to indicate the initial point, the end point, and the working path extending between the initial point and the end point. As shown above, the pointer element 9 is preferably arranged on the tip of the marker device. If there are obstacles along the indicated processing trajectory, the system S provides the ability to accurately detect the points that identify the positions of the above-mentioned obstacles between the initial point and the end point of the processing trajectory. As a result, the system S provides the function of automatically performing the work from the initial point to the end point while bypassing the previously identified obstacles.

[0034] In one or more embodiments, the learning phase of the robot 2 may include a further preliminary phase, where the operator O selects various operating parameters including the type of work, the angle of approach of the robot 2, the orientation of the robot 2 during the working trajectory, the speed of the robot 2, etc. for performing the desired process. The selection of various parameters by the operator O may include the step of selecting from a plurality of predefined work programs that are operable by the working head 4 and are included in a memory accessible by the electronic controller E. Further features related to these work programs are shown in the following description.

[0035] According to a further feature illustrated in FIGS. 1, 3A, and 3B, at least one optoelectronic detection system 10 for assisting the robot 2 is associated with the operating head 4, which is provided to carry out the previously mentioned automatic fine adjustment step of the working point. This fine adjustment step, which can be carried out before or simultaneously with the execution of the selected working program, provides for the robot 2 to be controlled to move the operating head 4, thereby carrying the optoelectronic detection system 10 to the position closest to the working point while keeping the carrier 3 stationary. With the assistance of the optoelectronic detection system 10, the spatial position of the working point is finely adjusted, that is, determined in a more precise manner than indicated by the tool 5.

[0036] Preferably, the optoelectronic detection system 10 for assisting the robot 2 includes a light-emitting device configured to project a laser beam blade onto the working area and a receiving device for acquiring the reflected radiation. The fine adjustment step of the working area is detected with the assistance of the optoelectronic detection system 10, thereby determining corrections to the welding parameters that are part of the selected predefined working program if necessary. In other words, the working point inaccurately indicated using the pointer element 9 can be addressed using the optoelectronic detection system 10.

[0037] Referring to the enlarged view of FIG. 3A, the operating head 4 also includes lighting means 38 that assist a marker device for detecting the pointer element 9.

[0038] The following description shows the operation of the system S described above.

[0039] According to the present invention, the working cycle to be executed can be divided into three different operation macro steps: · A first operation step, where the carrier 3 is moved to be positioned in the target area in the working area; · A second operation step, where the parameters and working trajectory executed by the robot 2 are defined; and · The third operation step, where the operation head 4 performs the previously defined work.

[0040] More generally, the system S is provided to operate in an online program mode that defines a single point (in the case of a discontinuous process) and a processing trajectory (in the case of a continuous process) whenever a given work on one or more components of the work area needs to be performed.

[0041] In the following, for the sake of simplicity, reference is made to the described embodiment where the operation head 4 includes a welding head. Of course, as generally indicated above, instead of a welding head, processing means suitable for performing other types of work by using continuous or discontinuous processes may be provided.

[0042] The first operation step provides that the operator O guides the carrier 3 to a position suitable for starting the process in the work area, for example by remote control. Under this condition, the robot 2 is in a rest position and in a safe condition: the movement of the robot 2 is not permitted by the control logic. According to the safety protocol, in this step, the operator O is located behind the carrier 3 and in front of the vertical support part 21 of the trolley 13.

[0043] When the desired positioning is performed, the operator O selects a dwell command. This command provides the actuation of the stabilizer 20 to stably dwell the carrier 3. Thus, the movement of the robot 2 is permitted under this condition.

[0044] Once the position of the transporter 3 is defined, the second operation step starts: The operator O selects an operating area via the human-machine interface 12, indicating where the partition walls surrounding the working area are located (e.g., indicating the relative distance between the transporter 3 and the partition walls). This information is used to selectively activate several safety systems (not shown) to limit the working area of the robot 2. The operator O also indicates the target area of the operating area (e.g., by indicating to weld on the right, left, or front side with respect to the orientation of the transporter 3) in order to perform the welding. The final confirmation of the selected configuration is given by the operator O via a button located near the human-machine interface 12. Once the selection is confirmed, the human-machine interface 12 permits proceeding to the next operation step. In other words, the operator O needs to select the configuration of the partition walls of the working environment before further advancing the definition of the work cycle.

[0045] After that, the operator O defines various working parameters and welding trajectories. In this regard, as previously shown, a plurality of predefined working programs are included in the memory accessible by the electronic controller E. For example, the working programs can be selected using various icons that schematically represent different types of work. In the case of the operating head 4 for performing the welding operation, each of the working programs includes information about a predefined configuration of the weld joint and a plurality of welding parameters associated with the predefined configuration of the weld joint.

[0046] The operator O makes a preliminary selection of one of the predefined working programs from among the plurality of available predefined programs via the human-machine interface 12 (offline programming phase).

[0047] Preferably, each recognized working program identifies the following: · The type of joint (e.g., bulkhead deck or bulkhead reinforcement, referring to a ship under construction); · The particularity of the joint, e.g.: · Presence of obstacles at the initial point, end point, or intermediate position; · Non-smooth corrugated partitions; · Intersecting partitions.

[0048] As illustrated in FIG. 4, the human-machine interface 12 shows a relevant simple graphic 39 for each work program. Depending on the selection made, additional information may need to be input and completed for the execution of the welding (e.g., sheet thickness, joint with / without welding gap, number of passes).

[0049] After confirmation of the predefined work program, the robot 2 moves towards the specific approaching position of each program according to the work area, thereby facilitating the acquisition of the work points in the subsequent phase.

[0050] Thereafter, the operator O uses the programming tool 5 to provide the robot controller E with information about the position in space of the work points where the operating head 4 needs to operate. If the programming tool 5 includes the marker device described above, the operator O uses the marker device to indicate, by means of the pointer element 9, the initial point of the processing trajectory (in the case of a continuous process).

[0051] As illustrated in FIG. 5, the human-machine interface 12 suggests which points to acquire and in what order, based on previous selections. The operator O needs to identify the previously displayed points by placing markers, which serves the purpose of identifying the initial and end points of the welding and defining the shape of any obstacles.

[0052] The visual device 6 detects the position of the pointer element 9, and the robot 2 automatically moves and carries the operating head 4 towards the point indicated by the pointer element 9. The system S is configured such that the robot 2 operates to continuously follow the position of the marker at a safe speed in real time. The robot 2 follows the marker while maintaining a fixed distance and a reduced speed (less than 250 mm / second) for safety reasons. The marker must always be framed by the visual device 6.

[0053] The system S provides an automatic fine-tuning step for the learning of the robot 2, where, while the carrier 3 always remains stationary, the robot 2 is controlled by the optoelectronic detection system 10 to move the operating head 4 to the position closest to the working point in order to more accurately determine the spatial position of the working point. This fine-tuning step can be executed before or simultaneously with the execution of the selected work program. Next, the working point can be fine-tuned, and in some cases, a differential offset regarding a previous manual selection can be established.

[0054] Note that according to the above fine-tuning step, the optoelectronic device 10 is also configured to verify the feasibility and consistency of the selections made by the operator O regarding the actually acquired points and the identification elements of these points. In other words, a reachability test is performed for each working point to ensure that the welding is carried out correctly.

[0055] Preferably, a visual signal by an LED mounted on the carrier 3 indicates whether the working point is consistent with the working environment and the selected parameters. If the selected point exceeds the reachable radius of the robot 2, as an alternative: Reduce the operating area by selecting a closer point, or Execute the "cycle stop" procedure to return the robot 2 to its rest position without performing subsequent steps.

[0056] At the end of the fine-tuning step using the optoelectronic device 10, the operating head 4 is automatically controlled to move along the processed work trajectory to perform the planned work.

[0057] According to a preferred embodiment, the system S is configured to store the work cycles and all related parameters executed, possibly for the purpose of quality control of the work performed, in order to be able to subsequently evaluate the operations performed.

[0058] According to a further embodiment, the system S includes a group of mobile robot units 1 configured to work simultaneously and in a coordinated manner in the work area, and the group is controlled by a central electronic unit according to logic control for managing the simultaneous movement of the mobile units 1.

[0059] Thanks to the features described above, the system S according to the present invention is capable of performing a plurality of operations of continuous or discontinuous processes in a simple, fast, and very intuitive manner for the operator.

[0060] Of course, without detriment to the basic principles of the present invention, the structural details and embodiments may vary widely with respect to those described and illustrated, without departing from the scope of the present invention as defined in the appended claims. (Other possible items) (Item 1) A method for performing construction and / or assembly and / or maintenance and / or repair and / or inspection operations in a work environment such as, for example, within a ship structure or a floating or semi-submersible marine structure or within an aircraft or within a building structure or in an outdoor space, with the assistance of a mobile robot unit (1), Said mobile robot unit (1) being: A multi-axis manipulator robot (2) holding an operating head (4), A carrier (3) holding said robot (2), configured to be wired-guided or remotely controlled by an operator (O) or provided with an autonomous driving function comprising wherein the method comprises the following steps: moving the carrier (3) to a working area in the working environment and fixing the carrier (3) at this position; starting a learning phase of the robot (2), wherein the operator (O) provides information about positions in the space of a plurality of working points at which the operating head (4) needs to operate, with the assistance of a programming tool (5), to an electronic controller (E); processing a plurality of working trajectories of the operating head (4) through the electronic controller (E) based on the information obtained at the positions in the space of the working points, and based on a selection made by the operator (O) through a human-machine interface (12) from a plurality of predefined working programs included in a memory accessible by the electronic controller (E) and workable by the operating head (4); and starting the selected working program, wherein the operating head (4) is automatically controlled to move along the processed working trajectories comprising a method. (Item 2) at least one optoelectronic detection system (10) for assisting the robot (2) is associated with the operating head (4), and after the learning phase and before or simultaneously with the execution of the selected working program, an automatic fine-tuning step of the learning of the robot (2) is performed, wherein the robot (2) is controlled to move the operating head (4) to carry the at least one optoelectronic detection system (10) to a position closest to the working point, during which the carrier (3) remains stationary, and wherein the spatial position of the working point is more accurately determined with the assistance of the at least one optoelectronic detection system (10), the method according to item 1. (Item 3) Each of the operation programs includes information about a specific type of operation to be executed and a plurality of operation parameters associated with the specific type of operation, according to the method described in item 2. (Item 4) The selection of the operation program is performed before using the programming tool (5), according to the method described in item 3. (Item 5) During the fine-tuning step, the working area is detected with the assistance of the optoelectronic detection system (10) in such a way that it is determined whether corrections are necessary for the operation parameters that are part of the selected operation program, according to the method described in any one of items 2 to 4. (Item 6) The programming tool (5) used in the learning phase includes a marker device manually operated by an operator (0) in order to make a plurality of working points in the working area recognizable by a vision device (6) held by the robot (2), according to the method described in item 1. (Item 7) The marker device is a rod (7) operable by the operator (0) and has an end portion (8) including a pointer element (9) recognizable by the vision device (6), according to the method described in item 6. (Item 8) The electronic controller (E) is operably connected to the carrier (3) and is held by a service trolley (13) connected to a service unit via at least one connection cord (11) including a cable and a service pipe, according to the method described in item 1. (Item 9) The at least one optoelectronic detection system (10) for assisting the robot (2) includes a light-emitting device configured to project a laser beam blade onto the working area and a receiving device for acquiring the reflected radiation, according to the method described in item 2. (Item 10) The method according to item 1, wherein the operating head (4) is configured to perform an operation selected from welding, riveting, screwing, cutting, application of a sealant, addition of a material by additive manufacturing techniques. (Item 11) The method according to item 10, wherein the operating head (4) is configured to perform an arc welding operation. (Item 12) The method according to item 3, wherein the operating head (4) is configured to perform an arc welding operation, and each of the work programs includes information about a predefined configuration of a weld joint and a plurality of welding parameters associated with the predefined configuration of the weld joint. (Item 13) For example, in a working environment such as inside a ship structure or a floating or semi-submersible marine structure or inside an aircraft or a building structure or an outdoor space, a system (S) for performing construction and / or assembly and / or maintenance and / or repair and / or inspection operations, The system (S) A multi-axis manipulator robot (2) that holds the operating head (4) and is associated with an electronic controller (E), A carrier (3) that holds the multi-axis manipulator robot (2) and is configured to be wire-guided or remotely controlled by an operator (O) so as to be moved to a predefined work area in the working environment and then fixed at this position, or has an autonomous driving function Comprising a mobile robot unit (1) including The system (S) is provided with a programming tool (5) that is usable by an operator (O) and is configured to provide the electronic controller (E) with information about the positions within the space of a plurality of work points where the operating head (4) needs to operate. The electronic controller (E) further: Based on the information obtained at the position of the working point in space, and also based on the selection made by the operator (O) through the human-machine interface (12) from a plurality of predefined working programs included in a memory accessible by the electronic controller (E) and workable by the operating head (4), to process a plurality of working trajectories of the operating head (4), and, to execute the selected working program, where the operating head (4) is automatically controlled to move along the processed working trajectory is configured to be a system. (Item 14) At least one optoelectronic detection system (10) for assisting the robot (2) associated with the operating head (4), After the learning phase, and before or simultaneously with the execution of the selected working program, the electronic controller (E) is also configured to execute an automatic fine-tuning step of the learning of the robot (2), where the robot (2) is controlled to move the operating head (4) to carry the at least one optoelectronic detection system (10) to the position closest to the working point, during which the carrier (3) maintains a stationary state, where, with the assistance of the at least one optoelectronic detection system (10), the spatial position of the working point is determined more accurately, The system (S) according to item 13, further comprising (Item 15) The programming tool (5) used in the learning phase includes a marker device configured to be manually operated by the operator (0) to make a plurality of working points recognizable in the working area by a visual device (6) held by the robot (2). The system (S) according to item 14. (Item 16) The marker device is a rod (7) operable by the operator (O), and has an end (8) including a pointer element (9) recognizable by the marking device vision (6) held by the robot (2), for the system (S) according to item 15. (Item 17) The at least one optoelectronic detection system (10) for assisting the robot (2) includes a light emitting device configured to project a laser beam blade onto the work area, and a receiving device for acquiring the reflected radiation, for the system (S) according to item 14. (Item 18) The system (S) according to item 13, wherein the operating head (4) is configured to perform an operation selected from welding, riveting, screwing, cutting, application of a sealant, addition of material by additive manufacturing. (Item 19) The system (S) according to item 13, wherein the operating head (4) is configured to perform an arc welding operation.

Claims

1. A method for performing construction and / or assembly and / or maintenance and / or repair and / or inspection operations in a work environment such as within a ship structure or a floating or semi-submersible marine structure or an aircraft or a building structure or an outdoor space, with the assistance of a mobile robot unit, wherein the mobile robot unit comprises: a multi-axis manipulator robot holding an operating head, a carrier holding the multi-axis manipulator robot, configured to be wired-guided or remotely controlled by an operator or equipped with an autonomous operation function and wherein the method comprises the following steps: moving the carrier to a work area in the work environment and fixing the carrier at this position; starting a learning phase of the multi-axis manipulator robot, wherein the operator provides information about the positions in space of a plurality of work points where the operating head needs to operate to an electronic controller with the assistance of a programming tool; processing a plurality of working trajectories of the operating head through the electronic controller, based on the information obtained at the positions in space of the plurality of work points and based on a selection made by the operator through a human-machine interface from a plurality of predefined work programs included in a memory accessible by the electronic controller and operable by the operating head, and starting the selected work program, wherein the operating head is automatically controlled to move along the processed working trajectories and a method.

2. At least one optoelectronic detection system for assisting the multi-axis manipulator robot is associated with the operating head, and after the learning phase and before or simultaneously with the execution of the selected work program, an automatic fine-tuning step of the learning of the multi-axis manipulator robot is performed, wherein the multi-axis manipulator robot is controlled to move the operating head to carry the at least one optoelectronic detection system to a position closest to the plurality of work points, during which the carrier maintains a stationary state, and wherein the spatial positions of the plurality of work points are more accurately determined with the assistance of the at least one optoelectronic detection system. The method according to claim 1.

3. The method according to claim 2, wherein each of the operation programs includes information on a specific type of operation to be executed and a plurality of operation parameters associated with the specific type of operation.

4. The method according to claim 3, wherein the selection of the operation program is performed before using the programming tool.

5. The method according to any one of claims 2 to 4, wherein during the automatic fine-tuning step, the working area is detected with the assistance of the optoelectronic detection system in such a way that it is determined whether correction is required for the operation parameters that are part of the selected operation program.

6. The method according to claim 1, wherein the programming tool used in the learning phase includes a marker device manually operated by an operator to make a plurality of working points in the working area recognizable by a vision device held by the multi-axis manipulator robot.

7. The method according to claim 6, wherein the marker device is a rod operable by the operator and has an end portion including a pointer element recognizable by the vision device.

8. The method according to claim 1, wherein the electronic controller is operably connected to the carrier and is held by a service trolley connected to a service unit via at least one connection cord including a cable and a service pipe.

9. The method according to claim 2, wherein the at least one optoelectronic detection system for assisting the multi-axis manipulator robot includes a light-emitting device configured to project a laser beam blade onto the working area and a receiving device for acquiring the reflected radiation.

10. The method according to claim 1, wherein the operation head is configured to perform an operation selected from welding, riveting, screwing, cutting, application of a sealant, addition of a material by additive manufacturing techniques.

11. The method according to claim 10, wherein the operation head is configured to perform an arc welding operation.

12. The method according to claim 3, wherein the operation head is configured to perform an arc welding operation, and each of the work programs includes information about a predetermined configuration of a weld joint and a plurality of welding parameters associated with the predetermined configuration of the weld joint.

13. For example, a system for performing construction and / or assembly and / or maintenance and / or repair and / or inspection operations in a work environment such as within a ship structure or a floating or semi-submersible marine structure or an aircraft or a building structure or an outdoor space, The system is A multi-axis manipulator robot that holds an operation head and is associated with an electronic controller, A carrier configured to be wired-guided or remotely controlled by an operator so as to hold the multi-axis manipulator robot and move it to a predetermined work area in the work environment and then be fixed at this position, or a carrier having an autonomous operation function Comprising a mobile robot unit including The system includes a programming tool that is available to an operator and is configured to provide the electronic controller with information about the positions in the space of a plurality of work points where the operation head needs to operate. The electronic controller further: Based on the information obtained at the positions in the space of the plurality of work points, and based on a selection made by the operator through a human-machine interface from a plurality of predetermined work programs included in a memory accessible by the electronic controller and operable by the operation head, process a plurality of work trajectories of the operation head, and Execute the selected work program, wherein the operation head is automatically controlled to move along the processed work trajectory Is configured System.

14. At least one optoelectronic detection system for assisting the multi-axis manipulator robot associated with the operation head The electronic controller is also configured to execute an automatic fine-tuning step of learning of the multi-axis manipulator robot after the learning phase and before or simultaneously with the execution of the selected work program, wherein the multi-axis manipulator robot is controlled to move the operation head to carry the at least one optoelectronic detection system to a position closest to the plurality of work points, during which the carrier maintains a stationary state, and wherein the spatial positions of the plurality of work points are determined more accurately with the assistance of the at least one optoelectronic detection system. The system according to claim 13, further comprising.

15. The programming tool used in the learning phase includes a marker device configured to be manually operated by an operator to make a plurality of work points recognizable in the work area by a vision device held by the multi-axis manipulator robot. The system according to claim 14.

16. The marker device is a rod operable by the operator and has an end portion including a pointer element recognizable by the vision device held by the multi-axis manipulator robot. The system according to claim 15.

17. The at least one optoelectronic detection system for assisting the multi-axis manipulator robot includes a light-emitting device configured to project a laser beam blade onto the work area and a receiving device for obtaining the reflected radiation. The system according to claim 14.

18. The operation head is configured to perform an operation selected from welding, riveting, screwing, cutting, application of a sealant, addition of a material by additive manufacturing. The system according to claim 13.

19. The operation head is configured to perform an arc welding operation. The system according to any one of claims 13 to 18.

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