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WO2009036816A1 - Système et procédé pour déterminer et/ou reconnaître des objets lors de processus de fabrication et de production robotisés - Google Patents

Système et procédé pour déterminer et/ou reconnaître des objets lors de processus de fabrication et de production robotisés Download PDF

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Publication number
WO2009036816A1
WO2009036816A1 PCT/EP2008/002237 EP2008002237W WO2009036816A1 WO 2009036816 A1 WO2009036816 A1 WO 2009036816A1 EP 2008002237 W EP2008002237 W EP 2008002237W WO 2009036816 A1 WO2009036816 A1 WO 2009036816A1
Authority
WO
WIPO (PCT)
Prior art keywords
radar
radar sensor
data processing
objects
detecting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2008/002237
Other languages
German (de)
English (en)
Inventor
Jörg IHRIG
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ABB AG Germany
Original Assignee
ABB AG Germany
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from DE102007045381A external-priority patent/DE102007045381A1/de
Application filed by ABB AG Germany filed Critical ABB AG Germany
Priority to ATA9307/2008A priority Critical patent/AT512732B1/de
Publication of WO2009036816A1 publication Critical patent/WO2009036816A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/027—Electromagnetic sensing devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/411—Identification of targets based on measurements of radar reflectivity
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/881—Radar or analogous systems specially adapted for specific applications for robotics
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40554—Object recognition to track object on conveyor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40564—Recognize shape, contour of object, extract position and orientation

Definitions

  • the invention relates to a system and a method for detecting and / or detecting objects in robot-assisted production and manufacturing processes, wherein in particular the geometric shape and / or the spatial orientation and / or the position of the respective object, in particular moved by means of a conveyor or conveyor belt Object, relative to at least one handling device and / or a reference point, regardless of the prevailing lighting conditions, can be determined.
  • a robot is understood to mean an almost freely programmable, computer-controlled handling device or a handling device for moving material, workpieces, tools or special devices.
  • Robots are stationary or mobile machines or devices that perform predetermined tasks, in particular a program, specified tasks and / or fulfill.
  • Robot, handling device or device are also used synonymously below.
  • industrial robots industrially used robots with multiple axes, in particular six axes, understood, which in various production and / or manufacturing processes, such as in the Automotive industry when painting, welding, or polishing or grinding and the like can be used.
  • robots in the field of automation, for example in painting and / or welding technology, or robotic automation is one of the most widespread applications in modern robot systems.
  • robots are increasingly being used, with the aid of which, in conjunction with the most universal production devices, numerous different product variations can be produced, with the robots and / or production devices used as a rule intelligently communicating with their environment via a large number of sensors and interact.
  • coping with complex automation tasks in the production area also often involves the detection and / or differentiation of patterns as well as the recognition of the respective workpiece to be machined and / or its position and / or orientation or orientation in space.
  • the position and / or orientation of the respective workpiece is to be determined precisely in order to be able to track the respective handling devices and mounting devices with sufficient accuracy.
  • the cost of the product-dependent devices is drastically reduced and the flexibility of production increases many times, if the position can be determined in three-dimensional space.
  • vision systems are used for this purpose. These systems mainly use optical methods, in particular from the field of image / pattern recognition, and are subdivided into 2-dimensional and 3-dimensional position and / or position recognition systems in accordance with their configuration
  • the respective workpiece is detected via one or more flexibly or stationarily arranged cameras or camera systems, as a rule using light or laser beams, in particular in the visible spectral range, and its position and / or orientation, for example also using a corresponding computer program component, determined or determined.
  • Known systems use light in the visible range for illuminating or illuminating or for operating the respective camera or camera systems, in particular from about 380 to 780 nanometers [nm] wavelength, or employ lasers with a comparable wavelength range.
  • For spatial vision or spatial detection and stereo systems can be used.
  • 3D (3-dimensional) stereo systems allow the highly accurate determination of position coordinates even in six degrees of freedom. They are particularly used when simple recognition / identification or distinguishing features are not available or not available, large or multiple parts or components detected with a very high resolution and the quality and efficiency of highly automated Rotober- and handling systems through fast and accurate Position determinations should be increased or must.
  • the respective working area of the camera and / or handling system or device is defined and / or illuminated homogeneously, the fluctuations in the brightness, in particular due to the course of the day, weather or seasonal variations in brightness, being reduced to a minimum.
  • the object of the invention is to provide a possibility for efficient detection and / or detection of an object, in particular a moving object, which is non-optical and thus independent of the prevailing lighting conditions and dispenses with the use of artificial light sources.
  • the system for detecting and / or detecting objects in robotic production and manufacturing processes at least one radar sensor and a data processing device which cooperates with the respective radar sensor and with which at least one object, in particular a moving object, and / or the respective position and position can be detected and / or recognized and / or converted into information usable for a control / regulating device of at least one handling device.
  • two or more radar sensors can be used.
  • radar sensor and data processing device each have a wireless or wired communication connection, in particular a LAN, WLAN or WAN, for example, the type Ethernet, Bluetooth, or other common bus type, such as CAN, CANOPEN, Profibus, Modbus, but also USB , RS-232, SCSI or the like.
  • a wireless or wired communication connection in particular a LAN, WLAN or WAN, for example, the type Ethernet, Bluetooth, or other common bus type, such as CAN, CANOPEN, Profibus, Modbus, but also USB , RS-232, SCSI or the like.
  • the system comprises at least one interface via which the converted information of the control / regulating device of at least one handling device, in particular one or more six-axis industrial robots, feedable or can be transmitted.
  • the aforementioned interface can be wired or wireless in nature, for example, as Ethernet, Bluetooth, CAN, CANOPEN, Profibus, Modbus, but also USB, RS-232 or SCSI interface or a combination thereof be.
  • the corresponding radar sensors comprise both a transmitting device and a receiving device for radar waves of suitable frequency. Further education transmitting and receiving device can also be integrated in a device.
  • electromagnetic waves can be generated outside the visible spectral range by means of the respective radar sensor, for example in the form of microwaves in the MHz and GHz range or of sound waves at frequencies between 20 kHz and 1 GHz, which are resistant to influences in the surrounding atmosphere as in production. and production facilities is insensitive.
  • the associated transmission frequencies can be an example in the range of 76-77 GHz, corresponding to a wavelength of about 4 mm or even in the range of about 24 GHz move.
  • the object is achieved by a corresponding method for detecting and / or detecting objects for processing by computer-controlled handling devices, wherein in particular by means of an aforementioned system, at least one object, in particular a moving object, and / or their respective position and Radar-based detected and / or detected or identified and / or the obtained data and / or signals are converted into usable for a control / regulation device at least one handling device information.
  • the method is also applicable to a moving by means of a transport or conveyor belt object.
  • the usable information for implementation via a corresponding communication link to the control / regulating device at least one handling device, in particular a multi-axis industrial robot, transmitted and / or for synchronization and coordination of movements and positioning of handling device and object, in particular workpiece used ,
  • the respective radar sensor with transmitting and receiving device transmits directional electromagnetic waves bundled as a so-called primary signal and receives the signals or "echoes" reflected by the respective object as a so-called secondary signal and evaluates them in cooperation with the data processing device according to various, predeterminable criteria. or the respective object rule-based recognizes or accurately recorded position.
  • information about the respective objects can be obtained, for example, by using the respective measurement for transit times as well as transit time differences and / or also for the Doppler effect.
  • a Doppler effect is the change in the frequency of the waves of any kind, including radar or ultrasound waves, while the source and measuring body, in this case in particular the workpiece, move relative to one another, that is to say, for example, the source moves towards or onto the body moved away from it or the body moves towards or away from the source.
  • the control / regulating device of the respective handling device can be passed to the control / regulating device of the respective handling device.
  • the respective object which at least partially reflects the radar beams, is scanned at a sufficiently small distance from the transmitter, in particular only a few 10 cm to a few meters, corresponding to a predeterminable raster with corresponding resolution by means of a directed radar beam (can be 1- or 2-dimensional scanning)
  • a directed radar beam can be 1- or 2-dimensional scanning
  • At least one radar sensor is used in the form of an FMCW (Frequency Modulated Continuous Wave) radar, a “Modulated CW Radar” or an FM radar, the different types of radar also being usable in combination.
  • FMCW Frequency Modulated Continuous Wave
  • FM radar the different types of radar also being usable in combination.
  • These radars transmit at a constantly changing frequency. At least two operating modes can be distinguished.
  • the frequency either increases linearly to abruptly decrease to the initial value at a certain frequency, or it increases and decreases alternately at a constant rate of change.
  • At least one data processing device which has a decoder or decoder or coder for signal or pulse or signal processing and / or information provision.
  • the radar sensor and / or data processing device and / or control device of at least one handling device each have a wireless or wired communication connection, in particular a LAN, WLAN or WAN, for example the type Ethernet, Bluetooth, or another common bus type, such as For example, cooperate CAN 1 CANOPEN, Profibus, Modbus, but also USB, RS-232, SCSI or the like.
  • the usable information for implementation via a corresponding communication link to the control / regulating device at least one handling device, in particular a multi-axis industrial robot, transmitted and / or used for synchronization and tuning of the movements of handling device and object, in particular workpiece.
  • Fig. 1 is an exemplary trained system for detecting and / or detection of objects in robotic production and manufacturing processes (in plan view), and
  • FIG. 2 shows an exemplarily designed system for detecting and / or detecting objects in robot-assisted production and production processes, including speed and distance determination.
  • Fig. 1 shows an exemplary trained system for detection and / or detection of objects in robotic production and manufacturing processes, which uses radar waves for image recognition.
  • the system shown by way of example comprises a data processing device 2 and two radar sensors 4, which are arranged in front of a handling device 6, here a multi-axis industrial robot, above a conveyor belt 8, in particular in the transport direction and spaced apart.
  • the signals of the radar sensors 4 are converted into digital signals by means of an encoder, which is integrable into the data processing device 2.
  • These signals are converted by means of the data processing device 2 in useful for the controller 10 of the robot information and / or instructions and these by means of at least one respective robot control transmitted. This information can be used, for example, for the exact positioning of the robot 6 for the respective object or workpiece.
  • FIG. 2 shows a system for measuring the speed and distance in robot-assisted production and production processes in a modified embodiment compared with FIG. 1, where two radar sensors 4 above a conveyor or conveyor belt 8 are aligned and spaced apart in the transport direction are.
  • a further, third radar sensor 4b is provided at the end of the transport bath 8, which determines the transport speed of an object or of the belt by utilizing the Doppler effect.
  • a data processing device 2 is provided, which data processing device 2 cooperates with the respective radar sensor 4, 4b and detects and recognizes the same, in particular with knowledge of the speed and / or distance of at least one object 12 moving by means of a transport or conveyor belt 8,
  • a control device 6 for a control / control device 6, in the example shown here, a six-axis industrial robot, in particular a welding and / or painting robots, convertible information and this for Implementation or recovery via a suitable interface.
  • the radar-based system as well as methods executable thereon, advantageously enable detection and / or detection of a moving object, possibly also of the respective speed and / or distance of the object in relation to a predeterminable reference point, independently of the prevailing light conditions and without the expense additional artificial light sources.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un système de détection et/ou de reconnaissance d'objets lors de processus de fabrication et de production robotisés, au moins un détecteur radar (4, 4b) ainsi qu'une unité de traitement de données (2), agissant avec le détecteur radar (4, 4b), et grâce auxquels au moins un objet (12), en particulier un objet qui se déplace, et/ou sa position ou son emplacement peuvent être déterminés et/ou reconnus et/ou des informations utilisables dans une unité de commande-réglage (10) d'au moins un dispositif de manipulation (6) peuvent être converties. L'invention concerne également un procédé permettant la détection et/ou la reconnaissance d'objets pour le traitement au moyen d'appareils de manipulation commandés par ordinateur, selon lequel au moins un objet (12), en particulier un objet qui se déplace, et/ou sa position ou son emplacement, peuvent être déterminés et/ou reconnus ou identifiés par le système susmentionné, et/ou les données et/ou les signaux obtenus peuvent être convertis en informations utilisables pour une unité de commande-réglage (10) d'au moins un dispositif de manipulation.
PCT/EP2008/002237 2007-09-22 2008-03-20 Système et procédé pour déterminer et/ou reconnaître des objets lors de processus de fabrication et de production robotisés Ceased WO2009036816A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
ATA9307/2008A AT512732B1 (de) 2007-09-22 2008-03-20 System und verfahren zur erfassung und/oder erkennung von objekten bei robotergestützten produktions- und fertigungsprozessen

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007045381.9 2007-09-22
DE102007045381A DE102007045381A1 (de) 2006-09-22 2007-09-22 System und Verfahren zur Erfassung und/oder Erkennung von Objekten bei robotergestützten Produktions- und Fertigungsprozessen

Publications (1)

Publication Number Publication Date
WO2009036816A1 true WO2009036816A1 (fr) 2009-03-26

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2008/002237 Ceased WO2009036816A1 (fr) 2007-09-22 2008-03-20 Système et procédé pour déterminer et/ou reconnaître des objets lors de processus de fabrication et de production robotisés

Country Status (2)

Country Link
AT (1) AT512732B1 (fr)
WO (1) WO2009036816A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5073780A (en) * 1982-12-22 1991-12-17 The United States Of America As Represented By The Secretary Of The Army Cooperative passive identification system for moving or stationary objects
US5537119A (en) * 1993-12-21 1996-07-16 Colorado State University Research Foundation Method and system for tracking multiple regional objects by multi-dimensional relaxation
EP1239299A2 (fr) * 2001-03-06 2002-09-11 Murata Manufacturing Co., Ltd. Récepteur radar de type FM/CW dont le gain dépend de la fréquence
EP1252968A1 (fr) * 2001-04-26 2002-10-30 Progressive Tool & Industries Company Méthode de construction d'accessoire d'outillage
DE102005048812A1 (de) * 2005-10-10 2007-04-19 Universität Stuttgart Steuerung werkstückbearbeitender Maschinen

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5073780A (en) * 1982-12-22 1991-12-17 The United States Of America As Represented By The Secretary Of The Army Cooperative passive identification system for moving or stationary objects
US5537119A (en) * 1993-12-21 1996-07-16 Colorado State University Research Foundation Method and system for tracking multiple regional objects by multi-dimensional relaxation
EP1239299A2 (fr) * 2001-03-06 2002-09-11 Murata Manufacturing Co., Ltd. Récepteur radar de type FM/CW dont le gain dépend de la fréquence
EP1252968A1 (fr) * 2001-04-26 2002-10-30 Progressive Tool & Industries Company Méthode de construction d'accessoire d'outillage
DE102005048812A1 (de) * 2005-10-10 2007-04-19 Universität Stuttgart Steuerung werkstückbearbeitender Maschinen

Also Published As

Publication number Publication date
AT512732A5 (de) 2013-10-15
AT512732B1 (de) 2014-02-15

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