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WO2009141184A1 - Dispositif servant à améliorer les qualités de précision d'instruments de manipulation - Google Patents

Dispositif servant à améliorer les qualités de précision d'instruments de manipulation Download PDF

Info

Publication number
WO2009141184A1
WO2009141184A1 PCT/EP2009/053403 EP2009053403W WO2009141184A1 WO 2009141184 A1 WO2009141184 A1 WO 2009141184A1 EP 2009053403 W EP2009053403 W EP 2009053403W WO 2009141184 A1 WO2009141184 A1 WO 2009141184A1
Authority
WO
WIPO (PCT)
Prior art keywords
hole
depressions
measuring
holes
markers
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/EP2009/053403
Other languages
German (de)
English (en)
Inventor
Helmut Ebner
Franz Wimmer
Martin Hirschmanner
Johann Penn
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.)
Primetals Technologies Austria GmbH
Original Assignee
Siemens VAI Metals Technologies GmbH and Co
Siemens VAI Metals Technologies GmbH Austria
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
Application filed by Siemens VAI Metals Technologies GmbH and Co, Siemens VAI Metals Technologies GmbH Austria filed Critical Siemens VAI Metals Technologies GmbH and Co
Priority to DE212009000055U priority Critical patent/DE212009000055U1/de
Priority to CN2009901002524U priority patent/CN202088202U/zh
Priority to KR2020107000030U priority patent/KR20110002031U/ko
Publication of WO2009141184A1 publication Critical patent/WO2009141184A1/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
    • 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
    • B25J9/1697—Vision controlled systems
    • 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/402—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37097—Marker on workpiece to detect reference position
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37555—Camera detects orientation, position workpiece, points of workpiece

Definitions

  • the invention relates to a device for improving the accuracy characteristics of handling devices in terms of their pose, such as a multi-axis industrial robot, especially when used in the environment of metallurgical plants.
  • such a device comprises for detecting the pose of manipulators
  • At least one control device for moving the handling device at least one control device for moving the handling device
  • a measuring device which is positioned independently of the handling device or directly on the handling device
  • a reference surface or measuring plate with one or more markers or holes on a tool to be controlled or on a device A reference surface or measuring plate with one or more markers or holes on a tool to be controlled or on a device.
  • a handling device formed by a robot is known, which is provided for various manipulations in the region of the bottom outlet of a melt container.
  • a camera coupled to an image evaluation device is arranged for the exact position determination of the spout opening in relation to the image evaluation device.
  • a marker specifically spatial structures, such as positioned marker pens or color-highlighted by the environment marking points on tools or equipment or removable parts.
  • the object of the present invention is therefore to avoid the disadvantages of the known prior art and to propose a device which delivers high-contrast measuring signals or image signals of markers and their surroundings even in heavily contaminated working fields in order to enable a more precise determination of poses.
  • a device for improving accuracy characteristics of handling devices in that the markers or holes formed by hole-like depressions in the reference surface or the measuring plate in the form of blind holes or slots with a certain depth and with a specific blind hole diameter or a certain slot width are where the ratio of depth to blind hole diameter or slot width is greater than 1.
  • a hole-like depression formed in this way allows an approach to a "black body” in the physical sense
  • a black body in physics is an idealized body that completely absorbs electromagnetic radiation, for example light, impinging on it and thus differs in its appearance Reflection behavior of other bodies or surfaces striking black body is not feasible in practice, however, approximating its properties by hole-like depressions minimizes the reflection behavior in the region of these hole-like depressions to a particular extent.
  • the hole-like depressions are formed as blind holes or slots, these slots may preferably be formed straight or as Ringlochbohrept. As a result, particularly high absorption values of the electromagnetic radiation in these areas are achieved.
  • a substantial reduction in reflective properties is achieved when the hole-like depressions are at least 10 mm, preferably at least 15 mm deep.
  • An enhancement of the absorption properties is additionally achieved by a blackening of the hole-like depressions. Particularly effective acts a Berußung the inner walls of the hole-like depressions.
  • the contrast is additionally increased if the surrounding area of the hole-like depressions is kept as light as possible within the possibilities offered by the working environment. In any case, the surrounding area must be held distinctively brighter than the hole-like depressions. Reflections of light from the hole-like recesses are more suppressed when the diameter or slot width of these hole-like recesses is less than 10 mm, preferably less than 6 mm.
  • FIG. 1 shows a robot in cooperation with a measuring plate according to the invention on a metallurgical vessel
  • FIG. 2 shows a measuring plate according to the invention with hole-like depressions according to a first embodiment
  • FIG. 3 shows a measuring plate according to the invention with hole-like depressions according to a second embodiment.
  • Figure 1 shows a schematic representation of a handling device 1, which is designed as a multi-axis industrial robot of conventional design, when coupling a spout 2 to a melt container 3 for transport and treatment of, for example, a molten steel in a steel mill.
  • a measuring plate 4 is fixed, which carries four markers 5. These markers 5 are used to determine the pose of a measuring device 6.
  • the measuring device 6 is embodied as a stereo camera 7 and generates an image of the marker 5 and its surrounding area 8 on the end face of the measuring plate 4 or also an environmental region extending beyond the end face of the measuring plate.
  • the spout 2 in relation to the markers 5 on the melt container 3, a number of reference points are defined in Figure 1 with OCP, CCP, TCP and RCP are designated.
  • the measuring device 6 is associated with an evaluation device 10, which receives the image signals generated by the measuring device 6 and evaluates based on an evaluation program and determines the pose of the measuring device.
  • the determined position characteristics are used to control the many control devices 11 of the handling device, for example in the joints of the robot arms.
  • FIG. 2 shows a top view and a sectional illustration of a measuring plate 4 with four markers 5 according to a first embodiment of the invention.
  • Each marker 5 is formed by an annular slot 12 made through a ring slot bore.
  • the slot has a slot width B of 5 mm and a slot depth T of 15 mm.
  • the diameters D1, D2, D3, D4 of the annular slot bores are different for the individual markers and are between 10 and 40 mm.
  • the arrangement of the markers 5 on the end face of the measuring plate 4 and their dimensions allow an accurate determination of the pose of the measuring device to the center point OCP of the melt container 3.
  • each marker 5 forms a hole-like recess 15 in the measuring plate 4th
  • the measuring plate is made of stainless steel and optionally sandblasted to obtain a diffusely reflecting surface.
  • the ring slots are black coated by a Berußung or a corresponding color order to increase the contrast with the environment.
  • FIG. 3 shows a reference surface 13 with four markers 5 formed by blind holes 16.
  • the blind hole diameters D s are between 3 and 6 mm.
  • the reference surface 13 is either directly part of an object or the melt container 3 or represents the end face of a measuring plate 4, as shown in Figure 2, is.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif servant à améliorer les qualités de précision d'instruments de manipulation, tel qu'un robot industriel à axes multiples possédant un instrument de manipulation (1); au moins un organe de commande (11) servant à déplacer l'instrument de manipulation (1); un organe de mesure (6) indépendant du dispositif de manipulation (1) ou placé immédiatement sur celui-ci; un organe d'évaluation (10) servant à évaluer les signaux de mesure générés par l'organe de mesure (6); une surface de référence (13) ou plaque de mesure (4) pourvue d'un ou de plusieurs repères (5) ou trous au niveau d'un outil à commander ou d'un dispositif (3). Dans le but d'améliorer les qualités de précision, les repères (5) ou trous de gorges (15) semblables à des trous pratiqués dans la surface de référence (13) ou la plaque de mesure (4) se présentent sous la forme de trous borgnes (16) ou de fentes (12) de profondeur définie, qui possèdent un diamètre défini pour les trous borgnes ou une largeur définie pour les fentes, le rapport entre profondeur et diamètre du trou borgne ou largeur de fente étant supérieur à 1.
PCT/EP2009/053403 2008-05-20 2009-03-24 Dispositif servant à améliorer les qualités de précision d'instruments de manipulation Ceased WO2009141184A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE212009000055U DE212009000055U1 (de) 2008-05-20 2009-03-24 Vorrichtung zum Verbessern von Genauigkeitseigenschaften von Handhabungsgeräten
CN2009901002524U CN202088202U (zh) 2008-05-20 2009-03-24 用于改善操作设备的精度特性的装置
KR2020107000030U KR20110002031U (ko) 2008-05-20 2009-03-24 핸들링 장치들의 정확도를 향상시키기 위한 장치

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ATA810/2008 2008-05-20
AT0081008A AT506865B1 (de) 2008-05-20 2008-05-20 Vorrichtung zum verbessern von genauigkeitseigenschaften von handhabungsgeräten

Publications (1)

Publication Number Publication Date
WO2009141184A1 true WO2009141184A1 (fr) 2009-11-26

Family

ID=40793290

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2009/053403 Ceased WO2009141184A1 (fr) 2008-05-20 2009-03-24 Dispositif servant à améliorer les qualités de précision d'instruments de manipulation

Country Status (5)

Country Link
KR (1) KR20110002031U (fr)
CN (1) CN202088202U (fr)
AT (1) AT506865B1 (fr)
DE (1) DE212009000055U1 (fr)
WO (1) WO2009141184A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2407261A1 (fr) * 2010-07-16 2012-01-18 Siemens VAI Metals Technologies GmbH Procédé et dispositif de mesure de reconnaissance de palier automatique d'une busette de coulée d'un récipient métallurgique
EP2482019A1 (fr) * 2011-01-31 2012-08-01 Siemens VAI Metals Technologies GmbH Support de lance de combustion pour soutenir une lance de combustion à l'aide d'un dispositif de manipulation
CN102765063A (zh) * 2012-06-26 2012-11-07 南京工程学院 用于非磁性工件组装的盲孔对接定位系统及方法
EP3345723A1 (fr) * 2017-01-10 2018-07-11 Ivoclar Vivadent AG Procédé de commande d'une machine-outil

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
PL2584418T3 (pl) 2011-10-21 2014-11-28 Siemens Ag Sposób i urządzenie do lokalizacji punktu zaczepienia obiektu w instalacji
DE102016201736B3 (de) 2016-02-04 2017-03-30 Volkswagen Aktiengesellschaft System und Verfahren zum Bestücken eines mindestens einen Steckplatz aufweisenden Gebindes
DE102016212695B4 (de) * 2016-05-31 2019-02-21 Siemens Aktiengesellschaft Industrieroboter
CN109791403B (zh) * 2016-08-12 2022-04-19 西门子股份公司 用于监测技术设备的方法和用户接口、以及计算机可读存储介质
DE102017003993B4 (de) * 2017-04-25 2020-12-10 Kuka Deutschland Gmbh Kalibrierung eines Roboters
KR102203439B1 (ko) * 2018-01-17 2021-01-14 엘지전자 주식회사 이동 로봇 및 이동 로봇의 제어방법
DE102018109329B4 (de) * 2018-04-19 2019-12-05 Gottfried Wilhelm Leibniz Universität Hannover Mehrgliedrige aktuierte Kinematik, vorzugsweise Roboter, besonders vorzugsweise Knickarmroboter
DE102019105466B3 (de) 2019-03-04 2020-08-06 Forward Ttc Gmbh Verfahren zum Betrieb eines Antriebssystems sowie Antriebssystem
DE102019106458A1 (de) * 2019-03-13 2020-09-17 ese-robotics GmbH Verfahren zur Ansteuerung eines Industrieroboters
DE102021203779B4 (de) 2021-04-16 2023-12-14 Volkswagen Aktiengesellschaft Verfahren und Vorrichtung zum Annotieren von mit Hilfe einer Kamera aufgenommenen Bildern eines Objektes

Citations (5)

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Publication number Priority date Publication date Assignee Title
US4654949A (en) * 1982-02-16 1987-04-07 Diffracto Ltd. Method for automatically handling, assembling and working on objects
EP0328687A1 (fr) * 1987-08-22 1989-08-23 Fanuc Ltd. Systeme d'etalonnage pour un systeme de capteurs visuels
US5956417A (en) * 1982-02-16 1999-09-21 Sensor Adaptive Machines, Inc. Robot vision using target holes, corners and other object features
US20030086626A1 (en) * 2001-11-02 2003-05-08 Fuji Photo Film Co., Ltd. Image evaluating method and apparatus
EP1602456A2 (fr) * 2004-06-02 2005-12-07 KUKA Roboter GmbH Procédé et dispositif de commande de manipulateurs

Family Cites Families (5)

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JPS62226308A (ja) 1986-03-28 1987-10-05 Fanuc Ltd 視覚センサを有するロボツトの制御方式
JPH0371A (ja) 1989-02-03 1991-01-07 Terumo Corp 流体処理装置
JP2871310B2 (ja) 1992-07-21 1999-03-17 日産自動車株式会社 位置補正演算装置
JP2735458B2 (ja) 1993-06-18 1998-04-02 日本碍子株式会社 生体触媒用担体
DE10345743A1 (de) 2003-10-01 2005-05-04 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Bestimmen von Position und Orientierung einer Bildempfangseinrichtung

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4654949A (en) * 1982-02-16 1987-04-07 Diffracto Ltd. Method for automatically handling, assembling and working on objects
US5956417A (en) * 1982-02-16 1999-09-21 Sensor Adaptive Machines, Inc. Robot vision using target holes, corners and other object features
EP0328687A1 (fr) * 1987-08-22 1989-08-23 Fanuc Ltd. Systeme d'etalonnage pour un systeme de capteurs visuels
US20030086626A1 (en) * 2001-11-02 2003-05-08 Fuji Photo Film Co., Ltd. Image evaluating method and apparatus
EP1602456A2 (fr) * 2004-06-02 2005-12-07 KUKA Roboter GmbH Procédé et dispositif de commande de manipulateurs

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2407261A1 (fr) * 2010-07-16 2012-01-18 Siemens VAI Metals Technologies GmbH Procédé et dispositif de mesure de reconnaissance de palier automatique d'une busette de coulée d'un récipient métallurgique
EP2482019A1 (fr) * 2011-01-31 2012-08-01 Siemens VAI Metals Technologies GmbH Support de lance de combustion pour soutenir une lance de combustion à l'aide d'un dispositif de manipulation
CN102765063A (zh) * 2012-06-26 2012-11-07 南京工程学院 用于非磁性工件组装的盲孔对接定位系统及方法
EP3345723A1 (fr) * 2017-01-10 2018-07-11 Ivoclar Vivadent AG Procédé de commande d'une machine-outil
WO2018130313A1 (fr) * 2017-01-10 2018-07-19 Ivoclar Vivadent Ag Procédé de commande d'une machine-outil
CN110114188A (zh) * 2017-01-10 2019-08-09 伊沃克拉尔维瓦登特股份公司 用于控制机床的方法
US11439484B2 (en) 2017-01-10 2022-09-13 Ivoclar Vivadent Ag Method for controlling a machine tool

Also Published As

Publication number Publication date
AT506865A1 (de) 2009-12-15
DE212009000055U1 (de) 2011-01-20
CN202088202U (zh) 2011-12-28
AT506865B1 (de) 2010-02-15
KR20110002031U (ko) 2011-03-02

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