AT512731A5 - SYSTEM AND METHOD FOR SPEED AND / OR DISTANCE MEASUREMENT IN ROBOTIZED MANUFACTURING AND MANUFACTURING PROCESSES - Google Patents

SYSTEM AND METHOD FOR SPEED AND / OR DISTANCE MEASUREMENT IN ROBOTIZED MANUFACTURING AND MANUFACTURING PROCESSES Download PDF

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Publication number
AT512731A5
AT512731A5 ATA9308/2008A AT93082008A AT512731A5 AT 512731 A5 AT512731 A5 AT 512731A5 AT 93082008 A AT93082008 A AT 93082008A AT 512731 A5 AT512731 A5 AT 512731A5
Authority
AT
Austria
Prior art keywords
speed
distance measurement
manufacturing
manufacturing processes
robotized
Prior art date
Application number
ATA9308/2008A
Other languages
German (de)
Other versions
AT512731B1 (en
Inventor
Joerg Ihrig
Original Assignee
Abb Ag
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 DE102007044913A external-priority patent/DE102007044913A1/en
Application filed by Abb Ag filed Critical Abb Ag
Publication of AT512731A5 publication Critical patent/AT512731A5/en
Application granted granted Critical
Publication of AT512731B1 publication Critical patent/AT512731B1/en

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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
    • 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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37347—Speed, velocity
    • 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
    • G05B2219/37425—Distance, range

Landscapes

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

Abstract

Die Erfindung betrifft ein System zur Geschwindigkeits- sowie Entfernungsmessung bei robotergestützten Produktions- und Fertigungsprozessen, wobei wenigstens ein Radarsensor sowie eine Datenverarbeitungseinrichtung vorgesehen sind, welche Datenverarbeitungseinrichtung mit dem Radarsensor zusammenwirkt und mit welchen, insbesondere unter Ausnutzung des Dopplereffektes, Geschwindigkeit und/oder Entfernung wenigstens eines Objektes, insbesondere eines sich bewegenden Objekteserfassbar und/oder in für eine Steuer-/Regeleinrichtung wenigstens einer Handhabungsvorrichtung verwertbare Informationen umwandelbar sind. Des weiteren betrifft die Erfindung auch ein entsprechendes Verfahren, mit welchem eine radargesteuerte Geschwindigkeits- und Entfernungsmessung wenigstens eines Objektes, insbesondere eines mittels eines Transport- oder Förderband bewegten Objektes unter Verwendung von elektromagnetischen Wellen außerhalb des sichtbaren Spektrums und/oder Ausnutzung des Dopplereffektes, durchgeführt und/oder die ermittelten Daten in für eine Steuer-/Regeleinrichtung wenigstens einer Handhabungsvorrichtung verwertbare Informationen umgewandelt werden.The invention relates to a system for speed and distance measurement in robotic production and manufacturing processes, wherein at least one radar sensor and a data processing device are provided, which data processing device cooperates with the radar sensor and with which, in particular taking advantage of the Doppler effect, speed and / or distance of at least one Object, in particular a moving object can be detected and / or be converted into usable for a control / regulating device at least one handling device information. Furthermore, the invention also relates to a corresponding method, with which a radar-controlled speed and distance measurement of at least one object, in particular an object moved by means of a transport or conveyor belt using electromagnetic waves outside the visible spectrum and / or utilization of the Doppler effect, performed and / or the data obtained are converted into usable information for a control device of at least one handling device.

ATA9308/2008A 2007-09-19 2008-03-20 SYSTEM AND METHOD FOR SPEED AND / OR DISTANCE MEASUREMENT IN ROBOTIZED MANUFACTURING AND MANUFACTURING PROCESSES AT512731B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007044913A DE102007044913A1 (en) 2006-09-22 2007-09-19 Moving object e.g. workpiece, speed and distance measurement system for use during robot-supported production and manufacturing processes, has processing device combined with sensor, where speed and/or distance are detected and/or converted
PCT/EP2008/002241 WO2009039896A1 (en) 2007-09-19 2008-03-20 System and method for measuring speed and/or distance in robot-assisted production and fabrication processes

Publications (2)

Publication Number Publication Date
AT512731A5 true AT512731A5 (en) 2013-10-15
AT512731B1 AT512731B1 (en) 2014-03-15

Family

ID=39581854

Family Applications (1)

Application Number Title Priority Date Filing Date
ATA9308/2008A AT512731B1 (en) 2007-09-19 2008-03-20 SYSTEM AND METHOD FOR SPEED AND / OR DISTANCE MEASUREMENT IN ROBOTIZED MANUFACTURING AND MANUFACTURING PROCESSES

Country Status (2)

Country Link
AT (1) AT512731B1 (en)
WO (1) WO2009039896A1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7314475B2 (en) * 2016-11-11 2023-07-26 セイコーエプソン株式会社 ROBOT CONTROL DEVICE AND ROBOT CONTROL METHOD

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6278906B1 (en) * 1999-01-29 2001-08-21 Georgia Tech Research Corporation Uncalibrated dynamic mechanical system controller
EP1239299A2 (en) * 2001-03-06 2002-09-11 Murata Manufacturing Co., Ltd. FMCW radar receiver with frequency dependent gain

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3722734A1 (en) * 1987-07-09 1989-01-19 Behr Industrieanlagen METHOD AND SYSTEM FOR SERIES COATING WORKPIECES
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
DE102005048812B4 (en) * 2005-10-10 2011-02-10 Universität Stuttgart Control of workpiece-processing machines

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6278906B1 (en) * 1999-01-29 2001-08-21 Georgia Tech Research Corporation Uncalibrated dynamic mechanical system controller
EP1239299A2 (en) * 2001-03-06 2002-09-11 Murata Manufacturing Co., Ltd. FMCW radar receiver with frequency dependent gain

Also Published As

Publication number Publication date
WO2009039896A1 (en) 2009-04-02
AT512731B1 (en) 2014-03-15

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Effective date: 20210320