AT512732A5 - SYSTEM AND METHOD FOR DETECTING AND / OR DETECTING OBJECTS IN ROBOT-BASED MANUFACTURING AND MANUFACTURING PROCESSES - Google Patents

SYSTEM AND METHOD FOR DETECTING AND / OR DETECTING OBJECTS IN ROBOT-BASED MANUFACTURING AND MANUFACTURING PROCESSES Download PDF

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Publication number
AT512732A5
AT512732A5 ATA9307/2008A AT93072008A AT512732A5 AT 512732 A5 AT512732 A5 AT 512732A5 AT 93072008 A AT93072008 A AT 93072008A AT 512732 A5 AT512732 A5 AT 512732A5
Authority
AT
Austria
Prior art keywords
detecting
objects
manufacturing
robot
manufacturing processes
Prior art date
Application number
ATA9307/2008A
Other languages
German (de)
Other versions
AT512732B1 (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 DE102007045381A external-priority patent/DE102007045381A1/en
Application filed by Abb Ag filed Critical Abb Ag
Publication of AT512732A5 publication Critical patent/AT512732A5/en
Application granted granted Critical
Publication of AT512732B1 publication Critical patent/AT512732B1/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
    • 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

Landscapes

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

Abstract

Die Erfindung betrifft ein System zur Erfassung und/oder Erkennung von Objekten bei robotergestützten Produktions- und Fertigungsprozessen, wenigstens einen Radarsensor (4,4b) sowie eine Datenverarbeitungseinrichtung (2) auf, welche mit dem jeweiligen Radarsensor (4,4b) zusammenwirkt und mit welchen wenigstens ein Objekt (12), insbesondere ein sich bewegendes Objekt, und/oder dessen jeweilige Position sowie Lage erfassbar und/oder erkennbar und/oder in für eine Steuer-/Regeleinrichtung (10) wenigstens einer Handhabungsvorrichtung (6) verwertbare Informationen umwandelbar sind. Verfahren zur Erfassung und/oder Erkennung von Objekten für eine Bearbeitung mittels rechnergesteuerter Handhabungsgeräte gelöst, wobei insbesondere mittels eines vorgenannten Systems, wenigstens ein Objekt (12), insbesondere ein sich bewegendes Objekt, und/oder dessen jeweilige Position sowie Lage radarbasiert erfasst und/oder erkannt beziehungsweise identifiziert wird und/oder die erhaltenen Daten und/oder Signale in für eine Steuer-/Regeleinrichtung (10) wenigstens einer Handhabungsvorrichtung (6) verwertbare Informationen umgewandelt werden.The invention relates to a system for detection and / or detection of objects in robotic production and manufacturing processes, at least one radar sensor (4,4b) and a data processing device (2) which cooperates with the respective radar sensor (4,4b) and with which at least one object (12), in particular a moving object, and / or its respective position and position can be detected and / or recognized and / or converted into information usable for a control / regulating device (10) of at least one handling device (6). Method for detecting and / or detecting objects for processing by means of computer-controlled handling devices solved, wherein in particular by means of an aforementioned system, at least one object (12), in particular a moving object, and / or its respective position and location radar-based detected and / or is recognized or identified and / or the obtained data and / or signals in for a control / regulating device (10) at least one handling device (6) usable information to be converted.

ATA9307/2008A 2007-09-22 2008-03-20 SYSTEM AND METHOD FOR DETECTING AND / OR DETECTING OBJECTS IN ROBOT-BASED MANUFACTURING AND MANUFACTURING PROCESSES AT512732B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007045381A DE102007045381A1 (en) 2006-09-22 2007-09-22 Object i.e. workpiece, detecting and/or recognizing system for e.g. robot-assisted production process, has position of object detectable and/or recognizable and/or convertible into information that is usable for regulating device
PCT/EP2008/002237 WO2009036816A1 (en) 2007-09-22 2008-03-20 System and method for the detection and/or recognition of objects in robot-supported production and manufacturing processes

Publications (2)

Publication Number Publication Date
AT512732A5 true AT512732A5 (en) 2013-10-15
AT512732B1 AT512732B1 (en) 2014-02-15

Family

ID=39580044

Family Applications (1)

Application Number Title Priority Date Filing Date
ATA9307/2008A AT512732B1 (en) 2007-09-22 2008-03-20 SYSTEM AND METHOD FOR DETECTING AND / OR DETECTING OBJECTS IN ROBOT-BASED MANUFACTURING AND MANUFACTURING PROCESSES

Country Status (2)

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

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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 (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
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
EP1252968A1 (en) * 2001-04-26 2002-10-30 Progressive Tool & Industries Company Tooling fixture building process
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
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 (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
AT512732B1 (en) 2014-02-15
WO2009036816A1 (en) 2009-03-26

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Effective date: 20210320