CN112601618A - 用于机器人油漆修复的学习框架 - Google Patents

用于机器人油漆修复的学习框架 Download PDF

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Publication number
CN112601618A
CN112601618A CN201980055541.5A CN201980055541A CN112601618A CN 112601618 A CN112601618 A CN 112601618A CN 201980055541 A CN201980055541 A CN 201980055541A CN 112601618 A CN112601618 A CN 112601618A
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CN
China
Prior art keywords
repair
action
defect
sanding
polishing
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.)
Pending
Application number
CN201980055541.5A
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English (en)
Chinese (zh)
Inventor
布雷特·R·黑梅斯
约翰·W·亨德森
内森·J·赫布斯特
史蒂文·P·弗洛德
杰弗瑞·P·阿道夫
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3M Innovative Properties Co
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3M Innovative Properties Co
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Filing date
Publication date
Application filed by 3M Innovative Properties Co filed Critical 3M Innovative Properties Co
Publication of CN112601618A publication Critical patent/CN112601618A/zh
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0075—Manipulators for painting or coating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D3/00—Pretreatment of surfaces to which liquids or other fluent materials are to be applied; After-treatment of applied coatings, e.g. intermediate treating of an applied coating preparatory to subsequent applications of liquids or other fluent materials
    • B05D3/12—Pretreatment of surfaces to which liquids or other fluent materials are to be applied; After-treatment of applied coatings, e.g. intermediate treating of an applied coating preparatory to subsequent applications of liquids or other fluent materials by mechanical means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D5/00—Processes for applying liquids or other fluent materials to surfaces to obtain special surface effects, finishes or structures
    • B05D5/005—Repairing damaged coatings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B25J11/0065—Polishing or grinding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/163—Program controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • 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—Program-control systems
    • G05B19/02—Program-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 program data in numerical form
    • G05B19/408—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 program data in numerical form characterised by data handling or data format, e.g. reading, buffering or conversion of data
    • G05B19/4083—Adapting program, configuration
    • 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—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41875—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by quality surveillance of production
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N7/00—Computing arrangements based on specific mathematical models
    • G06N7/01—Probabilistic graphical models, e.g. probabilistic networks
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45013—Spraying, coating, painting
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45065—Sealing, painting robot
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Theoretical Computer Science (AREA)
  • Software Systems (AREA)
  • Algebra (AREA)
  • Mathematical Optimization (AREA)
  • Pure & Applied Mathematics (AREA)
  • Computing Systems (AREA)
  • Artificial Intelligence (AREA)
  • Mathematical Physics (AREA)
  • Computational Mathematics (AREA)
  • Evolutionary Computation (AREA)
  • Mathematical Analysis (AREA)
  • Data Mining & Analysis (AREA)
  • Quality & Reliability (AREA)
  • Probability & Statistics with Applications (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
  • Numerical Control (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
  • Coating Apparatus (AREA)
CN201980055541.5A 2018-08-27 2019-08-21 用于机器人油漆修复的学习框架 Pending CN112601618A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201862723127P 2018-08-27 2018-08-27
US62/723,127 2018-08-27
PCT/IB2019/057053 WO2020044178A1 (en) 2018-08-27 2019-08-21 Learning framework for robotic paint repair

Publications (1)

Publication Number Publication Date
CN112601618A true CN112601618A (zh) 2021-04-02

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201980055541.5A Pending CN112601618A (zh) 2018-08-27 2019-08-21 用于机器人油漆修复的学习框架

Country Status (7)

Country Link
US (1) US20210323167A1 (https=)
EP (2) EP3843908B1 (https=)
JP (1) JP7447086B2 (https=)
CN (1) CN112601618A (https=)
ES (1) ES2989343T3 (https=)
FI (1) FI3843908T3 (https=)
WO (1) WO2020044178A1 (https=)

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CN113640317A (zh) * 2021-08-12 2021-11-12 吉林大学重庆研究院 一种汽车车身漆面缺陷智能检测与修复生产线
CN113721574A (zh) * 2021-09-07 2021-11-30 中国联合网络通信集团有限公司 一种柔顺控制方法、mec、现场单元、柔顺控制系统及装置
CN118269103A (zh) * 2024-05-23 2024-07-02 北京东方昊为工业装备有限公司 一种基于工件表面均匀度的实时监测机器人系统

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CN113767404A (zh) 2019-03-29 2021-12-07 圣戈班磨料磨具有限公司 高效研磨解决方案
BR112021019766A2 (pt) 2019-04-03 2021-12-07 Saint Gobain Abrasifs Sa Artigo abrasivo, sistema abrasivo e método para uso e formação dos mesmos
US11520571B2 (en) * 2019-11-12 2022-12-06 Bright Machines, Inc. Software defined manufacturing/assembly system
MX2022006216A (es) 2019-11-27 2022-06-22 3M Innovative Properties Company Reparacion robotica de pintura.
US11961109B2 (en) * 2020-01-14 2024-04-16 Adobe Inc. Multi-objective customer journey optimization
JP7363589B2 (ja) * 2020-03-04 2023-10-18 トヨタ自動車株式会社 塗装品質予測装置および学習済みモデルの生成方法
KR20230024390A (ko) * 2020-06-17 2023-02-20 이노비전 소프트웨어 솔루션즈, 인크. 결함 복원을 위한 시스템 및 방법
WO2022097009A1 (en) * 2020-11-06 2022-05-12 3M Innovative Properties Company Backup pad
CN116568465A (zh) 2020-11-10 2023-08-08 光明机器公司 用于机器人单元的改进的自动校准的方法和系统
CN112549020A (zh) * 2020-11-12 2021-03-26 国网上海市电力公司 一种用于带电作业机器人的管控系统及方法
CN113290557A (zh) * 2021-05-21 2021-08-24 南京信息工程大学 一种基于数据驱动的蛇形机器人控制方法
CA3226486A1 (en) 2021-07-16 2023-01-19 Bright Machines, Inc. Method and apparatus for vision-based tool localization
US12293506B2 (en) 2021-07-20 2025-05-06 Inovision Software Solutions, Inc. Method to locate defects in e-coat
US20230050174A1 (en) * 2021-08-10 2023-02-16 Sean Alexander Cassero Template robotic control plans
US12318916B2 (en) * 2021-10-25 2025-06-03 Wichita State University Surface preparation end effector for industrial robot system and inspection and repair processes
US12600041B2 (en) * 2021-10-25 2026-04-14 Wichita State University Surface analyst end effector for industrial robot
EP4508419A1 (en) * 2022-04-15 2025-02-19 3M Innovative Properties Company Systems and methods for post-repair inspection of a worksurface
CN115496773A (zh) * 2022-09-17 2022-12-20 深圳市小马控股有限公司 一种车辆护理方法、系统及智能抛光打蜡机
US20240189996A1 (en) * 2022-12-08 2024-06-13 Yokogawa Electric Corporation Building a robot mission based on mission metrics
US20240189998A1 (en) * 2022-12-08 2024-06-13 Yokogawa Electric Corporation Building a robot mission based on mission inventory
JP2026506438A (ja) * 2022-12-27 2026-02-25 スリーエム イノベイティブ プロパティズ カンパニー ロボット表面改質システムおよび方法
US20240255939A1 (en) * 2023-01-27 2024-08-01 Hitachi, Ltd. Reinforcement learning system for maintenance decision making
EP4461474A1 (de) * 2023-05-08 2024-11-13 Convergent Information Technologies GmbH Planung und reaktive abarbeitung einer defektbearbeitung mit robotern einer auf basis von low-cost inspektionsdaten

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TW201741762A (zh) * 2016-05-12 2017-12-01 Asml Netherlands Bv 藉由機器學習之熱點或缺陷辨識

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US20030139836A1 (en) * 2002-01-24 2003-07-24 Ford Global Technologies, Inc. Paint defect automated seek and repair assembly and method
CN103963995A (zh) * 2013-01-25 2014-08-06 波音公司 用于自动化裂缝检查和修理的系统和方法
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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113640317A (zh) * 2021-08-12 2021-11-12 吉林大学重庆研究院 一种汽车车身漆面缺陷智能检测与修复生产线
CN113640317B (zh) * 2021-08-12 2023-08-15 吉林大学重庆研究院 一种汽车车身漆面缺陷智能检测与修复生产线
CN113721574A (zh) * 2021-09-07 2021-11-30 中国联合网络通信集团有限公司 一种柔顺控制方法、mec、现场单元、柔顺控制系统及装置
CN118269103A (zh) * 2024-05-23 2024-07-02 北京东方昊为工业装备有限公司 一种基于工件表面均匀度的实时监测机器人系统
CN118269103B (zh) * 2024-05-23 2024-09-20 北京东方昊为工业装备有限公司 一种基于工件表面均匀度的实时监测机器人系统

Also Published As

Publication number Publication date
WO2020044178A1 (en) 2020-03-05
JP7447086B2 (ja) 2024-03-11
FI3843908T3 (fi) 2024-09-17
JP2021535502A (ja) 2021-12-16
EP3843908B1 (en) 2024-08-21
EP4421578A3 (en) 2024-11-06
ES2989343T3 (es) 2024-11-26
EP3843908A1 (en) 2021-07-07
EP4421578A2 (en) 2024-08-28
US20210323167A1 (en) 2021-10-21

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