CN209265502U - Quality control system - Google Patents

Abstract

The utility model relates to quality control systems.One purpose of the utility model is to provide quality control system.The quality control system (1) is for monitoring, controlling, safeguarding, notifying, instructing and/or instructing one or more operators in the workspace (6) of operation processing.System (1) includes the 3D sensor (5) for the predetermined volume object (10) of presence observation for physical object or operational motion, and at least one projector (9) for projecting tutorial message for operator.One embodiment has solved at least one of technical problem and has realized the corresponding advantageous effects of the utility model.

Description

Quality control system

Technical field

The disclosure relates generally to the field of the system of the quality of control workspace.Particularly, this disclosure relates to For monitoring, controlling, safeguard, notify, instruct and/or instructing the quality control of multiple operators in the workspace of operation processing System processed.

Background technique

Other than production efficiency, guarantee that product quality is in the highly standardized manufacture with many standard criterions Permanent concern, for example, in pharmacy, medical treatment, aviation electronics, automobile etc..Target is to strive for that zero error produces.It is raw in zero error In the case where producing (cfr. concise reliable (idiot proof) or error protection (poka yoke)), inspection in need is for product Zero defect and the vital various parts of safety operation, for example, correctly manufacture generates the vapour of safety in automotive field Vehicle.In order to guarantee to manufacture the perfect quality of part, at the end of the production cycle of component or beginning, there are several quality to control System, such as light curtain (light curtain), " choose (pick- by voice at " being selected by light (pick-to-light) " system To-voice) " system, vision camera system, sensing system etc..

Light curtain is usually a kind of optoelectronic device, can be safeguarded in mobile machine (such as press, volume that may cause injury Around machine or piler) neighbouring personnel.The typical problem of light curtain is that whether it will test operator close, but it can not be examined Survey whether operation is performed correctly or executes in the correct sequence.

" being selected by light " system is by means of indicating which part he/her must take help to avoid the optical signal made a mistake Operator.Document DE202011106404U1 disclose it is a kind of for assemble processing typical " being selected by light " system, this is System includes the marking arrangement (for example, LED) for illuminating part or tool.Another typical case is disclosed in DE10320557B4 " being selected by light " system.In this article, the vehicle with working surface, tool and/or component is read at each work step Between work station.Necessary tool and/or part are illuminated, and the position of part to be installed is arranged by means of side on the work surface Image-capturing apparatus it is shown and be detected optically by.Problem is that " being selected by light " system usually checks selection, but cannot be true Protect being properly positioned for part.

In " choosing by voice " system, what speech command operation person should do, and (" taking part A ", " taking part B " " are incited somebody to action Part A and B are placed in rack ", etc.).If operator made mistakes, even if operator confirmed final position, also do not have Whether (effective) supervision of these steps has been performed in a good way to operator.

The workspace of operator can also monitor object during production processing equipped with sensor.As an example, literary It offers US2004249606 and discloses such a sensing system.These systems implement in the work environment it is very expensive and It is complicated.For example, each rack has sensor realization that will be economically can not in the case where for example using different racks Capable.

Vision system can also be based on object or outline identification.It discloses in DE102013220107A1 based on profile Or the typical case of the vision system of boundary line (outline).This be disclosed herein it is a kind of for instructing or controlling yard Method.Thus, it is possible to which the depth data to the workplace from depth image sensor executes outline identification.

The problem of these systems usually they such as wherein color difference is small (for example, the black caps in black background Son), the object to be detected not accurately in correct position, component be invisible (such as cable, foil etc.), when needing to examine When looking into multiple components (for example, more than ten), light change it is incompetent in the case where (for example, extremely strong sunlight) etc..Depending on Feel system is not flawless.These systems are good generally for 99% work.But allowable error rate will be for example every million In 100 errors, rather than 1 error in 100.Moreover, if operator have to take will be on bending machine by curved zero Part, then the meeting of being overturned so that be bent in a wrong manner.Vision system is absorbed in still image (photo).

If system due to wrong report and failure it is too many (that is, system instruction is wrong, although operator it will be clear that It is out of question), work as system correctly and operator is considered mistake and bypasses its chance again then existing.Therefore, bad zero Part can reach client, potentially result in complaint.

Furthermore there is monitoring system, such as disclosed in document EP 2053538A1.Disclosed herein is a kind of light Electric equipment, the optoelectronic device are used to detect spatial discrimination information for protection monitoring range and are used for the view of automatic processing Feel auxiliary.

Utility model content

One purpose of the utility model is to provide quality control system.

One aspect according to the present utility model is provided with a kind of quality control system (1), is grasping for monitoring and instructing The one or more operators in workspace (6) dealt with, the system (1) include: -3D sensor (5), are used for from described Workspace (6) obtains 3D and observes data, to observe predetermined body for the presence for physical object or operational motion Product object (10)；Workflow module (3) is couple to the 3D sensor (5) and from described in the 3D sensor (5) reception 3D observes data；And-at least one projector (9), the workflow module (3) is couple to from the workflow module (3) instruction is received for projecting tutorial message for the operator.

Preferably ,-described at least one projector includes at least one ranging image camera.

Preferably ,-described at least one projector includes at least one of following: TOF camera, two or more The combination of a TOF camera, two combination of infrared camera, the combinations of two or more RGB cameras, depth with infrared radiation source The combination of camera and thermal imaging camera and the combination of CCD camera and RFID tracking equipment.

Preferably, the quality control system (1) further include:-button (93), entrance of the button (93) in workspace At or near be foreseen.

Preferably, the quality control system (1) further include:-lamp (94) is used to indicate the quality control system (1) Situation.

Preferably, the quality control system (1) further include:-have in the workspace (6) at a distance from it is unrelated The object of substantially constant reflected value.

Preferably, the object is coated with infrared coating or is covered completely or partially by infrared adhesive tape.

Preferably, the quality control system (1) further include:-gloves with infrared detectable surface portion, wherein institute Gloves are stated to be dressed by the operator.

One embodiment has solved at least one of technical problem and has realized the corresponding of the utility model Advantageous effects.

Detailed description of the invention

Figure 1A schematically illustrates the quality control system according to the utility model first embodiment.

Figure 1B schematically illustrates the quality control system according to the utility model second embodiment.

The method that Fig. 2 illustrates the quality control system for operation diagram 1A or Figure 1B.

Fig. 3 schematically illustrates the volume object stored in the memory data library of Figure 1A or Figure 1B and workflow sequence Column.

Fig. 4-6 schematically illustrates embodiment according to the present utility model, memory data of the basis from Fig. 3 The confirmation of the event of the workflow sequence in library.

Fig. 7 A and 7B schematically illustrate the retention time for volume object of embodiment according to the present utility model.

Fig. 8 schematically illustrates the acquisition mode for volume object according to the utility model embodiment.

Fig. 9 schematically illustrates predetermined volume object and anti-volume according to the utility model embodiment (anti-volume) set of object.

Figure 10 shows the suitable computing system of the quality control system for trustship Fig. 1.

Specific embodiment

In the presence of the needs to improved quality control system, to be allowed for the peace of the raising of the workspace of operation processing Full property and quality.

In a first aspect, this target passes through for monitoring, controlling, safeguard, notify, instruct and/or instruct at operation The quality control system of one or more operators in the workspace of reason realizes that the system includes 3D sensor, which passes Data from sensor is used to retrieve 3D from workspace, with true in advance for the presence observation for physical object or operational motion Fixed volume object；And the system includes at least one projector for projecting tutorial message for operator.

Therefore, the virtual in system observation according to the present utility model workspace or predetermined volume object, inspection The presence of physical object or operational motion in this virtual is surveyed, and is present in workspace based on this by projecting guidance One or more operators.Projection for one or more operators can be sequentially or in parallel real by single processor It is existing, or can be by multiple projector Parallel Implementations.It is also possible that create using multiple projectors and instructs operator's Hologram.

Term " operation processing " in the utility model should be understood as being produced, being assembled by operator, manufactured, Reason and/or the processing for manipulating one or more cargos or product.Term " operator " in the utility model should be understood as Personnel, robot, machine, lineup or combinations thereof.

Term " volume object " in the utility model should be understood as variable, data structure or function, at least indicate Volume corresponding with the volumetric spaces in Physics Work area.

Term " volume " in the utility model should be understood as the three-dimensional space in workspace, by the boundary being closed It seals, thus there is 3D shape.

The system that term " 3D sensor " in the utility model is understood to include one or more sensors, Data are observed suitable for observing the three dimensional workspace of physics and being suitable for providing 3D to quality control system.Preferably, 3D sensor (range imaging) camera is imaged including at least one ranging.The generation of ranging image camera is shown from specific point to work The two dimensional image of the distance of point in area.Resulting image, range image (range image), have with apart from corresponding picture Element value.It, can be direct with physical unit (such as rice) if the sensor for being used to generate range image is properly calibrated Provide pixel value.Example technique for possible ranging image camera is especially: flight time, stereotriangulation, light Piece triangulation (sheet 0f light triangulation), structure light, interferometry, coding aperture, etc..Example 3D Sensor projects predetermined or programmable pattern and passes through actively for example including two IR cameras with the source IR Stereoscopic vision determines that 3D observes data.

Term " 3D observes data " in the utility model is understood to include the information of physical three-dimensional workspace Data, preferably real time data.In embodiment, information includes combining at a distance from the specific point put into workspace Two dimensional image.

According to embodiment, 3D sensor includes the combination of TOF camera or two or more TOF cameras.

Term " TOF camera " or " time-of-flight camera " in the utility model should be understood as based on the known light velocity The ranging image camera system for parsing distance, for flying for the optical signal between each point measurement camera and subject of image The row time.

According to another embodiment, 3D sensor includes two infrared cameras with infrared radiation source, and projection predefines Or programmable pattern, and determine that 3D observes data by active stereo vision.

According to embodiment, 3D sensor includes the combination of two or more RGB cameras.

The combination of RGB camera, which allows to be reconstructed by means of 3D, observes data based on generated two-dimentional RGB data to reconstruct 3D.

According to embodiment, 3D sensor includes the combination of depth camera and thermal imaging camera.

According to embodiment, 3D sensor includes the CCD camera combined with RFID tracking equipment.

Advantageously consider for example originating from using RFID as the available RFID data of the physical object of label or operator and Corresponding location information.

The realization of thermal imaging camera allows to capture staff or the unrecognizable working space of operator.Therefore, it works Operator's privacy in area is improved and is respected.

According to preferred embodiment, thermal imaging camera is related to 2D infrared camera.

In the embodiment of quality control system according to the present utility model, at least one projector be configured as projecting One projector of the tutorial message for the corresponding operating person in operator is corresponding.

Therefore, single projector can project tutorial message for multiple operators present in workspace.For different behaviour The tutorial message of author can be projected concurrently, that is, while being projected in different subregions or different sublist faces.It can replace Dai Di, single projector can sequentially project the tutorial message for different operators.In the latter case, can make The tutorial message for different operation person is projected with identical subregion or sublist face.

In the alternative embodiment of quality control system according to the present utility model, at least one projector with matched Multiple projectors that projection is set to for the tutorial message of one or more operators are corresponding.

Therefore, multiple projectors can be deployed as a part of system according to the present utility model.Each projector It can be configured as the tutorial message projected for the corresponding operating person present in workspace.If such as two operators must Must be executed in workspace corresponding operation processing, then the first projector can be configured as the observation based on 3D sensor come Projection is used for the tutorial message of the first operator.Meanwhile second projector can be configured as the observation based on 3D sensor come Projection is used for the tutorial message of the second operator.By the tutorial message for being used for the first operator and it can be used for the second operator's Tutorial message projects on the different subregions in workspace or sublist face.These subregions or sublist face can be overlapped or not weigh It is folded.The use bring advantage of multiple projectors is, it is no longer necessary to projection is used for the tutorial message of different operation person in order, or Person changes the projection that will not interrupt the tutorial message for another operator for the tutorial message of an operator.Technology people Member will be appreciated that each of multiple projectors are not necessarily required to be assigned to individual operator.Multiple projectors are also It can be configured as amplification working space and tutorial message of the projection for operator in this biggish working space.It can Alternatively, multiple projectors also can be configured as the tutorial message that projection is used for individual operator.It in this way, such as can Think that individual operator projects different message, the holography for instructing individual operator can be collectively formed in the projection of multiple projectors Figure, etc..

The embodiment of quality control system according to the present utility model further includes button, which is configured as making operator One of the following or multiple can be registered:

(i) enter workspace；

(ii) workspace is left；And

(iii) next physical object or operational motion are moved in workspace.

In fact, (foresee) button is preferably arranged at or near the entrance of workspace, so that any behaviour Author can register that it is present or not present in workspace or log-on operation person is being moved to the operation executed by operator The next physical object or next operational motion of processing.This button makes system from from detection operation in data from 3D Person enters workspace, operator leaves workspace or operator is moved to the complexity of next physical object.

The embodiment of quality control system according to the present utility model further includes being configured as identification quality control system The lamp of situation.

In fact, the more advanced embodiment of system according to the present utility model is characterized in that instruction quality control system Situation or state lamp, such as LED light.This can for example be realized by color code: lamp can be for example blue to refer to Show that quality control system is movable, can be in yellow to indicate that quality control system is movable but is being transported without processing Row (idle state), can take on a red color to indicate that quality control system is in error condition, and can be turned off to instruction matter Amount control system is in inactive state.

The embodiment of quality control system according to the present utility model further include with apart from unrelated substantial constant Reflected value object.

These objects with the constant reflection value independent of distance improve the observation for passing through 3D sensor.Example can be with It is the object for being coated with the object of infrared coating or being covered completely or partially by infrared adhesive tape.

This infrared adhesive tape will improve certain physical objects in the predetermined volume object that 3D sensor is observed Or the detection of operational motion.

The embodiment of quality control system according to the present utility model further include will by operator dress have it is infrared can Surface portion is detected to improve the gloves of the observation by 3D sensor.

This gloves with infrared detectable surface portion will improve when being dressed by operator to be observed by 3D sensor To the operator in predetermined volume object execute operational motion detection.Alternatively or as supplement, operation Person can dress the gloves with capacitance type sensor, make it possible to detect when operator holds object.

Figure 1A is schematically illustrated according to first embodiment of the present disclosure for monitoring, controlling, safeguarding and/or instructing The quality control system (1) of one or more operators in the workspace (6) of operation processing.

System (1) include design module (2), workflow module (3), database (4), 3D sensor (5), projector (9), Button (93) and lamp (94).3D sensor (5) data and provides it to workflow module from retrieving 3D from workspace (6) (3).Database (4) is couple to design module (2) and workflow module (3).Note that in alternative embodiment, database (4) it can be separated with quality control system (1), thus system (1) is couple to database (4).Lamp (94) is configured as instruction system The state of system (1).Button (93) is placed on the inlet of workspace (6) so that into or leave the operations of workspace (6) Person can register this entrance or leave.Projector (9) is couple to workflow module (3) to receive from it instruction, for being based on It is that one or more operators in workspace (6) project tutorial message that 3D, which observes data,.In the example of Figure 1A, projector (9) projected triangle (91) on the surface of workspace (6).This triangle (91) can for example be directed toward behaviour in workspace (6) Author has to carry out the region of next operational motion, can be directed toward the work that operator must use in next operating procedure Tool or physical object, etc..

Figure 1B is schematically illustrated according to second embodiment of the present disclosure for monitoring, controlling, safeguarding and/or instructing The quality control system (1) of one or more operators in the workspace (6) of operation processing.

The system (1) includes design module (2), workflow module (3), database (4), 3D sensor (5), the first throwing Shadow instrument (9), the second projector (9 '), button (93) and lamp (94).Data from 3D sensor (5) retrieves 3D from workspace (6) And provide it to workflow module (3).Database (4) is couple to design module (2) and workflow module (3).Note that In alternative embodiment, database (4) can be separated with quality control system (1), and thus system (1) is couple to database (4).Lamp (94) is configured as the state of instruction system (1).Button (93) is placed on the inlet of workspace (6), so that into The operator for entering or leaving workspace (6) can register this entrance or leave.First projector (9) is couple to workflow module (3) to receive from it instruction, for being that the first operator in workspace projects tutorial message based on 3D observation data.In Figure 1B Example in, the first projector (9) projected triangle (91) on the surface of workspace (6).For example, this triangle (91) can The region of next operational motion is had to carry out with the first operator being for example directed toward in workspace (6), can be directed toward the first behaviour Tool or physical object that author must use in next operating procedure, etc..Second projector (9 ') is couple to work Flow module (3) is to receive from it instruction, for being that the second operator in workspace (6) projects guidance letter based on 3D observation data Breath.In the example of Figure 1B, the second projector (9 ') projects circle (92) on the surface of workspace (6).If the second operation Person malfunctions in operational motion, then this circle (92) can be painted to red, so that him be prevented to be moved to next behaviour Make step, this circle (92) can be painted to blue to indicate to have been detected by the correct execution of operating procedure, to make Next operating procedure, etc. can be moved to by obtaining the second operator.

The method that Fig. 2 illustrates the quality control system for operation diagram 1A or Figure 1B.In first step (100), if It counts module (2) and predefines one or more volume objects (10), also referred to as virtual, each volume object and workspace (6) Interior volumetric spaces (7) are corresponding.Moreover, being limited in step (101) by design module (2) or predetermined workflow sequence (20).Workflow sequence (20) includes multiple subsequent work flow steps (21), and each follow-up work flow step (21) includes one A or multiple workflow events (22).Workflow event (22) corresponds to empty in this volume corresponding with volume object (10) Between (7) interior physical object (8) or operational motion presence.

Then, workflow module (3) receives the 3D observed number provided by 3D sensing system (5) in step (102) According to, and data are observed come view volume object (10) based on the 3D received in step (103).Workflow module (3) quilt Be configured to detection in predetermined volume object (10) an interior physical object of corresponding volumetric spaces (7) (8) or The presence of operational motion.If it is (see step 104), then the creation event (22) in step (105).In addition, in step (106) workflow module (3) will confirm event (22) in view of predetermined workflow sequence (20) in.In confirmation event It afterwards, is that (one or more) operator projects tutorial message by indicating projector (9,9 ').

Fig. 3 schematically illustrates the volume object (10) stored in the database (4) of Figure 1A or Figure 1B and workflow sequence It arranges (20).Memory data library (4) includes volume object database (41) and workflow sequence database (42).

Volume object database (41) includes the predetermined volume object (10) " VO 1 " of storage, " VO 2 ", " VO 3 ", " VO 4 " etc..Each volume object (10) includes predetermined characteristic (11), that is, volume (12), required filling journey Spend (13), minimum detection time (14) and maximum detection time (15)).For example, volume object (10) " VO 1 " by with workspace (6) minimum detection of the corresponding volume (12) " Vol1 " of volumetric spaces (7), 80% required filling extent (13), 60 frames in The maximum detection times (15) of time (14) and 1000 frames limits.In the case where such as frame rate is 30 frames/second, it to be used for body The minimum detection time (14) of product object (10) " VO 1 " is equal to 2 seconds.

How many volumetric spaces term " required filling extent " in the utility model, which should be understood as, needs by physics The minimum percent, ratio or instruction of (take) are filled or occupied to object or human action.For example, 50% required compactedness It is required that at least half of corresponding volumetric spaces is filled.3D observation data be originated from TOF camera in the case where, this with correspond to 50% of pixel in the volumetric spaces of volume object, boundary in volumetric spaces with (depth) value is corresponding.

Term " minimum detection time " in the utility model should be understood as depositing for the needs of corresponding volume object By workflow module detected to create the minimum time section or frame of corresponding event in physical object or operational motion Amount.This characteristic allow to be arranged and monitor measure or detect in volumetric spaces before activating corresponding event physical object or The shortest time section of human behavior.This is favourable, because it improves robustness of the workflow module in creation event.

Term " maximum detection time " in the utility model should be understood as allowing physical object or operational motion In the presence of being detected so as to create corresponding event for the maximum time period of corresponding volume object or the amount of frame.This characteristic Allow to be arranged and monitor the maximum time period that some processing step is executed for operator.

Workflow sequence database (42) includes workflow sequence (20) " WFS 1 ", and it includes to be grasped by one or more Four subsequent work flow step (21) A, B, C and D that author executes.These steps (21) and workflow event (22) " EV1 ", " EV2 ", " EV3 ", " EV4 " are related, each workflow event and respective volume object (10) " VO 1 ", " VO 2 ", " VO 3 " with volumetric spaces (7) the interior physical object (8) of " VO 4 " or operational motion there are corresponding." step A " (21) include One workflow event (22), that is, " EV 1 ".Follow-up work stream " step B " (21) includes two workflow events (22), that is, " EV 2 " and " EV 3 "." STEP C " (21) include a workflow event (22), that is, " EV 4 ", and " STEP D " (21) Include workflow event (22) " EV 3 ".It, can also will be workflow event (22) and corresponding in the embodiments of the present invention Multiple volume objects corresponding multiple spaces (7) in physical object (8) or operational motion presence it is associated and/or with It is combined by the presence that external signal (for example, scanner) triggers.

Fig. 4 is schematically illustrated along with subsequent time point (31) " T0 ", " T1 ", " T2 ", " T3 ", " T4 " and " TS " The working space (6) observed of time shaft (30).Working space (6) include with volume object (10) " VO 1 ", " VO 2 ", " VO 3 " and " VO 4 " corresponding volumetric spaces (7).

In time T0, all volumetric spaces (7) are all for example empty and in view of workflow sequence " WFS1 " to work The monitoring in space (6) is started by workflow module (3).At T1, module (3) is detected right with volume object (10) " VO1 " There are physical object (8) in the volumetric spaces (7) answered, up to the minimum detection time (14) of 60 frames.Workflow module (3) as a result, Create workflow event (22) " EV1 " corresponding with volume object (10) " VO1 ".Whether module (3) confirms this event (22) As predetermined workflow sequence (20) " WFS1 " is desired.If time T1 is later than 1000 frames after time T0 Maximum detection time (15), then operator handles to obtain too slow or mistake.Make things worse part (22) after 1000 frames after T0 Through being created.Due to " EV1 " with it is desired the step of (21) (that is, " step A ") it is corresponding, " EV1 " is confirmed to be meddlesome part (22)。

In addition, detecting operational motion (8) or " hand " in volumetric spaces (7) corresponding with " VO3 " at T2.In T3 Place detects physical object (8) in volumetric spaces (7) corresponding with VO2.Workflow event " EV2 " and " EV3 " together with Subsequent work flow step (21) step B is corresponding.

At T4, physical object (8) are detected in volumetric spaces (7) corresponding with " VO4 " by workflow module (3) Presence.Desired work flow step (21) " step C " has been carried out.

Finally, at T5, such as work flow step " step D " institute according to predetermined workflow sequence (20) " WFS1 " It is desired, the creation of the presence of hand (8) trigger event (22) " EV3 " again.To which workflow sequence " WFS1 " is grasped by one Author or multiple operators are appropriately carried out.

Fig. 5 schematically illustrates the working space (6) that (30) are observed identical along the time axis with Fig. 4.When Between at T0, all volumetric spaces (7) are all for example empty and prisons in view of workflow sequence " WFS1 " to working space (6) Depending on being started by workflow module (3).At T1, module (3) detects empty in volume corresponding with volume object (10) " VO1 " Between there are physical object (8) in (7), up to the minimum detection time (14) of 60 frames.Workflow module (3) creation and volume as a result, The corresponding workflow event (22) " EV1 " of object (10) " VO1 ".Due to " EV1 " and it is desired the step of (21) (that is, " step A ") It is corresponding, therefore this event (22) is confirmed as meddlesome part (22) by module (3).

Then, at T2, physical object (8) setting is in volumetric spaces (7) corresponding with " VO4 ".Event (22) as a result, " EV4 " is created by workflow module (3), but is confirmed to be bad thing part (22), because of the workflow of event " EV4 " undesirably Sequence (20) " WFS1 ", actually event (22) " EV2 " is desired.As a result, his/her may be corrected in view of operator Mistake, quality control system (1) provide warning to workspace.Warning will be with the mark that is projected by projector (9,9 ') or information Form provides.

Fig. 6 schematically illustrates the working space (6) that (30) are observed identical along the time axis with Fig. 4.When Between at T0, all volumetric spaces (7) are all for example empty and prisons in view of workflow sequence " WFS1 " to working space (6) Depending on being started by workflow module (3).At T1, it is empty that the physical object (8) of mistake has been placed on volume corresponding with " VO1 " Between in (7).Since physical object (8) is too small, thus its volume, the filling extent observed are such as 30%.Thus, it is seen that Filling extent be not above the 80% required filling extent (13) for " VO1 ".Therefore, it not will create event.Work as maximum When detection time (15) expires, creation is makeed things worse part (22), and workspace (6) will be warned.Warning will with by projector (9, 9 ') form of the mark or information that project provides.

Term " filling extent observed " in the utility model should be understood as based on 3D observation data and body The corresponding volumetric spaces of product object how many by journey that is physical object or human action measuring of filling or occupy or observing Degree, percentage, ratio or instruction.

Fig. 7 A and 7B are respectively schematically illustrated without and with the retention time for corresponding volume object In the case of exist detection determination.Fig. 7 A shows the filling extent (50) observed changed according to time shaft (30).? Herein, the filling extent (50) arrived according to the observation respectively is more than or sets no more than required filling extent T (13) state of will be present It is set to " ON " or " OFF ", wherein required filling extent is arranged to 50%.

Term " retention time " in the utility model should be understood as detecting it by system or workflow module The existing minimum time section in expression volumetric spaces that preceding measurement needs.This retention time can by time value, the amount of frame, MTM predetermined time, time etc. from work sampling method limit.

Fig. 7 B shows the identical filling extent (50) observed changed according to time shaft (30).Herein, Consider retention time (retention time is 3ms in this illustration), existence is arranged to " ON " or " OFF ".There are quilts It is set as before " ON ", the filling extent (50) observed needs to be more than 50% during entire retention time (that is, 3ms) Required filling extent T (13).Therefore, with Fig. 7 A on the contrary, the existence in the time " 1ms ", " 5ms " and " 6ms " is arranged to " OFF ", therefore will not be detected by workflow module for corresponding volume object.This is favourable, because can be to avoid Quick response triggering to volume object.In other words, measurement is determined to be in some of triggering and starts period (retention time) Presence later.

Fig. 8 schematically illustrates the acquisition mode for volume object of embodiment according to the present utility model.Fig. 8 shows Gone out for the respective volume object " VO1 ", " VO2 " and " VO3 " with neighbouring corresponding volume space observe there are shapes State (61), (62) and (63).In order to avoid quick response triggers in different volumes object or detects presence, acquisition mode quilt It is arranged and uses to determine exist to correct volume object.In this illustration, " VO2 " can be observed and is deposited first , therefore acquisition mode will be set.Then, presence is observed to " VO3 ", so that the acquisition mode for " VO3 " is set. After the presence that two are observed, compare the duration of " detected object " " VO2 " and " VO3 ", the result is that " VO2 " has most Thus the long duration causes the presence in volumetric spaces corresponding with volume object " VO2 " to detect.In subsequent rank Section, all three volume objects " VO1 ", " VO2 " and " VO3 " show that the presence observed.Again, volume object " VO2 " with It is corresponding with the maximum length in time in all three presence observed of " VO3 " for three volume objects " VO1 ", " VO2 ". Therefore, " VO2 " will be detected the presence of, without being detected the presence of to " VO1 " and " VO3 ".Similarly, the presence of volume object State can be determined by three states " ON ", " detection " or " OFF ".

Term " acquisition mode " in the utility model should be understood as with about the more of corresponding multiple volume objects The corresponding state of existing maximum length in time of a neighbouring volumetric spaces observed.In order to avoid in the multiple of volume object Quick response triggering present in neighbouring volume, acquisition mode can be used to setting and detect the presence of and thus creating event Additional condition before.This leads to the more Shandong for creating and confirming more acurrate event corresponding with predetermined workflow sequence The way of stick.

Fig. 9 schematically illustrates the predetermined body of embodiment according to the present utility model with simplified two dimension view The section of the volumetric spaces (7) of product object (10) and the set of anti-volume object (10).This set includes volume object (10) " VO1 " and " VO2 " and anti-volume object (110) " AVO1 " and " AVO2 ".Volume object (10) " VO1 " and " VO2 " are wrapped respectively Include 99% and 65% required filling extent (13).Anti- volume object (110) " AVO1 " and " AVO2 " respectively include 1% and 1% Required filling extent (13).

Term " anti-volume object " in the utility model should be understood as at least indicating and the body in Physics Work area Variable, data structure or the function of the corresponding volume of product space.

Term " the required filling extent of anti-volume object " in the utility model should be understood as how few body Largest percentage, ratio or the instruction that product space can be filled or be occupied by physical object or human action.For example, 50% institute It is empty for needing at least half of the corresponding volumetric spaces of filling extent requirement.Self-evidently, volume object, anti-body are similar to Product object also may include have the function of such as the disclosure defined in refer to or purpose characteristic, such as minimum detection Time, maximum detection time, occlusion (occlusion) state, acquisition mode, etc..

These objects (10) are for example corresponding with event (22) " EVVO1 ", " EVVO2 ", " EVAVO1 " and " EVAVO2 " respectively. Work flow step (21) " step " includes event (22) " EVVO1 ", " EVVO2 ", " EVAVO1 " and " EVAVO2 ".It is grasped to allow Author executes correct work flow step " step ", and specific physical object (8) must be placed correctly under workspace (6) In.Further, it was observed that " VO1 " filling extent should tend to volume object " VO1 " (10) volumetric spaces (7) whole Filling.Physical object (8) has hole (81), therefore object (8) should fill at least the 65% of the volumetric spaces (7) of " VO2 ", Because the amount (13) that hole (81) reduce required filling extent reaches such as about 35% space.In addition, physical object (8) has Extension (82) and other edges, volumetric spaces (7) corresponding with anti-volume object (110) " AVO1 " and " AVO2 " and its It adapts to.In fact, the adjacent volumetric spaces (7) of anti-volume object (10) should if physical object (8) is correctly positioned Reach the filling extent of almost sky, that is, to be respectively lower than the required filling of anti-volume object (110) " AVO1 " and " AVO2 " Degree (13) (that is, 1%).

Figure 10 shows the suitable computing system 200 of the quality control system 1 for trustship Fig. 1.Computing system 200 Suitable general purpose computer can be generally formed, and including bus 210, processor 202, local storage 204, one Or multiple optional input interfaces 214, one or more optional output interface 216, communication interface 212, memory element interfaces 206 and one or more memory element 208.Bus 210 may include one of the communication between the component of permission computing system A or multiple conductors.Processor 202 may include any kind of conventional processors for explaining and executing programming instruction or micro- place Manage device.Local storage 204 may include the random access memory for storing the information and instruction that are executed by processor 202 (RAM) or another type of dynamic memory, and/or the static information that is used by processor 204 of storage and instruction only Read memory (ROM) or another type of static storage device.Input interface 214 may include that operator is allowed to set to calculating One or more conventional mechanisms of standby 200 input information, such as keyboard 220, mouse 230, pen, speech recognition and/or biometric Determine mechanism, etc..Output interface 216 may include one or more conventional mechanisms to operator's output information, such as show Device 240, printer 250, loudspeaker, etc..Communication interface 212 may include the mechanism of any similar transceiver, such as Two 1Gb Ethernet interfaces, enable computing system 200 to be communicated with other equipment and/or systems, such as The mechanism communicated with one or more of the other computing system 260.The communication interface 212 of computing system 200 can be by means of local Net (LAN) or wide area network (WAN, such as internet) are connected to another such computing system, in this case, should Another computing system 260 can be for example including suitable web server.Memory element interface 206 may include for will be total Line 210 is connected to one or more memory elements 208 (such as one or more local disks, such as the SATA disk driver of 1TB) Memory interface (such as Serial Advanced Technology Attachment (SATA) interface or small computer system interface (SCSI)), and And control reads and writees data from these memory elements 208 and/or reads and writees data to these memory elements 208.Though So above, memory element 208 is described as local disk, but in general any other suitable computer-readable medium is (all Such as moveable magnetic disc, optical storage media, ROM disk, solid state drive, the flash card ... of such as CD or DVD etc) it can be by It uses.

The component part (such as design module 2, workflow module 3, etc.) of quality control system 1 may be implemented as depositing Store up the programming instruction executed in the local storage 204 of computing system 200 for its processor 202.Alternatively, these groups It can be stored on memory element 208 or can be visited from another computing system 260 by communication interface 212 at part It asks.It is also in this way, it can also be from local storage 204, storage for volume object 7, workflow sequence, observation data etc. Element 208 or another computing system 260 (for example including suitable memory data library 4) suitably may have access to for processing.

The embodiments of the present invention includes at least:

1, a kind of quality control system (1), for monitoring, controlling, safeguard, notify, instruct and/or instruct in operation processing Workspace (6) in one or more operators, the system (1) includes: -3D sensor (5), for from the workspace (6) retrieval 3D observes data, to observe predetermined volume object for the presence for physical object or operational motion (10)；And-at least one projector (9), for projecting tutorial message for the operator.

2, the quality control system as described in 1 (1), further includes:-design module (2), be configured as: (i) predefines one A or multiple volume objects (10), each volume object are corresponding with volumetric spaces (7) in workspace (6)；And (ii) is preparatory Determine at least one workflow sequence (20), wherein workflow sequence (20) includes multiple follow-up work flow steps (21), each Work flow step (21) includes one or more workflow events (22), wherein workflow event (22) with volume object (10) presence of the physical object (8) in corresponding volumetric spaces (7) or operational motion is corresponding；And-workflow module (3), Be couple to the design module (2) and be couple to the 3D sensor (5), the workflow module (3) is configured as: (i) from The 3D sensor (5) receives the 3D and observes data；(ii) it is predefined according to observations based on received 3D observed number Volume object (10)；(iii) physics pair is being detected in a corresponding volumetric spaces (7) in the volume object (10) As the presence of (8) or operational motion；(iv) if with a corresponding volumetric spaces (7) in the volume object (10) In detect the presence of physical object (8) or operational motion, then creation event (22)；And it is (v) predetermined in view of institute Workflow sequence (20) confirms the event (22).

3, the quality control system as described in 1 (1), in which:-described at least one projector be configured as sequentially throwing A projector (9) of the shadow for the tutorial message of the corresponding operating person in the operator is corresponding.

4, the quality control system as described in 1 (1), in which:-described at least one projector is used for projection is configured as Multiple projectors of the tutorial message of one or more operators in the operator are corresponding.

5, the quality control system as described in 2 (1), further includes:-programmable logic controller (PLC) or PLC are couple to the work Make flow module (3) and is configured as controlling manufacture processing when confirming the event.

6, the quality control system as described in 1 (1), further includes:-button (93) is configured such that operator's energy Enough register one of the following or multiple: (i) enters the workspace (6)；(ii) workspace (6) are left；And (iii) Next physical object or operational motion are moved in the workspace (6).

7, the quality control system as described in 1 (1), further includes:-lamp (94) is configured as identifying quality control system The situation of system (1).

8, the quality control system as described in 1 (1), further includes:-have in the workspace (6) at a distance from it is unrelated Substantially constant reflected value is to improve the object of the observation by the 3D sensor (5).

9, the quality control system as described in 1 (1), further includes:-to be dressed by the operator have it is infrared detectable Surface portion is to improve the gloves of the observation by the 3D sensor (5).

10, the quality control system as described in 2 (1), further includes: the-the second workflow module is couple to the 3D sensor (5) or the workflow module (3) are couple to, and are configured as control constitutes the part of at least one projector the Two projectors.

Although the utility model is illustrated by reference to specific embodiment, for those skilled in the art It is clear that the utility model is not limited to the details of foregoing illustrative embodiment for member, and the utility model can be with each Kind changes and modifies to embody, without departing from its range.Therefore, the present embodiment is considered to be illustrative rather than in all respects Restrictive, the scope of the utility model is indicated by appended claims rather than by the description of front, and is therefore entered All changes in the meaning and scope of the equivalent of claim are intended to covered in wherein.In other words, it is contemplated that covering It falls into the range of basic potential principle and that its essential attribute is claimed in the present patent application is any and whole Modification, variation or equivalent.The reader of present patent application will be further appreciated that word " comprising " or " comprising " are not excluded for it Its element or step, word "a" or "an" be not excluded for it is multiple, and discrete component (such as computer system, processor or Another integrated unit) if the function of equipment for drying described in claim can be fulfiled.Any label in claim is all It is not necessarily to be construed as limiting relevant respective right requirement.When in specification or claim in use, term " first ", " second ", " third ", " i ", " ii ", " iii " etc. are introduced into for distinguishing similar element or step, and are not necessarily description Sequence or chronological order.

Claims (8)

1. a kind of quality control system (1), for monitoring and instructing one or more behaviour in the workspace (6) of operation processing Author, the system (1) include:

- 3D sensor (5), for data from obtaining 3D from the workspace (6), for dynamic for physical object or operation Predetermined volume object (10) are observed in the presence of work；

Workflow module (3) is couple to the 3D sensor (5) and receives the 3D observed number from the 3D sensor (5) According to；And

At least one projector (9), be couple to the workflow module (3) with from the workflow module (3) receive instruction from And it is used to project tutorial message for the operator.

2. quality control system (1) as described in claim 1, in which:

At least one described projector includes at least one ranging image camera.

3. quality control system (1) as described in claim 1, in which:

At least one described projector includes at least one of following: the group of TOF camera, two or more TOF cameras It closes, two combination of infrared camera, the combination of two or more RGB cameras, depth camera and thermal imagings with infrared radiation source The combination of camera and the combination of CCD camera and RFID tracking equipment.

4. quality control system (1) as described in claim 1, further includes:

Button (93), the button (93) are foreseen at or near the entrance of workspace.

5. quality control system (1) as described in claim 1, further includes:

Lamp (94), is used to indicate the situation of the quality control system (1).

6. quality control system (1) as described in claim 1, further includes:

The object that there is substantially constant reflected value unrelated at a distance from the workspace (6).

7. quality control system (1) as claimed in claim 6, wherein the object is coated with infrared coating or complete or partial It is covered by infrared adhesive tape.

8. quality control system (1) as described in claim 1, further includes:

Gloves with infrared detectable surface portion, wherein the gloves are dressed by the operator.