DE102016007586A1 - Novel device / s for automatically applying or generating and monitoring a structure applied to a substrate with determination of geometric dimensions and a corresponding method - Google Patents

Abstract

The present invention relates to devices for automatically applying or generating and monitoring a structure to be applied to a substrate, preferably an adhesive bead, adhesive track, adhesive seam, sealing seam, a foam profile, continuous profile, geometric profile, in particular a cylinder-like profile or a triangular profile, or a weld which has an application device (10), an illumination device (20), at least two cameras (31 to 36) and an image evaluation unit, wherein the illumination device (20) emits one or more light paths, which are respectively applied to the substrate and the applied structure (6 ) are projected immediately after application, and wherein the one or more light paths (21) projected onto the substrate and the applied structure are processed by the cameras (31 to 36) in the online mode immediately after application of the applied structure (6). and the image evaluation unit detects such st is or will, that the image evaluation unit uses the change of the projected light path (21) or light paths by means of calculation methods to determine at least one feature of the applied structure (6). According to the invention, the illumination device has at least one and preferably at least two pairs of light sources, wherein the light sources of the light source pair, in particular of the respective light source, project light in the same plane onto the substrate.

Description

The present invention relates to a device for automatically applying or generating and monitoring a structure applied to a substrate with determination of geometric dimensions of the applied structure according to the subjects of the preambles of claims 1, 4, 7, 15 and a corresponding method according to the preamble of claim 16 for this.

For the geometric determination of an applied structure or adhesive trace, a projected straight laser line has been used so far, which is recorded and checked by a camera. In this case, the laser line is substantially perpendicular to the course of the applied adhesive trace and thereby the laser line is changed geometrically by the profile of the applied adhesive. However, this geometric change of the projected laser line is on the one hand due to the low scattering only partially or qualitatively difficult to detect.

In addition, the laser line is only a few tenths of a millimeter wide, so that even with high timing of the recording frequency of the camera according to the cycle time a certain cross section of the applied adhesive trace is inspected and until the next review of the applied adhesive trace according to the projected laser line a corresponding offset arises.

Furthermore, the sensor or the camera, which is arranged in the direction behind the line optics for the laser line, must be moved accordingly in the known straight laser line projection to always make the monitoring of the laser line can. Due to the tracking of the sensor, a cable clutter occurs in the known systems when the line optics for the laser line and the sensor mounted behind it have to be moved or rotated relative to the robot arm with a correspondingly curved course of the adhesive track.

Furthermore, it was recognized that mutual interference of the different cameras occur in the acquisition of the image data. Furthermore, a slight scattering of the adhesive trace can be cited as a disadvantage, therefore, with classical triangulation angles and classical laser wavelengths, reflection with too low a light intensity in the direction of the camera and shading of parts of the adhesive trace occur. This in turn results in poorly evaluated images. Furthermore, the image acquisition known from the prior art requires a high computation outlay of the image evaluation unit and resulting slow acquisition speeds or high hardware costs, since a large number of camera images must be processed in parallel, although usually only in one camera image the adhesive trace can be seen and thus only in this case Image relevant data can be obtained. In addition, the bandwidths of common interfaces reach their limits. Furthermore, the finding of the adhesive trace in the camera image is sometimes difficult. Often, complicated learning operations with respect to a sample part are necessary.

Consequently, a continuous monitoring of the adhesive track with high quality by means of a straight laser line, in particular in a curvy course of the adhesive trace only partially possible.

It is therefore an object of the present invention to provide a device for automatically applying or generating and monitoring a structure applied to a substrate, preferably an adhesive bead, adhesive trace, adhesive seam, sealing seam, foam profile, continuous profile, geometric profile, in particular a cylinder-like profile or a triangular profile. or weld, with an improved detection of the geometry and / or the course of the applied structure and / or a simplification or acceleration of the production and monitoring and to provide a corresponding method for this purpose.

This object is achieved by device technology according to the subject matter of claim 1.

The solution according to the invention relates to a device for automatically applying or generating and monitoring a structure to be applied to a substrate, preferably a bead of adhesive, glue trace, glued seam, sealing seam, foam profile, continuous profile, geometric profile, in particular a cylinder-like profile or a triangular profile, or a weld. The device according to the invention preferably comprises at least one application device for applying or producing the applied structure, an illumination device which is attached to the application device or a support structure of the application device, at least two cameras for optically detecting the applied structure which is offset from the illumination device at the application device or the support structure of the applicator are mounted opposite each other, and having an image evaluation unit for detecting the applied structure, which is coupled to the cameras, wherein the illumination device emits one or more light paths, each projecting onto the substrate and the applied structure immediately after application is or will, and wherein the one or more light paths projected onto the substrate and the deposited structure immediately after Applying the applied structure in on-line operation by the cameras and the image evaluation unit is detected such that the image evaluation unit uses the change of the projected light path or light paths by means of calculation methods to determine at least one of the following features of the applied structure: the width of the applied Structure and / or the height of the applied structure and / or the volume of the applied structure, in particular with respect to the applied length of the job structure including the height, the width and the profile or the shape of the applied structure and / or the position of the applied structure on the substrate. According to the invention, the illumination device has at least one and preferably at least two pairs of light sources, wherein the light sources of the light source pair, in particular of the respective light source, project light in the same plane onto the substrate. This solution is advantageous since the illuminant units of the illumination device, preferably lasers, are preferably aligned such that the light strikes the sides of the adhesive track at least perpendicular to the substrate, better obliquely. This can preferably be designed as an LED row or laser pair. The LED row or the laser pair forms a common line on the test object. Due to the vertical, better oblique irradiation of the light on the sides of the applied structure, in particular adhesive trace comes from this along the entire geometry of the cross section of the applied structure, in particular adhesive trace, light back and there is no shading. This results in a good, high-contrast image of the camera, which can be processed well by the image evaluation unit.

Further preferred embodiments are the subject matter of the subclaims and / or the following description parts.

In accordance with a preferred embodiment of the present invention, plane portions in which the light of respectively adjacent pairs of lamps intersect, wherein a control device is provided for the time-delayed driving of the adjacent pairs of lamps in order to effect a time-offset illumination of the substrate and / or the structure to be applied by means of the pairs of lamps , Additionally or alternatively, each illuminant unit is assigned at least one camera, the camera being oriented at a triangulation angle of less than 30 °, in particular less than 25 °, the triangulation angle being set as a function of a reflection characteristic of the structure to be applied.

Furthermore, the above-mentioned object is achieved by a device for automatically applying or generating and monitoring a structure to be applied to a substrate, preferably a bead of adhesive, glue trace, adhesive seam, sealing seam, a foam profile, continuous profile, geometric profile, in particular a cylinder-like profile or a triangular profile, or a weld solved. According to the invention, this device preferably has at least: an application device for applying or producing the applied structure, an illumination device which is attached to the application device or a support structure of the application device, at least two cameras for optically detecting the applied structure, which offset from the illumination device at the Applicator or the support structure of the applicator are mounted opposite each other and having an image evaluation unit for detecting the applied structure, which is coupled to the cameras, the illumination device emits one or more light paths, each projecting onto the substrate and the applied structure immediately after application or, and wherein the one or more light paths projected onto the substrate and the deposited structure immediately after the application of the applied St the image evaluation unit uses the change in the projected light path or light paths by means of calculation methods in order to determine at least one of the following features of the applied structure: the width of the applied structure and / or or the height of the applied structure and / or the volume of the applied structure, in particular with respect to the applied length of the application structure including the height, the width and the profile or the shape of the applied structure and / or the position of the applied structure on the substrate , According to the invention, the illumination device comprises at least two illuminant units, each illuminant unit projecting light in a plane onto the substrate, wherein each illuminant unit is assigned at least one camera, the camera being oriented at a triangulation angle of less than 30 °, the triangulation angle being dependent on a reflection characteristic of the structure to be applied is set.

Thus, according to the present invention, a triangulation angle, which is smaller than the usual triangulation angle of 30 °, preferably smaller than 28 °, preferably smaller than 25 °, is set based on the reflection characteristic of the adhesive trace. This is advantageous because more light is reflected from the adhesive trace towards the camera, as opposed to a larger triangulation angle. Preferably, the triangulation angle is greater than 8 °, preferably greater than 10 ° and more preferably greater than 15 °, since otherwise the measurement accuracy is too low. The adaptation to the reflection characteristic defines an adaptation to defined parameters of the glue trace, in particular the degree of reflection or reflection of light. The degree of reflection corresponds to that of a fresh glue trace, fresh here being less than 20 seconds, in particular less than 10 seconds or less than 5 seconds or less than 2 seconds or less than 1 second, after application of the glue trace is defined on a surface. Additionally or alternatively, the degree of reflection or reflection may correspond to a moist adhesive trace, wherein the adhesive trace is still at least 50% and preferably at least 70% or at least 80% or at least 90% or even more than the moment of application to a surface has at least 95% moisture. The adaptation to the reflection characteristic can additionally or alternatively represent an adaptation of the illumination wavelength. The illumination wavelength is preferably chosen such that high reflection coefficients exist for all customary adhesive colors, in particular a reflection coefficient of at least 10%, and preferably of at least 20% or of at least 25%. Preferably, light having a wavelength of less than 630 nm, in particular less than 550 nm or less than 500 nm or less than 450 nm or less than 420 nm is emitted by means of the light source. This is highly advantageous as it results in more light in the camera image.

According to a further preferred embodiment, plane portions, in which the light of respectively adjacent illuminant units extends, are intersected, wherein an actuation device is provided for staggered actuation of the adjacent illuminant units in order to effect a time-offset illumination of the substrate and / or the structure to be applied by means of the illuminant units. or the lamp units are formed as at least two pairs of lamps, wherein the lamps of the pair of lamps, in particular of the respective lamp projecting light in the same plane on the substrate.

Furthermore, the above-mentioned object is achieved by a further device for automatically applying or generating and monitoring a structure to be applied to a substrate, preferably a bead of adhesive, adhesive trace, adhesive seam, sealing seam, a foam profile, continuous profile, geometric profile, in particular a cylinder-like profile or a triangular profile, or a weld, solved. The further device preferably comprises at least one application device for applying or producing the applied structure, an illumination device which is attached to the application device or a support structure of the application device, at least two cameras for optically detecting the applied structure, which is offset from the illumination device at the application device or the support structure of the applicator are mounted opposite each other, and having an image evaluation unit for detecting the applied structure, which is coupled to the cameras, wherein the illumination device emits one or more light paths, each projecting onto the substrate and the applied structure immediately after application or, and wherein the one or more light paths projected onto the substrate and the applied structure immediately after the application of the applied structure i m online operation is detected by the cameras and the image evaluation unit such that the image evaluation unit uses the change of the projected light path or light paths by means of calculation methods to determine at least one of the following features of the applied structure: the width of the applied structure and / or the height of the applied structure and / or the volume of the applied structure, in particular with respect to the applied length of the application structure including the height, the width and the profile or the shape of the applied structure and / or the position of the applied structure on the substrate. According to the invention, the illumination device comprises at least two illuminant units, each illuminant unit projecting light onto the substrate in one plane, with plane portions in which the light of respectively adjacent illuminant unit extends intersecting, wherein an actuation device for timed driving of the adjacent illuminant unit is provided time-offset illumination of the substrate and / or the applied structure by means of the lamp unit to effect.

This solution is advantageous since, according to a main aspect of the present invention, the device has a lighting device coupled to the cameras (functional or electrical; physical / mechanical coupling not required). As a result, the illumination device can be operated such that only the part of the illumination device that is relevant for the current image acquisition is active. Thus, in the presence of a plurality of illuminant units, it is always possible to operate, in particular pulsed, exactly those which are actually required for detection. Since not all illuminant units and camera device are always actuated in succession, the respective illuminant unit with assigned camera unit can be actuated significantly faster in succession. This pulsation results in a more error-free image acquisition, since adjacent portions of the Lighting device does not affect the image capture of the camera.

Each illuminant unit is associated with at least one camera according to a further preferred embodiment of the present invention, the camera being oriented at a triangulation angle of less than 30 ° with respect to the direction of the light emitted by the respective illuminant, the triangulation angle being dependent on a reflection characteristic of the light source is set to be applied structure and / or the lamp units are designed as at least two pairs of lamps, the bulbs of the pair of lamps, in particular of the respective bulb project light in the same plane on the substrate.

At least three, in particular six or more than six pairs of lamps are provided according to a further preferred embodiment of the present invention and the planes generated by the pairs of lamps form in their entirety a circumferential shape, in particular a polygonal shape. This embodiment is advantageous since, even with any course of the applied structure, rapid detection of the shape of the applied structure can be effected with a high detection quality.

The particular light path projected onto the substrate forms a rectilinear shape on the substrate according to another preferred embodiment of the present invention. The entirety of the projected light paths preferably describes a polygonal shape, in particular with at least or exactly 3 corners or with at least or exactly 4 corners or with at least or exactly 5 corners or with at least or exactly 6 corners or with at least or exactly 7 corners or with at least or exactly 8 corners or with at least or exactly 9 corners or with at least or exactly 10 corners. This embodiment is advantageous because the shape described approaches the shape of a circle with the increase of the corners, despite even portions. It is thus possible to use the illuminants, in particular lasers or LEDs, which are very well suited for detection but project a straight line. The pairs of lamps each have, in accordance with a further preferred embodiment of the present invention, two lasers aligned with respect to each other. Preferably, each laser is configured to emit light having a wavelength of less than 630 nm, in particular less than 550 nm.

The lasers of a pair of lamps are according to another preferred embodiment of the present invention at an angle of less than 90 °, in particular of less than 45 ° inclined to each other, wherein the laser in terms of magnitude at the same angle to the substrate and / or orthogonal to the surface are aligned of the substrate extending direction. This embodiment is advantageous since

According to a further preferred embodiment of the present invention, the image evaluation device is designed for processing movement data of a movement device, the movement data comprising at least localization data of the location where the structure is applied, wherein the contour of the applied structure is detected by means of a plurality of cameras, each of a camera generated image with data at the time of acquisition and the camera by means of which it has been detected, in particular the location coordinates and / or orientation of the camera, the image evaluation unit depending on the movement data selects and analyzes an image from the captured images, which by the optical detection generated image data by means of an evaluation device, in particular the image evaluation unit, with respect to properties of the structure are evaluated and for modifying one or more operating parameters of the image evaluation unit and / or the Beleuchtu ngseinrichtung and / or the movement device and / or the applicator can be used and / or wherein the motion data next to the localization data target area property data, in particular the surface shape and / or surface color of the substrate include, the target area property data for modifying one or more operating parameters of the image evaluation unit and / or the illumination device and / or the movement device and / or the application device can be used and / or wherein the image data captured by the camera are limited in dependence on the movement data to a predetermined data area, wherein the predetermined data area represents a section of the generated image.

The aforementioned object is further provided by a further device for automatically applying or generating and monitoring a structure to be applied to a substrate, preferably a bead of adhesive, adhesive trace, adhesive seam, sealing seam, foam profile, continuous profile, geometric profile, in particular a cylinder-like profile or a triangular profile. or a weld solved. The further device preferably comprises at least one application device for applying or producing the applied structure, an illumination device which is attached to the application device or a support structure of the application device, at least two cameras for optically detecting the applied structure, which offset from the illumination device at the Applicator or the support structure of the applicator are mounted opposite each other, and an image evaluation unit for detecting the applied structure, which is coupled to the cameras, the illumination device emits one or more light paths, each on the substrate and the applied structure immediately after application and wherein the one or more light paths projected onto the substrate and the applied structure are or are detected by the cameras and the image evaluation unit in online mode immediately after the application of the applied structure in such a way that the image evaluation unit detects the change in the image quality projected light path or light paths by calculation method used to determine at least one of the following features of the applied structure: the width of the applied structure and / or the height of the applied structure and / or the V olumen of the applied structure, in particular in each case with respect to the applied length of the application structure including the height, the width and the profile or the shape of the applied structure and / or the position of the applied structure on the substrate. According to the invention, a control device is provided, wherein movement data of a movement detection device, in particular a robotics and / or a 3D sensor system, can be received and evaluated by the control device, the movement data describing a relative movement between the application device and the substrate, and wherein by means of the control device based on the movement data a treatment area of the substrate in which the structure is to be applied can be determined before the structure is applied.

As a result, the illumination device can be operated such that only the part of the illumination device that is relevant for the current image acquisition is active. Thus, in the presence of a plurality of illuminant units, it is always possible to operate, in particular pulsed, exactly those which are actually required for detection. Since not all illuminant units and camera device are always actuated in succession, the respective illuminant unit with assigned camera unit can be actuated significantly faster in succession. This pulsation results in a more error-free image acquisition, since adjacent portions of the illumination device do not influence the image acquisition of the camera. Since only the image of the relevant camera is used for image evaluation, only this image must be transferred to the image evaluation unit. As a result, common interfaces and their speeds can be better utilized.

According to a further preferred embodiment of the present invention, at least one camera can be controlled by means of the control device in such a way that the treatment area is detected before the structure is applied. Since the expected position of the adhesive trace is known, there is a further significant advantage over the prior art: The correct adhesive trace no longer has to be determined by a complicated teaching of a sample part, but is present as knowledge by the communication with robotics and / or adhesive control ,

By means of the image evaluation unit, according to a further preferred embodiment of the present invention, the treatment area is compared before the application of the structure and after the application of the structure. This embodiment is advantageous since simultaneous observation of the structure application, in particular of the adhesive or sealant application, and of the unprocessed substrate, given by separate evaluation of the opposing cameras, enables accurate extraction / extraction of the geometric model of the applied material. Based on the extracted model, a high-precision measurement and detection of the applied structure, in particular the adhesive or sealant trace, can then preferably take place.

Additionally or alternatively, the movement detection device is functionally coupled to the application device, wherein a relative movement between the substrate and the application device can be detected by the movement detection device.

Additionally or alternatively, the movement detection device is a 3D sensor or is or corresponds to a robotics, in particular a multi-axis system, associated device for predetermining Verfahrbewegungen between the substrate and the applicator. By communication with the robotics and / or further, in particular external, 3D sensor technology, the location of the application device, in particular the adhesive nozzle, and with appropriate calibration so that the trajectory of the applied structure, in particular the adhesive trace, traced. On the basis of this preliminary knowledge, it is firstly clear which camera image contains the relevant information. Second, finding the applied structure, in particular the glue trace, in the respective camera image is easier, since not only the relevant camera image, but also the expected position of the applied structure, in particular glue trace, is known in the image.

Thus, by an intelligent programming of the image evaluation unit a variety be eliminated at known from the prior art disadvantages.

The aforementioned object is likewise achieved by a method for applying or producing and monitoring a structure to be applied to a substrate, preferably a bead of adhesive, adhesive tape, glued seam, sealing seam, a foam profile, endless profile, geometric profile, in particular a cylinder-like profile or a triangular profile Weld solved. The method preferably comprises at least the following steps: providing an application device for applying or generating the structure to be applied, a lighting device which is attached to the application device or a support structure of the application device, of at least two cameras for optical monitoring of the applied structure, which offset from the illumination device on the applicator or the support structure of the applicator and are mounted opposite each other, and an image evaluation unit for detecting the applied structure, which is connected to the cameras, emitting one or more light paths from the illumination device, wherein the one or more light paths at least partially around the Application device is projected or projected around the substrate and the applied structure, wherein each image generated by a camera with data at the time of detection un d to the camera, by means of which it was detected, in particular the location coordinates and / or orientation of the camera, wherein the image evaluation unit selects and analyzes an image from the acquired images as a function of the movement data, wherein the image data generated by the camera by means of an evaluation , in particular the image evaluation unit, are evaluable with regard to properties of the applied structure and can be used for modification of one or more operating parameters of the image evaluation unit and / or the illumination device and / or the movement device and / or the application device and / or wherein the movement data comprise target area property data, in particular the surface shape and / or surface color of the substrate, wherein the target area property data for modifying one or more operating parameters of the image evaluation unit and / or the illumination device and / or the movement device and / or the application device can be used and / or wherein the image data captured by the camera are limited in dependence on the movement data to a predetermined data area, wherein the predetermined data area represents a section of the generated image,

Detecting the projected one or more light paths in online operation by the cameras and the image evaluation unit, wherein the changes of the projected light path or light paths are used by the image evaluation unit by means of calculation methods to thereby determine at least one of the following features of the applied structure from the image evaluation unit: the width of the applied structure, which is determined in particular substantially perpendicular to the center line with respect to the course of the applied structure and / or the height of the applied structure and / or the volume of the applied structure, in particular with respect to the applied length of the application structure including the height , the width and the profile or shape of the applied structure and / or the position of the deposited structure on the substrate.

Additionally or alternatively, the invention is based on the idea that at least one preferably circumferential light path is projected around the application device during the application of the application structure. The at least one projected circumferential light path makes it possible to monitor the applied structure at an angle of 360 °, irrespective of the travel path of the application device and, for example, an application nozzle, ie the circulating light path allows a complete inspection area around the application device or application nozzle , which can be described as a panoramic view. For this purpose, the at least two cameras detect the changes in the projected circumferential light path and the image evaluation unit connected to the cameras can use this to calculate the geometric dimensions of the applied structure. In particular, the width, the height, the volume and / or the position of the applied structure on the substrate can thus be determined in a simple and exact manner. At least two cameras are required for monitoring the applied structure in order to always use at least one camera to determine a partial area of the inspection area or of the applied structure, since possibly a partial area of the application nozzle for another camera may be concealed. Therefore, the two cameras are opposite each other and offset at the applicator or applicator nozzle attached. In particular, the circumferential light path strikes the applied structure, wherein the cameras can detect the deformation of the light path from an observation position which has a different angle to the light path, and can determine the deformation of the light path using suitable calculation methods. By the advance of the application and monitoring device relative to the substrate or by the feed of the substrate relative to the order and Monitoring device can be detected in three dimensions by the online monitoring the structure applied.

According to a first aspect of the present invention, the device has an application device for applying or producing the applied structure, an illumination device which is preferably mounted on the application device or a support structure of the application device, at least two cameras for optically detecting the applied structure which are opposite to the Lighting device offset from the applicator or the support structure of the applicator are mounted and mounted opposite each other, and an image evaluation unit for detecting the applied structure, which is connected to the cameras, the illumination device emits one or more light paths, each of which is a circulating self-contained Form, and wherein the one or more circulating light paths around the applicator around the substrate and the applied structure immediately after the application pr and wherein the one or more circulating light paths projected onto the substrate and the applied structure are or are detected by the cameras and the image evaluation unit in online mode immediately after the application of the applied structure in such a way that the image evaluation unit detects the change the projected circumferential light path or light paths used by calculation methods to determine at least one of the following features of the applied structure: the width of the applied structure, which is determined in particular substantially perpendicular to the center line with respect to the course of the applied structure, and / or the height of the applied structure, and / or the volume of the applied structure, in particular in each case with respect to the applied length of the job structure including the height, the width and the profile or the shape of the applied structure, and / or the position of the aufge thought structure on the substrate.

Thus, according to the invention, for example, an adhesive trace can be applied and monitored online, wherein the adhesive trace can be detected independently of the direction of travel with a 360 ° inspection area around the application nozzle. As a result, the sensor or the cameras no longer need to be tracked, so that twisting or cable clutter between the sensor and the application device is avoided.

Further advantageous embodiments of the invention will become apparent from the dependent claims. Thus, it is advantageous if the application device has an application nozzle, around which a sensor head with the two cameras and the illumination device is mounted, wherein the application nozzle is fixedly or rotatably connected to the sensor head. If the application nozzle is rotatably connected to the sensor head, the cameras mounted laterally offset from the application nozzle on the sensor head can monitor each area of the circulating light path, since at least one of the two cameras can monitor each point of the circulating light path independently of the travel path. Of course, this also applies to an application nozzle fixedly arranged on the sensor head, since there is no relative movement between the cameras and the application nozzle.

Preferably, the two cameras are mounted opposite one another on the applicator such that both cameras capture at least part of the applied structure in the intersection with the orbiting light paths or at least one camera completely covers the applied structure in the intersection region with the circulating light path (s). As a result, the device according to the invention can monitor the applied structure independently of the travel path of the application device at any time.

According to a preferred embodiment of the invention, the two cameras are mounted laterally on the application nozzle such that the intersection of the circulating light path with the applied structure is respectively monitored by the first and second camera such that the first camera is a side view of the intersection between the circulating light path and the applied structure and the second camera detect the opposite side view of the intersection between the circulating light path and the applied structure.

Another advantage of the invention lies in the fact that the beam path of the cameras is always aligned with the circulating light path, wherein in particular a laterally offset to the cameras mirror is provided such that the angle of incidence of the beam path of the cameras is changed to the orbiting light path. Thus, the applied structure can also be monitored from a more favorable flat angle, wherein the dimension of the device according to the invention is minimized or the cameras have only a small distance to the applicator. As a result, the diameter of the sensor head formed thereby is small, whereby even complex components can be provided with an application structure and monitored in the on-line process, without the sensor head coming into conflict with the substrate or component.

If the lighting device, the one or more light paths in the form of an im projected substantially circular ring of light around the substrate and the applied structure, so the determination of the geometric dimensions and the course of the applied structure of the image evaluation unit can be particularly easily calculated.

If the substantially circular light ring has a width such that the light ring has a defined inner and outer diameter, in particular the intersections of the edge of the inner diameter and the applied structure and also the intersections of the edge of the outer diameter and the applied structure for monitoring be used. As a result, the geometrical dimensions and the course of the applied structure or adhesive trace can be calculated and recorded more precisely, since the intersections of the inner diameter and the outer diameter can each be used in an image analysis and thus be present twice. This thus results in a higher sampling frequency due to the scanning of the edges of the inner and outer diameters of the light ring. In addition, the scanning of the two edges of the inside and outside diameters increases the redundancy, because in the event that either the edge of the inside diameter or the outside diameter can not be scanned for any reason, the second edge can always be scanned and thus a monitoring of the applied structure or adhesive trace is made possible.

In accordance with a preferred embodiment of the invention, the illumination device transmits, in the form of a cone, an annular, circumferential light path to form a light cone on the substrate. The conical course of the circumferential light path also allows the detection of unfavorable order profile structures, such as in spherical profiles, in which the base point, d. H. the transition between the application pattern and the substrate would not be illuminated in a straight light incidence. According to a preferred embodiment, the conical shape converges or tapers in the direction of the substrate. This makes it possible for the circumferential light path or the circumferential light ring with a small radius to run around the application nozzle even with a larger dimension of the illumination device. Thus, the applied structure in the immediate vicinity of the application nozzle can be detected by the close-fitting light ring or the tight-fitting light path, so that the applied structure can be monitored immediately after application. A significant advantage is the fact that, in particular with a strong curvature of the course of the adhesive trace or the applied structure, each region of the applied structure can always be detected without interruption in the online process. As a further advantage, a suitable regulation, in particular of the applied quantity or the metered quantity of the application nozzle, can also be achieved if the image evaluation unit calculates a height and / or width and / or a volume of the applied structure which is outside a predetermined reference range.

According to a further embodiment, the light paths or at least one light path are projected by the illumination device substantially in elliptical, polygonal or by lines in circumferentially closed form for detection on the substrate and the applied structure. Here also composite sections of different light lines or light paths can be used.

Furthermore, it is advantageous if the illumination device has a plurality of LED diodes, in particular 10 to 30 LED diodes, by which the circumferential light path is generated on the substrate and on the applied structure and which are operated in particular pulsed. Due to the pulsed operation of the LED diodes, a high-quality image acquisition and image evaluation can be achieved even with a fast feed or high travel. In particular, an LED illumination allows a suitable surface structure for the light path or a circular light ring, which has a suitable homogeneity of the surface. Furthermore, it is advantageous that the pulsed operation of the LED illumination or the flashing of the LEDs relative to extraneous light is relatively insensitive, which does not come from the lighting device and could affect the monitoring. Alternatively, however, laser diodes are also possible as a light source for the illumination device.

If the center or the center of the projected circumferential light path substantially coincides with the application nozzle of the applicator or the longitudinal axis of the applicator, a global coordinate system for the cameras over the monitored area of the applied structure can be achieved in a simple manner.

According to a further embodiment, the illumination device is mounted substantially annularly around the application nozzle, wherein outside the annular illumination device, the cameras are mounted diametrically opposite to the application nozzle. As a result, the entire apparatus can be made compact, and at the same time, a high quality of monitoring can be achieved.

In a particularly preferred embodiment of the invention, three or more cameras, in particular six cameras, are mounted concentrically and / or at a constant distance from each other around the application nozzle. When using three or more cameras, in particular six cameras, at least one camera has an optimum viewing angle on the adhesive track or structure applied. In online surveillance, therefore, the camera with the best viewing angle can be activated to optimize the quality of surveillance.

If the longitudinal axes of the cameras are inclined to the longitudinal axis or the beam path of the application nozzle in the viewing direction, wherein in particular the longitudinal axis or the beam path of the cameras intersect the longitudinal axis of the application nozzle substantially in the region of the substrate, then one achieves a defined height resolution, wherein the detected changes of Height levels of the adhesive trace or the adhesive profile are detected by the local deformation of the projected structure.

According to a further preferred embodiment, a calibration device is provided for determining each position of the cameras in the room and for determining the position of the cameras for the illumination device, in particular in the form of a calibration plate, thereby enabling the formation of a global, cross-camera coordinate system with high accuracy. In particular, it is thereby possible that the individual images of the various cameras can be processed and calculated by the image evaluation unit in a common global coordinate system.

According to another aspect of the present invention there is provided a method of applying or generating and monitoring a structure deposited on a substrate, in particular for use with the apparatus of claims 1 to 15, the method comprising providing an applicator for applying or producing the applied structure, a lighting device, which is attached to the applicator or a support structure of the applicator, of at least two cameras for optically monitoring the applied structure, which moves relative to the illuminator at the applicator or support structure of the applicator and attached to each other, and an image evaluation unit for recognizing the applied structure, which is connected to the cameras, emitting one or more light sheets n, each having an encircling self-contained shape, from the illuminator, wherein the one or more circumferential light paths around the applicator are projected or projected onto the substrate and the deposited structure immediately after application, detecting the projected one or more circulating light paths immediately after application of the applied structure in online mode by the cameras and the image evaluation unit, wherein the changes of the projected circumferential light path or light paths are used by the image evaluation unit by means of calculation methods, thereby at least one of the following features of the applied structure of the image evaluation unit determine: the width of the applied structure, which is determined in particular substantially perpendicular to the center line with respect to the course of the applied structure, and / or the height of the applied structure, and / or r is the volume of the applied structure, in particular with respect to the applied length of the application structure including the height, the width and the profile or the shape of the applied structure, and / or the position of the applied structure on the substrate.

According to a preferred embodiment of the method according to the invention, the light-section method with the projected circumferential light path is used for the evaluation of the images of the applied structure. Here, the light path or line of light is guided over the applied structure, wherein the deformation of the light path or line of light from the observation position of the individual cameras which have a different angle to the light path or light line, the curve or the geometry of the applied Structure can be determined.

It is particularly advantageous if the images of the cameras are recorded in a high-frequency and synchronous manner and processed with the image evaluation unit in such a way that the images of the individual cameras are processed substantially simultaneously during the application of the applied structure, wherein in particular only a part of the image is taken and is transmitted. As a result, the applied structure can be monitored in online mode such that the applied structure can be checked at a very small distance (for example every 1 to 3 mm) with regard to the shape and the profile, for example with a recording frequency of 200 Hz.

According to a preferred embodiment, the applied structure is dependent on the width and / or the height and / or the volume of the applied structure, which has been determined by the image evaluation unit during the application, according to a predetermined order amount governed by the applied structure. This allows the adaptation of the applied structure to a predetermined profile or a predetermined order quantity.

According to a further preferred embodiment of the invention, the intersection region between the circulating path and the applied structure is detected by three or more cameras, in particular six cameras, which are arranged concentrically or at a constant distance from each other around the application gland, wherein in each case one segment of the circulating path of is monitored by a camera, and wherein the orbiting path is detected by the cameras at an angle of 360 ° around the applicator to form a global coordinate system.

When the course and / or height of the graft is controlled with respect to the substrate according to a predetermined tolerance, using an edge, a recess or the like of the substrate for controlling the gland in all directions, the application and monitoring of the applied Structure are made in accordance with a geometric shape or specification of the substrate or a component. This can be done, for example, by the seam tracking of two components, wherein on or at the seam of the two components, for example, an adhesive trace or a sealing seam can be applied and monitored.

According to the method according to the invention, a calibration is carried out for the determination of each position of the individual cameras in the room and for the determination of the position of the cameras for the illumination device, wherein in particular the calibration for forming a global camera-overlapping coordinate system is carried out in particular by means of a calibration plate. Due to the global coordinate system, the image evaluation unit can process the images of the individual cameras in a particularly simple manner, it being sufficient for at least one camera to detect the applied structure. Preferably, the calibration is carried out together with the training course for the course and / or the geometry and / or the profile of the applied structure. Thus, the calibration and teaching of the reference structure can be performed before applying and monitoring, and then a plurality of components can be provided with a job structure and simultaneously monitored in the online process.

Alternatively, the above-mentioned object can be achieved by a device for automatically applying or generating and monitoring a structure to be applied to a substrate, preferably an adhesive bead, adhesive track, adhesive seam, sealing seam, foam profile, endless profile, geometric profile, in particular a cylinder-like profile or a triangular profile, or a weld, to be solved. This device preferably comprises at least one application device for applying or producing the applied structure, an illumination device which is attached to the application device or a support structure of the application device, at least two cameras for optically detecting the applied structure, which offset from the illumination device at the applicator or Support structure of the applicator are mounted opposite each other, and an image evaluation unit for detecting the applied structure, which is coupled to the cameras, the illumination device emits one or more light paths, which is respectively projected onto the substrate and the applied structure immediately after application or and wherein the one or more light paths projected onto the substrate and the deposited structure are in the on-line immediately after application of the applied structure the image evaluation unit uses the change in the projected light path or light paths by means of calculation methods in order to determine at least one of the following features of the applied structure: the width of the applied structure and / or the height of the applied structure applied structure and / or the volume of the applied structure, in particular in each case with respect to the applied length of the application structure including the height, the width and the profile or the shape of the applied structure and / or the position of the applied structure on the substrate. The image evaluation unit can receive and evaluate motion data of a movement detection device, in particular a robotics and / or a 3D sensor system, the motion data describing a relative movement between the application device and the substrate, and wherein by means of the image evaluation unit a treatment region of the substrate in which the Applying structure is determinable before the application of the structure and / or the illumination device comprises at least two light emitting units, each light source unit projecting light in a plane on the substrate, wherein plane portions, in which the light of each adjacent lighting unit extends, intersect, wherein a Triggering device is provided for the time-delayed activation of the adjacent lighting unit in order to effect a time-shifted illumination of the substrate and / or the structure to be applied by means of the light-emitting unit and / or each illuminant unit is associated with at least one camera, the camera being at a triangulation angle of is aligned less than 30 ° and / or the lighting device has at least one and preferably at least two pairs of lamps, wherein the lighting means of the pair of lamps, in particular of the respective light source projecting light in the same plane on the substrate.

The use of the words "substantially" preferably defines a deviation in the range of 1% -30%, in particular of 1% -20%, in particular of 1% -10, in all cases in which these words are used in the context of the present invention %, in particular from 1% -5%, in particular from 1% -2%, of the definition that would be given without the use of these words. Individual or all representations of the figures described below are preferably to be regarded as construction drawings, d. H. the dimensions, proportions, functional relationships and / or arrangements resulting from the figure or figures preferably correspond exactly or preferably substantially to those of the device according to the invention or of the product according to the invention. Further advantages, objects and features of the present invention will be explained with reference to the following description of appended drawings, in which exemplary devices according to the invention are shown. Elements of the devices and methods according to the invention, which in the figures at least substantially coincide with regard to their function, may hereby be identified by the same reference symbols, these components or elements not having to be numbered or explained in all figures.

Further advantageous embodiments are the subject of the dependent claims of the method according to the invention.

With reference to the following drawings, advantageous embodiments of the invention are shown purely by way of example.

1 shows the device according to the invention when applying and monitoring an adhesive trace in side view;

2 shows a perspective view of the device according to the invention of 1 ;

3 is a plan view from below of the inventive device of 1 and 2 ;

4 is a schematic view of the device according to the invention of 1 ;

5 shows the schematic structure of a device according to the invention when applying an adhesive trace on a substrate;

6 shows a section of a light ring of the device according to the invention, which is projected on a triangular profile on a substrate;

7 shows a perspective view of projected on the triangular profile light ring of 6 ;

8th shows the application of an adhesive trace and the projected light ring;

9 shows a triangular profile with a circumferential traverse projected thereon;

10 shows a further embodiment of 9 ;

11 is a schematic representation of the monitoring of a triangular profile according to the invention;

12 is another embodiment of monitoring a triangle profile;

13 is another perspective view of 12 ;

14 shows an adhesive trace as an enlarged view;

15 shows further embodiments of traces of adhesive in cross section;

16 shows an embodiment of the device according to the invention with folding of the beam path;

17 shows a flowchart with respect to the inventive method;

18 shows a representation with respect to the calibration of the device according to the invention;

19 shows a further illustration with respect to the calibration of the device according to the invention;

20a shows a perspective view of the device according to the invention during application of the structure;

20b shows 20a with motion detection device;

21 shows a plan view from below of the inventive device of 20a ;

22 exemplifies one of the triangulation arrangements formed by the illumination device and the camera;

23 shows the lighting proportion of the triangulation arrangement 22 , where the view opposite 22 rotated by 90 °;

24 shows the pattern formed by the lasers of the illuminator on the substrate; the nature of the lines indicates the pulsed character of the various lasers;

25 shows the deformation of a light line from the viewpoint of the associated camera, wherein the applied structure responsible for this deformation is indicated; and

26a C show arrangements in which detection and evaluation of the applied structure without prior knowledge of the geometric properties of the bodies to be joined is very error-prone.

According to 1 is an inventive device for automatically applying and monitoring a trace of adhesive 6 shown on a substrate or component. The device according to the invention comprises an application device 10 , which at its lower end an application gland 12 has, for example, to apply adhesive on a component. When applying the adhesive projects a lighting device 20 , which is constructed for example of a plurality of LED diodes, at least one circumferential light path, preferably a light ring to the order gland 12 on the substrate and the applied adhesive trace. The lighting device 20 is at the order facility 10 attached and travels during application of the adhesive with the applicator with, if there is a relative movement between the substrate and the applicator. At the lighting device 20 are again at least two cameras 31 . 32 attached for optical detection of the adhesive trace. The cameras 31 . 32 are attached laterally offset to the illumination device and on the aufprojizierten light ring close to the application gland 12 aligned. The cameras 31 . 32 are connected to an image evaluation unit, not shown, which detects and evaluates the images of the adhesive trace determined by the cameras in online operation, wherein the image evaluation unit uses the change of the aufprojizierten light ring by means of appropriate calculation methods that from either the width and / or the height and / or or the volume of the adhesive trace can be determined and thus checked.

In the embodiment of 1 is the sensor head with the lighting device and the cameras fixed to the applicator 10 connected, wherein at least one of the two cameras detects the intersection region between the light ring and the adhesive trace, as will be explained in more detail below.

In 2 the device according to the invention is shown in perspective. In this view it is now apparent that preferably six cameras 31 to 36 concentric around the applicator 10 are arranged. In such an arrangement of a plurality of cameras, the cutting area between the projected light ring and the adhesive track is detected by at least two cameras, which are preferably located in the circle segment, where the adhesive trace runs during application. If the adhesive trace takes an arcuate course, then another camera can be activated for evaluation in order to monitor the course of the adhesive trace. This applies to the entire scope of the order facility 10 , depending on the course of the adhesive trace.

In 3 the device according to the invention is now shown from below. In the center of the device is the order gland 12 that of the lighting device 20 in the form of a LED circular ring projector is surrounded as well as the order device 10 is appropriate. The cameras 31 to 36 are equally spaced apart and concentric about the application gland 12 arranged and aligned to this.

Analogous to 3 is the structure of the device according to the invention in 4 shown schematically. It can be seen in particular that the cameras are offset laterally to the annular illumination device.

The following will now according to 5 the device according to the invention and the method according to the invention are explained. The schematically illustrated cameras 31 to 36 are together with the lighting device 20 at the applicator 10 attached, as previously shown. The substantially annular illumination device 20 is in particular composed of a multiplicity of LED diodes, for example 20 LED diodes. These LED diodes together project a circumferential light path onto the component and the adhesive track immediately after application through the application gland. It is particularly advantageous here if the illumination device projects a tapering cone of light directly around the application gland, wherein a circular light ring 21 arises on the component. This can be done with the light ring 21 be moved very close to the order gland to monitor a web-like course of the adhesive trace with low radii can.

According to 6 is now the intersection between the light ring 21 and the glue trace 6 shown on the component. To evaluate the change of the light ring through the adhesive trace 6 In particular, the light-section method is used, with corresponding evaluation methods of the image evaluation unit calculating the changes in the height level of the adhesive track or the adhesive profile by the local deformation of the projected light paths. As in 6 shown, the light ring has an inner diameter 211 and an outer diameter 212 on, which in each case an edge between the light path of the inner diameter 211 and the glue trace 6 as well as the outside diameter 212 and the adhesive profile 6 results. This allows the edge of the inner diameter as well as the edge of the outer diameter with the adhesive profile at each evaluation 6 used for the calculation of the height or the width and the volume. In the light-section method, the light path thus becomes 21 over the adhesive profile 6 guided, wherein from each observation position of the cameras, which have a different angle to the light path, by the deformation of the light path 21 the object curvature can be determined by the image evaluation unit. However, this object curvature or the surface course is determined only exactly at the line position or the edge. By advancing the object or by the relative speed between the applicator and the component, the object or the adhesive profile can be detected in three dimensions. For this purpose, a high image recording frequency is necessary, wherein the inner and outer diameter of the light ring 21 and the resulting two edges, so to speak, doubles the recording frequency for the image evaluation unit.

According to 7 another perspective is shown, which shows the deformation of the light ring by the adhesive profile 6 can be detected by the cameras from corresponding angles.

In 8th now a section is shown, which the order gland 12 showing an adhesive profile 6 on a substrate or component 11 applies. As can be seen from the course of the adhesive profile, the applicator runs 10 in the picture plane to the top right. Due to the light cone, in the form of the light ring 21 on the substrate 11 and the glue trace 6 can be projected, the adhesive profile 6 immediately after the application of the cameras with the help of the deformation of the light ring 21 be recorded.

As an alternative to the light ring are in 9 For example, a circumferential self-contained polyline 22 shown, which is composed of several straight lines of light. In this case, the adhesive profile 6 also be detected in the area of an intersection of two straight lines. As in 10 However, the adhesive profile can be detected even without intersection of two straight lines or by other lines with respect to the height. It is particularly advantageous that, due to the resulting circulating light paths, the sensor or the cameras and also the illumination device do not have to be rotated.

As an alternative not shown, it is of course also possible to monitor a plurality of light rings or a plurality of concentrically circulating, self-contained light paths for determining the profile or the course of an applied structure or adhesive trace.

In 11 is shown, such as a substantially triangular adhesive profile 6 from two cameras 31 . 32 is detected. For the detection at a pick-up point, for example, a camera, the one half of the adhesive profile 6 and the other camera the corresponding other side of the adhesive profile 6 capture what is advantageous especially for geometrically complex shapes. As in 11 shown, capture the cameras 31 . 32 depending on the recording frequency in correspondingly short intervals the intersection between the in 11 Not shown light ring and the adhesive trace 6 in successive places. At a high recording frequency of about 200 Hz, the adhesive profile 6 be checked at small intervals of a few millimeters.

According to 12 an embodiment is shown schematically, wherein analogous to 11 three cameras 31 to 33 the adhesive profile 6 can check in the online procedure at the same time. The parallel evaluation of the three cameras 31 to 33 is according to 13 shown, wherein the adhesive profile 6 recorded and checked at short intervals. 14 shows the exemplary adhesive profile 6 as an enlarged view, with the top 9 the glue trace 6 as well as the foot points 7 and 8th are shown. Due to the convex shape of the adhesive trace 6 would be the footsteps 7 . 8th not visible at the same time with just one camera, but this can be overcome by monitoring with two or more cameras.

Further embodiments of traces of adhesive shows 15 , wherein the adhesive trace 61 and 62 are deformed with respect to an idealized triangular profile. Furthermore, such deformations can only be detected by at least two cameras with the aid of the projected-on light ring.

In 16 is schematically just a camera 31 and the gland 12 the device according to the invention shown to the folding of the To explain the beam path of a camera. This is offset to the side opposite the camera 31 and the gland 12 a mirror 40 provided, the same firm on the applicator 10 is attached to always be moved with the appropriate camera can. Due to the folding of the beam path is off 16 It can be seen that the angle becomes flatter, with which the camera on the area of the substrate 11 around the order gland 12 looks. This is advantageous for the evaluation of the intersection between the light ring and an applied adhesive track, without the distance of the camera from the application gland 12 to increase.

According to 17 is shown how, for example, the image evaluation unit is provided and the entire review is made. Initially, a teach-in run is made from a reference structure using the image sequence of the reference structure for the parameterization. Alternatively, the teaching of the course and / or the profile of the adhesive trace can be carried out by means of a CAD drawing or a corresponding electronic file which has information regarding the adhesive trace in relation to the component. During an inspection run, the applied structure to be checked is then compared with the course of the reference structure according to the illustrated scheme, and the resulting result of the check is output. The image recording of the individual cameras can be made high-frequency and synchronous. In order to achieve a high image recording frequency with comparatively low data transmission rates, only a strip of the images of the cameras is recorded and transmitted. With regard to the online monitoring during application with high-frequency evaluation is also on the WO 2005/063406 the applicant referred.

Furthermore, according to the 18 and 19 the calibration for the device according to the invention and for the inventive method explained. The calibration of the cameras with the illumination device establishes a logical and physical connection between the individual cameras.

Calibration is performed in three stages, with Phase 1 determining the position of each of the individual cameras in the room. Then in phase 2, the determination of the position of the camera is made to the illumination device. In principle, the two calibrations of phase 1 and 2 are already sufficient to perform three-dimensional measurements.

However, it is only through the calibration that measurements in a global and cross-camera coordinate system are possible. In contrast, conventionally, a coordinate system is made with respect to a camera image.

In the third phase, the calibration is adapted to the individual geometry and surface of the component to be tested and the verification of the calibration parameters. This third phase can be integrated into the teach-in or teach-in run. Usually, this third phase is performed only when the sensor comprising the cameras and the illumination device is mounted on the applicator.

According to 18 the first phase of the calibration is explained in more detail. Here, the distance and the geometric arrangement of the dot marks on the calibration plate 50 known to each other. Furthermore, the location of the calibration plate is known. Likewise, the size of the dot marks is known, which, however, can be designed differently. Alternatively, crosses, circles, line mesh or similar structures may be used. Particularly advantageous are the point markings shown, which represent filled small circular markings.

By means of the arrangement of 18 the position of the camera and thus of the CCD chip becomes the calibration plate 50 certainly. Thus, the location of the cameras in the room is determined when the location of the calibration plate 50 specified or known in the room. Furthermore, this determines the position of the individual cameras relative to one another, and finally the inclination of the individual cameras relative to one another is determined or determined.

This first phase calibrates to a universally valid world coordinate system. Here is the plane calibration plate 50 firmly connected with a calibration holder. The holder can be designed as a tube and has a locking nose or index marking in order to insert the sensor in a clearly defined position in a repeatable manner.

In phase 2, the position of the cameras for lighting or lighting device is determined. This is exemplary according to 19 shown. For this purpose, the pattern or the shape of the circulating light path, which projects the illumination device onto the calibration plate, is viewed with all the cameras and each camera takes an image of this scene. In 19 is the light cone shown by the lighting device in the form of a light ring 21 is projected onto the calibration plate. This light ring 21 is now seen distorted by each camera depending on their position in the room. The cameras 31 and 32 see the ring of light 21 as an ellipse compressed in one direction. If alternatively a projected square of each camera would be seen, then each camera would capture a corresponding trapezium due to the lateral displacement. However, the image evaluation unit which calculates the calibration values knows the ideal shape of the illustrated light ring 21 , Therefore, it is possible for the image evaluation unit, due to the nature of the distortion of the pattern or light ring 21 calculate the position of the individual cameras on the calibration plate. For calibration, the eccentricity of the ellipse and the ratio of the two major axes of the ellipse are used in the present case.

In this second phase is now calibrated to the sensor coordinate system, the origin of which, for example, the center of the light ring projected onto the calibration plate 21 represents. Alternatively, however, the tip of the resulting cone can also be used as the origin of the coordinates if the rays of illumination are extended beyond the calibration plate. However, in both phases it is assumed that the illumination with its symmetry axis is perpendicular to the calibration plane. If a deformation of the ideal circular shape is detected, then the type, size or nature of the deformation can be used to deduce the three-dimensional shape of the light section.

As already mentioned, the training can also coincide with the third phase of the calibration. Thus, the training is also used to set the camera mapping, i. H. which cameras perform the 3D evaluation during the test run. In general, the nozzle of the applicator will not be aligned exactly perpendicular to the substrate but will be slightly skewed. With the aid of the calibration procedure in the second phase and the evaluation based thereon, it can be calculated in which angle to the component the nozzle is aligned. This essentially forms the third phase of the calibration, which generates a data record which determines and describes the geometry of the substrate surface. The data is then provided to the calculation of the 3D data. When teaching in particular a history list is deposited, which contains the data for the travel and the travel time of the applicator, which also data on the direction and the 3D cross-section of the adhesive track are provided.

During the test run, the applied adhesive trace is now tested in relatively small sections. In this case, short sections are detected three-dimensionally with a high recording frequency, for example every 1 to 3 mm. Subsequently, the subsections can be combined by means of the image evaluation unit to the entire applied adhesive trace.

In the following, not further embodiments of the invention will be explained.

The device according to the invention and the method according to the invention can be used in various joining methods, such as the application of adhesive seams or sealing seams, the positionally accurate application of foams, soldering and welding. Welding may involve arc welding and laser welding, whereby, on the one hand, the weld is checked and, on the other hand, a guide may also be provided based on the edge of the components to be welded. Furthermore, endless profiles with a corresponding 3D shape can be generated and checked. Such endless profiles can be produced as a strand or by plastic extrusion.

According to the method according to the invention, volume sections can be determined via the 3D profile of the adhesive in order to readjust the adhesive quantity in real time during the test run. Alternatively, the applied total volume can be measured over several inspection runs and the order quantity can be readjusted or controlled on the basis of these values. Furthermore, a compressible material or a foam can be generated and monitored, which is constructed from a fluid or enclosed gas bubbles, which only reach the actual volume after the application. As a result, the volume of the order structure can be measured or checked only a short time after the order.

In addition, the 3D data determined according to the invention can be fed into a 3D CAD system and further processed in the desired manner. Such 3D data can be determined by the device according to the invention due to the all-round view of the cameras and the illumination in the form of a circulating path.

For evaluating the data, the device according to the invention can use, for example, dual processor cores of physically existing or even virtual multi-core systems, wherein during the test runs an evaluation based on stored or current images with the same or modified test parameters Runaway leads to the effects of changes in the test parameters or from changes in the environment.

According to a further embodiment of the invention, the height of the adhesive nozzle can be readjusted to the sheet during the application, as in addition to the information about the 3D structure to be tested and information about the environment of the Work area of the applicator are present. As a result of the arrangement of the cameras and the illumination, in principle the entire working area of the tool can be monitored three-dimensionally, so that, for example, a sheet edge or workpiece edge can be determined in the advance direction and the tool can be readjusted in each spatial direction during the application process and the test.

Another application is in the case of "assembly in motion". Here, while the test object or the conveyor belt is moving, the environment must be continuously monitored in order to guide the tool with high precision during an assembly process. This can be, for example, the joining of screws with a screw robot while the component moves on the conveyor belt, or even the application of sealants while the body shell moves on.

According to a further embodiment, the present invention can also be used for the fully automatic repair of adhesive beads. Since the missing volume is measured according to the invention by the 3D detection, the exact volume of the adhesive in the bead can be refilled.

To check the volume flow, a corresponding measuring device may be provided in the application device. The measurement is not carried out by optical means, but with the aid of the image processing system according to the invention it is possible to compare the volume flow or the volume measured by optical means with the volume measured by the applicator and if necessary to draw corresponding conclusions.

Thus, an apparatus and a method for automatically applying or generating and monitoring a / on a substrate applied structure is described, preferably a bead of adhesive, adhesive trace, adhesive seam, sealing seam, foam profile, continuous profile, geometric profile, in particular a cylinder-like profile or a triangular profile or weld , For this purpose, an application device for producing or applying the application structure, an illumination device which is attached to the application device or a support structure of the applicator, at least two cameras for optically detecting the applied structure, which is offset from the illumination device at the applicator or the support structure of the applicator are mounted and mounted opposite each other, and an image evaluation unit for detecting the applied structure, which is connected to the cameras. In this case, the illumination device emits one or more light paths, each of which has an encircling self-contained shape, and wherein the one or more circulating light paths around the application device are projected onto the substrate and the applied structure immediately after application, and wherein the one or more circulating light paths projected onto the substrate and the applied structure are detected by the cameras and the image evaluation unit in the online mode immediately after application of the applied structure such that the image evaluation unit detects the change in the projected circumferential light path or light paths used by calculation method to determine at least one of the following features of the applied structure: the width of the applied structure, which in particular substantially perpendicular to the center line with respect to the course of the applied structure ermitt elt, and / or the height of the applied structure, and / or the volume of the applied structure, in particular with respect to the applied length of the application structure including the height, the width and the profile or the shape of the applied structure, and / or Position of the deposited structure on the substrate.

The concerning the 1 to 19 described features may be individually or in combination component by means of the following figures described devices and / or methods or adapted thereto.

20 shows a partial representation of a preferred device according to the invention. The device preferably has at least or exactly one application device 10 with one, at least one or exactly one application nozzle 12 on. Furthermore, the device preferably comprises a lighting device 20 , wherein the lighting device 20 can consist of a plurality of lamp units and the individual lamp units from each pair of lamps 21a . 21b . 22a . 22b . 23a . 23b . 24a . 24b . 25a . 25b can exist. Alternatively, however, it is likewise possible for each illuminant unit to have one, exactly one or more than one illuminant. In the example shown, the device 6 Pairs of lamps and thus 12 bulbs. The individual pairs of lamps are preferably arranged such that the entirety of the pair of lamps forms a symmetrical shape. Each light source of a pair of lamps emits light of a predetermined wavelength or a plurality of predetermined wavelengths or a predetermined wavelength range in the direction of a substrate to be examined or a structure to be examined as a result of a triggering 6 , Lamp pairs thus each produce a light plane, in particular a laser plane. The The entirety of the pairs of light sources thus produces a multiplicity of light planes, in particular laser planes. Since the individual light planes extend straight and the plurality of pairs of lamps are arranged around the applicator, the light paths limit 21 - 26 a polygon surface. Preferably, the pairs of bulbs are arranged such that the light paths 21 - 26 extends beyond the extension of the adjacent light paths and thus this cuts. It was recognized that the light paths in the crossing area produce unwanted light effects when two intersecting light paths are generated at the same time. For this reason, at least adjacent lighting means for generating adjacent light paths are generated only one after the other, in particular pulsed. The reflected light is detected by an associated camera and supplied to the image evaluation device. The cameras are preferably arranged in a triangulation angle of less than 30 °, in particular of less than 25 °, ie an angle which is inclined relative to the light plane generated by the associated light source or pair of lamps. The inclination preferably results from a reflection characteristic of a freshly generated or applied structure, in particular adhesive bead. Preferably, the individual lamps of a pair of lamps in at least one level are equal in magnitude or substantially equal in magnitude to the applicator 10 inclined. The preferably selective activation of one or more specific lamp units is advantageous over the control of all lamp units, since only non-intersecting light paths are generated. As a result, the detection area or the detection areas can extend over the entire light path or substantially over the entire light path despite the small size of the device. Thus, very precise image information is generated over a large width per camera. The image information as a whole is better and less in terms of data compared to simultaneous recording by means of all cameras (and associated light emission of all lamps). Thus, the image acquisition can be done at a higher clock rate, thereby increasing the overall throughput. 20b shows the in 20a illustrated device, this example with one or more robotic devices (robotics) 80 can be equipped. In one example, the device according to the invention is equipped with a robot which is arranged on the device and which is designed to reposition the device. In this case, the robotics preferably represents a multi-axis system. In this case, the device can be moved by means of robotics with respect to a preferably stationary or likewise moved substrate. Additionally or alternatively, the substrate or workpiece to be treated can be moved by means of robotics with respect to a preferably stationary or moving device according to the invention. In both cases, the movement information for the traversing movement of the image evaluation unit in the form of data, in particular movement data, is preferably provided. This data or movement data may also have characteristic data of the substrate or of the workpiece, in particular, which contour has the workpiece. Image data acquired by means of a camera, which are selected by the image evaluation unit taking into account the movement data and / or property data, are significantly easier to analyze faster and more accurately, since in particular the foot points of the applied structure can be better determined. Thus, depending on the motion parameters, in particular location coordinates, speed, acceleration, direction of movement etc. of the robotics images of individual cameras can be selected specifically for further analysis.

21 shows the underside of the device according to the invention. It can be seen that only very limited space is provided for arranging the lighting means and therefore the detection of broad light paths is possible only by the selective driving of light sources. The illumination device thus comprises at least two laser pairs, which together generate a light line in each case. Particularly preferably, the illumination device consists of at least four laser pairs whose light is a closed, in particular polygonal, contour. Furthermore, the light planes, in particular laser planes, are preferably oriented such that they either meet the adhesive trace perpendicularly or in such a way that they are reflected when reflected on the substrate and the applied structure at the angle of reflection to at least one camera, or such that the angle of incidence the laser plane lies between the mentioned, limiting solutions. The illumination device preferably consists of at least two units of light bulbs placed on a straight line, in particular lasers or LEDs, whose light is bundled by means of a suitable optical system into at least two lines on the substrate and the applied structure. For the assignment of the measuring ranges or the active cameras, the transmission of the coordinates of the robotics to the image evaluation unit preferably takes place continuously, in particular in real time. Furthermore, it is alternatively or additionally conceivable that the image evaluation unit makes a comparison of the measurement profiles of two cameras, wherein the cameras are preferably opposite one another and one camera advances the application of the structure and the other behind. This is advantageous because a comparison of the situation before and after the generation or the application of the structure can be made and thus easier to determine changes.

22 schematically shows the orientation of the camera 31 opposite the bulbs 21a and 21b , The reference number 6 here denotes the applied structure. The reference number 90 indicates the triangulation angle between the camera detection direction and the light emission direction of the bulbs. The triangulation angle is particularly preferably less than 30 ° or less than 25 °.

23 shows a pair of lamps 21a . 21b , The bulbs 21a and 21b of the pair of lamps are preferred to a central plane 92 , in particular theoretical plane, aligned at the same or substantially the same angle. This illustration shows that all surface portions of the structure 6 through the entirety of the light rays of the bulbs 21a and 21b be lit up. The of the bulb 21a emitted light rays lie in the same plane or substantially in the same plane as that of the lighting means 21b emitted light rays.

24 shows six light lines generated by light emitting units 21 - 26 , It can be seen that the adjacent light lines intersect. Therefore, not all illuminant units are generated at the same time for detecting the contour of an applied structure in online operation of the device. Preferably, only one or preferably only two or preferably only three lines of light are generated at the same time. The proportion of a light line which contributes to the formation of a polygon is preferably greater than the portions of a light line which do not contribute to the formation of a polygon.

25 shows a light line 21 that are along the structure 6 and along the substrate 7 is developed a. The shown light line 21 preferably results in the in 23 shown arrangement. It can be seen that the light line does not cause shading, which is due to the advantageous arrangement of the bulbs 21a . 21b results.

26a shows an arrangement according to which a first component 58 and a second component 59 to be connected together by means of a glue bead. The components 58 and 59 lie one above the other, with each other through the top of the first component 58 and the end face of the second component 59 Two surfaces result in which the adhesive bead is to be attached or produced.

As shown by 26b has the glue bead 6 a foot point 87 on, on the front side of the second component 59 abuts and the adhesive bead 6 also has a second foot point 88 on top of the surface of the first component 58 lies. By exploiting so-called prior knowledge, ie knowledge of the geometry of the components 58 . 59 can be a detection of the foot points 87 . 88 can be found significantly faster and safer, due to the knowledge of the geometries an image of a camera can be selected that shows the applied structure. Furthermore, due to the motion data, the image data can be reduced to a section in which the structure is to be expected. As a result, less data has to be examined algorithmically, which significantly improves the examination result and significantly reduces the examination time.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• WO 2005/063406 [0101]

Claims (16)

Apparatus for the automatic application or generation and monitoring of a structure to be applied to a substrate, preferably a bead of adhesive, adhesive, adhesive, sealing seam, foam profile, continuous profile, geometric profile, in particular a cylinder-like profile or a triangular profile, or a weld which comprises an application device ( 10 ) for applying or producing the applied structure ( 6 ), a lighting device ( 20 ), which at the order device ( 10 ) or a support structure of the applicator, at least two cameras ( 31 to 36 ) for optically detecting the applied structure ( 6 ), which are opposite the illumination device ( 20 ) offset at the applicator ( 10 ) or the support structure of the applicator are mounted opposite to each other, and an image evaluation unit for recognizing the applied structure (FIG. 6 ), which is coupled to the cameras, wherein the illumination device ( 20 ) emits one or more light paths, which in each case to the substrate and the applied structure ( 6 ) is projected immediately after application, and wherein the one or more light paths projected onto the substrate and the applied structure ( 21 ) immediately after application of the applied structure ( 6 ) in online operation of the cameras ( 31 to 36 ) and the image evaluation unit is or are detected in such a way that the image evaluation unit detects the change in the projected-on light path (FIG. 21 ) or light paths by means of calculation methods, in order to obtain at least one of the following features of the applied structure ( 6 ): the width of the applied structure ( 6 ) and / or the height of the applied structure ( 6 ) and / or the volume of the applied structure ( 6 ), in particular with respect to the applied length of the application structure including the height, the width and the profile or the shape of the applied structure ( 6 ) and / or the position of the applied structure ( 6 ) on the substrate, characterized in that the illumination device has at least one and preferably at least two pairs of light sources, wherein the light sources of the light source pair, in particular of the respective light source unit, project light in the same plane onto the substrate. Device according to claim 1, characterized in that level of play, in which the light of adjacent lamps pairs extending cut, wherein a control device is provided for time-staggered driving of the adjacent bulbs couples to a time-delayed illumination of the substrate and / or the structure to be applied by means of the To cause pairs of lamps. Device according to one of the preceding claims, characterized in that each lamp unit is assigned at least one camera, wherein the camera is oriented in a triangulation angle of less than 30 °, wherein the triangulation angle is set in dependence on a reflection characteristic of the structure to be applied. Apparatus for the automatic application or generation and monitoring of a structure to be applied to a substrate, preferably a bead of adhesive, adhesive, adhesive, sealing seam, foam profile, continuous profile, geometric profile, in particular a cylinder-like profile or a triangular profile, or a weld which comprises an application device ( 10 ) for applying or producing the applied structure ( 6 ), a lighting device ( 20 ), which at the order device ( 10 ) or a support structure of the applicator, at least two cameras ( 31 to 36 ) for optically detecting the applied structure ( 6 ), which are opposite the illumination device ( 20 ) offset at the applicator ( 10 ) or the support structure of the applicator are mounted opposite to each other, and an image evaluation unit for recognizing the applied structure (FIG. 6 ), which is coupled to the cameras, wherein the illumination device ( 20 ) emits one or more light paths, which in each case to the substrate and the applied structure ( 6 ) is projected immediately after application, and wherein the one or more light paths projected onto the substrate and the applied structure ( 21 ) immediately after application of the applied structure ( 6 ) in online operation of the cameras ( 31 to 36 ) and the image evaluation unit is or are detected in such a way that the image evaluation unit detects the change in the projected-on light path (FIG. 21 ) or light paths by means of calculation methods, in order to obtain at least one of the following features of the applied structure ( 6 ): the width of the applied structure ( 6 ) and / or the height of the applied structure ( 6 ) and / or the volume of the applied structure ( 6 ), in particular with respect to the applied length of the application structure including the height, the width and the profile or the shape of the applied structure ( 6 ) and / or the position of the applied structure ( 6 ) on the substrate, characterized in that the illumination device comprises at least two illuminant units, wherein each illuminant unit projects light in a plane onto the substrate, wherein each illuminant unit is associated with at least one camera, the camera being oriented at a triangulation angle of less than 30 °, the triangulation angle being adjusted in dependence on a reflection characteristic of the structure to be applied. Device according to claim 4, characterized in that plane portions, in which the light of respectively adjacent illuminant units extends, intersect, wherein a control device for the time-delayed driving of the adjacent illuminant units is provided to a time-shifted illumination of the substrate and / or the structure to be applied by means of To effect lighting units. Apparatus according to claim 4 or 5, characterized in that the lamp units are designed as at least two pairs of lamps, wherein the lamps of the pair of lamps, in particular of the respective lamp projecting light in the same plane on the substrate. Device for the automatic application or generation and monitoring of a structure to be applied to a substrate, preferably a bead of adhesive, glue, glued seam, sealing seam, a foam profile, continuous profile, geometric profile, in particular a cylinder-like profile or a triangular profile, or a weld which comprises an application device ( 10 ) for applying or producing the applied structure ( 6 ), a lighting device ( 20 ), which at the order device ( 10 ) or a support structure of the applicator, at least two cameras ( 31 to 36 ) for optically detecting the applied structure ( 6 ), which are opposite the illumination device ( 20 ) offset at the applicator ( 10 ) or the support structure of the applicator are mounted opposite to each other, and an image evaluation unit for recognizing the applied structure (FIG. 6 ), which is coupled to the cameras, wherein the illumination device ( 20 ) emits one or more light paths, which in each case to the substrate and the applied structure ( 6 ) is projected immediately after application, and wherein the one or more light paths projected onto the substrate and the applied structure ( 21 ) immediately after application of the applied structure ( 6 ) in online operation of the cameras ( 31 to 36 ) and the image evaluation unit is or are detected in such a way that the image evaluation unit detects the change in the projected-on light path (FIG. 21 ) or light paths by means of calculation methods, in order to obtain at least one of the following features of the applied structure ( 6 ): the width of the applied structure ( 6 ) and / or the height of the applied structure ( 6 ) and / or the volume of the applied structure ( 6 ), in particular with respect to the applied length of the application structure including the height, the width and the profile or the shape of the applied structure ( 6 ) and / or the position of the applied structure ( 6 ) on the substrate, characterized in that the illumination device comprises at least two illuminant units, each illuminant unit projecting light in a plane onto the substrate, with plane portions in which the light of respectively adjacent illuminant unit extends intersecting, wherein a drive means for the staggered driving the adjacent lighting unit is provided to effect a time-shifted illumination of the substrate and / or the structure to be applied by means of the lighting unit. Apparatus according to claim 7, characterized in that each lamp unit is associated with at least one camera, wherein the camera is oriented in a triangulation angle of less than 30 °, wherein the triangulation angle is set in dependence on a reflection characteristic of the structure to be applied. Apparatus according to claim 7 or 8, characterized in that the luminous means units are formed as at least two pairs of lamps, wherein the lighting means of the pair of lamps, in particular of the respective lighting means projecting light in the same plane on the substrate. Device according to one of the preceding claims, characterized in that at least three, in particular six or more than six, pairs of illuminants are provided and the planes generated by the pairs of lamps in their entirety form a circumferential shape, in particular a polygonal shape. Device according to one of the preceding claims, characterized in that the respective light path projected onto the substrate forms a rectilinear shape on the substrate. Device according to one of the preceding claims, characterized in that the pairs of lamps each have two mutually inclined aligned laser, wherein each laser emits light having a wavelength of less than 630 nm, in particular less than 550 nm. Device according to one of the preceding claims, characterized in that the laser of a pair of lamps are aligned at an angle of less than 90 °, in particular of less than 45 ° to each other inclined. Device according to one of the preceding claims, characterized in that the image evaluation device for processing movement data of a movement device is configured, wherein the movement data at least localization data of the location to which the structure is applied, wherein by means of several cameras, the contour of the applied structure is detected each image generated by a camera with data at the time of acquisition and the camera by means of which it has been detected, in particular the location coordinates and / or orientation of the camera, wherein the image evaluation unit selects and analyzes an image from the acquired images in dependence on the movement data, wherein the image data generated by the optical detection can be evaluated by means of an evaluation device, in particular the image evaluation unit, with respect to properties of the structure and for modification of one or more operating parameters of the image evaluation unit and / or the Bele and / or wherein the movement data in addition to the localization data target area property data, in particular the surface shape and / or surface color of the substrate comprise, the target area property data for modifying one or more operating parameters of the image evaluation unit and / or the illumination device and / or the movement device and / or the application device can be used and / or wherein the image data captured by the camera are limited in dependence on the movement data to a predetermined data area, wherein the predetermined data area represents a section of the generated image. Apparatus for the automatic application or generation and monitoring of a structure to be applied to a substrate, preferably a bead of adhesive, adhesive, adhesive, sealing seam, foam profile, continuous profile, geometric profile, in particular a cylinder-like profile or a triangular profile, or a weld which comprises an application device ( 10 ) for applying or producing the applied structure ( 6 ), a lighting device ( 20 ), which at the order device ( 10 ) or a support structure of the applicator, at least two cameras ( 31 to 36 ) for optically detecting the applied structure ( 6 ), which are opposite the illumination device ( 20 ) offset at the applicator ( 10 ) or the support structure of the applicator are mounted opposite to each other, and an image evaluation unit for recognizing the applied structure (FIG. 6 ), which is coupled to the cameras, wherein the illumination device ( 20 ) emits one or more light paths, which in each case to the substrate and the applied structure ( 6 ) is projected immediately after application, and wherein the one or more light paths projected onto the substrate and the applied structure ( 21 ) immediately after application of the applied structure ( 6 ) in online operation of the cameras ( 31 to 36 ) and the image evaluation unit is or are detected in such a way that the image evaluation unit detects the change in the projected-on light path (FIG. 21 ) or light paths by means of calculation methods, in order to obtain at least one of the following features of the applied structure ( 6 ): the width of the applied structure ( 6 ) and / or the height of the applied structure ( 6 ) and / or the volume of the applied structure ( 6 ), in particular with respect to the applied length of the application structure including the height, the width and the profile or the shape of the applied structure ( 6 ) and / or the position of the applied structure ( 6 ) on the substrate, characterized in that by the image evaluation device movement data and / or localization data of a movement detection device, in particular a movement detection device in a robotics and / or 3D sensor technology, are receivable and evaluated, wherein the movement data describe a relative movement between the application device and the substrate , Method for applying or generating and monitoring a structure to be applied to a substrate ( 6 ), preferably an adhesive bead, adhesive track, adhesive seam, sealing seam, a foam profile, endless profile, geometric profile, in particular a cylinder-like profile or a triangular profile, or a weld, in particular for application to the device according to claims 1 to 14, comprising the following steps: Provision of an order device ( 10 ) for applying or generating the structure to be applied ( 6 ), a lighting device ( 20 ), which at the order device ( 10 ) or a support structure the applicator is mounted by at least two cameras ( 31 to 36 ) for optically monitoring the applied structure ( 6 ), which are opposite the illumination device ( 20 ) offset at the applicator ( 10 ) or the support structure of the applicator and are mounted opposite each other, and an image evaluation unit for detecting the applied structure, which with the cameras ( 31 to 36 ), emitting one or more light paths ( 21 ) of the illumination device ( 20 ), wherein the one or more light paths ( 21 ) at least partially around the order device ( 10 ) is projected or projected onto the substrate and the applied structure, each image produced by a camera having data at the time of acquisition and the camera by which it was acquired, in particular the location coordinates and / or orientation of the camera, the image evaluation unit in dependence on the movement data, selects and analyzes an image from the acquired images, the image data generated by the camera being evaluated by means of an evaluation device, in particular the image evaluation unit, with respect to the properties of the applied structure and for modifying one or more operating parameters of the image evaluation unit and / or the illumination device and / or the movement device and / or the application device are used and / or wherein the movement data in addition to the localization data target area property data, in particular the surface shape and / or surface color of the substrate, wherein the target area attribute data is used to modify one or more operating parameters of the image evaluation unit and / or the illumination device and / or the movement device and / or the application device and / or wherein the image data captured by the camera are limited to a predetermined data area depending on the movement data, wherein the predetermined data area represents a section of the generated image, detecting the projected one or more lightpaths ( 21 ) in online operation of the cameras ( 31 to 36 ) and the image evaluation unit, whereby the changes of the projected light path ( 21 ) or light paths are used by the image evaluation unit by means of calculation methods, thereby at least one of the following features of the applied structure ( 6 ) from the image evaluation unit: the width of the applied structure ( 6 ), which in particular is determined substantially perpendicular to the center line with respect to the course of the applied structure and / or the height of the applied structure (FIG. 6 ) and / or the volume of the applied structure, in particular with respect to the applied length of the application structure including the height, the width and the profile or the shape of the applied structure and / or the position of the applied structure ( 6 ) on the substrate.

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