DE3302177A1 - Method and device for the automatic manipulation or processing or automatic assembly of articles - Google Patents

Abstract

The invention relates to a method and a device for determining the position and location of articles and robotic systems which use this method. Methods for applying marks to articles and/or marking them for such purposes are given. Of particular interest is the application in continuous conveyors, especially in the manufacturing process for motor vehicles. <IMAGE>

Description

Method and device for automatic

Handling or processing or for the automatic assembly of Objects The invention relates to methods and devices for determination the position of an object and for controlling robots or other automation devices for handling or machining a workpiece.

There are many examples where it is desirable to position to know an object. One such case is in the field of manufacturing the position of an item along a mass production line, in particular one that is highly automated. On a mass production line it is often necessary to determine the location of an object that is attached to a transport system is hung to know with high accuracy. This is especially true for automated Systems using robots for which it is fundamentally necessary that the object is in a known position relative to the robot, before the robot can perform a desired manipulation on the object.

In some cases mechanical devices are used for positioning and / or orientation of the object in a precise position for the automated Handling used. However, in many use cases it is necessary to have a Image "to determine the position of an object. This is especially true in the case of robots performing myriad physical manipulations can do everything automatically. It is well known in the robot art that a "Image" suitable for robots on the main obstacles for further application Heard of robots at the time regarding the manipulations for which they are suited are very complicated.

The problem is particularly great in systems that robots can use for handling or processing of / parts on continuous conveyors. There Such subsidies are ubiquitous in plants of all types, this problem must be can be solved well when extensive use of robots becomes a reality target.

There are many types of electro-optical machine viewing systems, which can be used. Historically, these systems are based on the Looking at the reflection of objects across their gray scale levels, what brings extremely difficult problems. The trend is therefore too always complex systems, which goes against the reliability of good systems.

For example, the inventor was at the installation of nearly 1000 electro-optical Touch units in systems for testing involved in various ways. Considerable difficulties arose when those with electro-optical imaging working buttons were used to obtain workpiece images, in particular at reflection.

If you take into account that this robot-based system must achieve a much higher level of reliability than even these test-based units, so that it does not damage the product, drop it on the floor, etc., it becomes clear that a simple and reliable means of solving these problems is required to solve. This is the task on which the invention is based.

The object on which the invention is based is achieved by the characteristics of claim 1 specified teaching solved.

The invention is based on the idea of enabling a solution in which the problem is easily targeted or marked Objects is limited.

This then leads to the possibility of tracking the parts or containers, the means of transport marked in this way, possibly using additional buttons, if necessary to grapple parts or objects within this container or the like.

The teaching of the invention relates to a method and a device for determining the position of an object provided with a target or a mark or object carrier.

In particular, the aim is to create a robot-compatible To gain "image" and practically build the system on it.

The teaching of the invention goes further, not only simple the mounts themselves and the parts within the mount, but also containers and targeting or marking parts of other kinds and assigning them identify, e.g. baskets, bowls, cardboard boxes, gripping tools, parts in warehouse containers and of course parts themselves.

In addition, the invention is concerned with marking materials, that are not fiber optics, not just transmitting materials of other kinds, but Items such as glass spheres, drilled facets, cast spigots and the like Furthermore, the invention is concerned with other means of scanning which are improved Can provide positions and data from targets or brands. Of special interest are such means in connection with a device according to US Pat. No. 4,219,847.

The invention also specifies how certain parts of conveyors are used can be removed with an overhead single rail under random conditions can, with the high level of reliability required in such systems is.

The invention also provides means for marking the edges of targets or marks for use with stereo cameras or other scanning means that are not necessarily based on point targets or brands.

The invention provides means for coding the various fiber input or output signals or other brands or destinations using of colors or modulation frequencies. This is also possible with inserted Glass balls or reflectors.

Finally, the invention also specifies how standardized systems, based on such tracking across the spectrum of the manufacturing industry can be used without major changes as long as certain marking principles are taken into account. This enables the breadth Use of reliable guiding robots at a reasonable cost.

The teaching of the invention is intended below on the basis of exemplary embodiments are explained in more detail.

Fig. 1 schematically shows a side view of an overhead conveyor system according to the invention, Fig. 2 shows schematically an enlarged perspective view a hook 14 according to FIG. 1, FIG. 3 illustrates a complete system for receiving and moving coupling parts away from overhead monorail conveyors in one automatic conveyor system. The push button is of the general type that is used by Pinkney et al used to track funding carriers or the funding agency, which are pursued by the means described here. An additional button or an analysis means can preferably be attached to the robot used to find the part inside the carrier.

Figure 4 illustrates targeting or marking implementations on the carriers as used in Fig. 1, Fig. 5 illustrates an embodiment and shows methods of marking a plastic door panel with built-in optics Fibers, Fig. 6 shows a windshield for an automobile with fibers for identification its scope, which are photographed by stereoscopic cameras, Fig. 7 shows a Part of an embodiment for marking using drilled holes, Fig. 8 shows part of a marker embodiment in which the markers are molded into the part or appendages thereon, Fig. 9 shows part of a A marking embodiment in which the said markings are directional or color-reflective Have elements that are cast or pressed in, Fig.10 shows a robot system using marked boxes that are a random spacing on a roller conveyor have, where.Markings are used, which are either printed on the boxes are made of fibers or reflectors, Fig.11 shows means for marking a Tool, Fig. 12 shows other means of forming matching markings and for Use with a compound Body body, Fig. 13 shows reusable marks for parts, Fig. 14 shows a method of assembling of cars according to the invention, Fig.15 shows a button embodiment according to the Invention, and FIGS. 16 and 17 show further embodiments for marking Share.

In Fig. 1, an object 10 is shown in the direction of an arrow A is moved on an overhead conveyor system 11, which consists essentially of a rail 12 consists on which a carriage 13 is movable. Item 10 is in a pertinent manner suspended from a hook 14 on the carriage 13. Hook 14 has an opening 15 for a screw 16 for fastening the hook 14 to the carriage 13. A fiber optic 17 is embedded within the hook 14 and has a light receiving end 18 in one area 19 of hook 14 and a light emitting end 20 in one area 21 of the hook 14.

Fiber optic 17 can be any fiber optic element, for example a single fiber optic or bundle thereof, many types of which are commercially available are available. A fiber element made of plastic is particularly suitable.

In Fig. 1 it is assumed that it is desired to adjust the position of the to determine the object suspended on the hook 11 when the object 10 located at a general location 22 in FIG. It is also assumed in Fig. 1 that that Item 10 is in a known location relative to the position of hook 14 is located.

Above the rail 12, a light source 23 is arranged, the light directed downwards so that it rests on an upper surface 19 of hooks 14 of the carriage 13 falls when a car is below the light source.

A light detector 24, in this case a photo detector camera a scanning matrix and with a lens and a detector arrangement, consisting of a multitude of horizontal rows of discrete photodiodes, is nearby of the conveyor arranged to be adjacent to the hook 14 when the conveyed object 10 is essentially in position 22. Located If the conveyed object is in position 22, the light-emitting The end 20 of the fiber optics 17 is imaged by the camera lens 40 on the matrix arrangement, which provides real time information relating to the location of the hook 24.

In a typical case, as illustrated in FIG. 1, is from the end 20 emitted light 25 imaged so that there is a spot 25 on four adjacent photodiodes of the arrangement 24 forms. While the photodiode array is sampled, an output signal 26, which is derived from the position of the spot of Light 25 depends on arrangement 24, to a suitable device 27, for example a microcomputer, transmitted to the position of the hook 14 and thus that of the Item 10 in relation to any known position, for example position a robot or the position of the detector arrangement 24 to determine.

One that depends on the position of the hook 14 and / or object 10 Signal 28 then becomes a suitable robot controller for controlling a Robot, not shown, for manipulating the hook 14 of the requested item 10 transferred. A signal 29 controlling the robot thus contains position information with respect to the hook 10 or object 14 to be manipulated by the robot is.

It is obvious that the matrix arrangement of FIG Provides positional information in the x and y directions in the plane of the drawing. It is just as easy to get information about the position in the z-direction to build. For example, as shown in dashed lines in FIGS. 1 and 2 is another fiber optic element 30 embedded in the hook 14, the extends from a horizontal upper surface 19 to the front surface 31, the extends vertically and transversely to the plane of the drawing.

Thus, another linear photodetector array would be used to collect of light emitted from the light-emitting end 32 of the fiber optic 30 is to provide a signal indicating the position of the hook 14 and thus of the object 10 provides in the "z" axis, i.e. perpendicular to the plane of the drawing. This signal would be processed in the same way as signal 26 to make a three dimensional Determination of the relative position of the conveyor hook and / or the suspended object as well as performing the location relative to the robot. Alternative means of using additional brands related to the creation of three-dimensional data on the location of the hook using multiple marks are described below.

In the embodiment according to FIGS. 1 and 2, the elongated, light-conducting means embedded in the hook 14. In some cases where hook 14 is a monolithic cast metal object, it may be more convenient to use the To attach fiber optics to the hook in any other way, for example simply by gluing or otherwise attaching to the outer surface. In this case, however, it is useful to avoid a housing for the fiber optics of damage to be attached. This is done in a simple manner by creating a groove or a slot in the surface of the hook into which the elongated light-conducting part inserted and then with a protective material, preferably translucent, can be covered.

The invention is used to determine the position of one of the same Objects used, for example, the position of a large number of identical Hook 14, it is useful to adjust the position of the light-emitting end or the Ends of the elongated light-guiding member are substantially the same each time Position to be arranged on the object. Where that is practically impossible or where more precise Position determinations are required, the position of the light-guiding districts each object can be calibrated.

In the embodiment according to FIG. 1, the light-guiding parts are attached to the hook 14. It is of course also possible to use the parts mentioned to attach the suspended object 10. In the latter case, the Position of the suspended object 10 determined directly, while this in the last mentioned case takes place indirectly by determining the position of the hook 10 and in that the position of a suspended object relative to the hook 10 is known is.

3 illustrates the basic application of the invention an important sector of robot use, namely picking up or setting down of parts in continuously conveyed containers or means of transport.

There is considerable work involved in this handling procedure worldwide done. In addition, many assembly operations require a human that he first removes a part, for example from a conveyor (for example an overhead monorail conveyor as shown here) and it to another part composed. He may then have to put the part back on the conveyor. With others Words only if the problem of interacting with the sponsor is resolved the assembly process can be automated.

A specific embodiment of the invention is shown here, the used to remove parts of transmission couplings from an overhead monorail conveyor to decrease. In this particular carrier 200 there are two Parts 201 and 202 resting in a pocket of the wearer.

To keep costs down, the carriers are typically off Profiled steel, bent bars, etc. and they do not coincide in any one way Direction precise. In addition, they are often conveyed on an overhead rail 205 and can swing in the direction of movement, sideways to it, or around limited Rotate angle. You can easily determine their position from the reference point of the monorail conveyor deviate by - 1 cm over time, and they give way also due to repairs, replacements, etc.

If you then try to manufacture high-precision conveyors, it is from extraordinary interest in creating a robotic system that can work with this particular Type of conveyor can work together and not just replace existing equipment can, but that also de further promoter costs keep low against the price of certain additional complications in the robot's hardware. How yourself which is best seen from the present example is provided by the embodiment According to the invention, a system that can be built at low cost is essential are lower than those that arise when one in conjunction with precise conveyors Creates robots without the invention.

As shown in the plan view, a robot 210 is arranged so that that he takes the part off this special monorail conveyor by selects one of the two parts in that particular vehicle. To a later one Time may he choose any of the parts 220-223 contained in another carrier 225 are arranged on the same monorail conveyor that together with the first part should be set. For example, robot 350 is used to assemble the from the Robot 210 pushed parts off the conveyor.

The robot 210 can be of any particular type. A robot however, using Cartesian coordinates is generally convenient, and a special one Kind of it is shown in the drawing for this purpose. It should be noted, however, that robots can be used with polar coordinates, although they are a very require much more complex controls. A polar coordinate robot moving on linear carriages parallel to the conveyor can also be used, however that requires additional costs.

As shown, the robot working with Cartesian coordinates 210 has an arm 231 which extends out and back with respect to the conveyor line 205 and it moves along an x-axis guide 232 parallel to the conveyor. This third axis is the vertical or z-axis from the plane of drawing 234 out.

In this invention, the carrier in this example is four Marks provided, which in this case are arranged at the four corners of the carrier 240-234 are. These brands or targets can be of any type as described in this application is described. The use of four such brands is not required, however, in many cases it is useful to a full 6-axis resolution the location of the item reliably. The three brands or goals are enough out to solve this alone. In this case, the carrier expediently has also has a guide rail 245 underneath the beam that has some mechanical Guides, such as 250 and 251, can touch to allow lateral movement to prevent. These guides are also shown in end view in FIG. You can also be spring loaded, as shown at 251, to hold the rail against the stationary Press guide 250. An introduction to the guides is shown in the top view.

Figures 3 and 4 show tags like the four attached to the carrier are shown. In this case, these marks provide a signal to which the scanning Camera unit 260 can snap into place. This camera unit can either be on the robot arm 261 or outside of the robot as at 260 (shown in lateral Arrangement, but also arranged above the station). Is it located outside of the robot, it may also be desirable to use brands such as use flashing light emitting diodes 265 on the end of the robot arm, if so can be tracked to obtain relative data.

Both types 260 and 261 can be used to relate data different viewing points to deliver.

Is the robot button 260 locked onto the carrier (or a other object, see the following embodiment), he can then use this Track conveyors, even in their lateral movements, more reliably way due to the very high signal / interference ratio of the brands, like the one below is discussed. This is to a great extent superior to considering the parts or Carriers due to their gray level images with this type of swing and uncertain Surroundings. The indicated Pinkney et al or other photometric solutions can Provide high resolution data up to six coordinates, namely, x, y, z, rolls, Yaw and nod. This is completely sufficient and also more than sufficient, to get the thing done, especially when guided tours, such as the guide rails 250, 251, are used to facilitate the movement in one or more Restrict axes.

After the main camera unit 260 is locked onto the conveyor, | um calculate its position for feeding into the control computer 280 of the robot, so can a second system, e.g. 261, which either has a different camera or simply using different lighting, circles, etc., indicate where the Part is located in the carrier.

An important feature of the invention is the use of a camera unit to track the marked conveyor (or other item) while a second subsystem, even with the same camera, the part within the Conveyor carrier or scanned on it. Such a second camera or subsystem can provide up to five-axis data (x, y, distance, roll and yaw). This The system can be located directly in the gripper.

There is no need to scan where the part is located in the carrier necessarily to take place in the robot station. It can be in Take place in front of the conveying direction, using, for example, a tactile camera 262. This serves the additional purpose of signaling the robot system when there is any unforeseen situation so as to discontinue the attempt to remove the Grab part.

This can be a significantly damaged carrier, a Carrier with no parts in it at all, a carrier with the wrong part, etc. Act. The part can thus of course be recognized, as can the scanning its location on the carrier, pallet or the like.

Once the decision has been made where the part is located and that it is a correct part, the robot moves in to to take it off or, conversely, to put another part back into the carrier.

In this case, the control computer 280 of the robot takes the data with respect to the position coordinates of the marked carrier and dates the information of the robot continuously. It's special with Cartesian coordinate axes easy to do this, because you can easily parallel to the conveyor (x-direction) run and only the differences in position relative to the parallel line that can absorb movement. This can also be done with a polar coordinate system happened, but it is much more difficult to do dynamically. In each Trap you only need the carrier in a nearby push button using the gripper and possibly another probe to track to pick up the difference.

The solution with tracking the brand, for example using from hardware like that according to Pinkney et al or with a double stereo solution with two Cameras, using a camera to track both the gripper as well as the also of the carrier conveyor (or part) and / or take place with a camera that is on the robot arm itself is arranged. The reason why this is so successful is, lies in the fact that he pursues goals or marks which even in an industrial Environment has and maintains high visibility. These markings can go through Intensity, color or shape can be distinguished. Everyone can go through this System can be used.

For example, in the side view according to FIG. 4, light 300 from a light source 301 behind the carrier, the markings 240-243 illuminated at the four corners (or any other places). These markings can be simple recesses in plates, such as circles, squares, triangles etc., be whatever may be distinguishable, and they can be through a viewing camera 260 or 261 can be determined in conjunction with a computer. A triangular opening 302 in a marking plate 241 is shown for clarity.

The markings can also consist of color filters 305, and of course can be a different color for each different mark 240-243 or different Partial carrier used to automatically encode what what is if this is a problem, as it is in certain more universal use cases may be the case.

If a white light source 300 is used in this case, the Color of the marking an immediate indicator.

However, in some industrial environments it may be more difficult to colored filters ensure as a simple slit.

With the light source from behind it may be desirable to have a diffuser, such as a grained glass 310 (dashed lines) in the slot or to be placed near the slot (but not necessarily on the carrier), such that the light is extended over a range of directions others more directing diffusers such as diffraction patterns, prismatic devices and the like, can also be used where more light is given Angular locations, such as the robot's approach path or in the direction the camera 260, is desired.

It is of course also possible to use markings based on fiber optics to use according to FIGS. 1 and 2.

One final type of marker useful in a system like this is a back-reflective marking, for example a prismatic plastic reflector, reflective tape, rectangular material, and the like. This is shown at marker 242 in FIG. In this case, a light field 320 be created to illuminate this. Are reflectors with high Reflective ability is used, the light should come from the same angle as the button (e.g. of 260).

The light source can either be fixed or held on the robot. The reflected light field 321 is directed along the incident path.

It is now the question of marking the parts themselves or a container of parts such as carton 579 on a pallet in the conveyor according to FIG. 10 wanders, the markings being simply printed are.

There are many means of applying such markings to parts, although this is of course a bit more difficult as you have to pay attention to the function of the part as well as its aesthetic properties. From the point of view of the robot system however, the markings must be such that at least three or four of the marks For example, are visible to a satisfactory six-axis resolution of the photometric measurement Allow equations.

In certain circumstances where there are more restrictions, maybe just one or two brands need to be visible.

Let us now describe the example according to FIGS. 3 and 4 continued. It is sometimes desirable to have an auxiliary robot 350 (if possible with polar coordinates as shown) to capture parts such as 202 ', which the robot 210 is pulled out of the carriers and onto a mounting bracket 351 has given up.

This robot then sets different parts, like shafts 220 ' together, which have also been pulled down, and brings the two parts 202 'and 220 'and then slide the assembled assembly down on a tray onto an exit conveyor 360.

Robot 210 can also be used to perform the assembly, especially if it is equipped with a rotation around the y-axis. A twofold However, robotic system is faster by being able to put one together while the finds other more parts.

The reverse is also true. The previous assembly can continue to run while robot 210 moves the assembled assembly onto a monorail conveyor resets the same type. For example, in the present application example a second conveyor can be arranged immediately below the first conveyor 205, on which the assembled parts would be placed. This sponsor can on be placed on the ground and overhead. Robot 210 could also turn 1800 and a fully assembled assembly on a conveyor parallel to 205 set.

Fig. 5 shows a car door according to the invention with a marking 350 is provided and travels on a conveyor 351. She passes a light source 355, four fiber ends 359 are illuminated at the same time, and light occurs at the opposite fiber ends 360-363 and thus forms the markings. These The fiber ends are flat with the door panel, which can itself be made of plastic, like this that the plastic fibers run into one another with the plastic door.

The fibers carrying light 370-373 can go directly into the plastic be poured into the mold. You can be in the door leaf as well, as if they were, or they can, regular fiberglass in an SMC (fiberglass) door be held in or adjacent to the ribs of the door, if any. If there are inner and outer plates, the fibers can be arranged in between.

A camera unit 368 looks at the light from the fiber ends 360-363. This camera can be arranged above the conveyor and / or a robot arm that comes in to pick up the door, for example.

The light source itself can be pulsed to provide a higher signal-to-noise ratio of the markings relative to the ambient light. Each of the fibers that The markings form can transfer colors so that color detection is possible is. One can also think of fibers 370-373 as bundles of fibers. Also different Numbers of arrangements of fibers and different arrangements of the marking ends 360-363 can be used such that varying codes would be used to determine which is which and what type of door it is, etc.

Marks in the form of paint, ink or other film or any Other coatings can be sprayed onto parts with the help of spray marking guns will. Particularly effective with beautifully shaped markings such as Triangles or other things that are very recognizable Have shape is the device according to US-PS 4,269,874.

A marking station on the plate can be used, for example, to to spray certain markings with paint.

These markings can be of a special color, e.g.

fluoresce, absorb infrared or reflect ultraviolet, all of which leads to them being distinguishable under certain types of lighting are. It can even be a clear coating that is easy on the eye is invisible, but fluoresces or preferably under certain lights absorbs certain wavelengths.

The last mentioned is especially nice for finished parts. However, any type of paint, e.g. on an unpainted door, can be used that will be painted later, exactly as long as it was chemically compatible or removed during a normal prep process.

FIG. 5B shows a color filter plate 380 in front of a group 359 of four fiber ends according to FIG. 5 is set.

This color filter plate has filters for red, yellow, green and blue, like that is shown, which cause light to pass through each of the fiber ends 360-363 exits, for example shows these colors. These colors can all be infrared or any other colors.

An alternative for differentiating which marking it is What is involved is actually different light sources for each of the fibers and modulating them at different frequencies or To pulse light onto each of the fibers in succession.

Fig. 6 shows another embodiment of the invention for use in the case of a windshield 400, its edges as well as other features by cameras 405 and 406 are considered, which include an angle 0 between them, in such a way that that a "stereo" impression arises in relation to the depth of penetration.

This stereo impression or any other impression of this part is made much easier by marking the edge of the object through 't loss' fibers 411 that run around the perimeter of the part and light up emit or "lose" each point when its end is illuminated by light source 410 will.

Having marked the entire edge in this particular example is, it is obvious that only portions of the edges of an object like this are required for its exact placement. It is also important to note that it allows an actual measurement of the part itself as the contour of the edge The purpose of the windshield is to ensure that it fits into the opening for it in the vehicle fits in the right way.

In this case, the fiber can go into the glass of the windshield can be poured in during manufacture and a glass fiber itself can thereby also be used be that it has slightly different characteristics. This fiber can too really only be a part of the same glass working in such a way around is made so that it is light / around the circumference the windshield transmits.

It is obvious that these same principles apply to plastic parts or can be used for the same purpose on metal parts where the fiber simply applied to the perimeter of the part or only partially through the metal is covered.

Light emitted by the fiber can be infrared or any have other wavelengths, which are desirable for better characterization of the surface is. In the case of plastic, the fiber can be embedded in such a way that it normally is not recognizable with visible light, but with irradiation with infrared, in this case from the fiber to the outside through the glass or plastic emerges and is visible.

There can be more than four markings as shown in FIG a door, as well as more zones than simply the perimeter of the part of the windshield, as in Fig. 6. However, these are the two principal ones Examples, namely four points are a sufficient solution including one Six axis reliability testing, photometric equations, and of course The girth is the main interesting thing when viewing with stereo cameras he follows.

In Figure 6, many fibers create losses, quite simply by themselves itself. If additional losses are required, e.g. if they are embedded in a matrix the fibers can be roughened, for example.

Of course, plastic pallets and containers can also be instrumented will. Light-guiding paths can also be made in the plastic of a carrier as shown in Fig. 4 must be installed.

Fig. 7 illustrates another method of marking objects. In this embodiment of the invention, a cylinder head 500 is used, in this case on the cover rail 501, with markings 502, 505, 506 and 507 on the four corners of the rail diameter.

Marking 502 is in this case by a single indentation formed in the rail, for example by the conical surface that passes through a drill is created when it just touches the metal. Such a conical Surface reflects light at angles from the machined surface the cover rail itself are different, and thus an excellent one results Contrasting markings when viewing from appropriate angles. Meets e.g. light from source 510 held by robot 512 onto which such cover rail having conical marking, so light is on the camera 511 of the marking is directed backwards, since the footprint of the marking is more or less is aimed at the camera 511. However, light from the cover rail is turned into one Angled away from the camera. It therefore appears bright against the background the cover rail and opposite the cast surface of the part. In other cases it would the track surface will be light and the conical surface will be dark. The fact, that it is a cone means that it is an approximation of some direction desirably gives the same results in the plane of the rail surface.

There are different in plan view for the sake of illustration Groups of marks are shown on each of the corners. However, it is considered likely considers that some type of marker will be used in any case. To the For example, the marker nest 505 contains four such conical surfaces or to this Purpose four markings of some kind, for example as shown in Fig. 8 are. In this case, of course, four markings are much more unusual as a single point, and they would be distinctive in relation to any one -Type of background, as nothing else on the part will have such nest reflection would. In this case the center of the four points gives the center of the marking.

The same goes for 506, which is a three-point version acts, which also forms a center. Nest 507 that has two points and has probabilities Lich is unmistakable / no central point, except in the one plane. In this case, therefore, the center of the points itself would be the answer in a plane deliver.

FIG. 8 illustrates another method of marking, also in FIG Application in this case to a cylinder head, although of course, in any other way of part is possible.

In this case the part is cast and it is shown that on the Cylinder head casting 530 appendages are cast on during assembly or during the Do not disturb the function of the part. These are labeled 531, 532, 533 and 534.

These appendages are indeed markings and are naturally in unmistakable from any point of view. To make them even more distinctive make, certain angles are cast into their sides. Like that in the side view of 532, the particular angle of reflection transverse to the head axis is such that when light is projected from an overhead light field 535, these facets are light shoot away to a camera at a preferred angle.

In this special case, the opposite of 531 would be in the one shown Way to be made in different ways so that they also have a facet in the direction would have. The direction can be chosen so that no other Features on the object have reflective angles in the same direction. In other words, for any item, no matter what it is, one would be able to find certain angles in which to mark data are either lighter or darker than the rest of the subject, or at least are with a minimum / of other features / angles in these directions. This, in fact, contributes to the discrimination in a passive way.

Similarly, certain markings can be in more than one plane, for example 533, be beveled so that when viewed from one of two angles a lighter one Reflection takes place. (Conversely, the lighting can also take place at an angle and camera upside down.) As also shown in this drawing is, cones or crosses are cast as markings as if she would have been produced in a separate drilling process according to FIG. These are with 540, 541, 542 and 543.

In this case a protrusion in the mold itself provides one matching recess in the part. Since the markings can be poured so they can have many other shapes and not just conical surfaces, holes or other machined shapes. For example, cross shapes like facets can be a Phillips screw as markings in contrast to other features on the object recognized and distinguished that have a certain resemblance to conical shapes to have.

Such shapes do not necessarily have to be in the form of depressions in the part /, it can also be equivalent features 545 in the same way act in the form of protrusions. Such a button or protrusion on the part can be however, be in the way of the function of the object and its handling if it is not properly attached. It is therefore believed that as there are many parts in general have flat surfaces that are either functionally conditioned or the handling simplify, the best remedy is to indent in surfaces that are not contradicts one of the purposes.

As shown in FIG. 8B, a can be incorporated into a surface 545 of the material 546 drilled cone, a cross, etc.

also have a transparent plastic filler material 550 placed therein is used in order to fill in part or all of the recess or even a sublime To form part that protrudes from surface 546.

This plastic material serves several purposes.

One purpose is that it is simply the surface of the recess protects against rust and dirt. This can be very important, for example with a brightly shining drilled section on an aluminum or steel object, that discolors or rusts over time.

A second purpose is that the filler material itself represents different optical element in the area of the mirror, which by the conical surface (cross etc.) is formed and in this case forms a prism, which is useful for either the distribution or the direction of light.

A third major reason is that the plastic filler itself can be selected so that it is particularly light only with certain colors reflected.

This then enables another way of distinguishing between markings, based on colors.

The principal disadvantage of using such a filler is in that a separate operation is required to introduce the plastic, which normally cannot simply be done in a processing line. One The exception, however, is the process in which the reflective hole is first made in the casting drilled, then plastic is simply sprayed into the holes and then finally a processing operation required for the other purposes is carried out, which removes the protruding material in the course of processing and thus the Leaves plastic in alignment with the surface of the hole. There are of course additionally the spray guns are required in the work process.

Fig. 9 shows a further embodiment for the marking, in this case with a plastic body plate 570 which is illuminated by a light field 571 This is then illuminated by a mark made in the plastic surface 572 is cast, is directed at a camera 575. The marking is reflective and consists of a diffraction pattern that defines certain colors or generally light of all Aligns colors at angles away from the surface. An alternative is to that the marking 572 is made of multilayer interference elements, preferably Plastic, which is also light in preferred angles in preferred color combinations can send out.

Camera 575, like a color television camera, is capable of colors like to scan a spot shape, it can distinguish these colors and make them unmistakable identify, such that a color distribution or color combination of only one such marking can come. This can be done even in the presence of a strong background take place, for example from the surface of item 570.

Such color combinations can also be coded into the markings to recognize the part 570, its orientation angle, and so on.

Instead of pouring the plastic into the part, it can be whole simply on the surface of part 578 be glued on. Acts if it is a thin reflective film, e.g. 578, it needs it, though it is important not to disturb the function of the part. For outer body panels however, a flush arrangement of the mark 572 is made of plastic for vehicles particularly useful. These markings are covered after painting the car. For example, are the markings on the door panels of the vehicle at the time of painting are already attached to the vehicle, their presence goes lost after the vehicle is painted once. The one for such attachment For example, markings used should be aligned and not disturb the surface the panel after it has been painted.

Markings can, however, be curved into the objects, so that they actually constitute part of the appearance of the object. the The need to cover the marking depends to a large extent on the aesthetic Properties of the object.

Another option is to use markers, which are only recognizable as markings under special lighting that is normally used are not present in a human situation. E.g.

Mark 572 considered either cast into the plate can be or for this purpose simply part of the plastic surface of the Plate itself can be treated with a special ultraviolet fluorescent Material. Only under ultraviolet light would this marking become part of the plate actually compared to the environment being visible.

This is especially true in the case of diffraction / interference in the case of multiple layers, treated as above, where the spacing of the lines or rungs of the inflection pattern or of the multilayer material and the distance can be chosen so that only under certain Lighting colors, and then maybe only at certain angles, the light strong is visible in relation to the environment. That would then be particularly easy to accomplish when such wavelengths are in the ultraviolet or infrared range just outside within the visible light range. The near infrared range is an excellent one Area to be scanned with, for example, currently available solid state cameras.

Such markings do not necessarily have to be poured in, they can also be vapor-deposited on the surface, so that the protruding part of the material is practically negligible. In rough applications you can such markings as for example 578 simply white crosses from glued on Be plastic. This would not be objectionable with the finished product, if washing takes place during the final lacquering process, that is very easy removed the glue and marking. An advantage of the fiber types according to Fig. 5 consists in the fact that the fiber end is extremely bright and with the object surface can be aligned.

Figure 10 shows another application of the invention in tracking a cardboard box 579 that is conveyed by a carriage conveyor 590. The cartonist randomly on places the carrier and it is more programmable using Robotic means desired to grab the box and pull it off at a certain station.

To do this, have all sides of the cardboard printed on them Groups of markings 580, 581 and 582 are shown in the drawing are. These marker groups can be of any useful type and always remain on the box. The nice thing about it is that it can be used for tracking in the manufacturing plant, for robotic warehouse purposes and across the entire distribution chain can, for example, in a supermarket to unpack the product and to be placed on the shelves by means of robots. Of course, packaging of goods can also be used inside the carton, e.g. egg cartons, milk cartons, cans, etc. for the same purposes are marked as they are all printed on labels or the like exhibit.

While each face in this case with four-point markings is shown can of course also markings with any number of points or characters are used. The carton can also be coded to keep the goods inside of the box. In the extreme case, this would require UPC codes (e.g. 591), and of course a miniature UPC code can itself have one or more markings form. It can be assumed, however, that most of them are much less complicated Codes would normally use as there is no need for such large quantities consists of information.

It may just as well be required of the items or To code markings, since all the different boxes have different marking distances due to their own shape, and one would initially wish to determine what type it was, so the distance between the markings for the computer of the robotic mechanism would be known and included in the calculations for the various Solutions to the photometric equations could be included.

It may just as well be the case, for example, that a special Marking code such as 591 is used, which is all photometric Solution data and for this box / additionally contains a label for it, what's inside of it. The robotic camera system could first enter the code and read from it the various marking location data for each of the areas of the Determine cardboard boxes, including for mark shape and size, mark spacing, how many markings are there and e.g. for the shape of the product itself, no matter whether in a square box or whatever you have.

Fig. 11 shows a similar concept, this time using marked tools such as grinding machine 600 are used, which are pneumatically operated via a Air hose 601 is driven. The task is that a robot with a Gripper comes and picks up this grinding machine and processes a workpiece, e.g. the introduced zones of a body at the joints of the panels.

For this purpose, a tool gripping area 610 is marked itself, in this case using markings 605, 606, 607 and 608 passing through light-emitting diodes are formed, which are also fed via the air hose 601 are. These diodes can either be switched on continuously or they can be flashed be to achieve a large signal to noise ratio, or flicker so that always only one is on at a given time. The latter is expedient, if photo pushbuttons that only address one point at a time are considered continuous Spot detectors are used (e.g. UDT SC-10).

Of course, instead of the light emitting diodes on the Tool fibers are used to get this data the same points from one or multiple distant light sources.

The robot hand with the camera would approach this tool and by means of the markings, grasp the tool at the desired location, in this Trap the cylindrical surface 610 which would be gripped by V-shaped grippers. The markings can be specially arranged to enclose this district, and this is a preferred mode of marker placement in such a case. This is not necessarily required. The markings can be placed like this be that the computer knows that the grasping is just as good in any other place can occur.

In this case it may also be desirable to assign a code 620 use. This code can contain the data about where to take the object is whether that is between the marks or elsewhere and again around which Tool and maybe just as well other data.

Markings 532 and 531 of Fig. 8 allow when they are from the object protrude in one or more levels, more precise solutions of the various rotary and tilt data derived from the projected distance of those viewed by the camera Markings depends. However, the more the marking protrudes from the part in question, the greater the possibility that they will be in terms of handling or aesthetic Reasons objectionable.

Fig. 12 shows another assembly application of the invention of vehicle bodies. In this case, it is desirable to have a ceiling plate 660 to put on the body opening through set parts 661 and 662 and the other Parts of the body parts, not shown for reasons of clarity, are formed. This problem is very similar to that of inserting the doors into a doorway or the cap in the cap opening and is optimal by using optical Sampling improved as described.

A robot arm 660 carries with it a tool holder 651 which a suction cup mount 652 and 653, which is attached to the cover part 660 for the purpose attacks.

The holder itself has optical buttons 670 and 671, the are used in the manner shown here and track markings as well as certain Measure variables of the object itself.

When the robot approaches the body consisting of the side parts, that carry the cover part 660, so have buttons 670 and 671, the linear or matrix camera units included, determines the location of the cover part relative to the cameras themselves. With others In words, the suction cups 652 and 653 can move the cover part in a relatively arbitrary manner Record location, for example, of a roller conveyor, with the cameras the robot compensate for this random position by scanning the edges of the cover part. The buttons can also ideally scan and record the edges of the cover part effect in the right position. It is also likely that other cameras are on are arranged on the other sides of the part, for example as camera 680 (dashed Lines).

If the robot is relatively far away from the body, it starts the camera unit, which also has an illumination source 675, for example, the reflected image of conical markings pressed into the side panels 665 on.

A hole 665 can also be provided for the purpose of better contrast which is illuminated from behind by a light source 666. Unfortunately however, in most areas of panels, such additional holes are not he wishes. Such stamped markings are, however, easily possible and can be made in exactly the same way as in the case of the molded markings according to FIG. 8 in an analogous manner. Fiber-based marking systems are ideal if they can be used economically.

The markings such as 665 and 667 on the opposite Sides as well as other markings over the remainder of the circumference of the top opening enables the robot system to retract onto the body. In contrast to previous embodiments, not a single camera sees all the markings, rather a collection of two or more cameras, their combined marking data provide the location and orientation of the object. Comes the camera keypad towards their final approach, so illuminates an inclined light projection unit 672 the section of the object itself from which triangulation data is related the exact distance to the side part 661 can be obtained with higher resolution can.

Then, when the part fits into opening "D" the gap width becomes "W" on each side scanned by each of the cameras on the four sides and for optimized this body in question. If the cover plate is then best aligned, so the various fastening screws and nuts are shut down, to tighten them. This process therefore not only results in a completely automated one Cover plate or door installation, but also an optimal fit into the Body with the highest quality standard.

This process does not necessarily require the use of Markings and can also be done in a markless manner, especially if the body is stopped when this occurs. However, if the body is in Movement so are Marking data much more advantageous because the side and back / forth vibrations can be followed as they approach.

It can also be useful to have two groups of camera magnifications to use, one with high magnification to determine the distance "W" and one with lower magnification for tracking the markings. This depends on that Use case and is of course not as desirable as just one Unit. In this case, the markings are also covered by the plate shown, in other words, they are out of sight with respect to the body itself. This can apply to both doors, to cover plates, etc. Something from the persecution however, it can be done with markings on other sections of the body are visible and not covered. This allows the markings to be traced even at the time of the actual installation of the plate and screwing what with moving parts is desirable. For this purpose should be special Markings such as marking 680 must be applied to the body, e.g. on the side panels and e.g.

consisting of a white background with a cross on it.

Such markings can be made by a completely separate camera system be viewed, the side or overhead or on the robot arm 650 itself and less is arranged on the tool.

In each of the above embodiments, the markings should be as different as possible. If possible, use certain types of reflective Marking material such as plastic reflectors or reflective tapes are used, which is extremely useful, as long as they can be attached to the object in such a way that their Function is not destroyed. Such tapes and markings are therefore best suitable for objects that do not serve any aesthetic purpose, like that certainly is the case with all means of transport, cardboard boxes, etc. The problem with these markings however, is that they are generally made of materials that are appropriate need to be, and that can create difficulties both in terms of the cost of the Attaching the markings will result in a precise manner / taking into account is that for best performance with multiple marking systems, mark spacing and the orientation must be known in such a way that the photometric calculations can be carried out accurately. The second problem with these materials is in that they are often made of plastic, and in some cases of such plastic, which does not survive the rest of the processing process, regardless of whether it is this involves hot washing, heat treatments or the like.

Markings can also be removed again and for subsequent parts be used. For example, reflective glass markings can be used with very high contrast screwed into blind holes in the part at very precisely known locations and later unscrewed again and reused. This can be done in a simple manner, for example at the cylinder head 7 take place when the baggy Threaded holes for attaching the rocker arm covers can be used to to keep these markings, which are in these holes, preferably automatically, would be screwed in. If the rocker arm covers are attached at the end, so these screws are removed and the fastening screws for the rocker arm used. Of course, this requires two additional operations, namely screwing in and unscrewing, but the same holes are used, which are already incorporated into the part. Other markings can be made with glue etc. be attached to the solvent from the part and from the marker can be removed again so that they can be reused after cleaning can. This is explained in connection with FIG.

Further modifications are possible. Are e.g. grippers with fiber optic Touch units with a triangulation projection source are used so are data obtainable in three axes. Up to five axes of such data can be obtained are done by projecting multiple beams or four beams to obtain four or five axis data. This enables the determination of the and tilt angle as well as the distance of the object and additionally the xy image, which is described below in connection with FIG.

The robot arm can be used for guidance with such a button using either a light emitting diode or a diode laser as markings or equipped with fibers.

A color recognition of the different markings can be done with the help of from color television cameras or simply with a color sensor in front of a marking scanner take place. Send e.g.

all marks out infrared light against the background, being it can be light emitting diodes, for example, an infrared bandpass filter can be used The camera is set to a high degree against the white light background and essentially the infrared markings superimposed on top of it shows.

In addition, the must be applied to the cylinder head in FIG Holes don't necessarily have to be tapered, they can actually be drilled, like that that they absorb essentially all light. In this case you would with the Reflection angle from the light machined surface of the rocker arm deck rail and see the marking holes as dark.

Referring to Figure 8B, a drop of plastic or silicone on top of the part, which then acts as a marker. Would E.g. a straight strip of silicone would be used, this would affect the fiber arrangement 5 and 6 approximate, and indeed light can pass through and around the part be guided in order to illuminate the edges.

Fig. 13 shows an example of a reusable marker, where In this case, it is a special screw 700 that is inserted into a threaded hole 701 in a part 702 such as the cylinder head according to FIG. 8, a Engine block or any machined part. These threaded holes would as has already been mentioned, there are probably holes that are already there for other purposes and for assembly located on the part, with the marking would take the place of the regular part until final assembly, where it would be removed.

The marking screw is designed like an Allen screw, however is in this case the blind hole at least partially with a reflective marking 705 filled, which is expediently made of reflective material made of plastic or Glass, such as that commonly used for retroreflectors in automobiles finds.

If desired, a color filter 710 can be placed on top of these Screw as part of the reflector used to make this special screw to give a preferred color when it is desired to distinguish them from others. The reflector design itself can also provide such a distinction.

This particular arrangement provides an extremely high mark drawing and allows the markings to protrude outward from the part surface (such as for better photometric solution purposes) simply by a long thread length. In addition, this wart is a low cost thing and it can be quite simple can be inserted and removed by automatic devices. One and only The disadvantage, of course, is that the wart or peg are placed in a hole must be used later in connection with the final assembly process will that mark can't be used until that Part moved during assembly and the marker removed.

While a helical mark is shown, it is clear that other arrangements such as a bayonet mount, snap mount or other markings that can be used with special tools can be removed from otherwise smooth holes that will later become trim strips, Can accommodate rivets or the like.

In other cases, the marking can simply have a pointed end such as a pin that is inserted into the material of the object and can later be pulled out again, leaving a hole behind, which is closes again when the material is relatively compliant.

This can be, for example, seat materials or meat on overhead conveyor lines act where the carcass itself may have inserted markings.

14 illustrates an application of the invention to machining a continuously moving body assembly 780. In this case a robot system according to the invention is provided together with a camera system 785, that on the body provided with reflective markings 781-784 in the processing area engages and causes the robot to move the body to the side, Tracked back and forth on the body "wagon" (not shown).

The button unit 785 controls in connection with the robot control computer 789 a robot arm 800 for moving a belt sander 801, so that this the lead filling 790 between the sail plate 791 and the ceiling plate 792 grinds out. There are two types of additional optical pushbutton units included this embodiment is expedient. The first touch unit 805 allows the determination the inclination of the belt sander to the surface of the body for tracking purposes. The second button (not shown) is a contouring button that defines the contours the leaded zone of the body is scanned to give contour coordinates to the grinder and to update and assess the amount of metal left behind, and if, whether or not another grinding should be carried out / from what angle (determined in conjunction with the dynamic tracking data at low resolution from the marker button 795 and, at high resolution, from the field mounted one Button 805).

When using all three optically separate touch probes plus force feedback a complete grinding cell can be created. Can the carriage move stopped, the system working with markings is no longer so much forced to follow the gross movements of the body, the other two touch probes are sufficient.

However, the marking system is a good "insurance" for faster Approximation.

In the above application, considerable amounts become more special Hardware used. For example, camera units are used which are best with solid state matrix arrays such as GE TN2500 and the new solid state color television arrays are that now from Sony or others have been brought to market are.

Xenon flash light sources are very suitable as light sources Illumination of the markings with brilliant pulses with a high signal to interference ratio, even if color filters are used. In addition, such flashes do not cause overmodulation of solid-state cameras, a desirable advantage.

The laser light sources are expediently diode lasers, which are im Infrared work and manufactured by RCA and Laser Diode Laboratories will. Also of interest is the Mitsubishi 4001 laser diode, some of which is visible.

The high-performance infrared light-emitting diodes such as the Texas Instruments company can also use fiber optics for such lighting will. Light emitting diodes are very useful because they have a low power consumption and can be modulated, as can the current range of diode lasers applies.

The forms of solution described in connection with FIGS are for all kinds of other parts such as tires, aircraft parts, Furniture, in general, any part that needs some kind of process such as pouring, spraying can be done to bring the fibers into the part. Self Metal parts can have built-in fibers if they can withstand the melting temperature (e.g. quartz fibers).

The fibers do not necessarily have to be cast into the part or pressed in. The fiber can also be applied to the part, e.g. to the Part along its perimeter or glued at special points will. These are then illuminated and can then be used for the same robot or other purposes are used7 as indicated above.

This gluing process, of course, requires additional work, either by a human or by a robot, although this of course also in an automatic one Manufacturing machine can be done.

Fiber optics have been discussed as a light-conducting medium, however, it will be understood that a silicone bead applied to a part will also Light transmits, albeit to a lesser extent. This special use of fibers and other light-transmitting media that are incorporated into or applied to parts is useful in many applications where they are handled robotic should be, and thus where the cost of attaching the fibers and their Lighting at different stations due to savings due to decreased Complexity of the robot equipment used arise.

The invention extends the possibilities for fiber illumination of Tool locations for the purpose of handling or sizing tools. Tools, like the J-hook of FIG. 1, can be illuminated to provide a To create an indicator or marking so that it can be grasped by robots or other automation equipment is possible. Such tools include Cutting tools, small drills, milling cutters, pneumatic wrenches, saws, Lasers, welding heads, etc. All can be instrumented in this way. Self small things like nuts for wrench can so instrumented.

As used in this specification, the term "light" means any wavelength electromagnetic radiation from infrared to ultraviolet meant.

Similar fiber optic radiation markings can be made by the grippers or robotic arms themselves, with light emitting diodes or other types on the grippers substitute.

Matching fibers are the lowest especially because of their low cost the trade name Corfon known from Dupont as well as glass fibers from the company American Optical, Corning and many other manufacturers.

Image-transmitting bundles can be used to convey the images of buttons shown in this application. Such fiber optic Bundles are sold, for example, by Nippon Sheet Glass, Olympus and others and can have a very high resolution.

Image scanning photo detector camera assemblies and solid state television cameras (MatriX arrangement), although they are particularly useful, are not the only ones Means for viewing the markings according to this invention. Other television cameras can also be used as well as scanning laser beams in some cases or even fixed detectors optimized for a preferred tag identifier are. Continuous or quadrant detectors (e.g. UDT SC-1Q) can also for determining the image position of a single spot or a marking to be used at a time.

Fig. 15 shows a button according to the invention as an improvement from Pushbuttons with fiber optics. This particular button shown is a multi-range button with small size according to the invention, which in this case is shown as so small is that it can be built into the grippers of robots.

It does not require any marked objects, but can be used with other embodiments can also be combined to work in conjunction with markings.

In this case, button 900 is in one half of the gripper section 901 of a robot end actuator and consists of light sources 905, 906 and 907. (In this example there are three light sources, although the number is natural can be any.) These light sources are diode lasers or are desirable in many Cases they are optical fibers with a diameter of about 12 "m that are removed are connected to diode lasers, with only the fibers being led to the button.

In either case, light from each of the fibers travels through a single one Lens 910 in focus. Because of the variation in the location of the fibers, the light is at different distances and at different angles depending on the position the fiber is focused. This is ideal for forming a multi-range, multi-resolution scanner with a highest included angle and with a resolution in the shortest Areas such as that desirable for accurate parts detection or other purposes is.

Light source 906 is focused on part 911 in the nominal area, which forms a reflected spot 912.

This spot is through lens 915 onto an integral photodetector array 916 (dashed lines) shown. For the sake of compactness, however, this Trap the image again formed on a coherent fiber optic bundle 918 and transferred to a remote matrix photodiode array. Thus, in this Example all light sources and every scanning work with fibers. This is from Advantage in terms of thermal and electrical insulation and reduces weight with small robots.

A matching window 920 is in the front of the button housing intended.

The other two light sources 905 and 907 on either side of the face value focus at different distances and at different angles. The bigger the included angle is e, the greater the resolution. It is therefore -to - see that the image formation with 907 delivers the highest resolution when the part is closest, and this is used to fine-tune the probe to where the area Let "H" be about 12 mm. In the case of 905, let H ″ be approximately 120 mm.

This type of arrangement is reasonable in terms of maintaining a Focus of light sources at different distances is favorable. With a single Lens 915, however, requires a small aperture in order to achieve a large depth of field and the projected spots over a wide range of subject locations keep focused. A zoom lens 915 can also be used to look over maintain focus over a wide area.

Since the center of gravity of the spots is measured, the spot image some out of focus and still being used.

White light sources with this arrangement can also be used, in order to effect an edge image illumination with the part 911.

For applications with many markings, e.g. 3, 4 or more Markings (in order to maximize the solvency of the photometric equations to get), the markings do not necessarily have to be the same distance or be arranged differently or in a fixed arrangement to one another. So there is a multitude of aesthetic possibilities. E.g .: In the case of rectangular parts, the four corners are desirable where the markings can be squares, circles, or some other shape.

There are four markings on round objects or parts thereof at 90 "intervals or three marks at 1200 intervals is desirable.

In the case of irregular objects, the markings can be any logical Have arrangement.

Examples are: - a furniture leg 950 with round head nails 951-955, the are located at the corners and serve as markings (Fig. 16A), - car grills 960 with decorative square marking facets 961-965 or slots in near the corners, - steering wheels 970 of motor vehicles with rectangular bright Inserts 971-973 on the outer ends of three spokes offset by 1200.

Within the marking slots 241 etc. of FIG. 4, transmitting Diffraction gratings or other suitable means of diffusion for the transmitted light be arranged.

For example, light from the fiber end 20 is not necessarily required to be imaged through lens 40, but rather can be imaged directly through an or multiple detectors are scanned.

In many applications in manufacturing plants, where the marked The object goes through many operations or is used repeatedly (e.g. the Transport container according to Fig. 3), the markings may be worse or repelled, be destroyed, etc. It is therefore desirable in many cases to have an excess To have number of marks.

Because only three marks for a complete photometric measurement six-axis solution are required (and even two are sufficient if certain previously mentioned restrictions are made), two to three locations are required. E.g.

3% television tube running away in the facility according to Pinkney et al reported a generally unacceptable error of 7 mm in one leak create in the distance data alone. Those used according to the invention Orders exclude this possibility.

Is in the embodiments shown here in relation to continuous Conveyor's conveying speed is known so the tracking requirements are made accordingly decreased.

The guide rails 250 and 251 are just one example of means to limit movement or speed of an object according to this invention in one or more axes. It can also be useful the speed using, for example, electromagnetic damping or to restrict damping with a viscous liquid. Restrictions these types generally design the control of all robot handling or the machining system for the workpieces.

There have been many ways of attaching markings to objects described. Other ways have also been described in which the marking is part of the item is.

If the object is something that is in his final shape and located in a position viewed by the consumer who expects a beautiful appearance, there is an extraordinary one Need to use the markings used in accordance with the invention either essentially to make them invisible or to provide them with an aesthetic appearance.

For example, a swept-out marking zone on a dashboard may fluoresce under UV light but remain invisible under normal lighting.

Part of the item can also have a special varnish, which deviates from normal a different reflection or absorption in the infrared range causes.

A desirable condition arises when looking at the markings makes it part of the whole, e.g.

to get an appealing stressor that is part of the whole Appearance is considered. Where possible, the markings can also be functional Peculiarities such as holes, buttons, etc.

In connection with FIG. 15 it should be further noted that each Diode laser or each fiber can be focused through an individual lens. If this is more complicated, it allows a more angular one Spreading the rays. It should be noted that only one beam is switched on at a time that would be appropriate for the distance in question.

However, if more than one is switched on at the same time, it is generally only one in the field of view of lens 910 at any one time. If there are two in the field, they can be distinguished based on their location will. Of course, two diverging rays can be projected into the field at the same time one to determine the distance and the other to an angular Obtain orientation from the beam separation with respect to the marker, wherein you know the distance.

The teaching according to the invention is particularly useful for control from robot-positioned, uncontacted work such as Laser welding, drilling, etc., especially on continuous roads. Considered If the process is general, the invention applies to welding, drilling, grinding, Cutting, hardening and any other machining, an addition to Transformation Process The properties of the markers used in accordance with the invention are generally seen different shape, light reflection, light transmission or Light emission properties with respect to the normal surface of the marked Subject. If the "normal" object has markings, a better definition applies relative to the remainder of the object surface, i.e. the unmarked remainder Area. Light emission, reflection and transmission can differ with regard to the color, direction, distribution of the direction of color, shape and intensity.

In the case of the fiber version and other active markings, you can the markings can also be different in their light modulation frequency.

In applying the teaching of the invention to practical plant problems For example, the photodetector assemblies are much more useful than the analog television cameras with analog tubes such as those used by Pinkney and other photometric technicians will. For example, the photodiode arrangement / of the type GE TV2500 do not require any frequent calibration and are therefore much more reliable when delivery is made Dimensional data related to mark or stain.

In many cases, however, a fourth marking is desirable, to deliver a reliable solution.

This invention therefore envisions the appropriate addition of additional Markings also for edge locations relative to the two to four markings for the additional step of determining which markings are present, and an optimal solution is used for those.

Refer now to FIG. 17. A transport pallet is shown 980 that is used repeatedly on a manufacturing line and with markings 981-984 and particularly reliable markings 986-988 is equipped. At a Way of working camera 990 and computer 991 are normally programmed to essentially Look at markings 981-985. If one of these markings is missing, however, so will the images of the marks 986, 987 or 988 are used. In general it is most sensible to use the marker closest to the missing one, that However, it is most sensible to use those whose combination is the best Resolution (i.e. the greatest accuracy) of the photometric equations.

Certain additional markings can also be added, In certain cases, for example, roll and tilt variables in the plane perpendicular to deliver to the lens axis. For example, at certain stations on the production line, where a greater degree of sampling with respect to one or two variables is desired is to select marker 988 instead of, for example, marker 985 to use If all markings except mark 3 have been destroyed, the remaining ones are used three regardless. However, the invention can provide the additional step to signal to the control that pallet SN 1368, for example, only his has last four marks and should therefore be repaired.

In the system shown in FIG. 3, there is often a system input or -test station desirable.

For example, button 262 can be arranged at a location where the transport carrier is so correctly positioned that the markings with regard to their presence checked and theirs Locations can be determined. this is not only helpful to keep the system under control, the actual one can also be used Marking location measured at this station and the locations in a computer such as 280 relative to the transport carrier in question, if each transport carrier numbered or arranged in an order. This enables mixing of different carriers with different parts in different states of reparation in the same street without compromising the accuracy of the marker position suffer from. This is important because the accuracy of the resolution is photometric Equations (those for guiding the robots on the street, for example at the station are applied according to Fig. 3) based on the degree of accuracy with which the relative location of the markings themselves to the carrier body is known.

Just one such detection station (which also has a laser for one May have serial code of the carrier, as also for the station according to FIG. 3 applies) is required per street. This also helps monitor damaged or destroyed carriers, as has already been mentioned, and destroyed carriers can then be automatically taken out of the street for repairs.

The test station can also be used for parts when they are in a held or otherwise known correct position from any point in the street. Any missing markings as well places can be checked before entering the system.

The invention is useful in a wide range of applications, and it can be a standard key computer unit essentially independent of the Build application.

The user just needs the data in the calculator such as 280 to inform the system about the appropriate marking location and distances on the To communicate the part or workpieces that are being handled, assembled or machined should be. It can thus be programmed for different parts, streets, etc. and therefore forms the basis of a general robot control system.

Claims (67)

Claims () i. ' Process for the automatic processing of a Object, to assemble an object with other objects or to Handling of an object, characterized by the following steps a mark or marking that at least one target / on at least part of an object is formed, with the target having a shape and light-reflecting, light-emitting or has light transmitting properties that are different from the non-target area of the object are different that that which is reflected or transmitted by the goal or goals Light is scanned electro-optically to determine the position of the targets that the location of the object is determined from the electro-optically scanned data and that from the location data of the object control signals educated to cause a machine to automatically process an object or assemble. 2. The method according to claim 1, characterized in that the target manufactured by drilling, casting, stamping, pressing, forging or in any other way Recess or depression is formed in a surface of the object in order to so to create a reflective property that differs from that of the surface of the object is different when the object is illuminated with light. 3. The method according to claim 2, characterized in that at least part of the recess or depression with a transparent, colored or translucent material is filled, so an improved or more durable Goal to create. 4. The method according to claim 1, characterized in that the object is designed so appropriately that it reflects the goal or goals in an aesthetic manner incorporates or contains in an appealing manner. 5. The method according to claim 1, characterized in that the target by pressing, punching, forging, casting or by forming a Attachment to the object is formed by its shape or its reflective properties can be recognized. 6. The method according to claim 1, characterized in that the preparatory step vaporizing, printing, spraying or otherwise applying a film of material on the surface of the object that is related to the object surface has different reflective properties. 7. The method according to claim 1, characterized in that the different Light reflection property of the target based on the color or the angle of reflection. 8. The method according to claim 1, characterized in that the formation of the target by gluing, welding, soldering or in any other way to the object Appropriate goals are made. 9. The method according to claim 8, characterized in that the target is screwed or pressed into the object. lo. Method according to claim 1, characterized in that the target is subsequently removed from the item. 11. The method according to claim 1, characterized in that the target by doping, irradiating or treating the material of the object in another Way is formed. 12. The method according to claim 1, characterized in that the target consists of the end of a fiber optic part, the opposite end of which is illuminated with light. 13. The method according to claim 1, characterized in that the target is a fiber optic part, the end of which is illuminated and the light along at least part of the ITC extension radiates to one periphery or another Make part of the subject clear. 14. The method according to claim 1, characterized in that the machine used to essentially place a tool in a precise location on the object to be positioned independently of any movement of the object. 15. The method according to claim 1, characterized in that the target consists of an opening in the object. 16. The method according to claim 1, characterized in, that the object is a tool to be grasped by said robot. 17. The method according to claim 16, characterized in that said Robot continues to use the tool to process another object. 18.Methods for controlling a robot or another automation system, characterized by the steps of scanning multiple targets at known relative ones Locations on an object with at least one first electro-optical button, -Use of the location data of the target from the button to control a robot or another machine for guiding the object or for taking a known one Position relative to the object, in addition, use of a second electro-optical Probe for determining the location of points on the surface of the object or other objects carried by the object and control of the robot or automation system based on the obtained from the first and second buttons Location data. 19. The method according to claim 18, characterized in that the first and second buttons are formed by the same photo-electric elements, however, the lighting, output circles, magnification or programs are different are. 20. Robotic handling method, assembly or Processing of continuously moving objects or within an object Contained objects, characterized by the following steps use at least a light source, creation of at least one target on the object, use a robot or other programmable automation from a processing station, whereby the robot is able to respond to the button commands, lighting of the target with at least one light source when the object is within the processing station is located, using at least one electro-optical Button for determining the position of at least one of the targets, determining the position of the target and control of the robot to guide the targets on the object in Dependence on it and use of the robot while pursuing the goals for handling, assembling or processing the object or the inside objects contained in the item. 21. The method according to claim 20, characterized by the application when processing objects that are on a continuously moving Conveyor line are transported, with a tool for processing the object is used. 22. The method according to claim 20, characterized by the application to remove or exchange objects or workpieces from carriers, Bins, boxes or other containers on a continuous conveyor, whereby also the gripper of the robot or the automation device in the aforementioned Container reaches out to put a part in the container or to take it out of it. 23. The method according to claim 20, characterized by the application when assembling parts into objects that are on a continuous basis Moving the conveyor line, with a part being carried along with the robot and attached to the object is grown. 24. The method according to claim 20, 21, 22 or 23, characterized in that that the object is briefly stopped in the processing station. 25. The method according to claim 12, characterized in that the light encoded from the ends of the fibers by color, frequency, timing or shape. 26. Procedure for installing doors or other panels in openings in objects characterized by using a robot with electro-optical buttons on the tool that is used to grasp the plate , scanning the location of the object and the opening in the object with the buttons, positioning the plate in the opening with the robot, taking the Pushbuttons are used to return data from the control system to the robot, Adjustment of the position in the opening from the data to equalize the gap between the plate and the opening so as to put the plate or the door in the opening align. 27. The method according to claim 26, characterized in that the buttons can also be used to guide the robot and the tool in the correct position Able to be positioned in relation to the plate before grasping the plate. 28. The method according to claim 26, characterized in that the goals be scanned electro-optically on the object with the opening to roughly the To control the position of the robot in relation to the object. 29. The method according to claim 18, characterized in that the second Button the orientation of the object or the mentioned other objects identified or determined. 30. The method according to claim 1, 18, 20 or 26, characterized in that that one or more axes of said object movement are restricted, to limit movement or speed. 31. The method according to claim 1, characterized in that in the Handling the object a robotic arm is controlled to remove parts from the object take out or bring in. 32. The method according to claim 1, characterized in that the Machining or assembly the objectives are pursued, while the machining or assembly step is performed to provide location data of the object to the Traced back to the machine. 33. The method according to claim 1, 18 or 20, characterized in that that when machining a welding, grinding, cutting, hardening or any other Types of material removal, addition, or conversion occurring. 34. Device for determining the distance or the angular orientation of objects, characterized by a first light source, a first lens device for imaging said first light source on a first zone on a partial surface, a second light source positioned so that when imaged by the first Lens means a second zone is formed on the surface having an angle of incidence and has a focusing distance different from those of the first zone, at least second lens means for forming an image of at least one of the zones on an image scanning device which serves to determine the location of the image spot and readout means for determining the location of the object from the position at least one of the mentioned zone images. 35. Device according to claim 34, characterized in that the Light sources are diode lasers that are remotely arranged via fiber optics. 36. Device according to claim 34, characterized in that the Image sensing device is located remotely by fiber optic. 37. The method according to claim 1, characterized in that the Object moves on a conveyor line or forms part of a conveyor line. 38. The method according to claim 1, 18, 20, 26 or 34, characterized in that that the electro-optical button is a camera with a photodetector arrangement. 39. The method according to claim 1, characterized in that the Robot is used to assemble / items fed by the machine. 40. The method according to claim 39, characterized in that the machine unloads a conveyor so as to feed the articles. 41. The method according to claim 1, characterized in that the object has an identification code which is also scanned to identify the species to recognize the object or objects within the object. 42. The method according to claim 41, characterized in that the code Data relating to the target or the processing characteristics of the object or which contains objects. 43. The method according to claim 41, characterized in that the targets are formed in such a way that they constitute the code. 44. The method according to claim 1, characterized in that the target is a claw with a reflector on its head. 45. The method according to claim 1, 2 or 26, characterized in that that machining consists of grinding lead on vehicle bodies. 46 .. The method according to claim 1, characterized in that several Targets to be used on different objects that are composed or to be united in another way. 47. Method for determining the position of an object, marked by creating an object with an elongated, light-conducting part, which has a light-receiving part and a light-emitting part Part having directing light from a light source to the light receiving Part of the elongated, light-conducting part, so that light along the elongated Part transmitted and emitted by its light-emitting part, use a light sensing device having a photosensitive member which has an output signal emits, which depends on the light hitting it, positioning of the object and the light sensing means relative to each other, such that from the light emitting Part of the elongated, light-conducting part emitted light impinging on the light sensing device and determining the position of the object from the scanned light. 48. The method according to claim 47, characterized in that the elongated, light-conducting part is a fiber optic. 49. The method according to claim 47, characterized in that the elongated, light-conducting part is a fiber optic bundle. 50. The method according to claim 47, characterized in that the elongated, light-conducting part at least partially embedded in the said object is. 51. The method according to claim 47, characterized in that a further Object is present in a location relative to the location of the former Object is known, and that the location of the further object of the particular Location of the former item and the known relative positions of the former and the other items is determined. 52. Device for determining the position of an object, marked by an object with an elongated, light-conducting part that is attached to the Object is attached and a light receiving part and a light emitting Has part, a light source for illuminating the light-receiving part of the called elongated, light-conducting part, whereby light along the elongated Part is guided and emitted by the light-emitting part, a light sensing device with a photosensitive part that provides an output signal in dependence on the emits light incident thereon, means for positioning the object and the light sensing device relative to each other, such that from the light emitting Part of the elongated, light-guiding part emitted light onto the light scanning device falls, and a device for determining the position of the object due to of the scanned light. 53. Device according to claim 52, characterized in that the elongated, light-conducting part has a fiber optic. 54. Device according to claim 52, characterized in that the elongated, light-conducting part has a fiber optic bundle. 55. Device according to claim 52, characterized in that the elongated, light-conducting part at least partially embedded in the object is. 56. object with attached means which can be scanned, to determine the position of the object, characterized in that the means an elongated, light-guiding part to determine the scannable position having a light receiving portion in the region of a surface thereof and a light emitting portion in the area of a surface adjacent thereto has, whereby light incident on the light receiving portion along guided by the elongated, light-guiding part and by the light-emitting part Section of it is radiated. 57. Object according to claim 56, characterized in that the elongated, light-conducting part is a fiber optic bundle. 58. Object according to claim 56, characterized in that the elongated, light-conducting part is at least partially embedded in the object. 59. The object of claim 56, characterized by a further Object in a position relative to the position of the former Object is known, and by means of determining the position further Object from the specific position of the first-mentioned object and the known relative positions of the first-mentioned item and the other items. 60. The method according to claim 47, characterized in that the of the elongated, light-conducting part light emitted by means of a lens is thrown onto the light scanner. 61. The method according to claim 1, 18 or 20, characterized in that that additional goals are provided on the object in order to achieve sufficient Image measurement resolution in the event of one or more of the targets being destroyed to ensure. 62. The method according to claim 1, 18, 20 or 61, characterized in that that it is optimally selected which goals to obtain the location of the object are used. 63. The method according to claim 1, 61 or 62, characterized in that that it is determined in advance which of the targets can be used. 64. Device for automatic handling, processing of an object or for automatic assembly, characterized by aiming means on the object, Automation means for positioning a gripper, part or tool in the vicinity of the object, computer means for controlling the positioning device, electro-optical sensing means for determining the position of targets on the object relative to one another, the sensing means being connected to the computer means, Program means for receiving the input signals from the electro-optical sensing means and to cause the automation device to release the gripper, part or Move tool to handle, edit or assemble the item. 65. The method according to claim 1, 18 or 20, characterized in that that the presence or location of the target on the object is checked. 66. The method according to claim 1, 18 or 20, characterized in that that the location of the targets on the object is scanned in a separate station when the item is in a known position. 67. The method according to claim 65 or 66, characterized in that Presence or location data of the target to the robot, machine or automation device be supplied in order to achieve a higher accuracy in the control of the same.