EP2586566A1 - Systèmes et procédés pour manipuler des objets - Google Patents

Systèmes et procédés pour manipuler des objets Download PDF

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Publication number
EP2586566A1
EP2586566A1 EP12189851.4A EP12189851A EP2586566A1 EP 2586566 A1 EP2586566 A1 EP 2586566A1 EP 12189851 A EP12189851 A EP 12189851A EP 2586566 A1 EP2586566 A1 EP 2586566A1
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EP
European Patent Office
Prior art keywords
holder
data
receiving
preferred orientation
orienting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP12189851.4A
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German (de)
English (en)
Inventor
Bruno Soenen
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Soenen Controls
Original Assignee
Soenen Controls
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Soenen Controls filed Critical Soenen Controls
Publication of EP2586566A1 publication Critical patent/EP2586566A1/fr
Withdrawn legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28D—WORKING STONE OR STONE-LIKE MATERIALS
    • B28D5/00—Fine working of gems, jewels, crystals, e.g. of semiconductor material; apparatus or devices therefor
    • B28D5/0058—Accessories specially adapted for use with machines for fine working of gems, jewels, crystals, e.g. of semiconductor material
    • B28D5/0082—Accessories specially adapted for use with machines for fine working of gems, jewels, crystals, e.g. of semiconductor material for supporting, holding, feeding, conveying or discharging work
    • B28D5/0088—Accessories specially adapted for use with machines for fine working of gems, jewels, crystals, e.g. of semiconductor material for supporting, holding, feeding, conveying or discharging work the supporting or holding device being angularly adjustable

Definitions

  • the present invention relates to systems and parts of such systems for manipulating 3D physical objects, such manipulating including (as part of pre-processing) orientating or positioning, and processing and/or post-processing of objects as part of a treatment of said objects.
  • the invention also relates to devices such as holders, for use with such systems, and to the related methods and software (and related data structures) for use with and/or embedded in such systems for realizing such methods.
  • the prior-art like the above mentioned EP 0347253 in semi-automated (pre-) processing does only have rather limited use of camera information, in that a single view is used, hence at most a 2D projection of the 3D physical objects to be manipulated, thereby limiting the manipulation steps that can be supported.
  • WO 2006/087702 introduces computer aided gemstone processing, more in particular polishing thereof, and emphasizes the 3D aspects of the movements while performing such polishing and hence the need to fix the gemstone in a 3D coordinated manner on a holder, no reference to computer assisted methods nor use of visualization means for such fixing procedure are given.
  • WO 96/19318 shows an electro-mechanical approach wherein before polishing a diamond a pre-processing step of mounting the diamond, be it with removable clamping, is performed.
  • the electronics part is, however, limited to rather simple position sensor signals, primarily used during the actual polishing with limited computer controlled position compensation. While the mentioned computer control operation do result in data exchanges and this document does mention the need to identify the clamps, no approach supporting complex positioning obtained with more advanced viewing or an integrated data exchange related to the holder and its related coordinate information is described.
  • Embodiments of the present invention obtain this by enabling use of viewing methods suited therefore, while providing an integrated approach wherein identification of holders whereon objects are fixed gets combined with position data to avoid human errors during exchange thereof.
  • a first system for orienting an object in at least two degrees of freedom, preferable more, and even more preferably all 6 dimensions comprising a first holder for holding the object to be placed; a second holder adapted for receiving and fixing the oriented object once oriented in a preferred orientation (so as to place it in a predetermined orientation); a means for orienting the object in the preferred orientation in at least said degrees of freedom, said means, for example an electro-mechanical means, being coupled to said first holder; an electronic means for visualizing the object held by said first holder; a means for indicating/marking by an operation in the visualization of the object the preferred orientation; and computer means for at least partly automated steering of the means for orienting the object in the preferred orientation based on said indications.
  • a method for orienting (in at least two degrees of freedom, preferable more, and even more preferably all 6 dimensions) an object so as to place it in a predetermined orientation (suited for further performing post-processing on the object), the method comprising the steps of holding the object with a first holder; visualizing in at least two views the object held as well as indications thereon; (at least partly automated) orienting the object with orienting means such that the indications on the object are oriented in a preferred position with respect to reference indications in one or more of said views; and fixing the object in the predetermined orientation.
  • a holder for receiving an object in a fixed orientation with respect to this holder.
  • the holder is suited for use in the systems or the method of the first or second aspect.
  • the holder has an identification means which can be electronically detected.
  • another system for post-processing an object (as prepared via the system of the first aspect and capable to collaborate with the first system by for instance data transfer and receipt of holders).
  • Such system comprises mechanical means for receiving a holder with an object fixed thereon; telecommunication means for receiving data (position information) concerning the preferred orientation of said object; and computer means for (at least partly automated) performing processing on the object by using the position of the object with respect to the means for performing processing on the object, this position being determined by the position of the holder in the means for receiving the holder and the data received concerning this preferred orientation.
  • the invention in a fifth aspect, relates to a method for performing post-processing of an object.
  • the method comprises the steps of receiving the object as fixed on a holder as described before, in a system as described before, with steps of receiving data concerning the preferred orientation, and performing processing steps on the object using said data.
  • the invention provides methods for treating an object using the above-mentioned systems, holders and data transfer methods.
  • the invention further relates to a computer program product comprising code segments that, when executed on a suitable processing engine, implement the computerized steps of the above-mentioned method.
  • the invention further relates to a machine readable signal storage medium, storing the computer program products, especially human-machine interface software and interfaces for programming the related systems, use of the selected data structures and workflow with the provided aspects of the invention.
  • the present invention relates to methods, systems, parts of systems and/or devices for manipulating objects, for instance gemstones such as e.g. diamonds. This manipulation may be done for cutting or shaping the object.
  • objects for instance gemstones such as e.g. diamonds. This manipulation may be done for cutting or shaping the object.
  • a method for manipulating an object so as to place it in a predetermined orientation may comprise (1) holding an object of which a plane has been marked, for example by means of markers, e.g. by means of a line around the circumference of the object, (2) visualizing the object held, including visualizing the marked plane, for example by visualizing the markers, (3) orienting the object, e.g. by means of one or more motorized devices, such that the marked plane lies along or parallel with a reference plane, e.g. horizontal, thus obtaining positioning of the object in the predetermined orientation, and (4) fixing the object in the predetermined orientation, with the marked plane along or parallel with the reference plane.
  • the orienting may be done in an (semi-) automated way, e.g. by moving, e.g. rotating or shifting, the object such that different views thereof, at least two views thereof (e.g. a front view, a back view, side views), all show that the marked plane lies along or parallel with the reference plane.
  • a reference image may be provided, indicating the orientation of the reference plane, and an operator may indicate which locations on the object should correspond to which locations on the reference plane, after which an (semi-)automated method may be performed for orienting the object so that the locations on the object actually coincide with the corresponding locations on the reference plane.
  • the computer system determines the further actions; in a semi-automated way both the operation and computer system perform part of the actions.
  • an active role of the operator is enabled by providing a means for indicating/marking the preferred orientation by an operation during the visualization of the object, and by providing a means for at least partly or fully automated steering of means for orienting the object in the preferred orientation based on said indications.
  • the fixing of the object in the predetermined orientation may be performed by any suitable fixing means with does not change the accurately determined position/orientation of the object, for example by means of glue.
  • a device or system for manipulating an object may comprise (1) a first holder for holding the object to be placed in a predetermined orientation, (2) means for visualizing the object held by the first holder, including a plane which has been marked, for example by means of markers, e.g. by means of a line around the circumference of the object, the means for visualizing for example being a camera, (3) means for orienting the object such that the marked plane lies along or parallel with a reference plane, e.g.
  • the means for orienting for example being one or more motorized devices, and (4) a second holder adapted for receiving the oriented object in its predetermined orientation.
  • the second holder is adapted for optionally transferring the object in the predetermined orientation towards the other system or device for further processing of the object.
  • the second holder is provided with elements to reconstruct the predetermined orientation of the object in the other device. Such elements may for example be a particular shape of the second holder, which very accurately fits in a corresponding part of the other device.
  • the invention provides systems and methods for orientating an object, a holder for holding the object to be placed; another holder adapted for receiving and fixing the oriented object once oriented in a preferred orientation (so as to place it in a predetermined orientation).
  • the invention further provides systems and methods for further post-processing objects as positioned with the previous methods with the previous mentioned systems on the related holders.
  • the invention further described the integrated set of systems and methods and relations between those.
  • the second holder may be provided with registration means, for example a mark such as a circular mark of which a particular feature, e.g. the centre point, can be very accurately determined, for accurately determining distances with respect to that registration means, even if the second holder is placed from one device to another.
  • registration means for example a mark such as a circular mark of which a particular feature, e.g. the centre point, can be very accurately determined, for accurately determining distances with respect to that registration means, even if the second holder is placed from one device to another.
  • the second holder may be provided with identification means, such as a serial number, an RF ID tag, or similar.
  • identification means allow to discriminate between different second holders holding different objects, and may allow to check that correct operations, such as e.g. cutting or shaping, as determined during a previous stage, will be carried out on a particular object, which may in the meantime have been displaced. Human errors may thus be alleviated or even completely ruled out.
  • information about an object may be collected, e.g. before, during or after positioning of the object on the second holder. This information may be transmitted, together with the object positioned onto the second holder, towards another device. A verification of coupling between collected information and a particular object may be done by means of the identification means.
  • the invention concerns a first system 10 (machine) for orienting/positioning objects 20 of various kinds in a plurality of degrees of freedom such as at least one translational 30 and one rotational degree of freedom 40.
  • the system comprises a first holder 50 for holding the object 20 to be placed; a second holder 60 adapted for receiving and fixing the oriented object 20 once oriented in a preferred orientation (so as to place it in a predetermined orientation); a means 70 (for instance motors) for orienting the object in the preferred orientation in at least said degrees of freedom, said means 70 being coupled to said first holder 50; a means 80, 90, such as for example one or more cameras and related displays, for visualizing the object 20 held by said first holder 50; a means 100 for indicating/marking by an operation in the visualization of the object 20 the preferred orientation (for instance by indicating in the computer vision of the object in the related displays); and computer means 110 (for instance a computer, either a generic purpose computer supplied with suitable software or dedicated hardware or a combination thereof) for at least partly or even completely automated steering of the means 70 for orienting the object 20 in the preferred orientation based on said indications 160 (for instance based on comparing the visual information with the markings in a feedback loop arrangement).
  • the first system 10 may further comprise a storage means 120 (memory and selected data structures stored thereon and selected for the particular info) for storing data 180 related to the preferred orientation of the object 20 with respect to one or more reference coordinates of the second holder 60.
  • the first system 10 may further comprise of a fixing means 140 for automated fixing (for instance by adding glue between the object and a second holder and preferably even performing some local heating) of the object 20 in the preferred orientation on the second holder 60.
  • Such fixing means 140 may also be controlled by the computer means 110.
  • the invention includes a (second) holder 60 for receiving an object in a fixed orientation with respect to this holder, suited for use in the systems or machines described above, preferably said holder further comprising an identification means 170, such as a serial number, an RF ID tag, whereby the related information can be used by the computer means, e.g. relating data concerning position of the object in its memory storage means to the holder under use.
  • an identification means 170 such as a serial number, an RF ID tag
  • the invention provides also for a second system 200 or machine for performing post-processing (like polishing, cutting, shaping) an object 20.
  • This second system 200 comprises: means 210 for receiving a holder 60 with an object 20 fixed thereon, in particular the second holder described above; means 230 for receiving data 180 concerning the preferred orientation of said object 20 (for instance any data input for receiving information be it wired or wireless); and computer means 220 (again general purpose or dedicated computer systems or combinations thereof with related software) for (at least partly or complete automated) performing such processing on the object 20 by using the position of the object 20 with respect to the means for performing processing on the object, this position being determined by the position of the holder in the means for receiving the holder and the data received concerning this preferred orientation.
  • the system 200 may be such that the means for receiving the holder and the holder are being adapted such that when said holder is being received within the means for receiving the holder the reference coordinates become uniquely known by the system.
  • the computerized systems hence require computer program products (embedded in machine readable signal storage medium, storing the computer program product or even made available via internet to allow downloading of upgrades) comprising code segments that when executed on a suitable processing engine implement the steps of visualizing and (at least partly automated or completely) orienting objects, such computer programs having instructions for inputting information on the object, the holders, the second system whereon the object will be further post processed, this inputting can be performed by keyboards, indications in visualization displays, reading in wireless or wired from other data sources, like USB sticks, memory cards, .
  • the body of the software will perform calculations such as comparing of distance information and generating of output signals for steering the motorized devices which orient the first holder in the right direction. Further the software provides operations of storing data in memory or transmittal of information wired or wireless to the other second system.
  • the second system has a computer program products (and the related medium or internet version) comprising code segments that when executed on a suitable processing engine implement the steps of receiving data and (at least partly or whole automated) performing processing, and at least calculate from information related to the holder (say the place where it can be uniquely positioned) and the stored information - retrieved also uniquely from the data structure uniquely coupled between object and the holder via the identification means) the right settings for the post processing.
  • the invention provides for a coordinated approach between first and second systems and hence provides for a data structure for use with the computer program product, which can be transferred between the systems, such data structure can be any type of well organised array, storing the related information about object, orientation, and holders.
  • the Offline programming station is a semi-automatic manipulator for gluing and programming gemstones such as diamonds or other objects hereinafter referred to as the "object" to be cut or shaped by any means of laser or other cutting tool. It is possible to manipulate the object in all 3 dimensions.
  • the movement may be completely motorized and fully software controlled.
  • the object can be moved in space being: shift in three directions, e.g. perpendicular directions such as X,Y and Z direction, rotation around three axes, e.g. around three perpendicular axes such on X,Y and Z axis.
  • the system corrects the position in the three shifting directions, e.g. X,Y,Z position after any rotation around the rotation axes, e.g. X,Y,Z axis.
  • the object will remain in position in space.
  • the object is scanned, for example is continuously scanned, for example by means of a camera, and an image of the object is displayed on a display device such as a screen.
  • the software will automatically find the object and program a region of interest (ROI) zone.
  • the visualization may be enhanced, e.g. continuously enhanced, within the (ROI).
  • the operator has the ability to explore and move the object in space.
  • Object handling hardware such as for example a motorized displacement device, is provided hereto.
  • the station By means of some simple mouse clicks on some reference points in the image by the operator, the station will automatically level the object in space. Particular points on the image of the object (as indicated by the mouse clicks) are aligned with particular points in a reference plane (levelling plane).
  • the operator has the opportunity to define one or more levelling planes in space.
  • the software will automatically calculate an average plane.
  • the object can be orientated, in this way the operator can level out the cut surface.
  • the operator can define the object glue point.
  • the manipulator has an automatic glue dispenser. This will drop a suitable, e.g. correct, amount of glue on the holder.
  • the manipulator will automatically put the levelled object into the glue mass and the system will automatic start a glue hardening process.
  • object visualization and measurement software the operator can easily verify the end result.
  • the operator can determine the data for the cutting operation. For example and not limited thereto, the operator can determine the position of the cut line, starting point and end point, starting depth and end depth of the cut.
  • all measurement data may be automatically referenced to a reference point on the holder.
  • each holder may have a reference point, and a vision system may automatically detect the reference point on the holder.
  • the idea of the reference point is to eliminate a plurality of possible errors (mechanical and other). Therefore all distances may be expressed relative to the reference point.
  • Each holder may have its one unique identification code.
  • the manipulator may be programmed to automatically read the identification code immediately after gluing the object on the holder. All information on the object (job card) can be linked to this identification code in a database, for example and not limited thereto, all distances, images, user information, object information. All data relating to an object glued onto a holder may be saved into a database.
  • the cutting system can read in the data to automatically and execute the cutting jobs. As a result the stand still of the machine and operator load is reduced to a minimum.
  • a special holder has been designed to hold the object.
  • a few features of a holder according to embodiments of the present invention are listed now.
  • a first feature relates to a very accurate and easy plug-in system, for example by means of a magnetic attraction.
  • a holder according to embodiments of the present invention may be a cylindrical bar having a chamfered bottom part corresponding to a mating hole in a part where the holder has to fit in.
  • the holder in accordance with embodiments of the present invention and machine parts adapted for receiving the holder may have mating shapes and dimensions, such that the holder can be placed in only one way in the machine part for receiving the holder.
  • the machine part adapted for receiving the holder may be provided with at least one cylindrical bore of adapted dimensions, which at its bottom end may be provided with a chamfered side wall, or with a cylindrical bar for pushing against the chamfered bottom part of the holder, so as to push it in a fixed position against a side wall of the bore.
  • Another feature is having a unique identification code for a holder, such code being recognizable by the systems and can be used for the software.
  • FIG. 1 Another feature is the reference point of the holder in relation to the holder plate. It is an advantage of a holder ( FIG. 1 ) according to embodiments of the present invention that operator mistakes are reduced by use thereof.
  • the holders can be placed into a specially designed holder plate, having features for receiving one or more holders, which features have dimensions and shapes mating to the dimensions and shapes of the holders, such that the holders can take only one position in the holder plate.
  • the plate can then be fixed into the cutting machine, for example by way of easy click-in system.
  • the holder and the holder plate according to embodiments of the present invention have been designed for very high accuracy; nevertheless some errors can be cumulated.
  • the cutting machine may find the reference point and do a correction of any remaining error. This makes the total solution very accurate. Due to the unique identification code on the holder the cutting machine may load all information for the job, and as such alleviate or even eliminate possible human errors.
  • One or more of following accuracy errors may be eliminated by a system according to embodiments of the present invention: (1) accuracy of the spindle on all axes (X,Y,Z) due to fabrication of the spindle, temperature changes and many other causes; (2) perpendicularity of the X/Y axes; (3) fluctuation in distance between object and focus lens; (3) in-correctness of table zero positions; (4) differences in the different holders and/or holder plates; and/or (5) table positioning errors due to any kind of reason (mechanical, electrical).
  • the manipulator can be used to glue the gemstone, e.g. diamond, with the tip on the holder and with the table, e.g. diamond table, upwards.
  • the gemstone, e.g. diamond can be manipulated so that the table, e.g. diamond table, is perfectly levelled.
  • the manipulator will take a complete 3D scan of the object, e.g. diamond.
  • a special designed 3D biggest best fit, e.g. biggest diamond best fit, in place and planning software may automatically generate all data for the shape and its dimension. It is preferable that this 3D scan is done before the object, e.g.
  • a first use relates to sawing of diamonds.
  • the setting station is used to glue the rough diamond (marked with a line by a scanner/marker) on the diamond holder.
  • the marked line on the diamond is positioned perpendicular to the holder.
  • the diamond may be faced with his top (sawing pane) towards the camera before gluing.
  • the holder is provided with a reference mark, e.g. a reference hole, and a unique identification tag, e.g. a number. All the coordinates for the sawing job are relative to the reference hole of the holder.
  • a last step is to locate the stone in the sawing plate.
  • FIG. 2 shows an example of the working environment
  • FIG. 3-7 show a few steps, such as the diamond 1 ready to be levelled ( FIG. 3 ), the levelling of the diamond ( FIG. 4 ) (done by turning the stone and adding lines 2 to level), diamond 1 levelled and ready to be glued ( FIG. 5 ), gluing the diamond and curing the glue ( FIG. 6 ), programming the top ( FIG. 7 ), programming the height ( FIG. 8 ), retrieving the identification 5, e.g. number, of the diamond holder 4 ( FIG. 9 ), snapshot of the identification 5, e.g. number ( FIG. 10 ) and finally an overview of the programmed diamond 1 ( FIG. 11 ) and placing the stone on the plate 6 ( FIG. 12 ).
  • all coordinates are relative to the reference marker such as for example, but not limited thereto, a reference hole 3 and can be adjusted.
  • the sawing plate 6 may be adapted for comprising a plurality of stones, e.g. 40 stones.
  • the sawing plate 6 holds the diamonds 1 to be sawn on the machine.
  • the identification 5, e.g. number, of the holder 4 is controlled and the reference point 3 is checked. The focus is set on the reference point 3. All coordinates are relative to the reference hole 3.
  • a sawing plate up to 40 diamonds is shown in FIG. 13 .
  • the diamond 1 in the sawing plate 6 is shown in FIG. 14
  • the sawing plate 6 in the machine is illustrated in FIG. 15 .
  • the perforated plates to "basket" the diamond are in production. Additional illustrations are found describing a sawing plate 6 in the machine ( FIG.
  • FIG. 16 a sawing plate for 100 stones ( FIG. 17 ) or a shape plate for 100 stones ( FIG. 18, 19 ).
  • FIG. 20 a laser cutting machine loaded with a plate dedicated for shaping (holders are oriented upwards) is demonstrated in FIG. 20 .

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  • Mechanical Engineering (AREA)
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EP12189851.4A 2011-10-24 2012-10-24 Systèmes et procédés pour manipuler des objets Withdrawn EP2586566A1 (fr)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0347253A2 (fr) 1988-06-16 1989-12-20 Hargem Limited Procédé et dispositif pour centrer une pierre précieuse
WO1996019318A1 (fr) 1994-12-20 1996-06-27 Wetenschappelijk En Technisch Onderzoekscentrum Voor Diamant Procede et dispositif de polissage de pierres precieuses
WO2004105999A1 (fr) * 2003-05-30 2004-12-09 Arvindbhai Lavjibhai Patel Nouvelle machine de debrutage au laser
WO2006087702A1 (fr) 2005-02-17 2006-08-24 Dialit Ltd. Moyens et procede de fabrication assistee par ordinateur de pierres precieuses polies a partir de pierres precieuses brutes ou semi-transformees
WO2009083556A2 (fr) * 2007-12-23 2009-07-09 Paul Wild Ohg Application d'un stylet de traitement sur une pierre précieuse à polir
GB2471712A (en) * 2009-07-10 2011-01-12 De Beers Centenary AG Gemstone alignment system

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0347253A2 (fr) 1988-06-16 1989-12-20 Hargem Limited Procédé et dispositif pour centrer une pierre précieuse
WO1996019318A1 (fr) 1994-12-20 1996-06-27 Wetenschappelijk En Technisch Onderzoekscentrum Voor Diamant Procede et dispositif de polissage de pierres precieuses
WO2004105999A1 (fr) * 2003-05-30 2004-12-09 Arvindbhai Lavjibhai Patel Nouvelle machine de debrutage au laser
WO2006087702A1 (fr) 2005-02-17 2006-08-24 Dialit Ltd. Moyens et procede de fabrication assistee par ordinateur de pierres precieuses polies a partir de pierres precieuses brutes ou semi-transformees
WO2009083556A2 (fr) * 2007-12-23 2009-07-09 Paul Wild Ohg Application d'un stylet de traitement sur une pierre précieuse à polir
GB2471712A (en) * 2009-07-10 2011-01-12 De Beers Centenary AG Gemstone alignment system

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