EP4351841A1 - Procédé d'analyse d'un outil et machine-outil mobile - Google Patents

Procédé d'analyse d'un outil et machine-outil mobile

Info

Publication number
EP4351841A1
EP4351841A1 EP22733917.3A EP22733917A EP4351841A1 EP 4351841 A1 EP4351841 A1 EP 4351841A1 EP 22733917 A EP22733917 A EP 22733917A EP 4351841 A1 EP4351841 A1 EP 4351841A1
Authority
EP
European Patent Office
Prior art keywords
tool
mobile machine
machine tool
property
drilling
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP22733917.3A
Other languages
German (de)
English (en)
Inventor
Dario BRALLA
Florian Schmid
Serhey Khandozhko
Ioannis Petousis
Giovanni Bellusci
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.)
Hilti AG
Original Assignee
Hilti AG
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
Priority claimed from EP21179079.5A external-priority patent/EP4101602A1/fr
Priority claimed from EP21179075.3A external-priority patent/EP4101595A1/fr
Application filed by Hilti AG filed Critical Hilti AG
Publication of EP4351841A1 publication Critical patent/EP4351841A1/fr
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
    • B23Q17/2452—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves for measuring features or for detecting a condition of machine parts, tools or workpieces
    • B23Q17/2457—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves for measuring features or for detecting a condition of machine parts, tools or workpieces of tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B39/00—General-purpose boring or drilling machines or devices; Sets of boring and/or drilling machines
    • B23B39/14—General-purpose boring or drilling machines or devices; Sets of boring and/or drilling machines with special provision to enable the machine or the drilling or boring head to be moved into any desired position, e.g. with respect to immovable work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/09—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting pressure or for determining cutting-tool condition, e.g. cutting ability, load on tool
    • B23Q17/0952—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting pressure or for determining cutting-tool condition, e.g. cutting ability, load on tool during machining
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
    • B23Q17/248—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves using special electromagnetic means or methods
    • B23Q17/249—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves using special electromagnetic means or methods using image analysis, e.g. for radar, infrared or array camera images
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q9/00—Arrangements for supporting or guiding portable metal-working machines or apparatus
    • B23Q9/0007—Portable machines comprising means for their guidance or support directly on the workpiece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B25J11/0055—Cutting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/60—Image enhancement or restoration using machine learning, e.g. neural networks
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/80—Geometric correction
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • G06T7/001—Industrial image inspection using an image reference approach
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
    • G05B19/4065—Monitoring tool breakage, life or condition
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10048—Infrared image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20081—Training; Learning
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20084—Artificial neural networks [ANN]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30108—Industrial image inspection
    • G06T2207/30164—Workpiece; Machine component
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/764—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/82—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks

Definitions

  • the invention relates to a method for using a tool with a mobile machine tool. Furthermore, the invention relates to a mobile machine tool that is set up to hold a tool, for example a drilling tool or a chisel tool.
  • a tool for example a drilling tool or a chisel tool.
  • Tools used on construction sites are often subject to heavy wear. Worn tools can significantly reduce the productivity of work on construction sites. Even minor damage, for example in the area of hard metal cutting edges in a rock drill, can lead to significantly longer drilling times or even to a total failure of the tool and the corresponding time and financial costs.
  • the object of the present invention is therefore to offer a method and a mobile machine tool that enable work on construction sites using a tool with particularly high productivity.
  • the object is achieved by a method for using a tool with a mobile machine tool, with the mobile machine tool determining at least one property of the tool.
  • the invention is based on the idea of monitoring a property of the tool, in particular a variable property.
  • the tool can then be reused, exchanged, repaired and/or serviced, for example cleaned, in order to be able to ensure the highest possible productivity over the longest possible period of time.
  • the tool can be, for example, a drilling tool, a chisel tool, a grinding tool, a sawing tool or the like.
  • the tool can be set up for working rock, for example concrete or brick.
  • the method can be used particularly advantageously with a percussive tool, for example a chisel tool and/or a hammer drilling tool.
  • the method can preferably be used with mobile machine tools that allow percussive operation, for example chisel operation and/or hammer drilling operation.
  • the method can very particularly preferably be used with a hammer drilling tool and/or with a mobile hammer drilling machine.
  • the property can in particular be a measure of wear.
  • the property can be a shape and/or a size, in particular a length and/or a diameter, of the tool.
  • the property can also be a tool type.
  • the measurement can also take the form of a classification.
  • the property can, for example, include at least one classification as a drilling tool, chisel tool, grinding tool, or the like.
  • several, in particular different, changeable and/or unchangeable properties of the tool can also be determined. For example, it can be provided to determine a type of tool and a degree of wear of the tool.
  • an image of the tool can be recorded by an image recording unit in order to determine the property.
  • an image of a working section of the tool can be recorded.
  • the working section can be a tool head, for example.
  • the working section can be located on an end face of the tool. A recording of the end face can thus provide an image of a tool head of the tool.
  • the image can be two-dimensional. It can also be three-dimensional.
  • the image recording unit can be designed as a 3D image recording unit.
  • multiple images in particular from different perspectives, can be recorded.
  • a three-dimensional image can then be determined from the multiple images.
  • the image can be taken telecentrically.
  • the image can be recorded along a longitudinal axis of the tool, so that the recorded image can be evaluated in a particularly robust manner, in particular not or hardly susceptible to contamination such as dust, for example.
  • the telecentric recording is also advantageous if a diameter of the tool is to be determined.
  • the robustness of the evaluation can be further improved by recording the image in a measuring chamber.
  • the image can be recorded in front of a standardized background, with standardized lighting conditions and/or with high contrast.
  • the image can preferably be recorded with an f-number of at least 5, particularly preferably at least 11, in order to ensure the best possible depth of focus.
  • the property to be determined should relate to a narrowly defined section of the tool, in particular with regard to its depth, for example to at least one cutting edge instead of the entire tool head.
  • the image recording unit can be designed as a camera.
  • a high resolution can be achieved in a cost-effective manner if the image recording unit is designed to record an intensity image.
  • it can be embodied as a black-and-white camera, for example.
  • the image recording unit is designed to record an infrared image.
  • Local temperatures and/or local temperature differences can be determined by recording an infrared image. From the local temperatures and/or temperature differences, points of increased stress can then be determined, for example after the tool has been used. Local temperature differences can arise during use of the tool, for example. They can thus correlate with local stresses on the tool, in particular on individual areas of the tool. It is therefore also conceivable to use the infrared image to determine the degree of wear on the tool.
  • the tool and/or the measuring chamber can, especially during recording, be illuminated.
  • the illumination can be monochromatic or at least essentially monochromatic. For even illumination, it is conceivable to use a diffuser.
  • the method may also include measuring the position of the tool.
  • the measuring chamber can have a tool position measuring unit.
  • the position can be measured inductively and/or by means of a light barrier.
  • the image recording unit is calibrated. For example, a pose of the image recording unit is determined.
  • the image recording unit can preferably be calibrated with an accuracy of 1 mm or less, for example approximately 0.1 mm.
  • a calibration pattern for example a checkerboard pattern, can be recorded by the image recording unit for calibration. This enables a particularly cost-efficient calibration. Possible temperature effects can also be taken into account.
  • a trainable image evaluation unit can be used to evaluate the recorded image.
  • the trainable image evaluation unit can then be trained using a large number of images from tools.
  • the measurement accuracy can be further increased if the recorded image is corrected for errors.
  • lens errors, aberrations, or the like can be corrected.
  • a Brown-Conrady model can be used for correction.
  • a magnification can also be determined.
  • the ratio of pixels of the image per section for example a number of pixels per mm, can be determined.
  • the tool often has at least one status indicator, for example a wear indicator.
  • the status indicator can be formed, for example, on the tool head or along the side of the tool. In variants of the method, it can then be provided that an image of the status indicator is recorded.
  • the degree of wear of the tool for example, can also be determined by evaluating such an image.
  • the tool or at least the status indicator should be cleaned, in particular freed from dust, before the picture is taken.
  • a working parameter during a working operation of the mobile machine tool is measured.
  • the working parameter can be, for example, drilling progress, drilling speed, drilling time or the like.
  • the working parameter can also correspond to an operating mode, e.g. B. a percussion operation, a drilling operation or a drilling percussion operation.
  • the property can be determined using an acceleration sensor and/or using a force sensor.
  • the working parameter can be determined using an acceleration sensor and/or using a force sensor.
  • a value for the property can then in turn be determined from the working parameter.
  • the working parameter can correspond to an acceleration, in particular a longitudinal acceleration.
  • the longitudinal accelerations can be accelerations along a longitudinal axis of the tool and/or the mobile machine tool.
  • the accelerations triggered by the impacts can thus be measured, particularly in the case of a percussive mobile machine tool.
  • the measured accelerations can also relate to the activity of the mobile machine tool, in particular in relation to the impact activity.
  • the property can particularly preferably be determined in the form of a classification. This allows interference, for example due to other effects such as different backgrounds or the like, to be minimized.
  • the classification can, for example, include the classes "drilling tool” and "chiseling tool”.
  • the classification can thus relate to the type of tool.
  • the trainable classifier can be and/or include, for example, a support vector machine (hereinafter: SVM), a neural network, a principal component analysis unit or the like.
  • SVM support vector machine
  • At least two different properties of the tool can be determined in parallel.
  • the production costs for the mobile machine tool can be reduced. It is therefore conceivable to determine the type of tool and its size at the same time using the same acceleration data. Sensors for the separate determination of these properties can thus be saved, at least in part.
  • the at least one property can correspond to the type of tool and/or the size, in particular a diameter, of the tool.
  • At least one further piece of measurement data can be used in addition to the measured accelerations.
  • a phase angle and/or a phase velocity can be used to determine the property.
  • the phase angle and/or the phase speed can, for example, relate to a position or a speed of a motor and/or an eccentric of the mobile machine tool.
  • the position detection unit can be set up, for example, to detect a change and/or a change speed of the position of the tool, in particular directly and/or indirectly.
  • a machine tool that has an acceleration sensor, a force sensor and/or a position detection unit can be used for this purpose.
  • a trainable filter can be used to determine the property.
  • the trainable filter can in particular include a neural network, for example a deep learning unit, a support vector machine or the like.
  • the trainable filter can be used with Data from fully functional, worn out and damaged tools can be trained.
  • the training can be done with single image data.
  • Training can preferably also be carried out with video data.
  • the video data can show rotating tools.
  • the method can be used particularly preferably by determining the property of the tool on a construction site, in particular on a building construction site, a civil engineering construction site and/or a prefabrication construction site.
  • a prefabrication construction site can correspond to a work area outdoors and/or in a building where a component for use in or on a building, for example a prefabricated component, in particular a wall, floor or ceiling element, is produced.
  • the working parameters can be measured during operation of the mobile machine tool, and to determine a second property, in particular a measure of wear, an image of the tool can be recorded by the image recording unit.
  • the second property can be determined when the first property reaches or is in a critical value range.
  • a construction task may consist of drilling one or more holes at a construction site.
  • the mobile machine tool can then measure the working parameter during the drilling of at least one of the holes to be drilled, for example with the aid of the acceleration sensor and/or the force sensor.
  • the working parameter can correspond to a type of subsoil to be processed, in particular rock such as e.g. B. concrete versus metal and / or metal alloys, such as rebar correspond.
  • the tool in particular the drilling tool, can then be checked for wear with the aid of the image recording unit at specific intervals that depend, for example, on the detected type of subsoil.
  • a working parameter for example a drilling progress, the occurrence of certain accelerations, a frequency spectrum of accelerations, a drilling speed or the like, is measured as a working parameter.
  • the extent of the wear can then be determined with the aid of the image recording unit, in particular in the measuring chamber. Measures appropriate to wear can then be taken. For example, the tool can be used unchanged, cleaned and/or replaced.
  • An advantage of such an approach is to avoid unnecessary interruptions in work, such as drilling. In particular, this can lead to a significant acceleration when the measuring chamber and/or the image recording unit are located at a certain distance from the working position, for example the drilling position.
  • the scope of the invention also includes a mobile machine tool, for example a hand-held machine tool or a construction robot, which is set up to hold a tool, for example a drilling tool, a chiseling tool or a grinding tool, the mobile machine tool being set up to have at least one property of the in Determining the tool held in it “held in it” can also mean that the tool is held in a tool store that interacts with the mobile machine tool. It can also include the tool being accommodated in a tool holder of the mobile machine tool.
  • a mobile machine tool for example a hand-held machine tool or a construction robot, which is set up to hold a tool, for example a drilling tool, a chiseling tool or a grinding tool, the mobile machine tool being set up to have at least one property of the in Determining the tool held in it “held in it” can also mean that the tool is held in a tool store that interacts with the mobile machine tool. It can also include the tool being accommodated in a tool holder of the mobile machine
  • the mobile machine tool is a construction robot and/or includes one.
  • the construction robot can be set up to carry out construction work autonomously or at least partially autonomously.
  • it can be a drill construction robot, a chisel construction robot and/or a grinding construction robot.
  • the mobile power tool can also be a hand power tool, for example a hand drill, a hammer drill, a portable chiselling machine or the like.
  • the Construction robot can automatically determine the property of the tool, such as the degree of wear. For example, during drilling work in steel-reinforced concrete components, a drilling tool can break.
  • the mobile machine tool according to the invention in particular in the form of the drilling robot, is thus able to repeatedly check the tool used and, in the event of severe wear and/or damage to the tool, to interrupt planned construction work, in the present example planned drilling work, the tool exchange and / or stimulate a user interaction from a user of the mobile machine tool.
  • the mobile machine tool can be set up to detect a type and/or a degree of wear of the tool held.
  • the mobile machine tool particularly preferably has an acceleration sensor.
  • the acceleration sensor can be arranged on a motor and/or on a transmission of the mobile machine tool. It can thus be set up
  • the mobile machine tool can also have a force sensor.
  • the force sensor can be set up, for example, to detect a contact pressure force, for example a force with which the tool presses against the ground.
  • the force sensor can also be set up to measure a torque, in particular by measuring a tangential force.
  • the acceleration sensor, the force sensor and/or the position detection unit can also be set up to detect a blockage of the tool, for example jamming in the case of a drilling and/or chiseling tool.
  • the mobile machine tool can also be set up, for example by evaluating accelerations detected by the acceleration sensor, for example in the form of vibrations, in particular in the range of infrasound, audible sound and/or ultrasound, to detect a way of detecting a state and/or a change in the state .
  • the mobile machine tool can preferably be set up to output a signal to a user, in particular directly and/or indirectly, depending on the specific property.
  • the signal can indicate a degree of wear and/or prompt the user for a user interaction. In this way, the user can be alerted to a worn tool. He can then be asked, for example, to indicate whether pending construction work should be interrupted and/or whether the tool should be replaced.
  • the mobile machine tool can be set up to interrupt the construction work until a defect in or on the tool is remedied, for example in the case of a worn or damaged tool.
  • the mobile machine tool can particularly preferably have at least one image recording unit.
  • the image recording unit can be set up to record an image of the tool. It can have one or more of the properties described above in connection with the method. For example, it can be set up to record an intensity image, for example in the form of a black-and-white image, and/or a color image.
  • the mobile machine tool can particularly preferably be set up to determine the property of the tool to be determined using the recorded image.
  • the mobile machine tool can in particular have a measuring chamber.
  • the tool for determining the property can be accommodated at least partially in the measuring chamber.
  • the mobile machine tool can also be set up to automatically set one of its operating parameters, for example a speed and/or an impact energy, depending on the detected type and/or depending on the detected state.
  • Embodiments of the invention that can be used particularly flexibly can be set up for the use of different types of tools.
  • the mobile machine tool can be set up for operation with at least two different tools from the group of drilling tools, chiseling tools, grinding tools and measuring tools.
  • the mobile machine tool has a tool changer, it can be set up be able to independently select and/or exchange a tool to be used.
  • the mobile machine tool can particularly preferably have a tool cleaning device.
  • the tool cleaning device can be set up in particular to remove dirt, for example dust.
  • the tool can thus be cleaned automatically after use. By measuring the property to be measured after cleaning the tool, the measurement accuracy can also be increased.
  • the mobile machine tool can preferably be a construction robot, in particular a drilling construction robot.
  • the mobile machine tool can be set up to determine the property of the tool using the method described above.
  • a mobile machine tool for example a hand-held machine tool or a construction robot, which is set up to hold a tool, for example a drilling tool or a chisel tool, also falls within the scope of the invention, with the mobile machine tool being set up to reflect at least one property of the tool held in it to be determined using the procedure described above.
  • the mobile machine tool can also have one or more of the properties of the mobile machine tools described above.
  • the mobile machine tool can be set up to implement the method described above.
  • it can be set up to detect a first property, in particular with the aid of the acceleration sensor, the force sensor and/or the position detection unit, while construction work is being carried out, for example while drilling a hole.
  • the mobile machine tool can, particularly if the tool is a drilling tool, be set up to check the drilling tool with the aid of the image recording unit, particularly for wear, as soon as the drilling speed is too low, particularly with the aid of the acceleration sensor of the force sensor and/or the position detection unit.
  • the mobile machine tool can have a communication interface for data transmission with at least one remote computer unit.
  • the communication interface can be set up in particular for wireless data transmission.
  • the communication interface can be set up to transmit at least one value of a specific property.
  • the communication interface can be set up to receive data and/or program code from the remote computer unit.
  • calibration data for example for calibrating the determination of the property of the tool,
  • Training data and/or calibration parameters of the trainable filter can be received via the communication interface.
  • the determination of the property can also be further improved after delivery of the mobile machine tool, for example on the basis of improved training data.
  • usage data in particular data on the specific properties of the tool, is collected and evaluated on the remote computer unit. This also allows better control of construction tasks.
  • the measurement data in particular the accelerations, can be evaluated within the mobile machine tool and/or outside.
  • a machine tool for example a drilling device
  • the evaluation takes place in a computer unit that is separate from the machine tool.
  • the computer unit can then be part of the mobile machine tool, i. H. of the construction robot, and/or part of a remote computer system, for example a cloud-based computer system.
  • the acceleration sensor can preferably be arranged in the vicinity of the working axis and/or the longitudinal axis of the machine tool.
  • the distance to the working axis and / or the longitudinal axis may preferably be less than 10 cm. In particular, the distance can be at most 3 cm, for example 2.5 cm.
  • the acceleration sensor can be arranged on a transmission housing. In particular, it can be arranged outside other machine tool electronics in order to be exposed to the strongest possible accelerations or vibrations to be measured.
  • the bandwidth of the vibrations can be at least 500 Hz, particularly preferably at least 900 Hz.
  • the acceleration sensor may include and/or be a MEMS (micro-electromechanical system) sensor.
  • MEMS micro-electromechanical system
  • the mobile machine tool can be set up to set a power output and/or impact energy depending on the specific type and/or size of the tool. In this way, excessively rapid wear can be avoided, particularly during operation.
  • FIG. 2 shows a perspective sectional view of a measuring chamber
  • FIG. 3 shows a perspective sectional view of a measuring chamber during a calibration
  • Figures 4 to 6 show images of tools of different degrees of wear; and Figure 7 shows an image of a calibration pattern.
  • the same reference symbols are used in each case for identical or functionally corresponding elements in order to facilitate understanding of the invention.
  • the invention is explained in more detail using the example of a mobile machine tool designed as a drilling robot.
  • Fig. 1 shows a drilling construction robot 10 with a chassis 12 designed as a tracked chassis, a control chamber 16 designed in a housing 14 and a manipulator 18 arranged on top of the housing 14.
  • the manipulator 18 is designed as a multiaxially controllable arm, at the free end of which an end effector 20 with a drilling machine tool 22 and preferably a dust extraction device 24 arranged thereon.
  • the drilling construction robot 10 is designed to carry out construction tasks, in particular drilling work in ceilings and walls, on a construction site, for example on a high-rise construction site.
  • a computer unit 26 arranged inside the housing 14 , in particular in the control room 16 .
  • the computer unit 26 includes a memory unit 28.
  • the computer unit 26 is equipped with executable program code, so that an internal construction task management system 29 with an internal construction task list 30, which includes one or more construction tasks to be executed by the drilling construction robot 10 on the construction site, is configured by means of the computer unit 26.
  • the internal construction task list 30 is stored in the storage unit 28 so that it can be called up.
  • a deep learning unit in the form of a neural network is also implemented on the computer unit 26 with the aid of the program code. As explained in more detail below, the deep learning unit is first trained and then used to determine one or more properties of a tool from recordings of images.
  • the computer unit 26 and thus the drilling construction robot 10 also have a communication interface 32 for communication with an external construction task management system, the external construction task management system is set up to store an external building task list in a retrievable manner, the external building task list comprising one or more building tasks to be carried out on the building site, wherein the drilling construction robot 10 is set up to send at least one building task and/or a building task status of a building task to the internal building task list 30 via the communication interface 32 to send the external construction task management system.
  • the communication interface 32 has a mobile radio interface according to the 4G or the 5G standard, a WLAN interface, a Bluetooth interface and a USB interface for data transmission using portable USB storage units.
  • the computer unit 26, the memory unit 28, the internal construction task management system 29, the internal construction task list 30 and the communication interface 32 are arranged in the control room 16 and thus within the housing 14, these are shown including the control room 16 in FIG. 1 and schematically.
  • the drilling construction robot 10 also has a display unit 34 which is designed as a touchscreen.
  • the display unit 34 thus also forms an input unit for manual data entry by a user of the construction robot 10.
  • the display unit 34 is set up in connection with the computer unit 26 and the internal construction task management system 29, the construction tasks contained in the internal construction task list 30, including the construction task statuses assigned to the construction tasks to display graphically.
  • the display unit 34 is set up to display the construction site or at least a relevant part of the construction site schematically and to graphically display the construction tasks to be performed by the drilling construction robot 10, here drillings, according to the spatial arrangement of the construction tasks in the form of appropriately positioned circles. Depending on the associated construction task status, in this case depending on the respective degree of completion, the circles are displayed with different colors.
  • the construction tasks and the respectively assigned construction task statuses can also be changed manually by the user.
  • a position detection unit 36 for determining the position and location of the manipulator 18 and thus of the construction robot 10 is formed on the end effector 20 .
  • the drilling construction robot 10 is also set up to use the position detection unit 36 to send specific position and location of his manipulator 18 via the communication interface 32 and to receive corresponding position and location data of other drilling robots.
  • the drilling construction robot 10 also has a measuring chamber 38 shown schematically in FIG. 1 .
  • the measuring chamber 38 is set up to accommodate a tool, here a drilling tool to be used by the drilling machine tool 22, of which at least one property is to be determined.
  • the measuring chamber 38 is set up in such a way that the drilling tool can be introduced into the measuring chamber 38 for the measurement with the aid of the manipulator 18 and its end effector 20 .
  • the drilling construction robot 10 in particular its computer unit 26 and here in particular the program code, is set up to determine a type of drilling tool, a size of the drilling tool and its state of wear using the measuring chamber 38 before the start of a construction task or at least before the start of a series of construction tasks.
  • the drilling construction robot 10 can also be set up to check the drilling tool used with the aid of the measuring chamber 38 during or after the execution of a construction task, ie during drilling.
  • the drilling construction robot 10 is set up to check whether the correct drilling tool required for the respective construction task is available. He is also set up to check that the drilling tool is in an operational condition and, in particular, is neither badly damaged nor excessively worn. In particular, it is checked whether the drilling tool, in particular its cutting edges, is moving within permissible tolerance ranges.
  • the drilling robot 10 can contain a tool store with several suitable replacement drilling tools, so that the drilling robot 10 can replace the drilling tool automatically in the event of damage or excessive wear and/or in the event of unsuitability for the respective construction task with a replacement drilling tool can exchange.
  • FIG. 2 shows a schematic, perspective sectional view of the measuring chamber 38 into which a drilling tool 100 is inserted with its tool head 102 for measurement.
  • the measuring chamber 38 has a housing 39 .
  • the measuring chamber 38 also has an image recording unit in the form of a measuring camera 40 .
  • the measurement camera 40 is designed as a black-and-white camera. It has a resolution of at least 3 MP, preferably at least 5 MP. For recording image sequences, in particular videos, it has an image recording rate of at least 5, preferably at least 7, frames per second.
  • the measurement camera 40 is held by a camera holder 42 .
  • a lens 44 with a focal number 11 is arranged in the beam path in front of the measuring camera 40 .
  • the position of the camera holder 42 can be finely adjusted relative to the housing 39 by means of spacer elements.
  • a lens holder 46 also fixes a lens 48, in particular a plano-convex lens, in the beam path in front of the measuring camera 40.
  • the lens 48 has an effective focal length of 75 mm.
  • a protective glass 50 in particular with a thickness of approx. 3 mm, through which the tool head 102 of the drilling tool 100 can be seen from the measuring camera 40 .
  • the measuring camera 40 can thus record an image of a front view of the tool head 102 .
  • the tool head 102 can be illuminated by means of a preferably annular lighting device 52 .
  • the lighting device 52 is equipped with a large number of LEDs. It is set up to generate monochromatic or at least essentially monochromatic light, for example green light, so that lens errors such as chromatic aberrations have only minor effects on the recorded image.
  • the Lighting device be equipped with one or more diffusers.
  • the lighting device 52 also has a lighting dome in order to achieve the most homogeneous possible illumination from a large solid angle.
  • the lighting dome can be made of a matt white material.
  • a separating tube 54 in which the drilling tool 100 is arranged with its tool head 102, is transparent.
  • it can be made of a transparent plastic.
  • a light barrier 56 is arranged in the area of the separating tube 54 so that it can be detected whether the drilling tool 100 has been inserted into the measuring chamber 38 and in particular whether it has been inserted far enough into the separating tube 54 .
  • preprocessing electronics 58 in particular with interface electronics for communication with the computer unit 26 (see FIG. 1), can be arranged within the housing 39.
  • FIG. 3 shows an embodiment of the measurement chamber 38 in order to calibrate the measurement camera 38 .
  • a calibration pattern 60 can be arranged instead of the drilling tool 100 .
  • the calibration pattern 60 can be, for example, a chessboard pattern that cannot be seen in the representation according to FIG. 3, as shown by way of example in the form of a raw recording in FIG.
  • Calibration pattern 60 may include a dimensionally stable opaline glass substrate, such as an etched blue chrome checkerboard pattern.
  • the checkerboard field sizes can be 0.4 mm x 0.4 mm, preferably with an accuracy of better than 0.005 mm.
  • the distances of the lens 44 to a sensor surface of the measuring camera 40 and the sensor surface to the lens 48 are calibrated.
  • the telecentricity of the arrangement is calibrated.
  • images can be recorded iteratively by the measuring camera 40 and the distances can be adjusted in each case as a function of the images recorded.
  • Lens distortions are also corrected as part of the calibration.
  • a second-order tangential Brown-Conrady distortion model is applied to the image coordinates.
  • the Brown-Conrady model corrects for both radial and tangential distortions caused by physical elements in a lens that are not perfectly aligned, causing a captured image of the checkerboard pattern to appear square and evenly distributed.
  • Distortion correction parameters are estimated from a raw image of the calibration pattern 60 .
  • the ratio between the image size, in particular the number of pixels, and the actual size, measured in mm for example, is also determined.
  • the measuring chamber 38 can also be equipped with a temperature sensor. Recorded raw images can then also be corrected for temperature effects.
  • the training takes place by means of recordings of tool heads 102 of different drilling tools 100, in particular of fully functional, partially worn and damaged drilling tools 100.
  • video recordings ie sequences of individual images, of the respective tool heads 102 are recorded using the measuring camera 40 (FIG. 1).
  • the tool heads 102 are slowly rotated so that at least one rotation is fully recorded.
  • the underlying classification of the tool heads 102 can be done by expert ratings.
  • the deep learning unit extracts, among other things, features from the images similar to a high-pass filter.
  • a further improvement in the classification accuracy is conceivable if classification is carried out on the basis of more than one image, additional cleaning is carried out and/or at least one additional working parameter such as drilling speed or drilling duration is used for the classification.
  • the drilling tool 100 can be inserted into the measuring chamber 38 with its tool head 102 in front.
  • the measuring camera 40 After detecting the correct positioning using the light barrier 56 , the measuring camera 40 records an image of the tool head 102 illuminated by the lighting device 54 .
  • the data of the recorded image are transmitted to the computer unit 26 via the preprocessing electronics 58 and the interface electronics integrated in these.
  • the data of the recorded image are first pre-processed; in particular, image errors such as distortions and the like are corrected in accordance with the calibration described above.
  • its diameter is first determined as a property of the drilling tool 100 .
  • the adjusted data of the image are filtered through a median filter in order to reduce the influence of noise and/or dust particles.
  • edges are determined using a Canny edge detection algorithm, for example.
  • a largest connected region is then determined.
  • a convex hull algorithm is applied to the filtered data.
  • the diameter to be determined is then determined using a rotating caliper algorithm.
  • a measure of wear is then determined in the form of a classification into one of the three previously trained classes.
  • the cleaned image is first cropped to relevant areas in order to eliminate disruptive information, e.g. B. any mapping of the separating tube 54 in the image to hide.
  • disruptive information e.g. B. any mapping of the separating tube 54 in the image to hide.
  • the data obtained in this way is fed into the deep learning unit and thereby classified into one of the trained classes.
  • drilling construction robot 10 If, as a result, the drilling tool 100 is classified as being to be replaced, ie as worn out or damaged, the drilling construction robot 10 outputs a corresponding signal to a user, for example with the aid of the display unit 34 (see FIG. 1).
  • drilling construction robot 10 in which drilling construction robot 10 comprises a tool changer and/or a tool store with replacement drilling tools, provision can alternatively or additionally be made for drilling construction robot 10 to automatically replace drilling tool 100 in this case, so that drilling tool 100 to be used then can be considered fully functional again.
  • the drilling construction robot 10 can be set up to start a construction task, in this case a drilling, or, if necessary, to continue it.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Optics & Photonics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Quality & Reliability (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Machine Tool Sensing Apparatuses (AREA)
  • Automatic Tool Replacement In Machine Tools (AREA)

Abstract

L'invention concerne un procédé d'utilisation d'un outil (100), par exemple un outil de forage, un outil de burinage ou un outil de concassage, avec une machine-outil mobile (10). L'invention est caractérisée en ce que la machine-outil mobile (10) détermine au moins une propriété de l'outil (100). L'invention concerne également une machine-outil mobile (10). L'invention permet de réaliser des tâches de construction en permanence avec une productivité élevée par l'identification dans les meilleurs délais des outils (100) à remplacer.
EP22733917.3A 2021-06-11 2022-06-07 Procédé d'analyse d'un outil et machine-outil mobile Pending EP4351841A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP21179079.5A EP4101602A1 (fr) 2021-06-11 2021-06-11 Procédé d'analyse d'un outil et machine-outil mobile
EP21179075.3A EP4101595A1 (fr) 2021-06-11 2021-06-11 Procédé de détermination d'une propriété d'un outil, ainsi que machine-outil mobile
PCT/EP2022/065436 WO2022258635A1 (fr) 2021-06-11 2022-06-07 Procédé d'analyse d'un outil et machine-outil mobile

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Publication Number Publication Date
EP4351841A1 true EP4351841A1 (fr) 2024-04-17

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EP (1) EP4351841A1 (fr)
AU (1) AU2022289437A1 (fr)
WO (1) WO2022258635A1 (fr)

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DE102012106139B4 (de) * 2012-07-09 2015-06-11 Hochschule Reutlingen Verfahren und Vorrichtung zur Ermittlung eines Werkzeugverschleißes in einer Werkzeugmaschine zur geometrisch bestimmten Zerspanung
CN107127731A (zh) * 2017-05-16 2017-09-05 上海大界机器人科技有限公司 履带式自定位机器人多功能智能施工平台
CN107060726A (zh) * 2017-06-19 2017-08-18 广州普华灵动机器人技术有限公司 一种采用移动工程机器人进行隧道钻孔的系统
WO2019087213A1 (fr) * 2017-11-06 2019-05-09 Chowhan Tushar Système électronique et informatique assisté par intelligence artificielle et par visionique permettant d'aider à un forage, à un sondage et à un guidage en ligne de tunnelisation de formation, système d'aide à la décision et d'évaluation d'usure d'un outil de forage et éléments de train de tiges associés
WO2020108982A1 (fr) * 2018-11-27 2020-06-04 Inventio Ag Dispositif de montage et procédé de perçage automatisé de trous dans des parois de bâtiment comprenant la détection automatisée de marques d'usure au niveau du foret
CN113518688A (zh) * 2019-03-01 2021-10-19 L·A·安德森 用于检查和更换切削刀具的自动化系统

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AU2022289437A1 (en) 2023-11-09

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