JP7447086B2 - ロボット塗装補修のための学習フレームワーク - Google Patents

ロボット塗装補修のための学習フレームワーク Download PDF

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Publication number
JP7447086B2
JP7447086B2 JP2021510844A JP2021510844A JP7447086B2 JP 7447086 B2 JP7447086 B2 JP 7447086B2 JP 2021510844 A JP2021510844 A JP 2021510844A JP 2021510844 A JP2021510844 A JP 2021510844A JP 7447086 B2 JP7447086 B2 JP 7447086B2
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action
defect
repair
data
processors
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Japanese (ja)
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JPWO2020044178A5 (https=
JP2021535502A (ja
JP2021535502A5 (https=
Inventor
アール． ヘムス，ブレット
ダブリュ． ヘンダーソン，ジョン
ジェイ． ハーブスト，ネイサン
ピー． フローダー，スティーブン
ピー． アドルフ，ジェフェリー
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3M Innovative Properties Co
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3M Innovative Properties Co
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Publication of JP2021535502A5 publication Critical patent/JP2021535502A5/ja
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    • 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
    • B25J11/0075—Manipulators for painting or coating
    • 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
    • B25J11/0065—Polishing or grinding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D3/00—Pretreatment of surfaces to which liquids or other fluent materials are to be applied; After-treatment of applied coatings, e.g. intermediate treating of an applied coating preparatory to subsequent applications of liquids or other fluent materials
    • B05D3/12—Pretreatment of surfaces to which liquids or other fluent materials are to be applied; After-treatment of applied coatings, e.g. intermediate treating of an applied coating preparatory to subsequent applications of liquids or other fluent materials by mechanical means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/163—Program controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • 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—Program-control systems
    • G05B19/02—Program-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 program data in numerical form
    • G05B19/408—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 program data in numerical form characterised by data handling or data format, e.g. reading, buffering or conversion of data
    • G05B19/4083—Adapting program, configuration
    • 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—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41875—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by quality surveillance of production
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N7/00—Computing arrangements based on specific mathematical models
    • G06N7/01—Probabilistic graphical models, e.g. probabilistic networks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D5/00—Processes for applying liquids or other fluent materials to surfaces to obtain special surface effects, finishes or structures
    • B05D5/005—Repairing damaged coatings
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45013—Spraying, coating, painting
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45065—Sealing, painting robot
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Theoretical Computer Science (AREA)
  • Software Systems (AREA)
  • Algebra (AREA)
  • Mathematical Optimization (AREA)
  • Pure & Applied Mathematics (AREA)
  • Computing Systems (AREA)
  • Artificial Intelligence (AREA)
  • Mathematical Physics (AREA)
  • Computational Mathematics (AREA)
  • Evolutionary Computation (AREA)
  • Mathematical Analysis (AREA)
  • Data Mining & Analysis (AREA)
  • Quality & Reliability (AREA)
  • Probability & Statistics with Applications (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
  • Numerical Control (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
  • Coating Apparatus (AREA)
JP2021510844A 2018-08-27 2019-08-21 ロボット塗装補修のための学習フレームワーク Active JP7447086B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201862723127P 2018-08-27 2018-08-27
US62/723,127 2018-08-27
PCT/IB2019/057053 WO2020044178A1 (en) 2018-08-27 2019-08-21 Learning framework for robotic paint repair

Publications (4)

Publication Number Publication Date
JP2021535502A JP2021535502A (ja) 2021-12-16
JPWO2020044178A5 JPWO2020044178A5 (https=) 2022-08-29
JP2021535502A5 JP2021535502A5 (https=) 2022-08-29
JP7447086B2 true JP7447086B2 (ja) 2024-03-11

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JP2021510844A Active JP7447086B2 (ja) 2018-08-27 2019-08-21 ロボット塗装補修のための学習フレームワーク

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Country Link
US (1) US20210323167A1 (https=)
EP (2) EP3843908B1 (https=)
JP (1) JP7447086B2 (https=)
CN (1) CN112601618A (https=)
ES (1) ES2989343T3 (https=)
FI (1) FI3843908T3 (https=)
WO (1) WO2020044178A1 (https=)

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US20190238796A1 (en) 2017-05-11 2019-08-01 Jacob Nathaniel Allen Object Inspection System And Method For Inspecting An Object
CN113767404A (zh) 2019-03-29 2021-12-07 圣戈班磨料磨具有限公司 高效研磨解决方案
BR112021019766A2 (pt) 2019-04-03 2021-12-07 Saint Gobain Abrasifs Sa Artigo abrasivo, sistema abrasivo e método para uso e formação dos mesmos
US11520571B2 (en) * 2019-11-12 2022-12-06 Bright Machines, Inc. Software defined manufacturing/assembly system
MX2022006216A (es) 2019-11-27 2022-06-22 3M Innovative Properties Company Reparacion robotica de pintura.
US11961109B2 (en) * 2020-01-14 2024-04-16 Adobe Inc. Multi-objective customer journey optimization
JP7363589B2 (ja) * 2020-03-04 2023-10-18 トヨタ自動車株式会社 塗装品質予測装置および学習済みモデルの生成方法
KR20230024390A (ko) * 2020-06-17 2023-02-20 이노비전 소프트웨어 솔루션즈, 인크. 결함 복원을 위한 시스템 및 방법
WO2022097009A1 (en) * 2020-11-06 2022-05-12 3M Innovative Properties Company Backup pad
CN116568465A (zh) 2020-11-10 2023-08-08 光明机器公司 用于机器人单元的改进的自动校准的方法和系统
CN112549020A (zh) * 2020-11-12 2021-03-26 国网上海市电力公司 一种用于带电作业机器人的管控系统及方法
CN113290557A (zh) * 2021-05-21 2021-08-24 南京信息工程大学 一种基于数据驱动的蛇形机器人控制方法
CA3226486A1 (en) 2021-07-16 2023-01-19 Bright Machines, Inc. Method and apparatus for vision-based tool localization
US12293506B2 (en) 2021-07-20 2025-05-06 Inovision Software Solutions, Inc. Method to locate defects in e-coat
US20230050174A1 (en) * 2021-08-10 2023-02-16 Sean Alexander Cassero Template robotic control plans
CN113640317B (zh) * 2021-08-12 2023-08-15 吉林大学重庆研究院 一种汽车车身漆面缺陷智能检测与修复生产线
CN113721574B (zh) * 2021-09-07 2023-07-18 中国联合网络通信集团有限公司 一种柔顺控制方法、mec、现场单元、柔顺控制系统及装置
US12318916B2 (en) * 2021-10-25 2025-06-03 Wichita State University Surface preparation end effector for industrial robot system and inspection and repair processes
US12600041B2 (en) * 2021-10-25 2026-04-14 Wichita State University Surface analyst end effector for industrial robot
EP4508419A1 (en) * 2022-04-15 2025-02-19 3M Innovative Properties Company Systems and methods for post-repair inspection of a worksurface
CN115496773A (zh) * 2022-09-17 2022-12-20 深圳市小马控股有限公司 一种车辆护理方法、系统及智能抛光打蜡机
US20240189996A1 (en) * 2022-12-08 2024-06-13 Yokogawa Electric Corporation Building a robot mission based on mission metrics
US20240189998A1 (en) * 2022-12-08 2024-06-13 Yokogawa Electric Corporation Building a robot mission based on mission inventory
JP2026506438A (ja) * 2022-12-27 2026-02-25 スリーエム イノベイティブ プロパティズ カンパニー ロボット表面改質システムおよび方法
US20240255939A1 (en) * 2023-01-27 2024-08-01 Hitachi, Ltd. Reinforcement learning system for maintenance decision making
EP4461474A1 (de) * 2023-05-08 2024-11-13 Convergent Information Technologies GmbH Planung und reaktive abarbeitung einer defektbearbeitung mit robotern einer auf basis von low-cost inspektionsdaten
CN118269103B (zh) * 2024-05-23 2024-09-20 北京东方昊为工业装备有限公司 一种基于工件表面均匀度的实时监测机器人系统

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JP2002508071A (ja) 1997-07-18 2002-03-12 アウディ アーゲー ボディ・シェルの表面欠陥を自動的に認識する方法およびこの方法を実施する装置
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Also Published As

Publication number Publication date
WO2020044178A1 (en) 2020-03-05
FI3843908T3 (fi) 2024-09-17
JP2021535502A (ja) 2021-12-16
EP3843908B1 (en) 2024-08-21
EP4421578A3 (en) 2024-11-06
ES2989343T3 (es) 2024-11-26
EP3843908A1 (en) 2021-07-07
CN112601618A (zh) 2021-04-02
EP4421578A2 (en) 2024-08-28
US20210323167A1 (en) 2021-10-21

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