WO2009036816A1

WO2009036816A1 - System and method for the detection and/or recognition of objects in robot-supported production and manufacturing processes

Info

Publication number: WO2009036816A1
Application number: PCT/EP2008/002237
Authority: WO
Inventors: Jörg IHRIG
Original assignee: Abb Ag
Priority date: 2007-09-22
Filing date: 2008-03-20
Publication date: 2009-03-26
Also published as: AT512732A5; AT512732B1

Abstract

The invention relates to a system for the detection and/or recognition of objects in robot-supported production and manufacturing processes, comprising at least one radar sensor (4, 4b) and one data processing device (2) that co-operates with the relevant radar sensor (4, 4b). With the aid of said sensor and device at least one object (12), in particular a moving object, and/or each position and condition thereof are detectable and/or recognizable and/or are transformable into usable information for a control device/controlling means (10) of at least one handling device (6). The invention also relates to a method for the detection and/or recognition of objects for processing using computer-controlled operating devices, wherein in particular by means of the aforementioned system, at least one object (12), in particular a moving object, and/or each position and condition thereof, are detected by radar and/or recognized or identified and/or the received data and/or signals are transformed into usable information for a control device/controlling means (10) of at least one handling device (6).

Description

System and method for detecting and / or detecting objects in robotic production and manufacturing processes

description

The invention relates to a system and a method for detecting and / or detecting objects in robot-assisted production and manufacturing processes, wherein in particular the geometric shape and / or the spatial orientation and / or the position of the respective object, in particular moved by means of a conveyor or conveyor belt Object, relative to at least one handling device and / or a reference point, regardless of the prevailing lighting conditions, can be determined.

A robot is understood to mean an almost freely programmable, computer-controlled handling device or a handling device for moving material, workpieces, tools or special devices. Robots are stationary or mobile machines or devices that perform predetermined tasks, in particular a program, specified tasks and / or fulfill. Robot, handling device or device are also used synonymously below. As industrial robots industrially used robots with multiple axes, in particular six axes, understood, which in various production and / or manufacturing processes, such as in the Automotive industry when painting, welding, or polishing or grinding and the like can be used.

The use of robots in the field of automation, for example in painting and / or welding technology, or robotic automation is one of the most widespread applications in modern robot systems. To cope with increasingly complex automation tasks in the manufacturing sector, robots are increasingly being used, with the aid of which, in conjunction with the most universal production devices, numerous different product variations can be produced, with the robots and / or production devices used as a rule intelligently communicating with their environment via a large number of sensors and interact.

Thus, coping with complex automation tasks in the production area also often involves the detection and / or differentiation of patterns as well as the recognition of the respective workpiece to be machined and / or its position and / or orientation or orientation in space. In this case, the position and / or orientation of the respective workpiece is to be determined precisely in order to be able to track the respective handling devices and mounting devices with sufficient accuracy. The cost of the product-dependent devices is drastically reduced and the flexibility of production increases many times, if the position can be determined in three-dimensional space. Conventionally, so-called "vision systems" are used for this purpose.These systems mainly use optical methods, in particular from the field of image / pattern recognition, and are subdivided into 2-dimensional and 3-dimensional position and / or position recognition systems in accordance with their configuration In this case, the respective workpiece is detected via one or more flexibly or stationarily arranged cameras or camera systems, as a rule using light or laser beams, in particular in the visible spectral range, and its position and / or orientation, for example also using a corresponding computer program component, determined or determined. Known systems use light in the visible range for illuminating or illuminating or for operating the respective camera or camera systems, in particular from about 380 to 780 nanometers [nm] wavelength, or employ lasers with a comparable wavelength range. For spatial vision or spatial detection and stereo systems can be used.

3D (3-dimensional) stereo systems allow the highly accurate determination of position coordinates even in six degrees of freedom. They are particularly used when simple recognition / identification or distinguishing features are not available or not available, large or multiple parts or components detected with a very high resolution and the quality and efficiency of highly automated Rotober- and handling systems through fast and accurate Position determinations should be increased or must. In this case, the respective working area of the camera and / or handling system or device is defined and / or illuminated homogeneously, the fluctuations in the brightness, in particular due to the course of the day, weather or seasonal variations in brightness, being reduced to a minimum.

These requirements, for example, by extensive construction measures such. B. the darkening of the respective work areas and / or premises taken into account.

Particular attention must also be given to the environment of the plant or manufacturing facility, which must not be affected by atmospheric disturbances such as spray. Such a fog could affect the operation of the lamps or cause light scattering or reduction of light intensity between the camera and the workpiece. Thus, such systems would not be used for example in a foundry.

Also on the respective workpiece or component itself special requirements are made in terms of condition and material. So may the respective Component, for example, not be transparent and / or must differ in color from the background.

The object of the invention is to provide a possibility for efficient detection and / or detection of an object, in particular a moving object, which is non-optical and thus independent of the prevailing lighting conditions and dispenses with the use of artificial light sources.

This object is achieved by a system of the type mentioned with the features of claim 1. Advantageous embodiments and further developments as well as a corresponding method for detecting and / or detecting objects for processing by means of computer-controlled handling devices are specified in further claims and the following description.

Accordingly, the system for detecting and / or detecting objects in robotic production and manufacturing processes, at least one radar sensor and a data processing device which cooperates with the respective radar sensor and with which at least one object, in particular a moving object, and / or the respective position and position can be detected and / or recognized and / or converted into information usable for a control / regulating device of at least one handling device.

According to the system, in particular two or more radar sensors can be used.

Advantageously, it can be provided that radar sensor and data processing device each have a wireless or wired communication connection, in particular a LAN, WLAN or WAN, for example, the type Ethernet, Bluetooth, or other common bus type, such as CAN, CANOPEN, Profibus, Modbus, but also USB , RS-232, SCSI or the like.

In an advantageous embodiment, the system comprises at least one interface via which the converted information of the control / regulating device of at least one handling device, in particular one or more six-axis industrial robots, feedable or can be transmitted.

Also, the aforementioned interface can be wired or wireless in nature, for example, as Ethernet, Bluetooth, CAN, CANOPEN, Profibus, Modbus, but also USB, RS-232 or SCSI interface or a combination thereof be.

In particular, the corresponding radar sensors comprise both a transmitting device and a receiving device for radar waves of suitable frequency. Further education transmitting and receiving device can also be integrated in a device.

According to the system, electromagnetic waves can be generated outside the visible spectral range by means of the respective radar sensor, for example in the form of microwaves in the MHz and GHz range or of sound waves at frequencies between 20 kHz and 1 GHz, which are resistant to influences in the surrounding atmosphere as in production. and production facilities is insensitive.

The associated transmission frequencies can be an example in the range of 76-77 GHz, corresponding to a wavelength of about 4 mm or even in the range of about 24 GHz move.

Furthermore, the object is achieved by a corresponding method for detecting and / or detecting objects for processing by computer-controlled handling devices, wherein in particular by means of an aforementioned system, at least one object, in particular a moving object, and / or their respective position and Radar-based detected and / or detected or identified and / or the obtained data and / or signals are converted into usable for a control / regulation device at least one handling device information. Advantageously, the method is also applicable to a moving by means of a transport or conveyor belt object.

In a further development of the method, the usable information for implementation via a corresponding communication link to the control / regulating device at least one handling device, in particular a multi-axis industrial robot, transmitted and / or for synchronization and coordination of movements and positioning of handling device and object, in particular workpiece used ,

Advantageously, it can be provided that the respective radar sensor with transmitting and receiving device transmits directional electromagnetic waves bundled as a so-called primary signal and receives the signals or "echoes" reflected by the respective object as a so-called secondary signal and evaluates them in cooperation with the data processing device according to various, predeterminable criteria. or the respective object rule-based recognizes or accurately recorded position.

Thus, information about the respective objects can be obtained, for example, by using the respective measurement for transit times as well as transit time differences and / or also for the Doppler effect.

A Doppler effect is the change in the frequency of the waves of any kind, including radar or ultrasound waves, while the source and measuring body, in this case in particular the workpiece, move relative to one another, that is to say, for example, the source moves towards or onto the body moved away from it or the body moves towards or away from the source. Through this change in frequency, various information can be passed to the control / regulating device of the respective handling device.

From the time difference and thus the transit time between sending the wave and receiving it after the reflection at the respective object or measuring body, in particular a workpiece to be processed, the distance of each illuminated Surface area or point of the respective object to the transmitter are detected.

If the respective object, which at least partially reflects the radar beams, is scanned at a sufficiently small distance from the transmitter, in particular only a few 10 cm to a few meters, corresponding to a predeterminable raster with corresponding resolution by means of a directed radar beam (can be 1- or 2-dimensional scanning) Thus, the reflective structures of the object, in particular the surfaces of metallic objects or workpieces, on the basis of scanning direction and duration of the received echoes can be reconstructed.

In this way, it is possible to obtain a 3D reconstruction of the scanning region and of the object located therein at least partially.

If several, for example two to four, suitably positioned radar sensors act together, for example via a corresponding data processing device with a computer program product configured therefor, an almost complete 3D image of the respective object can be obtained in this way and / or a detection and image recognition of the respective object is performed and thus also the orientation or orientation of the respective workpiece can be determined.

The same is possible with only one, for example, from the top of the respective object, in particular a weiterzuverarbeitendes workpiece, directed sensor, with only a partial 3D reconstruction of the object can be obtained even with 2-dim scanning in the x and y direction.

If the respective object is moved under the sensor, this can also be achieved already with a one-dimensional scan with knowledge of the direction of movement and speed, which can be determined, for example, by means of a radar sensor utilizing the Doppler effect. If a runtime evaluation is dispensed with in an alternative method execution, an image recognition can optionally also be carried out solely on the basis of the detected reflective structures.

In a further method embodiment, at least one radar sensor is used in the form of an FMCW (Frequency Modulated Continuous Wave) radar, a "Modulated CW Radar" or an FM radar, the different types of radar also being usable in combination.

These radars transmit at a constantly changing frequency. At least two operating modes can be distinguished. The frequency either increases linearly to abruptly decrease to the initial value at a certain frequency, or it increases and decreases alternately at a constant rate of change.

It can also be advantageously provided that, according to the method, at least one data processing device is used which has a decoder or decoder or coder for signal or pulse or signal processing and / or information provision.

By means of the decoder, a provision of data / information in accordance with the tool speed and / or removal during the production process is accordingly feasible.

It can advantageously be provided that the radar sensor and / or data processing device and / or control device of at least one handling device each have a wireless or wired communication connection, in particular a LAN, WLAN or WAN, for example the type Ethernet, Bluetooth, or another common bus type, such as For example, cooperate CAN ₁ CANOPEN, Profibus, Modbus, but also USB, RS-232, SCSI or the like.

In a further development of the method, the usable information for implementation via a corresponding communication link to the control / regulating device at least one handling device, in particular a multi-axis industrial robot, transmitted and / or used for synchronization and tuning of the movements of handling device and object, in particular workpiece.

The further explanation of the invention is based on two figures and the associated embodiments.

Further advantageous embodiments and developments of the invention are the two figures and the associated description can be removed.

Show it:

Fig. 1 is an exemplary trained system for detecting and / or detection of objects in robotic production and manufacturing processes (in plan view), and

2 shows an exemplarily designed system for detecting and / or detecting objects in robot-assisted production and production processes, including speed and distance determination.

In Fig. 1 shows an exemplary trained system for detection and / or detection of objects in robotic production and manufacturing processes, which uses radar waves for image recognition. The system shown by way of example comprises a data processing device 2 and two radar sensors 4, which are arranged in front of a handling device 6, here a multi-axis industrial robot, above a conveyor belt 8, in particular in the transport direction and spaced apart. The signals of the radar sensors 4 are converted into digital signals by means of an encoder, which is integrable into the data processing device 2. These signals are converted by means of the data processing device 2 in useful for the controller 10 of the robot information and / or instructions and these by means of at least one respective robot control transmitted. This information can be used, for example, for the exact positioning of the robot 6 for the respective object or workpiece.

FIG. 2 shows a system for measuring the speed and distance in robot-assisted production and production processes in a modified embodiment compared with FIG. 1, where two radar sensors 4 above a conveyor or conveyor belt 8 are aligned and spaced apart in the transport direction are. In addition, a further, third radar sensor 4b is provided at the end of the transport bath 8, which determines the transport speed of an object or of the belt by utilizing the Doppler effect. Furthermore, a data processing device 2 is provided, which data processing device 2 cooperates with the respective radar sensor 4, 4b and detects and recognizes the same, in particular with knowledge of the speed and / or distance of at least one object 12 moving by means of a transport or conveyor belt 8, In particular in terms of nature and location, can be and / or the data determined in at least one control device 6 for a control / control device 6, in the example shown here, a six-axis industrial robot, in particular a welding and / or painting robots, convertible information and this for Implementation or recovery via a suitable interface.

The radar-based system, as well as methods executable thereon, advantageously enable detection and / or detection of a moving object, possibly also of the respective speed and / or distance of the object in relation to a predeterminable reference point, independently of the prevailing light conditions and without the expense additional artificial light sources.

Claims

claims

1. System for detecting and / or detecting objects in robotic production and manufacturing processes, at least one radar sensor (4,4b) and a data processing device (2) which cooperates with the respective radar sensor (4,4b) and with which at least one Object (12), in particular a moving object, and / or its respective position and position can be detected and / or recognizable and / or in for a control / regulating device (10) at least one handling device (6) usable information convertible.

2. System according to claim 1, characterized in that two or more radar sensors (4,4b) are used.

3. System according to claim 1 or 2, characterized in that the respective radar sensor (4,4b) and data processing device (2) each have a wireless or wired communication connection, in particular a LAN, WLAN or WAN, for example, the type Ethernet, Bluetooth, or a other common bus type, such as CAN, CANOPEN, Profibus, Modbus, but also USB, RS-232, SCSI or the like work together.

4. System according to any one of the preceding claims, characterized in that at least one interface is provided, via which the converted information of the control / regulating device (10) at least one handling device (6), in particular one or more multi-axis industrial robots, zuleitbar or can be transmitted ,

5. System according to claim 4, characterized in that the interface is wired or wireless, in particular as Ethernet, Bluetooth, CAN, CANOPEN, Profibus, Modbus, but also USB, RS-232 or SCSI Interface or a combination thereof.

6. System according to one of the preceding claims, characterized in that by means of the respective radar sensor (4,4b) electromagnetic waves can be generated outside the visible spectral range, .wobei particular transmission frequencies in the range of 76-77 GHz, corresponding to a wavelength of about 4 mm , or in the transmission frequency range of about 24 GHz can be generated.

7. System according to one of the preceding claims, characterized in that the radar sensors (4,4b) comprise both a transmitting device and a receiving device for radar waves suitable frequency and / or transmitting and receiving device can be integrated in a device.

8. System according to any one of the preceding claims, characterized in that at least one radar sensor (4,4b) for speed and / distance determination of the respective object (12) is used and set up.

9. System according to any one of the preceding claims, characterized in that at least one radar sensor (4,4b) as FMCW (frequency modulated continuous wave) radar, "Modulated CW radar" or FM radar is formed.

10. System according to any one of the preceding claims, characterized in that the data processing device (2) comprises a decoder or decoder or encoder or encoder for Signalbeziehungsweise pulse or signal processing and / or information provision.

11.Verfahren for detecting and / or detection of objects for processing using computer-controlled handling devices solved, in particular by means of a system according to one of claims 1 to 10, at least one object (12), in particular a moving object, and / or its respective Position and location radar-based detected and / or detected or identified and / or the data obtained and / or Signals are converted into usable information for a control device (10) of at least one handling device (6).

12. The method according to claim 11, characterized in that the usable information for implementation via a corresponding communication link to the control / regulating device (10) at least one handling device (6), in particular a multi-axis industrial robot, transmitted and / or for synchronization and tuning of Movements and positioning of handling device (6) and object (12), in particular workpiece, are used.

13. The method according to any one of claims 11 or 12, characterized in that with the respective radar sensor (4,4b) with transmitting and receiving device, directed electromagnetic waves bundled emitted as so-called primary signal and the respective object (12) reflected signals or echoes are received as a so-called secondary signal and / or evaluated in cooperation with the data processing device (2) according to different, predeterminable criteria and / or the respective object (12) is detected rule-based or accurately detected position.

14. The method according to any one of claims 11 to 13, characterized in that is used in the respective measurement on maturities and time differences and / or on the Doppler - effect.

15. The method according to any one of claims 11 to 14, characterized in that a Radarstahlen at least partially reflecting object (12), at a sufficiently small distance to the transmitter, in particular only a few 10 cm to a few meters, corresponding to a predeterminable grid with a corresponding resolution by means of a directional radar beam is scanned and / or the reflective structures of the object, in particular the surfaces of metallic objects or workpieces, are reconstructed on the basis of the scanning direction and duration of the received echoes.

16. The method according to claim 15, characterized in that the scanning with at least one of the top of the respective object (12), in particular a weiterzuverarbeitendes workpiece, directed radar sensor (4,4b) is performed, wherein a 1dim- or 2-dim Scanning is feasible.

17. The method according to any one of claims 11 to 16, characterized in that for detecting and detecting and / or distance and / or speed measurement a plurality of radar sensors (4,4b) are used, wherein a sensor thereby both a transmitting and a receiving device and / or the transmitting device generates and transmits electromagnetic waves of suitable transmission frequency or wavelength, and the receiving device receives and registers the waves reflected at one or more objects, in particular workpieces.

18. The method according to any one of claims 11 to 17, characterized in that is determined by the time shift between transmission and reception or by the transit time of the wave, with knowledge of the propagation speed, the distance to the respective reflecting object (12) and / or under utilization the Doppler effect and by determining a possible frequency shift, the speed and direction of the respective object (12), in particular of the respective workpiece is determined.

19. The method according to any one of claims 11 to 18, characterized in that at least one radar sensor (4,4b) used in the manner of an FMCW (frequency modulated continous wave) radar, a "Modulated CW radar" or an FM radar , whereby the different radar types are also used in combination.

20. The method according to any one of claims 11 to 19, characterized in that at least one data processing device (2) is used, which a decoder or decoder or encoder for signal or pulse or signal processing and / or information provision has.

21. The method according to claim 20, characterized in that by means of the decoder is also a provision of data / information bereffend the tool speed and / or removal in the production process is performed.

22. The method according to any one of claims 11 to 21, characterized in that radar sensor (4,4b) and / or data processing device (2) and / or control / regulating device (10) at least one handling device (6) each via a wireless or wired Communication link, in particular a LAN, WLAN or WAN, for example, the type Ethernet, Bluetooth, or another common bus type, such as CAN, CANOPEN, Profibus, Modbus, but also USB, RS-232, SCSI or the like cooperate.