WO2009129789A1 - Procédé et dispositif de correction de position automatique - Google Patents

Procédé et dispositif de correction de position automatique Download PDF

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Publication number
WO2009129789A1
WO2009129789A1 PCT/DE2009/000532 DE2009000532W WO2009129789A1 WO 2009129789 A1 WO2009129789 A1 WO 2009129789A1 DE 2009000532 W DE2009000532 W DE 2009000532W WO 2009129789 A1 WO2009129789 A1 WO 2009129789A1
Authority
WO
WIPO (PCT)
Prior art keywords
image
workpiece
position correction
convolution integral
determining
Prior art date
Application number
PCT/DE2009/000532
Other languages
German (de)
English (en)
Inventor
Mark Geisel
Original Assignee
Mtu Aero Engines Gmbh
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 Mtu Aero Engines Gmbh filed Critical Mtu Aero Engines Gmbh
Publication of WO2009129789A1 publication Critical patent/WO2009129789A1/fr

Links

Classifications

    • 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
    • G05B19/401—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 control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
    • G05B19/4015—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 control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes going to a reference at the beginning of machine cycle, e.g. for calibration
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • 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
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35128—Propeller blade
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37194—Probe work, calculate shape independent of position, orientation, best fit
    • 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
    • G05B2219/45147—Machining blade, airfoil
    • 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50052—Orienting workpiece relative to tool
    • 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
    • G06T2207/20048—Transform domain processing
    • G06T2207/20056—Discrete and fast Fourier transform, [DFT, FFT]
    • 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

Definitions

  • the invention relates to a method and a device for automated position correction of mechanically first or nachzube.den workpieces, in particular of workpieces with curved surfaces.
  • Such stock corrections are necessary, for example, when prefabricated workpieces require finishing, or when already machined workpieces require post-processing after a test run, for which they must be re-clamped in a processing device.
  • the castings usually have a shape which, although largely corresponds to the final shape of the workpiece; however, certain functional surfaces, such as running or storage surfaces, require one in each case
  • Imaging techniques are used.
  • cameras are used which detect the position of the workpiece and possibly pass it on to a CNC control, so that either a position correction of the workpiece or a change of the CNC machining program provided for the post-processing is possible.
  • imaging methods are only suitable for simple and precisely determinable contours. Precise markings or sharply outlined contours are needed to which the imaging device can orient itself.
  • the object of the invention is therefore to provide a method and a device for automated position correction of mechanically first or nachzube.den workpieces, in particular of such workpieces with complex, such as curved surfaces.
  • a method which calculates the positional offset of an inserted workpiece on the basis of a correlation analysis between a previously recorded reference image and a workpiece image reflecting the current situation and forwards this optionally in the form of a position correction to the tool and / or a clamping device.
  • a device is proposed with which the method according to the invention can be advantageously carried out.
  • the method according to the invention addresses the problem that, in particular during post-processing of a workpiece, this has lost its original machining position due to re-clamping, so that it must again be aligned exactly on the machine tool.
  • the method is used for the automated position correction of workpieces that are to be machined or remachined, such as castings or workpieces with complex surface shapes.
  • the method according to the invention comprises the following steps:
  • step (a) the reference image referred to in step (a) must be taken up by a similarly shaped other and optimally clamped workpiece or by the workpiece to be machined before, during or immediately after the initial processing thereof. Accordingly, this recording must take place in advance of the remaining process and processing steps.
  • a workpiece image ( Figure 2) is recorded, which shows the current position of the workpiece before the start of the first processing (in the case of the presence of a Reference image of another workpiece) or before its further processing (in the case of the presence of a reference image of the same workpiece during its initial processing) shows.
  • a relevant area of the same can, for example, by means of certain shaping, drilling, etc. allow a positional determination of the clamped workpiece.
  • step (c) the correlation analysis according to the invention then takes place. In this both the reference and the workpiece image input.
  • the positional displacement of the clamped workpiece is then in relation to its position during its initial processing or to the position of an optimally clamped reference workpiece (step (d)).
  • step e the positional offset determined using the method according to the invention is used to carry out an automatic position correction (step e)).
  • This position correction can be accomplished either by bringing the workpiece together with the receiving device in a new position, or that the tool moves off a suitably adapted tool path, or that both workpiece and receiving device are moved relative to each other.
  • the x-y position of the maximum just corresponds to the desired positional offset.
  • the CNC code necessary for the position correction of the workpiece or tool is automatically generated.
  • a particularly fast and therefore efficient position correction is possible.
  • an image processing and computing device can be used.
  • the inventive method is particularly suitable for the position correction of first or nachzube usedden turbine blades. Since such turbine blades are normally available as castings and have certain unprocessed functional surfaces, exact positioning is essential even during initial processing. Likewise, it is necessary to position the components to be re-clamped and machined after a test run, in turn, exactly to the processing device. Of course, the inventive method is not limited to such components, but can be used for any, even simpler shaped workpieces, or to check an installation position thereof in an assembly, for example by comparing the desired and actual position of existing markers or Einstellmustern.
  • the method according to the invention can be used particularly advantageously in the MRO area (maintenance, repair, overhaul, maintenance, repair, overhaul) of engines and the like. In this case, it can particularly preferably serve the automatic checking of master airfoils.
  • a device according to the invention is also provided. This comprises all the essential components to enable the implementation of the method according to the invention.
  • the device for the automated position correction of workpieces that are to be machined or machined first comprises first a receiving device with which a workpiece can be clamped.
  • the device further comprises a tool with which the workpiece can be processed and / or reworked.
  • the inventive device further comprises a traversing device for the receiving device;
  • the device according to the invention may also comprise a traversing device for the tool.
  • a combination of both traversing devices is possible, wherein preferably each different degrees of freedom are covered.
  • the device according to the invention also comprises an image pickup device which serves to receive at least the workpiece image (FIG.
  • the device also includes an image processing and computing device, as well as one or more device (s) for data transmission to perform the arithmetic operations and, where appropriate, to the corresponding components, in particular to the traversing device (s) forward.
  • the device according to the invention is characterized in that the image processing and computing means comprise means for transforming an image supplied by the image-space device into the Fourier space, means for determining a convolution integral, means for retransforming same into the xy-space and means for determining the xy Position of the maximum of the inverse transformed convolution integral.
  • the device according to the invention is therefore suitable for receiving and processing the necessary images and forwarding the position correction calculated therefrom to corresponding traversing devices.
  • the determination of the positional offset and the integration of this information into corresponding control instructions are carried out fully automatically according to the method according to the invention.
  • FIG. 1 shows a flow chart of a central part of the method according to the invention (correlation analysis).
  • FIG. 2 shows an embodiment of the device according to the invention.
  • FIG. 1 shows a flow chart of a central part of the method according to the invention, namely the correlation analysis.
  • picture 1 and picture 2 have to be made available to the method.
  • the picture 1 can be the reference picture
  • the picture 2 may be a current recording of the first or re-clamped workpiece (workpiece image). Both images are initially in xy space.
  • a convolution integral of the two transformed images is calculated by means of simple multiplication (image 1 * x image 2 *).
  • the x-y position is determined as the maximum of the inverse-transformed convolution integral. This position corresponds exactly to the desired positional offset.
  • FIG. 2 shows an embodiment of the device according to the invention.
  • a receiving device 1 the workpiece 2 to be machined is clamped.
  • a corresponding tool 3 is present.
  • the tool 3 may be, for example, a milling tool.
  • the receiving device 1 can be moved relative to the tool by means of a corresponding traversing device 4.
  • Figure 2 shows a traversing 5, with which the tool 3 itself can be moved. Not shown are possibly alternative or additional necessary ways to process recording device 1 and / or tool 3 in other spatial directions and / or to rotate.
  • the device according to the invention further comprises an image pickup device 6. With the aid of this image pickup device 6, it is possible, preferably in digital form, to produce an image of an inserted reference part or of an inserted first or postprocessing workpiece.
  • the device according to the invention also comprises an image processing and computing device 7. This serves, in particular, to carry out the arithmetic operations described in the method according to the invention (correlation analysis, adaptation of the CNC data), and preferably also to control the traversing devices 4 and 5.
  • the image processing and computing device 7 connected by means of appropriate means for data transmission 8 with the respective devices.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Automation & Control Theory (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Numerical Control (AREA)
  • Machine Tool Sensing Apparatuses (AREA)

Abstract

L'invention concerne un procédé et un dispositif permettant la correction de position automatique de pièces de premier usinage ou post-usinées mécaniquement, en particulier de pièces à surfaces complexes, par exemple bombées, procédé consistant à calculer, par analyse de corrélation entre une image de référence prise précédemment et une image de pièce reflétant la situation actuelle, le décalage de position d'une pièce mise en place, par rapport à la position indiquée dans l'image de référence, et à transmettre ce décalage, éventuellement sous forme d'une correction de position, à l'outil et/ou à un dispositif de fixation. L'invention est caractérisée en ce que l'analyse de corrélation comprend les étapes suivantes : transformation des deux images de l'espace x-y en l'espace de Fourier; détermination de l'intégrale de convolution; retransformation de l'intégrale de convolution dans l'espace x-y; détermination de la position x-y du maximum de l'intégrale de convolution. La position x-y du maximum correspond alors exactement au décalage de position recherché. L'invention permet d'obtenir, en raison de la possibilité d'automatisation et, de ce fait, de la suppression de processus manuels, un gain notable de fiabilité et une économie de temps significative.
PCT/DE2009/000532 2008-04-26 2009-04-18 Procédé et dispositif de correction de position automatique WO2009129789A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102008021050A DE102008021050A1 (de) 2008-04-26 2008-04-26 Verfahren und Vorrichtung zur automatisierten Lagekorrektur
DE102008021050.1 2008-04-26

Publications (1)

Publication Number Publication Date
WO2009129789A1 true WO2009129789A1 (fr) 2009-10-29

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE2009/000532 WO2009129789A1 (fr) 2008-04-26 2009-04-18 Procédé et dispositif de correction de position automatique

Country Status (2)

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DE (1) DE102008021050A1 (fr)
WO (1) WO2009129789A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102585059A (zh) * 2012-02-07 2012-07-18 沈阳华控科技发展有限公司 一种聚氯乙烯批量生产过程控制系统

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013002252A1 (de) * 2013-02-08 2014-08-14 Ulrich Gärtner Bearbeitungsvorrichtung und Bearbeitungsverfahren zur Bearbeitung eines Werkstücks
US10016892B2 (en) * 2015-07-23 2018-07-10 X Development Llc System and method for determining tool offsets

Citations (5)

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Publication number Priority date Publication date Assignee Title
DE4223483A1 (de) * 1992-07-14 1994-01-20 Thyssen Industrie Verfahren zur Bestimmung der Form- und Lageabweichungen von Fertigungsteilen
US6483076B1 (en) * 2000-05-02 2002-11-19 Lsp Technologies, Inc Method of positioning a workpiece for optimal processing
US20030004606A1 (en) * 1999-12-13 2003-01-02 Duffin Jason E. Micromachining aerofoil components
US20040083024A1 (en) * 2002-10-23 2004-04-29 Weiping Wang Systems and methods for automated sensing and machining for repairing airfoils of blades
WO2006024844A2 (fr) * 2004-09-01 2006-03-09 Renishaw Plc Procede de commande d'une machine outil

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US3832784A (en) * 1970-04-30 1974-09-03 Trw Inc Turbine vane prediction and classification gage and gaging method
US7135123B1 (en) * 2004-01-14 2006-11-14 Credence Systems Corporation Method and system for integrated circuit backside navigation
CN101194263B (zh) * 2005-06-13 2012-02-22 三路影像公司 利用显微镜成像装置再定位载片上样品中的目标的系统和方法

Patent Citations (5)

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Publication number Priority date Publication date Assignee Title
DE4223483A1 (de) * 1992-07-14 1994-01-20 Thyssen Industrie Verfahren zur Bestimmung der Form- und Lageabweichungen von Fertigungsteilen
US20030004606A1 (en) * 1999-12-13 2003-01-02 Duffin Jason E. Micromachining aerofoil components
US6483076B1 (en) * 2000-05-02 2002-11-19 Lsp Technologies, Inc Method of positioning a workpiece for optimal processing
US20040083024A1 (en) * 2002-10-23 2004-04-29 Weiping Wang Systems and methods for automated sensing and machining for repairing airfoils of blades
WO2006024844A2 (fr) * 2004-09-01 2006-03-09 Renishaw Plc Procede de commande d'une machine outil

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
RAFEAL C. GONZALEZ; RICHARD E. WOODS: "Digital Image Processing", 2002, TOM ROBBINS, New Jersey 07458, USA, ISBN: 0-201-18075-8, article "4.6.4 - 4.6.6", pages: 205 - 211, XP002541914 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102585059A (zh) * 2012-02-07 2012-07-18 沈阳华控科技发展有限公司 一种聚氯乙烯批量生产过程控制系统
CN102585059B (zh) * 2012-02-07 2014-03-19 沈阳华控科技发展有限公司 一种聚氯乙烯批量生产过程控制系统

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