Automating robot operations

Patent metadata

Field	Value
Publication number	US-10618178-B2
Application number	US-201615271975-A
Country	US
Kind code	B2
Filing date	Sep 21, 2016
Priority date	Sep 22, 2015
Publication date	Apr 14, 2020
Grant date	Apr 14, 2020

Abstract

A method to control operation of a robot includes generating at least one virtual image by an optical 3D measurement system and with respect to a 3D measurement coordinate system, the at least one virtual image capturing a surface region of a component. The method further includes converting a plurality of point coordinates of the virtual image into point coordinates with respect to a robot coordinate system by a transformation instruction and controlling a tool element of the robot using the point coordinates with respect to the robot coordinate system so as to implement the operation.

First claim

What is claimed is:

1. A method for controlling an operation of a robot, comprising:
generating at least one virtual image by an optical 3D measurement system and with respect to a coordinate system of the optical 3D measurement system, referred to as 3D measurement coordinate system, wherein the at least one virtual image captures a surface region of a component;
converting a plurality of point coordinates of the at least one virtual image into point coordinates with respect to a robot coordinate system by a transformation instruction;
determining implementation parameters for the operation using details gathered by the at least one virtual image and the plurality of point coordinates with respect to the 3D measurement coordinate system and with respect to the robot coordinate system; and
controlling a tool element of the robot using the plurality of point coordinates with respect to the robot coordinate system so as to implement the operation;
wherein the plurality of point coordinates of the at least one virtual image defines at least one portion of a trajectory along which the operation is provided by the tool element; and
wherein an implementation of the operation is monitored or regulated by generating at least one additional virtual image using the optical 3D measurement system and substantially simultaneously transmitting the at least one additional virtual image to the robot, whereby the robot subsequently controls or regulates its operations by taking into account a result captured by the at least one additional virtual image.

2. The method of claim 1 wherein the implementation parameters comprise at least one or more of:
setting of an operation speed or rotational speed of a rotating or non-rotating tool element;
a dwell time of the rotating or non-rotating tool element at a relevant position;
an ejection amount of material required locally at the relevant position; and
a locally appropriate spray pressure of a nozzle of the tool element.

3. The method of claim 1 , further comprising:
determining position coordinates of a plurality of points in space with respect to the 3D measurement coordinate system; and
determining the transformation instruction by which the position coordinates with respect to the 3D measurement coordinate system are mapped onto position coordinates of the points in space with respect to the robot coordinate system.

4. The method of claim 3 , wherein the at least one virtual image is a virtual image for operation implementation, and wherein determining the position coordinates with respect to the 3D measurement coordinates system comprises:
establishing the position coordinates with respect to the robot coordinate system for at least one of the points in space;
positioning a reference point of a movable robot element of the robot at the at least one point in space; and
generating a virtual image for calibration using the optical 3D measurement system, wherein the virtual image for calibration captures at least one part of the component and captures the reference point at the at least one point in space in coordinates with respect to the 3D measurement coordinate system.

5. The method of claim 4 , further comprising:
calibrating the reference point located on the movable robot element to the robot coordinate system.

6. The method of claim 1 , wherein the at least one virtual image captures the tool element in a given tool element positioning and together with a plurality of orientation points arranged on the tool element.

7. The method of claim 6 , further comprising:
repositioning the component and/or placing a different component in a detection region of the optical 3D measurement system; and
generating a further virtual image with respect to the 3D measurement coordinate system.

8. The method of claim 7 , wherein the further virtual image captures a surface region of the repositioned or other component and captures the plurality of orientation points on the tool element located in the given tool element positioning with respect to the 3D measurement coordinate system.

9. The method of claim 7 , further comprising:
converting a plurality of point coordinates of the further virtual image into point coordinates with respect to the robot coordinate system by the transformation instruction; and
controlling the robot using the point coordinates with respect to the robot coordinate system so as to implement a further operation.

10. The method of claim 1 , wherein the at least one virtual image captures the component in a given component positioning and captures the tool element having a plurality of orientation points arranged thereon.

11. The method of claim 10 , further comprising:
repositioning the robot; and
generating a further virtual image with respect to the 3D measurement coordinate system.

12. The method of claim 11 , wherein the further virtual image captures the surface region and/or a further surface region of the component located in the given component positioning and the plurality of orientation points arranged on the tool element of the repositioned robot.

13. The method according to claim 10 , further comprising:
converting a plurality of point coordinates of the further virtual image into point coordinates with respect to the robot coordinate system by the transformation instruction; and
controlling the repositioned robot using the point coordinates with respect to the robot coordinate system so as to implement a further operation.

14. A non-transitory computer-readable storage media comprising instructions which, when executed by a computer which is integrated into an installation comprising a robot and an optical 3D measurement system connected for communication therewith or is connected to such an installation, cause or make it possible for a method to be carried out, the method comprising:
generating at least one virtual image by an optical 3D measurement system and with respect to a coordinate system of the optical 3D measurement system, referred to as 3D measurement coordinate system, wherein the at least one virtual image captures a surface region of a component;
converting a plurality of point coordinates of the at least one virtual image into point coordinates with respect to a robot coordinate system by a transformation instruction;
determining implementation parameters for the operation using details gathered by the at least one virtual image and the plurality of point coordinates with respect to the 3D measurement coordinate system and with respect to the robot coordinate system; and
controlling a tool element of the robot using the point coordinates with respect to the robot coordinate system so as to implement the operation;
wherein the plurality of point coordinates of the at least one virtual image define at least one portion of a trajectory along which the operation is provided by the tool element; and
wherein an implementation of the operation is monitored or regulated by generating at least one additional virtual image using the optical 3D measurement system and substantially simultaneously transmitting the at least one additional virtual image to the robot, whereby the robot subsequently controls or regulates its operations by taking into account a result captured by the at least one additional virtual image.

15. An installation for automatically implementing operations, comprising:
an optical 3D measurement system; and
a robot comprising at least one tool element which is controllable by a robot control system, the robot control system being based on a robot coordinate system,
the installation being configu

Assignees

• Airbus Defence & Space Gmbh

Inventors

• Meyer Meinhard
• Herrles Christian
• Fuhrmann Jens

Classifications

• G05B2219/31305

  Robot arm identifies object during movement · CPC title

• G05B2219/39039

  Two cameras detect same reference on workpiece to define its position in space · CPC title

• B25J9/1697 Primary

  Vision controlled systems · CPC title

• G05B19/406

  characterised by monitoring or safety (G05B19/19 takes precedence) · CPC title

• G05B19/402

  characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position (G05B19/19 takes precedence) · CPC title