WO2009033708A3 - Method for aligning an object - Google Patents

Method for aligning an object Download PDF

Info

Publication number
WO2009033708A3
WO2009033708A3 PCT/EP2008/007565 EP2008007565W WO2009033708A3 WO 2009033708 A3 WO2009033708 A3 WO 2009033708A3 EP 2008007565 W EP2008007565 W EP 2008007565W WO 2009033708 A3 WO2009033708 A3 WO 2009033708A3
Authority
WO
WIPO (PCT)
Prior art keywords
rotation
marker
camera
target
image
Prior art date
Application number
PCT/EP2008/007565
Other languages
German (de)
French (fr)
Other versions
WO2009033708A2 (en
Inventor
Ulrich Ehrenfried
Ruediger Opper
Falk Thuermer
Original Assignee
Pepperl & Fuchs
Ulrich Ehrenfried
Ruediger Opper
Falk Thuermer
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 Pepperl & Fuchs, Ulrich Ehrenfried, Ruediger Opper, Falk Thuermer filed Critical Pepperl & Fuchs
Publication of WO2009033708A2 publication Critical patent/WO2009033708A2/en
Publication of WO2009033708A3 publication Critical patent/WO2009033708A3/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40538—Barcode reader to detect position
    • 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
    • G05B2219/45138—Laser welding

Abstract

The invention relates a method for aligning an object by rotating the same about at least one rotation axis, wherein a marker is detected by way of a camera and is imaged as a marker image, and either the camera takes part in the rotation and the marker is fixed in a direction, or vice versa, such that a relative rotation occurs between the marker and the camera upon the rotation of the object. The actual orientation, which is present between the camera and the marker before the rotation, is derived by means of image processing either from the orientation having the marker image in the field of view of the camera prior to the rotation, or from the linear extension the marker image has in the field of view of the camera prior to the rotation, and the result is used in order to determine a target rotation angle, about which the object is to be rotated about the rotation axis for the alignment thereof in a certain target direction. Subsequently, the object is rotated by the target rotation angle about the rotation axis, and thus aligned in the target direction.
PCT/EP2008/007565 2007-09-12 2008-09-12 Method for aligning an object WO2009033708A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007043497.0 2007-09-12
DE200710043497 DE102007043497A1 (en) 2007-09-12 2007-09-12 Method for aligning an object

Publications (2)

Publication Number Publication Date
WO2009033708A2 WO2009033708A2 (en) 2009-03-19
WO2009033708A3 true WO2009033708A3 (en) 2009-05-22

Family

ID=40348492

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2008/007565 WO2009033708A2 (en) 2007-09-12 2008-09-12 Method for aligning an object

Country Status (2)

Country Link
DE (1) DE102007043497A1 (en)
WO (1) WO2009033708A2 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3518058B1 (en) 2018-01-26 2021-03-03 Klingelnberg GmbH Method for automated positioning of a toothed workpiece and production system for carrying out the method

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4613942A (en) * 1982-02-19 1986-09-23 Chen Richard M Orientation and control system for robots
US6256560B1 (en) * 1999-02-25 2001-07-03 Samsung Electronics Co., Ltd. Method for correcting position of automated-guided vehicle and apparatus therefor
US20010056313A1 (en) * 2000-05-08 2001-12-27 Osborne William Joseph Object locating and retrieving system utilizing labels
US20070069026A1 (en) * 2005-09-27 2007-03-29 Honda Motor Co., Ltd. Two-dimensional code detector and program thereof, and robot control information generator and robot

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4613942A (en) * 1982-02-19 1986-09-23 Chen Richard M Orientation and control system for robots
US6256560B1 (en) * 1999-02-25 2001-07-03 Samsung Electronics Co., Ltd. Method for correcting position of automated-guided vehicle and apparatus therefor
US20010056313A1 (en) * 2000-05-08 2001-12-27 Osborne William Joseph Object locating and retrieving system utilizing labels
US20070069026A1 (en) * 2005-09-27 2007-03-29 Honda Motor Co., Ltd. Two-dimensional code detector and program thereof, and robot control information generator and robot

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
DATABASE INSPEC [online] THE INSTITUTION OF ELECTRICAL ENGINEERS, STEVENAGE, GB; December 1987 (1987-12-01), KABUKA M R ET AL: "Position verification of a mobile robot using standard pattern", Database accession no. 3122720 *
IEEE JOURNAL OF ROBOTICS AND AUTOMATION USA, vol. RA-3, no. 6, 30 December 1987 (1987-12-30), pages 505 - 516, XP002517227, ISSN: 0882-4967 *

Also Published As

Publication number Publication date
WO2009033708A2 (en) 2009-03-19
DE102007043497A1 (en) 2009-03-19

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