METHOD AND SYSTEM FOR THE HIGH-PRECISION POSITIONING OF AT LEAST ONE OBJECT IN A FINAL LOCATION IN SPACE
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Abstract
The invention relates to a method and a system for the high-precision positioning of at least one object in a final location in space. An object (12) is gripped and held by the industrial robot (11) within a gripping tolerance. A compensating variable, which corrects the gripping tolerance, is determined for the industrial robot (11). The object (12) is adjusted with high precision into a final location by the following steps, which repeat until reaching the final location at a predetermined tolerance: recording of image recordings by recording units (1a, 1b); determining the current location of the object (12) in the spatial coordinate system from the positions (Pa, Pb) of the recording units (1a, 1b), the angular orientations of cameras (2a, 2b) of the recording units (1a, 1b) which are detected by angle measuring units (4a, 4b), the image recordings, and the knowledge of features (13) on the object (12); calculating the location difference between the current location of the object (12) and the final location; calculating a new target position of the industrial robot (11) in consideration of the compensating variable from the current position of the industrial robot (11) and a variable which is linked to the location difference; adjusting the industrial robot (11) into the new target position.
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Citations
80 Claims
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1-40. -40. (canceled)
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41. A method for the high-precision positioning of at least one object in a final location in space by means of an industrial robot, with a first industrial robot which can be adjusted into predefinable positions and a first optical recording means which is calibrated in a three-dimensional space coordinate system and positioned in a known first position having a known orientation, with an optically calibrated first camera for recording images within a determined first field of vision, a first drive unit for orienting the first camera causing an adjustment of the first field of vision and a first angle measuring unit, which is calibrated in the space coordinate system, for the high-precision detection of the angular orientation of the first camera, so that the first field of vision can be determined in the space coordinate system, at least one second optical recording means which is calibrated in the three-dimensional space coordinate system and positioned in a known second position having a known orientation, with an optically calibrated second camera for recording images within a determined second field of vision, a second drive unit for orienting the second camera causing an adjustment of the second field of vision and a second angle measuring unit, which is calibrated in the space coordinate system, for the high-precision detection of the angular orientation of the second camera, so that the second field of vision can be determined in the space coordinate system the at least two positions being set apart in such a way as to allow a three-dimensional image recording of the at least one object by means of the at least two recording means through at least partly overlapping fields of vision, the method comprising:
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the first industrial robot gripping and holding a first object within a gripping tolerance, wherein the first object has a known optically detectable first feature; determining a first compensating variable of a type which corrects the gripping tolerance, for the first industrial robot, so that the first object is adjustable in a compensated manner in the space coordinate system by predefining a position of the first industrial robot, the first compensating variable being determined by the steps of orienting the at least two cameras, in each case by means of the drive unit with at least partly overlapping fields of vision, onto at least a part of the first features of the first object which is held in a first compensating position of the first industrial robot; recording first image recordings; determining the location of the first object in the space coordinate system in the first compensating position of the first industrial robot from the positions of the recording means, the angular orientations of the cameras, the angular orientations detected by the angle measuring units, the first image recordings, and the knowledge of the first features on the first object; and determining the first compensating variable by adducing the first compensating position of the first industrial robot and at least the determined location of the first object in the first compensating position of the first industrial robot; and adjusting the first object with high precision into a first final location by the steps, which are repeated until the first final location is reached at a predefined tolerance, of; recording further first image recordings; determining the current location of the first object in the space coordinate system from the positions of the recording means, the angular orientations of the cameras, the angular orientations detected by the angle measuring units, the further first image recordings, and the knowledge of the first features on the first object; calculating the location difference between the current location of the first object and the first final location; calculating a new setpoint position of the first industrial robot in consideration of the first compensating variable from the current position of the first industrial robot and a variable linked to the location difference; and adjusting the first industrial robot into the new setpoint position. - View Dependent Claims (42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 75, 76, 77)
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74. A system for the high-precision positioning of at least one object in a final location in space by means of an industrial robot, comprising:
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a first industrial robot which can be adjusted into predefinable positions; a first optical recording means which is calibrated in a three-dimensional space coordinate system and positioned in a known first position having a known orientation, with an optically calibrated first camera for recording images within a determined first field of vision, a first drive unit for orienting the first camera causing an adjustment of the first field of vision and a first angle measuring unit, which is calibrated in the space coordinate system, for the high-precision detection of the angular orientation of the first camera, so that the first field of vision can be determined in the space coordinate system; at least one second optical recording means which is calibrated in the three-dimensional space coordinate system and positioned in a known second position having a known orientation, with an optically calibrated second camera for recording images within a determined second field of vision, a second drive unit for orienting the second camera causing an adjustment of the second field of vision and a second angle measuring unit, which is calibrated in the space coordinate system, for the high-precision detection of the angular orientation of the second camera, so that the second field of vision can be determined in the space coordinate system, the at least two positions being set apart in such a way as to allow a three-dimensional image recording of the at least one object by means of the at least two recording means through at least partly overlapping fields of vision; and a control device having a data processing means embodied for image processing, wherein the control device is data-connected to the first industrial robot and the at least two optical recording means in such a way that the image recordings recorded by the cameras are supplied to the control device, the angular orientations of the cameras that are detected by the angle measuring units are supplied to the control device, the drive units are activated by means of the control device for orienting the cameras and the first industrial robot is adjusted into positions which are predefined by the control device, the control device and the data processing means thereof being embodied in such a way that a first object, which has optically detectable first features known to the control device, is gripped and is held by the first industrial robot within a gripping tolerance, a first compensating variable of this type, which corrects the gripping tolerance, is determined for the first industrial robot by the control device, so that the first object is adjustable in a compensated manner in the space coordinate system by predefining a position of the first industrial robot, the first compensating variable being determined by means of the control device by the steps of; orienting the at least two cameras, in each case by means of the drive unit with at least partly overlapping fields of vision, onto at least a part of the first features of the first object which is held in a first compensating position of the first industrial robot; recording first image recordings; determining the location of the first object in the space coordinate system in the first compensating position of the first industrial robot from the positions of the recording means, the angular orientations of the cameras, the angular orientations being detected by the angle measuring units, the first image recordings and the knowledge of the first features on the first object, and determining the first compensating variable by adducing the first compensating position of the first industrial robot and at least the determined location of the first object in the first compensating position of the first industrial robot and wherein the first object is adjusted with high precision by the control device into a first final location by the steps, which are repeated until the first final location is reached at a predefined tolerance, of; recording further first image recordings; determining the current location of the first object in the space coordinate system from the positions of the recording means, the angular orientations of the cameras, the angular orientations being detected by the angle measuring units, the further first image recordings and the knowledge of the first features on the first object; calculating the location difference between the current location of the first object and the first final location; calculating a new setpoint position of the first industrial robot in consideration of the first compensating variable from the current position of the first industrial robot and a variable linked to the location difference; and adjusting the first industrial robot into the new setpoint position. - View Dependent Claims (78, 79, 80)
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Specification