DE102005014979A1 - Motor vehicle manufacturing device designing method, involves determining positional contacts of object e.g. tool, in device by evaluating model of object and sensor data, if object is led through device in specified manner - Google Patents

Abstract

The method involves evaluating a record of reference marks (203) for an object e.g. tool by a computer program. A computer internal representation of an object`s model is measured based on the evaluation result. Passage of the marks via the device is detected by a sensor. Positional contacts of the object in the device are determined by evaluating the model and sensor data, if the object is led via the device in the preset manner. Independent claims are also included for the following: (1) a device for designing a manufacturing device (2) a computer readable medium storing a program for executing a method for designing a manufacturing device.

Description

The The invention relates to a method and a device for planning of manufacturing equipment and a corresponding computer program and a corresponding computer-readable storage medium, which in particular can be used to plan or control the passage of a workpiece or tool through a manufacturing facility.

• – durch eine 3D-Simulation,
• – durch eine Störkantenanalyse mit realen Bauteilen,
• – durch eine Störkantenanalyse mit Referenzmodellen,
• – unter Einsatz von Augmented-Reality- (AR) Technologie.

A well-known process for the planning of manufacturing facilities is the so-called Störkantenanalyse. An edge analysis can be performed in different ways:

• - through a 3D simulation,
• - by a Störkantenanalyse with real components,
• - by interfering edge analysis with reference models,
• - using Augmented Reality (AR) technology.

For a Störkantenanalyse with the help of a 3D simulation need a large Part of the Fergungseinrichtung and passing through the manufacturing facility workpiece or tool as current 3D datasets are available. Workpieces lie mostly in digital form, as they are already computer-aided were, so the relevant records for the 3D simulation can be used. For the Manufacturing facility or the tools this is in usually not the case. It would then be necessary the manufacturing facility or the tool later capture and digitize. For this reason, a Störkantenanalyse very time-consuming and cost-intensive with the help of 3D simulation.

at the interference edge analysis with real components or reference models (styrofoam models or similar) needed you do not have 3D data of the production line. However, for the interfering edge analysis the production may be be interrupted because the occurrence of interference edges (collisions) the real Component or reference model are removed from the plant must and if necessary damage occur that need to be repaired. In addition, this procedure very inflexible, there for every component a new model has to be made.

At the Use of the AR technology is instead of the workpiece respectively Tool driven a reference mark through the manufacturing facility and recorded with a camera. The movement of the reference mark through the manufacturing facility can thus be observed on a monitor. In this representation on the monitor, the tool or workpiece virtual as a model, with the reference mark as a reference system serves. While in this way, the virtual workpiece or tool through led the manufacturing facility you can see critical situations on the screen, For example, areas in which the workpiece or tool would collide with parts of the manufacturing facility. adversely However, in this procedure is that the Störkantenanalyse here by the visual assessment a two-dimensional representation is performed. This can lead to misjudgments to lead or repeated passing of the workpiece or tool through the manufacturing facility, for example with changed Camera constellation required to clarify ambiguities.

The The object of the invention is thus to provide a method and a Device for planning production facilities and a corresponding Computer program and a corresponding computer-readable storage medium to provide, which avoid the aforementioned disadvantages and in particular enable a largely automated interference edge analysis.

These The object is achieved by the Features in the claims 1, 11, 12 and 13 solved. Advantageous embodiments The invention are contained in the subclaims.

A particular advantage of the method according to the invention is that a clutter edge analysis can be carried out fully automatically by planning production facilities using means for visual recording, at least one data processing device and at least one reference mark for an object to be guided through the production facilities, wherein the at least one reference mark is guided at least partially through the production devices and recorded by the means for visual recording, and the recording of the at least one reference mark is evaluated by at least one computer program installed on the at least one data processing device and, depending on the results of the evaluation, a computer-internal representation of a model of the Object calculated, the passage of at least one reference mark by the manufacturing facilities with at least one sensor r distance measurement is at least partially detected and by evaluation of computer-internal representations of the model and little at least a part of the sensor data positional relationships of the object in the manufacturing device are determined for the case that the object is guided in the predetermined by the at least one reference mark manner by the manufacturing device. Compared to conventional solutions, the planning method according to the invention has the advantage that a digital modeling of the production device is not undertaken or a reference model of the tool or workpiece does not have to be made. In addition, the current production process is not affected by the test method according to the invention.

In a preferred embodiment the method according to the invention is provided that such situation relationships are signaled in which a specifiable distance value between production facility and object is reached or fallen below. This constitutes one considerable advantage over the only visual assessment of the freedom or accessibility of the tool or workpiece when using conventional AR technology.

In another preferred embodiment the method according to the invention is provided that in addition Means are used for imaging data output and by Evaluation of the recording of the at least one reference mark data for one pictorial representation of the computer-generated model of the object determines the pictorial representation of the computer-generated model of the object and the recording of the at least one reference mark be superimposed upon output by the means for imaging data output. This will be the purely sensor-based Interference edge analysis by visual assessment of the tool or workpiece situation supported within the manufacturing facility. Here, the tool or workpiece situation placed in a wider context than it would be in a pure computerized solution possible because the complex conditions within the manufacturing facility only by the (as mentioned above) with a relatively large one Expenditure to be created models are computer-simulated can.

When It also proves advantageous if the at least one Reference mark and the computer-generated model of the object a reference coordinate system are linked together. This can be done the model of the object easily according to the position and orientation Align and visualize by the reference mark (and her Coordinate system). Computer internally are with it The model and the reference mark are virtually rigidly linked.

In a further preferred embodiment the method according to the invention is provided that as a sensor for Abstandmesüng a 3D scanner, preferably so-called time-of-flight (TOF) scanner, or a stereo camera be used. This preserves a surface profile a big one Part of the environment. This leaves to use particularly advantageous by an output on the Means for visual data output at least a portion of the pixels (Pixel) of the pictorial representation with a distance value of the pixel represented object is linked. This procedure can be used advantageously to control the image acquisition by the visual recording by at least part of the Sensors for distance measurement supplied data is controlled.

One Particularly advantageous application of the method according to the invention lies in vehicle construction. The objects are thus in particular to motor vehicles that are passed through the manufacturing facility. A preferred embodiment the method according to the invention Therefore, that provides a planning of manufacturing facilities carried out the vehicle production is and as an object a tool or workpiece, in particular a motor vehicle, is modeled. Since the vehicles usually so-called Skids are guided through the manufacturing facility, it turns out as advantageous, the at least one reference mark on a Skid or a workpiece carrier to install.

A Device for planning manufacturing equipment according to the invention comprises means for visual recording, at least one data processing device and at least one reference mark, the device being such is set up that a method according to claim 1 is executable.

One Computer program according to the invention makes it possible a data processing device, after it in the memory the data processing device has been loaded, a method for Planning of manufacturing facilities according to claim 1 perform.

For example can such computer programs (for a fee or free of charge, freely accessible or password protected) downloadable provided in a data or communication network become. The provided computer programs can then be harnessed by a method in which a computer program Claim 12 from an electronic data network, such as from the Internet, to a data processing device connected to the data network is downloaded.

Around to carry out a process for the planning of manufacturing facilities is advantageously used a computer-readable storage medium, on which a program is stored, that of a data processing device allows, after it has been loaded into the memory of the data processing device is a method for the planning of manufacturing facilities according to claim 1 perform.

The The invention thus provides in particular a flexible system for interference edge analysis in planning, especially reorganization or integration in the field of plant technology and materials handling technology to disposal. 3D data of the manufacturing facility is no longer required. A particular advantage of the invention is that the production during the Analysis process does not need to be interrupted, for example by the occurrence of interference edges (Collision). This reduces the cost of the overall process. The costs are further reduced by the system according to the invention only requires a one-time investment, as it is through reprogramming for different Models (objects) is applicable.

The Invention will be described below with reference to the figures of Drawings on an embodiment explained in more detail. It demonstrate:

1 the operation of a video-based augmented reality system and

2 an exemplary embodiment of a tool carrier system according to the invention.

in the The invention is intended below by way of example with reference to the interference edge analysis in the automotive production closer explained become. The invention is in an augmented reality (AR) system integrated. The following briefly introduces how it works of such an AR system.

In short, AR technology is based on the fact that data, for example, by standard recording systems such as cameras 101 are obtained from real objects, with data of virtual objects, for example, as 3D datasets of CAD models in databases 102 stored are linked. In the case of the interference edge analysis described here by way of example in a production facility for motor vehicle production, the production facility itself, the tool carrier (skid) and the reference mark installed on the tool carrier 103 the objects that provide the data for the real environment (compare 1 ). Manufacturing facility, tool carrier and reference mark 103 are in a simple embodiment by a camera 101 recorded. A tracking system 104 evaluates these records, especially the record of the reference mark 103 , and as a result provides information indicating the orientation and position of the reference mark 103 describe analytically. This can be, for example, the x, y, z position of the reference mark 103 be, together with angle indications which describe the viewing direction in which the reference mark 103 on a display device 105 a viewer appears. As a display device 105 Both Head Mounted Displays (HMD) and ordinary monitors are used. These data or information (video image, x, y, z position and viewing direction) become a scene generator 106 to hand over. The scene generator 106 also has access to a database 102 from CAD models 107 of vehicles or vehicle parts. From this database 102 takes the scene generator 106 Information about the 3D geometry of the CAD model 107 , which with the reference mark 103 to be linked. The link between the reference mark 103 and CAD model 107 takes place via a reference coordinate system. Because position and orientation of the reference mark 103 through the tracking system 104 have been determined and are thus known, the CAD model can also 107 of the vehicle from the scene generator 106 in the right place in the on the display device 105 inserted scene and on the display device 105 be reproduced. As a result, appears on the display device 105 (HMD, monitor or the like) from the camera 101 recorded real scene together with the displayed virtual object 108 so that with the help of such an AR system already at this stage it is possible to examine visually how the real vehicle would behave in the production facility. The from the camera 101 recorded scene and / or the scene generator 106 generated scene can for later evaluation or for archiving or documentation by recording devices 109 to be recorded.

This purely visual system is inventively extended by the use of additional sensors (see 2 ). These sensors can do both on the skid 201 (Workpiece carrier) or installed in the manufacturing facility. In particular, sensors are used for the measurement of the environment and the distance measurement, such as 3D laser scanners, stereo cameras or the like.

• – Aufnahmeeinrichtungen (zum Beispiel Videokameras 202, Fotokameras, IR-Kameras, Mikrofone oder dergleichen) an unterschiedlichen Positionen, fest oder beweglich (intern oder extern gesteuert);
• – Sensorik für Umfeld- und Abstandsvermessung (zum Beispiel 3D-Laserscanner, Stereo-Kameras oder dergleichen);
• – Markierungen, Referenzmarken 203 oder interne beziehungsweise externe Marker;
• – Aufzeichnungsgeräte 204 wie beispielsweise Videorekorder oder DAT-Rekorder;
• – Lampen zur Beleuchtung des Umfeldes und des Skids 201 (Licht, Infrarot oder dergleichen);
• – Steuereinheit 205 zur Synchronisation der Aufzeichnungsgeräte 204, der Bewegungssteuerung oder dergleichen;
• – Signalübertragung zu externen Stellen;
• – Signalaustausch mit Skid-externen Markern;
• – Energieversorgung 206;
• – Schutzeinrichtung gegen Umwelteinflüsse wie Temperatur, Feuchtigkeit, Staub, die in verschiedenen Bereichen wie beispielsweise einer Lackierstraße auftreten können.

In an exemplary embodiment, a workpiece carrier (for example Skid 201 ) equipped with the following components:

• - Recording equipment (for example video cameras 202 , Photo cameras, IR cameras, microphones or the like) at different position fixed or mobile (controlled internally or externally);
• - Sensors for environment and distance measurement (for example, 3D laser scanners, stereo cameras or the like);
• - Marks, reference marks 203 or internal or external markers;
• - Recording devices 204 such as VCR or DAT recorder;
• - Lamps for lighting the environment and the skid 201 (Light, infrared or the like);
• - Control unit 205 for synchronization of the recording devices 204 , the motion control or the like;
• - Signal transmission to external points;
• - Signal exchange with skid-external markers;
• - Power supply 206 ;
• - Protection against environmental influences such as temperature, humidity, dust, which can occur in various areas such as a paint line.

When using appropriate 3D scanners, such as a so-called time-of-flight (TOF) scanner, a highly accurate distance measurement of the environment of the skid 201 performed and this environment simultaneously recorded visually. As a result of this detection, there is a data record which simultaneously assigns a distance value to each pixel. When inserting the CAD model in the scene, which as described above from the scene generator 106 is carried out, the distance data supplied by the TOF scanner can be compared with the 3D geometry of the inserted CAD model and interference edges can be determined automatically. In the overlay result 207 Thus, it is possible to identify areas that meet certain criteria - in particular so that edges, hard to reach or other critical areas.

It may prove advantageous that the skid 201 how a standard tool carrier of the corresponding production device is executed. Alternatively, the skid 201 but also be designed as an essay for such a standard tool carrier.

The Restricted invention in their embodiment not to the preferred embodiment given above. Rather, a number of variants are conceivable that of the device according to the invention and the method of the invention also in principle different types Use.

101

camera

102

Database

103

reference mark

104

Tracking system

105

display

106

scene generator

107

CAD model.

108

virtual object

109

recorder

201

Skid

202

video camera

203

reference mark

204

recorder

205

control unit

206

power supply

207

Superposition result

Claims (14)

Method for planning production facilities using means for visual recording, at least one data processing device and at least one reference mark ( 103 . 203 ) for an object to be guided through the production facilities, wherein the at least one reference mark ( 103 . 203 ) is at least partially guided through the production facilities and recorded by the means for visual recording, characterized in that - the recording of the at least one reference mark ( 103 . 203 ) is evaluated by at least one computer program installed on the at least one data processing device and, depending on the results of the evaluation, calculates a computer-internal representation of a model of the object, - passing the at least one reference mark ( 103 . 203 ) is at least partially detected by the production facilities with at least one sensor for distance measurement and - determined by evaluation of computer-internal representations of the model and at least part of the sensor data positional relationships of the object in the manufacturing facility for the case in which the object in the at least one Reference mark ( 103 . 203 ) is guided through the manufacturing device in a predetermined manner. Method according to claim 1, characterized in that that such situation relationships are signaled, in which a specifiable Distance value between production facility and object reached or falls below. A method according to claim 1 or 2, characterized in that additionally comprises means for imaging data output be used and - by evaluating the recording of at least one reference mark ( 103 . 203 ) Data for a pictorial representation of the computer-generated model of the object is determined, - the pictorial representation of the computer-generated model of the object and the recording of the at least one reference mark ( 103 . 203 ) are superimposed upon output by the imaging data output means. Method according to one of the preceding claims, characterized in that the at least one reference mark ( 103 . 203 ) and the computer-generated model of the object are linked together by a reference coordinate system. Method according to one of the preceding claims, characterized in that the sensor used for distance measurement is a 3D scanner or a stereo camera can be used. Method according to one of the preceding claims, characterized characterized in that at an output via the means for visual Data output at least a part of the pixels of the pictorial representation with a distance value of the object represented by the pixel connected becomes. Method according to one of the preceding claims, characterized characterized in that the visual recording by at least a part of the at least one sensor for distance measurement supplied data is controlled. Method according to one of the preceding claims, characterized characterized in that a planning of production facilities of the Vehicle production carried out is and as an object a tool or workpiece, in particular a motor vehicle, is modeled. Method according to one of the preceding claims, characterized in that the at least one reference mark ( 103 . 203 ) is installed on a workpiece carrier. A method according to claim 9, characterized in that the workpiece carrier with - at least one internally or externally controlled, fixed or movably installed recording device, - sensors for environment or distance measurement, - at least one means for illuminating the environment, - at least one control device, - at least one Means for signal transmission to external devices, - at least one means for signal exchange with reference marks ( 103 . 203 ) outside the workpiece carrier - at least one power supply and / or - at least one protective device is equipped against environmental influences. Device for planning production facilities comprising means for visual recording, at least one data processing device and at least one reference mark ( 103 . 203 ), wherein the device is arranged such that a method according to claim 1 is executable. Computer program, which is a data processing device allows after being loaded into the memory of the data processing device is a method for the planning of manufacturing facilities according to claim 1 perform. Computer-readable storage medium on which a program is stored, which allows a data processing device, after being loaded into the memory of the data processing device has been a method of planning manufacturing facilities according to claim 1 perform. Method in which a computer program according to claim 12 from an electronic data network, such as from the Internet, to a connected to the data network data processing device is downloaded.