WO2019120557A1 - Dispositif optique d'application ou de production et de surveillance automatiques d'une structure déposée sur un substrat avec détermination de dimensions géométriques et procédé correspondant - Google Patents

Dispositif optique d'application ou de production et de surveillance automatiques d'une structure déposée sur un substrat avec détermination de dimensions géométriques et procédé correspondant Download PDF

Info

Publication number
WO2019120557A1
WO2019120557A1 PCT/EP2017/084277 EP2017084277W WO2019120557A1 WO 2019120557 A1 WO2019120557 A1 WO 2019120557A1 EP 2017084277 W EP2017084277 W EP 2017084277W WO 2019120557 A1 WO2019120557 A1 WO 2019120557A1
Authority
WO
WIPO (PCT)
Prior art keywords
substrate
light
cameras
camera
profile
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/EP2017/084277
Other languages
German (de)
English (en)
Inventor
Bernhard Gruber
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
QUISS Qualitaets InspektionsSysteme und Service GmbH
Original Assignee
QUISS Qualitaets InspektionsSysteme und Service 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 QUISS Qualitaets InspektionsSysteme und Service GmbH filed Critical QUISS Qualitaets InspektionsSysteme und Service GmbH
Priority to PCT/EP2017/084277 priority Critical patent/WO2019120557A1/fr
Publication of WO2019120557A1 publication Critical patent/WO2019120557A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
    • B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
    • B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
    • B05C11/1005—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to condition of liquid or other fluent material already applied to the surface, e.g. coating thickness, weight or pattern
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
    • B05B12/122—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to presence or shape of target
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
    • B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
    • B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
    • B05C5/0212—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles
    • B05C5/0216—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles by relative movement of article and outlet according to a predetermined path

Definitions

  • the present invention relates to a device for automatically applying or generating and monitoring a structure applied to a substrate with determination of geometric dimensions of the applied structure according to the subjects of the preambles of claims 1 and a corresponding method according to the preamble of claim 12 therefor.
  • a projected straight laser line has been used so far, which is recorded and checked by a camera.
  • the laser line is substantially perpendicular to the course of the applied adhesive trace and thereby the laser line is changed geometrically by the profile of the applied adhesive.
  • this geometric change of the projected laser line is on the one hand due to the low scattering only partially or qualitatively difficult to detect.
  • the laser line is only a few tenths of a millimeter wide, so that even with high timing of the recording frequency of the camera according to the cycle time a certain cross section of the applied adhesive trace is inspected and until the next review of the applied adhesive trace according to the projected laser line a corresponding offset arises.
  • the senor or the camera which is arranged in the forward direction behind the line optics for the laser line, in the known straight Laser line projection are moved accordingly to always be able to make the monitoring of the laser line. Due to the tracking of the sensor, a cable clutter occurs in the known systems when the line optics for the laser line and the sensor mounted behind it have to be moved or rotated relative to the robot arm with a correspondingly curved course of the adhesive track.
  • the solution according to the invention relates to a device for automatically applying or generating and monitoring a structure to be applied to a substrate, preferably a bead of adhesive, adhesive trace, adhesive seam, sealing seam, a foam profile, continuous profile, geometric profile, in particular a cylinder-like profile or a triangular profile, or a weld.
  • the device preferably comprises at least one application device for applying or producing the applied structure, an illumination device which is attached to the application device or a support structure of the application device, at least two cameras for optically detecting the applied structure which is offset from the illumination device at the application device or the support structure of the applicator are disposed opposite to each other, and having an image evaluation unit for detecting the deposited structure which is coupled to the cameras, wherein the illumination device emits one or more light paths, each projecting onto the substrate and the applied structure immediately after the orders or, and wherein the one or more light paths projected onto the substrate and the applied structure are applied immediately after application n Structure in online operation is detected by the cameras and the image evaluation unit in such a way that the image evaluation unit uses the change in the projected light path or light paths by means of calculation methods to determine at least one of the following features of the applied structure: the width of the applied structure and / or the height of the applied structure Structure and / or the volume of the applied structure, in particular in each case with respect to the applied length of the application structure including the height
  • the illumination device has at least two pairs of lamps, wherein each pair of lamps comprises a first and a second illuminant, and wherein each illuminant projects light onto the substrate such that the first illuminant emits a first laser beam and the second illuminant emits a second laser beam, which opposes the first laser beam is offset in time by 0.01 to 0.4 milliseconds.
  • Lighting device preferably laser
  • This can preferably be designed as an LED row or laser pair.
  • the LED row or the laser pair forms a common line on the test object. Due to the vertical, better oblique irradiation of the light on the sides of the applied structure, in particular adhesive trace comes from this along the entire geometry of the cross section of the applied structure, in particular adhesive trace, light back and there is no shading. This results in a good, high-contrast image of the camera, which is from the
  • Image evaluation unit can be processed well.
  • each illuminant pair has a first and a second illuminant, the first laser beam being emitted offset in time by 0.01 to 0.4 milliseconds relative to the second laser beam, since the temporal offset results in no mutual interference of the laser beam of the laser beam the first light source and the second light source during image acquisition by the correspondingly assigned camera comes, with an exact mechanical alignment of the lamps eliminated each other.
  • This is advantageous in that the common laser line resulting from the first and second light sources is not negatively affected by each other, with only minor deviations due to the time offset, which can be compensated with the aid of a corresponding image evaluation software.
  • the cameras are aligned substantially orthogonally on the substrate and arranged circumferentially around the applicator, and wherein the cameras are arranged closer to the applicator, as the associated to the corresponding camera (131) pairs of light sources.
  • an associated deflecting mirror is provided on the first luminous means and an associated deflecting mirror is provided on the second luminous means, wherein the deflecting mirrors are substantially aligned such that a common laser line is formed on the first laser beam and the second laser beam Substrate forms.
  • a multiplicity of LED diodes are arranged concentrically around the application device, which form a surface illumination device in which the cameras are integrated, and wherein the pairs of illuminants directly adjoin the surface illumination device.
  • each illuminant unit is assigned at least one camera, the camera being oriented at a triangulation angle of less than 30 °, in particular less than 25 °, the triangulation angle being set as a function of a reflection characteristic of the structure to be applied.
  • a device for automatically applying or generating and monitoring a structure to be applied to a substrate preferably a bead of adhesive, adhesive trace, adhesive seam, sealing seam, a foam profile, continuous profile, geometric profile, in particular a cylinder-like profile or a triangular profile, or a weld solved.
  • this device preferably has at least: an application device for applying or producing the applied structure, an illumination device which is attached to the application device or a support structure of the application device, at least two cameras for optically detecting the applied structure, which offset from the illumination device at the Applicator or the support structure of the applicator are mounted opposite each other and having an image evaluation unit for detecting the applied structure, which is coupled to the cameras, the illumination device emits one or more light paths, which projects on the substrate and the applied structure immediately after the orders or, and wherein the one or more light paths projected onto the substrate and the deposited structure immediately after the application of the applied S
  • the image evaluation unit uses the change in the projected light path or light paths by means of calculation methods in order to determine at least one of the following features of the applied structure: the width of the applied structure and / or or the height of the applied structure and / or the volume of the applied structure, in particular with respect to the applied length of the application structure including the height, the width and the profile or the shape of the applied structure and / or the position of the applied
  • the illumination device comprises at least two illuminant units, each illuminant unit projecting light in a plane onto the substrate, wherein each illuminant unit is assigned at least one camera, the camera being oriented at a triangulation angle of less than 30 °, the triangulation angle being dependent on a reflection characteristic of the structure to be applied is set.
  • a triangulation angle which is smaller than the usual triangulation angle of 30 °, preferably smaller than 28 °, preferably smaller than 25 °, is set based on the reflection characteristic of the adhesive trace. This is advantageous because more light is reflected from the adhesive trace towards the camera, as opposed to a larger triangulation angle.
  • the triangulation angle is preferably greater than 8 °, preferably greater than 10 ° and particularly preferably greater than 15 °, since otherwise the measurement accuracy becomes too low.
  • the adaptation to the reflection characteristic defines an adaptation to defined parameters of the glue trace, in particular the degree of reflection or reflection of light.
  • the degree of reflection corresponds to that of a fresh glue trace, fresh here being less than 20 seconds, in particular less than 10 seconds or less than 5 seconds or less than 2 seconds or less than 1 second, after application of the glue trace is defined on a surface. Additionally or alternatively, the degree of reflection or reflection may correspond to a moist adhesive trace, wherein the adhesive trace is still at least 50% and preferably at least 70% or at least 80% or at least 90% or even more than the moment of application to a surface has at least 95% moisture.
  • the adaptation to the reflection characteristic can additionally or alternatively represent an adaptation of the illumination wavelength.
  • the illumination wavelength is preferably chosen such that high reflection coefficients exist for all customary adhesive colors, in particular a reflection coefficient of at least 10%, and preferably of at least 20% or of at least 25%.
  • plane portions in which the light of respectively adjacent illuminant units extends, are intersected, wherein an actuation device is provided for staggered actuation of the adjacent illuminant units in order to effect a time-offset illumination of the substrate and / or the structure to be applied by means of the illuminant units.
  • the lamp units are designed as at least two pairs of lamps, wherein the lamps of the pair of lamps, in particular of the respective lamp projecting light in the same plane on the substrate.
  • the aforementioned object is achieved by a device for automatically applying or generating and monitoring a structure to be applied to a substrate, preferably a bead of adhesive, glue trace, glued seam, sealing seam, foam profile, continuous profile, geometric profile, in particular a cylinder-like profile or Triangular profile, or a weld, solved.
  • the further device preferably comprises at least one application device for applying or producing the applied structure, an illumination device which is attached to the application device or a support structure of the application device, at least two cameras for optically detecting the applied structure, which is offset from the illumination device at the application device or the support structure of the applicator are disposed opposite to each other, and having an image evaluation unit for detecting the deposited structure which is coupled to the cameras, wherein the illumination device emits one or more light paths, each projecting onto the substrate and the applied structure immediately after the orders or, and wherein the one or more light paths projected onto the substrate and the applied structure immediately after the application of the applied structure is detected in online operation of the cameras and the image evaluation unit such or are that the image evaluation unit the Modification of the projected light path or light paths used by calculation methods to determine at least one of the following features of the applied structure: the width of the applied structure and / or the height of the applied structure and / or the volume of the applied structure, in particular each with respect to the applied length the order structure including the height, the width and the profile or the
  • the illumination device comprises at least two illuminant units, each illuminant unit projecting light onto the substrate in one plane, with plane portions in which the light of respectively adjacent illuminant unit extends intersecting, wherein an actuation device for timed driving of the adjacent illuminant unit is provided time-offset illumination of the substrate and / or the applied structure by means of the lamp unit to effect.
  • the device has a lighting device coupled to the cameras (functional or electrical; physical / mechanical coupling not required).
  • the illumination device can be operated such that only the part of the illumination device that is relevant for the current image acquisition is active.
  • it is always possible to operate, in particular pulsed, exactly those which are actually required for detection. Since not all illuminant units and camera device are always actuated in succession, the respective illuminant unit with assigned camera unit can be actuated significantly faster in succession. This pulsation results in a more error-free image acquisition, since adjacent portions of the illumination device do not influence the image acquisition of the camera.
  • Each illuminant unit is associated with at least one camera according to another preferred embodiment of the present invention, wherein the camera is oriented at a triangulation angle of less than 30 ° with respect to the direction of the light emitted by the respective illuminant, wherein the
  • Triangulation angle is set as a function of a reflection characteristic of the structure to be applied and / or the light-emitting unit are formed as at least two pairs of lamps, wherein the light-emitting means of Lamp pair, in particular of the respective light source projecting light in the same plane on the substrate.
  • At least three, in particular six or more than six pairs of lamps are provided according to a further preferred embodiment of the present invention and the planes generated by the pairs of lamps form in their entirety a circumferential shape, in particular a polygonal shape.
  • This embodiment is advantageous since, even with any course of the applied structure, rapid detection of the shape of the applied structure can be effected with a high detection quality.
  • the particular light path projected onto the substrate forms a rectilinear shape on the substrate according to another preferred embodiment of the present invention.
  • the entirety of the projected light paths describes a polygonal shape, in particular with at least or exactly 3
  • Corners or with at least or exactly 10 corners is advantageous because the shape described approaches the shape of a circle with the increase of the corners, despite even portions. It is thus possible to use the illuminants, in particular lasers or LEDs, which are very well suited for detection but project a straight line.
  • each pair of lamps each have, in accordance with a further preferred embodiment of the present invention, two lasers aligned with respect to each other.
  • each laser is configured to emit light having a wavelength of less than 630 nm, in particular less than 550 nm.
  • the lasers of a pair of lamps are according to a further preferred embodiment of the present invention at an angle of less than 90 °, in particular of less than 45 ° inclined to each other, wherein the laser amount in terms of the same angle relative to the substrate and / or an orthogonal to the surface of the substrate extending direction are aligned.
  • the image evaluation device is designed for processing movement data of a movement device, the movement data comprising at least localization data of the location where the structure is applied, wherein the contour of the applied structure is detected by means of a plurality of cameras, each of a camera generated image with data at the time of acquisition and the camera by means of which it has been detected, in particular the location coordinates and / or orientation of the camera, the image evaluation unit depending on the movement data selects and analyzes an image from the captured images, which by the optical detection generated image data by means of an evaluation device, in particular the image evaluation unit, with respect to properties of the structure are evaluated and for modifying one or more operating parameters of the image evaluation unit and / or the Beleuchtu ngs Rhein and / or the movement device and / or the applicator can be used and / or wherein the motion data next to the localization data target area property data, in particular the surface shape and / or surface color of the substrate include, the target area property data for modifying one or more operating parameters
  • a further device for automatically applying or generating and monitoring a structure to be applied to a substrate, preferably a bead of adhesive, adhesive trace, adhesive seam, sealing seam, a foam profile, continuous profile, geometric profile, in particular a cylinder-like profile or a triangular profile , or a weld solved.
  • the further device preferably comprises at least one Applicator for applying or producing the applied structure, a lighting device which is attached to the applicator or a support structure of the applicator, at least two cameras for optically detecting the applied structure, which relative to the illumination device offset from the applicator or the support structure of the applicator mounted opposite each other , and having an image evaluation unit for detecting the applied structure, which is coupled to the cameras, the illumination device emits one or more light paths, which is projected onto the substrate and the applied structure immediately after the jobs, and wherein the substrate and the deposited structure projected one or more light paths immediately after application of the applied structure in online mode from the cameras and the image evaluation unit d erart is detected or that the image evaluation unit uses the change of the projected light path or light paths by means of calculation methods to determine at least one of the following features of the applied structure: the width of the applied structure and / or the height of the applied structure and / or the volume the applied structure, in particular in each case with respect to the applied length of the application structure including the height, the width and
  • the illumination device has at least two pairs of lamps, wherein each pair of lamps comprises a first and a second illuminant, and wherein each illuminant projects light onto the substrate such that the first illuminant emits a first laser beam and the second illuminant emits a second laser beam, which opposes the first laser beam is offset in time by 0.01 to 0.4 milliseconds.
  • a control device is provided, wherein by the control device movement data of a movement detection device, in particular a robotics and / or a 3D sensor system, can be received and evaluated, wherein the movement data is a relative movement between the Describe application device and the substrate, and wherein by means of
  • Control device based on the movement data, a treatment area of the substrate in which the structure is applied before the application of the structure can be determined.
  • the illumination device can be operated in such a way that only the relevant part of the current image acquisition is used
  • Lighting device is active.
  • the respective illuminant unit with assigned camera unit can be actuated significantly faster in succession.
  • This pulsation results in a more error-free image acquisition, since adjacent portions of the illumination device do not influence the image acquisition of the camera. Since only the image of the relevant camera is used for image evaluation, only this image must be transferred to the image evaluation unit. As a result, common interfaces and their speeds can be better utilized.
  • At least one camera can be controlled by means of the control device in such a way that the treatment area is detected before the structure is applied. Since the expected position of the adhesive trace is known, there is a further significant advantage over the prior art: The correct adhesive trace no longer has to be determined by a complex setting of a sample part, but is present as knowledge by the communication with robotics and / or adhesive control ,
  • the treatment area is compared before the application of the structure and after the application of the structure.
  • This embodiment is advantageous since a simultaneous consideration of the structure application, in particular the adhesive or sealant application, and the unprocessed substrate, given by separate evaluation of the opposite cameras, allows accurate extraction / extraction of the geometric model of the material applied. Based on the extracted model, a high-precision measurement and detection of the applied structure, in particular the adhesive or sealant trace, can then preferably take place.
  • the movement detection device is functionally coupled to the application device, wherein a relative movement between the substrate and the application device can be detected by the movement detection device.
  • the movement detection device is a 3D sensor or is or corresponds to a robotics, in particular a multi-axis system, associated device for predetermining Verfahrschulen between the substrate and the applicator.
  • a robotics in particular a multi-axis system, associated device for predetermining Verfahrschulen between the substrate and the applicator.
  • the aforementioned object is likewise achieved by a method for applying or producing and monitoring a structure to be applied to a substrate, preferably a bead of adhesive, adhesive tape, glued seam, sealing seam, a foam profile, endless profile, geometric profile, in particular a cylinder-like profile or a triangular profile Weld solved.
  • the method preferably comprises at least the following steps: providing a Applicator for applying or generating the applied structure, a lighting device, which is attached to the applicator or a support structure of the applicator of at least two cameras for optical monitoring of the applied structure, which offset relative to the illumination device on the applicator or the support structure of the applicator and each other and an image evaluation unit for detecting the applied structure connected to the cameras, emitting one or more light paths from the illumination device, wherein the one or more light paths at least partially project around the application device onto the substrate and the applied structure is or are projected, wherein each image generated by a camera with data at the time of detection and the camera by which it has been detected has, in particular the Ortskoordin
  • the image evaluation unit selects and analyzes an image from the acquired images as a function of the movement data, wherein the image data generated by the camera can be evaluated by means of an evaluation device, in particular the image evaluation unit, with regard to properties of the applied structure and Modification of one or more operating parameters of the image evaluation unit and / or
  • Detecting the projected one or more light paths in online operation of the cameras and the image evaluation unit, wherein the changes of the projected light path or light paths of the image evaluation unit by means of Calculation method can be used to thereby determine at least one of the following features of the applied structure of the image evaluation unit: the width of the applied structure, which is determined in particular substantially perpendicular to the center line with respect to the course of the applied structure and / or the height of the applied structure and or the volume of the applied structure, in particular in each case with respect to the applied length of the application structure including the height, the width and the profile or the shape of the applied structure and / or the position of the applied structure on the substrate.
  • the invention is based on the idea that at least one preferably circumferential light path is projected around the application device during the application of the application structure.
  • the at least one projected circumferential light path makes it possible to monitor the applied structure at an angle of 360 °, irrespective of the travel path of the application device and, for example, an application nozzle, ie the circulating light path allows a complete inspection area around the application device or application nozzle , which can be described as a panoramic view.
  • the at least two cameras detect the changes in the projected circumferential light path and the image evaluation unit connected to the cameras can use this to calculate the geometric dimensions of the applied structure.
  • the width, the height, the volume and / or the position of the applied structure on the substrate can thus be determined in a simple and exact manner.
  • At least two cameras are required for monitoring the applied structure in order to always use at least one camera to determine a partial area of the inspection area or of the applied structure, since possibly a partial area of the application nozzle for another camera may be concealed. Therefore, the two cameras are opposite each other and offset at the applicator or applicator nozzle attached.
  • the circumferential light path strikes the applied structure, wherein the cameras can detect the deformation of the light path from an observation position which has a different angle to the light path, and can determine the deformation of the light path using suitable calculation methods.
  • the device has an application device for applying or producing the applied structure, an illumination device which is preferably mounted on the application device or a support structure of the application device, at least two cameras for optically detecting the applied structure which are opposite to the Lighting device offset from the applicator or the support structure of the applicator are mounted and mounted opposite each other, and an image evaluation unit for detecting the applied structure, which is connected to the cameras, the illumination device emits one or more light paths, each of which is a circulating self-contained Shape, and wherein the one or more circulating light paths around the applicator on the substrate and the applied structure immediately after the orders p and wherein the one or more circumferential light paths projected onto the substrate and the applied structure are or are detected by the cameras and the image evaluation unit in-line operation immediately after application of the applied structure such that the image evaluation unit detects the change the projected circumferential light path or light paths used by calculation methods to determine at least one of the following features of the applied structure: the width of the applied structure, which is determined in particular
  • the adhesive trace can be detected regardless of the direction of travel with a 360 ° -nnspektions Scheme around the application nozzle.
  • the sensor or the cameras no longer need to be tracked, so that twisting or cable clutter between the sensor and the application device is avoided.
  • the application device has an application nozzle, around which a sensor head with the two cameras and the illumination device is mounted, wherein the application nozzle is fixedly or rotatably connected to the sensor head. If the application nozzle is rotatably connected to the sensor head, the cameras mounted laterally offset from the application nozzle on the sensor head can monitor each area of the circulating light path, since at least one of the two cameras can monitor each point of the circulating light path independently of the travel path. Of course, this also applies to an application nozzle fixedly arranged on the sensor head, since there is no relative movement between the cameras and the application nozzle.
  • the two cameras are mounted opposite one another on the applicator such that both cameras capture at least part of the applied structure in the intersection with the orbiting light paths or at least one camera completely covers the applied structure in the intersection region with the circulating light path (s).
  • the device according to the invention can monitor the applied structure independently of the travel path of the application device at any time.
  • the two cameras are mounted laterally on the application nozzle such that the intersection of the circulating light path with the applied structure is respectively monitored by the first and second camera such that the first camera is a side view of the intersection between the circulating light path and the applied structure and the second camera, the opposite side view of the intersection between the circulating light path and the applied structure detected.
  • Another advantage of the invention lies in the fact that the beam path of the cameras is always aligned with the circulating light path, wherein in particular a laterally offset to the cameras mirror is provided such that the angle of incidence of the beam path of the cameras is changed to the orbiting light path.
  • the applied structure can also be monitored from a more favorable flat angle, wherein the dimension of the device according to the invention is minimized or the cameras have only a small distance to the applicator.
  • the diameter of the sensor head formed thereby is small, whereby even complex components can be provided with an application structure and monitored in the on-line process, without the sensor head coming into conflict with the substrate or component.
  • the illumination device projects the one or more light paths in the form of a substantially circular light ring around the substrate and the applied structure, the determination of the geometric dimensions and the course of the applied structure can be calculated particularly easily by the image evaluation unit.
  • the substantially circular light ring has a width such that the light ring has a defined inner and outer diameter, in particular the intersections of the edge of the inner diameter and the applied structure and also the intersections of the edge of the outer diameter and the applied structure for monitoring be used.
  • the geometrical dimensions and the course of the applied structure or adhesive trace can be calculated and recorded more precisely, since the intersections of the inner diameter and the outer diameter can each be used in an image analysis and thus be present twice. This thus results in a higher sampling frequency due to the scanning of the edges of the inner and outer diameters of the light ring.
  • the scanning of the two edges of the inner and outer diameters increases the redundancy, since in the case that either the edge of the inner diameter or the outer diameter can not be scanned for any reason, always the second edge can be scanned and thus monitoring of the applied structure or adhesive trace is made possible.
  • the illumination device sends cone-like manner an annular, circumferential light path to form a cone of light on the substrate.
  • the conical course of the circumferential light path also allows the detection of profile structures unfavorable in profile, such as in crowned profiles, where the base point, i. the transition between the application pattern and the substrate would not be illuminated in a straight light incidence.
  • the conical shape converges or tapers in the direction of the substrate. This makes it possible for the circumferential light path or the circumferential light ring with a small radius to run around the application nozzle even with a larger dimension of the illumination device.
  • the applied structure in the immediate vicinity of the application nozzle can be detected by the close-fitting light ring or the tight-fitting light path, so that the applied structure can be monitored immediately after the orders.
  • a significant advantage is the fact that, in particular with a strong curvature of the course of the adhesive trace or the applied structure, each region of the applied structure can always be detected without interruption in the online process.
  • a suitable regulation, in particular of the applied quantity or the metered quantity of the application nozzle can also be achieved if the image evaluation unit calculates a height and / or width and / or a volume of the applied structure which is outside a predetermined reference range.
  • the light paths or at least one light path are projected by the illumination device substantially in elliptical, polygonal or by lines in circumferentially closed form for detection on the substrate and the applied structure.
  • composite sections of different light lines or light paths can be used.
  • the illumination device has a plurality of LED diodes, in particular 10 to 30 LED diodes, by which the circumferential light path is generated on the substrate and on the applied structure and which are operated in particular pulsed. Due to the pulsed operation of the LED diodes, a high-quality image acquisition and image evaluation can be achieved even with a fast feed or high travel.
  • an LED illumination allows a suitable surface structure for the light path or a circular light ring, which has a suitable homogeneity of the surface. Furthermore, it is advantageous that the pulsed operation of the LED illumination or the flashing of the LEDs relative to extraneous light is relatively insensitive, which does not come from the lighting device and could affect the monitoring. Alternatively, however, laser diodes are also possible as a light source for the illumination device.
  • the illumination device is mounted substantially annularly around the application nozzle, wherein outside the annular illumination device, the cameras are mounted diametrically opposite to the application nozzle.
  • three or more cameras are mounted concentrically and / or at a constant distance from each other around the application nozzle.
  • at least one camera has an optimum viewing angle on the adhesive track to be checked or applied Structure. In online surveillance, therefore, the camera with the best viewing angle can be activated to optimize the quality of surveillance.
  • the longitudinal axes of the cameras are inclined to the longitudinal axis or the beam path of the application nozzle in the viewing direction, wherein in particular the longitudinal axis or the beam path of the cameras intersect the longitudinal axis of the application nozzle substantially in the region of the substrate, then one achieves a defined height resolution, wherein the detected changes of Height levels of the adhesive trace or the adhesive profile are detected by the local deformation of the projected structure.
  • a calibration device for determining each position of the cameras in the room and for determining the position of the cameras for the illumination device, in particular in the form of a calibration plate, thereby enabling the formation of a global, cross-camera coordinate system with high accuracy.
  • the individual images of the various components are provided for determining each position of the cameras in the room and for determining the position of the cameras for the illumination device, in particular in the form of a calibration plate, thereby enabling the formation of a global, cross-camera coordinate system with high accuracy.
  • Coordinate system can be processed and calculated.
  • a method of applying or generating and monitoring a structure deposited on a substrate comprising providing an applicator for applying or producing the applied structure, a lighting device, which at the
  • Ordering device or a support structure of the applicator is mounted driving, of at least two cameras for optical monitoring of the applied structure, which are offset relative to the illumination device on the applicator or the support structure of the applicator mounted and mounted opposite each other, and an image evaluation unit for detecting the applied structure, which is connected to the cameras, emitting one or more light paths, which each have a continuous self-contained form, of the illumination device, wherein the one or projecting one or more circulating light paths around the applicator onto the substrate and the deposited structure immediately after the jobs, detecting the projected one or more circulating light paths immediately after application of the deposited structure in on-line operation by the cameras and the image evaluator wherein the changes in the projected circumferential light path or light paths are used by the image evaluation unit by calculation methods to thereby determine at least one of the following features of the applied structure from the image evaluation unit: the width of the applied structure which is in particular substantially perpendicular to the center line with respect to the profile the applied structure is determined, and / or the height of the applied
  • the light-section method with the projected circumferential light path is used for the evaluation of the images of the applied structure.
  • the light path or line of light is guided over the applied structure, wherein the deformation of the light path or line of light from the observation position of the individual cameras which have a different angle to the light path or light line, the curve or the geometry of the applied Structure can be determined.
  • the images of the cameras are recorded in a high-frequency and synchronous manner and processed with the image evaluation unit in such a way that the images of the individual cameras are processed substantially simultaneously during the application of the applied structure, wherein in particular only a part of the image is taken and is transmitted.
  • the applied structure can be monitored in online mode such that the applied structure at a very small distance (for example, every 1 to 3 mm) in terms of the course and the profile, for example, with a recording frequency 200 Hz can be checked.
  • the applied structure is regulated according to a predetermined application amount of the applied structure, depending on the width and / or the height and / or the volume of the applied structure which has been determined by the image evaluation unit during the application. This allows the adaptation of the applied structure to a predetermined profile or a predetermined order quantity.
  • the intersection region between the circulating path and the applied structure is detected by three or more cameras, in particular six cameras, which are arranged concentrically or at a constant distance from each other around the application gland, wherein in each case one segment of the circulating path of is monitored by a camera, and wherein the orbiting path is detected by the cameras at an angle of 360 ° around the applicator to form a global coordinate system.
  • the application and monitoring of the applied Structure are made in accordance with a geometric shape or specification of the substrate or a component. This can be done, for example, by the seam tracking of two components, wherein on or at the seam of the two components, for example, an adhesive trace or a sealing seam can be applied and monitored.
  • a calibration is carried out for the determination of each position of the individual cameras in the room and for the determination of the position of the cameras for the illumination device, wherein in particular the calibration for forming a global camera-overlapping coordinate system is carried out in particular by means of a calibration plate.
  • the image evaluation unit can process the images of the individual cameras in a particularly simple manner, it being sufficient for at least one camera to detect the applied structure.
  • the calibration is carried out together with the training course for the course and / or the geometry and / or the profile of the applied structure.
  • the calibration and teaching of the reference structure can be performed before applying and monitoring, and then a plurality of components can be provided with a job structure and simultaneously monitored in the online process.
  • the above-mentioned object can be achieved by a device for automatically applying or generating and monitoring a structure to be applied to a substrate, preferably an adhesive bead, adhesive track, adhesive seam, sealing seam, foam profile, endless profile, geometric profile, in particular a cylinder-like profile or a triangular profile, or a weld, to be solved.
  • This device preferably comprises at least one application device for applying or producing the applied structure, an illumination device which is attached to the application device or a support structure of the application device, at least two cameras for optically detecting the applied structure, which offset from the illumination device at the applicator or Support structure of the applicator are mounted opposite each other,
  • the illumination device emitting one or more light paths projected onto the substrate and the applied structure immediately after the jobs, respectively, and onto the substrate and the deposited structure projecting one or more light paths immediately after application of the applied structure in on-line operation by the cameras and the image evaluation unit is or are detected such that the image evaluation unit uses the change of the projected light path or light paths by means of calculation methods to at least one the following features of the applied structure: The width of the applied structure and / or the height of the applied structure and / or the volume of the applied structure, in particular with respect to the applied length of the application structure including the height, the width and the profile or the shape of the applied structure and / or the position of the applied Structure on the substrate.
  • the image evaluation unit can receive and evaluate motion data of a movement detection device, in particular a robotics and / or a 3D sensor system, the motion data describing a relative movement between the application device and the substrate, and wherein by means of the image evaluation unit a treatment region of the substrate in which the Applying structure is determinable before the application of the structure and / or the illumination device comprises at least two light emitting units, each light source unit projecting light in a plane on the substrate, wherein plane portions, in which the light of each adjacent lighting unit extends, intersect, wherein a Triggering device is provided for the time-delayed activation of the adjacent lighting unit in order to effect a time-shifted illumination of the substrate and / or the structure to be applied by means of the light-emitting unit and / or he each illuminant unit is associated with at least one camera, wherein the camera is oriented in a triangulation angle of less than 30 ° and / or the lighting device has at least one and preferably at least two pairs of lamps, wherein
  • the use of the words "substantially” preferably defines a deviation in the range of 1% -30%, in particular of 1% -20%, in particular of 1% -10, in all cases in which these words are used in the context of the present invention %, in particular from 1% -5%, in particular from 1% -2%, of the definition that would be given without the use of these words.
  • Fig. 1 shows the device according to the invention when applying and monitoring an adhesive trace in side view
  • Fig. 2 shows a perspective view of the device according to the invention of Fig. 1;
  • Fig. 3 is a bottom plan view of the device of Figs. 1 and 2 according to the invention.
  • Fig. 4 is a schematic view of the device of Fig. 1 according to the invention.
  • Fig. 5 shows the schematic structure of a device according to the invention when applying a trace of adhesive to a substrate
  • FIG. 6 shows a section of a light ring of the device according to the invention, which is projected on a triangular profile on a substrate;
  • FIG. 7 is a perspective view of the light ring projected on the triangular profile of FIG. 6;
  • FIG. 7 is a perspective view of the light ring projected on the triangular profile of FIG. 6;
  • Fig. 8 shows the application of an adhesive trace and the projected light ring
  • Fig. 9 shows a triangular profile with a circumferential traverse projected thereon;
  • Fig. 10 shows another embodiment of Fig. 9;
  • Fig. 11 is a schematic representation of the monitoring of a triangular profile according to the invention.
  • Fig. 12 is another embodiment of monitoring a triangular profile
  • Fig. 13 is another perspective view of Fig. 12;
  • Fig. 14 shows an adhesive trace as an enlarged view
  • Fig. 15 shows further embodiments of adhesive tracks in cross section
  • FIG. 16 shows an embodiment of the device according to the invention with folding of the beam path
  • FIG. 18 shows a representation relating to the calibration of the device according to the invention
  • FIG. 19 shows a further illustration with regard to the calibration of the device according to the invention.
  • Fig. 20a shows a perspective view of the device according to the invention during application of the structure
  • Fig. 20b shows Fig. 20a with motion detection means
  • FIG. 21 shows a plan view from below of the device according to the invention from FIG.
  • Fig. 22 exemplifies one of the triangulation arrangements formed by the illumination device and the camera;
  • Fig. 23 shows the lighting proportion of the triangulation arrangement of Fig. 22, wherein the view has been rotated by 90 ° with respect to Fig. 22;
  • Fig. 24 shows the pattern formed by the lasers of the illumination device on the substrate; the nature of the lines indicates the pulsed character of the various lasers;
  • Fig. 25 shows the deformation of a line of light from the perspective of the associated camera, with the applied structure responsible for this deformation being indicated;
  • FIGS. 26a-c show arrangements in which detection and evaluation of the applied structure without prior knowledge of the geometric properties of the bodies to be joined is very error-prone.
  • Fig. 27 is a schematic representation of the device according to the invention without area lighting.
  • Fig. 28 is a schematic representation of the device according to the invention with field lighting.
  • the device according to the invention for the automatic application and monitoring of an adhesive trace 6 on a substrate or component is shown.
  • the device according to the invention comprises an application device 10, which on its lower end has an application gland 12, for example, to apply adhesive on a component.
  • a lighting device 20 which is constructed for example of a plurality of LED diodes, at least one circumferential light path, preferably a light ring to the application gland 12 on the substrate and the applied adhesive trace.
  • the illumination device 20 is attached to the applicator 10 and thereby travels with the applicator when the adhesive is applied, when there is relative movement between the substrate and the applicator.
  • At least two cameras 31, 32 for optical detection of the adhesive track are in turn attached to the illumination device 20.
  • the cameras 31, 32 are mounted laterally offset from the illumination device and aligned on the projected light ring close to the application gland 12.
  • the cameras 31, 32 are connected to an image evaluation unit, not shown, which records and evaluates the images of the adhesive trace determined by the cameras in online operation, wherein the image evaluation unit uses the change of the projected light ring by means of appropriate calculation methods that from either the width and / or or the height and / or the volume of the adhesive trace can be determined and thus checked.
  • the sensor head with the illumination device and the cameras is firmly connected to the applicator 10, wherein at least one of the two cameras detects the intersection between the light ring and the adhesive track, as will be explained in more detail below.
  • Fig. 2 the device according to the invention is shown in perspective.
  • the cutting area between the projected light ring and the adhesive track is detected by at least two cameras, which are preferably located in the circle segment, where the adhesive trace runs during application. If the adhesive trace takes an arcuate course, then another camera can be activated for evaluation in order to monitor the course of the adhesive trace. This applies to the entire circumference around the applicator 10, depending on the course of Adhesive track.
  • Lighting device 20 is surrounded in the form of an LED circular ring projector and attached to the applicator 10.
  • the cameras 31 to 36 are arranged at a uniform distance and concentrically around the application gland 12 and aligned therewith.
  • FIG. 4 Analogously to FIG. 3, the structure of the device according to the invention is shown schematically in FIG. 4. It can be seen in particular that the cameras are offset laterally to the annular illumination device.
  • FIG. 1 The schematically illustrated cameras 31 to 36 are together with the illumination device 20 at the
  • the substantially annular illumination device 20 is constructed, in particular, from a multiplicity of LED diodes, for example 20 LED diodes. These LED diodes together project a circumferential light path on the component and the adhesive track immediately after the orders through the application gland. It is particularly advantageous in this case if the illumination device projects a tapering cone of light directly around the application gland, whereby a circular light ring 21 is formed on the component. As a result, the light ring 21 can move very close to the application gland in order to also be able to monitor a path-like course of the adhesive trace with small radii.
  • the section area between the light ring 21 and the adhesive track 6 is now shown on the component.
  • the light-section method is used in particular, with corresponding evaluation methods of the image evaluation unit calculating the changes in the height level of the adhesive track or the adhesive profile due to the local deformation of the projected light paths.
  • the light ring has an inner diameter 211 and an outer diameter 212, which results in an edge between the light path of the inner diameter 211 and the adhesive trace 6 and the outer diameter 212 and the adhesive profile 6.
  • the edge of the inner diameter as well as the edge of the outer diameter with the adhesive profile 6 can be used for the calculation of the height or the width and the volume in each evaluation.
  • the light path 21 is thus guided over the adhesive profile 6, wherein the object curvature can be determined by the image evaluation unit from each observation position of the cameras, which have a different viewing angle from the light path.
  • this object curvature or the surface course is determined only exactly at the line position or the edge.
  • the object or the adhesive profile can be detected in three dimensions. For this purpose, a high image recording frequency is necessary, wherein the inner and outer diameter of the light ring 21 and the resulting two edges, so to speak, doubles the recording frequency for the image evaluation unit.
  • FIG. 7 a further perspective is shown, which represents the deformation of the light ring by the adhesive profile 6 and can be detected by the cameras from corresponding viewing angles.
  • Fig. 8 a detail is now shown, which shows the application gland 12, which applies an adhesive profile 6 on a substrate or component 11.
  • the applicator 10 moves in the image plane to the top right. Due to the light cone, which is projected onto the substrate 11 and the adhesive track 6 in the form of the light ring 21, the adhesive profile 6 can be detected immediately after application by the cameras with the aid of the deformation of the light ring 21.
  • FIG. 9 there is shown a circumferential self-contained polygonal line 22, which is constructed from a plurality of straight lines of light.
  • the adhesive profile 6 can also be in the range of one point of intersection be detected by two straight lines. As shown in Fig. 10, however, the adhesive profile can be detected even without intersecting two straight lines or other lines with respect to the height. It is particularly advantageous that, due to the resulting circulating light paths, the sensor or the cameras and also the illumination device do not have to be rotated.
  • Fig. 11 such as a substantially triangular adhesive profile
  • a camera can detect the one side half of the adhesive profile 6 and the other camera the corresponding other side of the adhesive profile 6 for the detection at a pick-up point, which is particularly advantageous in geometrically complex shapes.
  • the cameras 31, 32 detect the point of intersection between the light ring (not shown in FIG. 11) and the adhesive trace 6 at successive points, depending on the recording frequency, at correspondingly short intervals.
  • the adhesive profile 6 can be checked at small intervals of a few millimeters.
  • FIG. 12 an embodiment is shown schematically, wherein analogously to FIG. 11, three cameras 31 to 33 can simultaneously check the adhesive profile 6 in the online process.
  • the parallel evaluation of the three cameras 31 to 33 is shown in FIG. 13, wherein the adhesive profile 6 is detected and checked at short intervals.
  • FIG. 14 shows the exemplary adhesive profile 6 as an enlarged illustration, the tip 9 of the adhesive trace 6 and the foot points 7 and 8 being illustrated. Due to the convex shape of the adhesive trace 6, the footsteps would be
  • FIG. 15 Further embodiments of traces of adhesive are shown in FIG. 15, wherein the adhesive tracks 61 and 62 are deformed with respect to an idealized triangular profile. Furthermore, such deformations can only be detected by at least two cameras with the aid of the projected-on light ring.
  • FIG. 16 shows schematically only one camera 31 and the application gland 12 of the device according to the invention in order to explain the folding of the beam path of a camera.
  • a mirror 40 is provided, which is also fixedly attached to the applicator 10 so that it can always be moved with the corresponding camera. Due to the folding of the beam path, it can be seen from FIG. 16 that the angle at which the camera looks at the region of the substrate 11 around the application gland 12 becomes shallower. This is advantageous for the evaluation of the cutting area between the light ring and an applied adhesive trace, without increasing the distance of the camera from the application gland 12.
  • FIG. 17 shows how, for example, the image evaluation unit is provided and the entire check is performed.
  • a teach-in run is performed from a reference structure, using the image sequence of the reference structure for the parameterization.
  • teaching of the course and / or the profile of the adhesive trace can be carried out by means of a CAD drawing or a corresponding electronic file which has information regarding the adhesive trace in relation to the component.
  • the applied structure to be checked is then compared with the course of the reference structure according to the illustrated scheme, and the resulting result of the check is output.
  • the image recording of the individual cameras can be made high-frequency and synchronous. In order to achieve a high image recording frequency with comparatively low data transmission rates, only a strip of the images of the cameras is recorded and transmitted.
  • Phase 1 determines the position of each of the individual cameras in the room. Then in phase 2, the determination of the position of the camera is made to the illumination device. In principle, the two calibrations of phase 1 and 2 are already sufficient to perform three-dimensional measurements.
  • the calibration is adapted to the individual geometry and surface of the component to be tested and the verification of the calibration parameters.
  • This third phase can be integrated into the teach-in or teach-in run. Usually, this third phase is performed only when the sensor comprising the cameras and the illumination device is mounted on the applicator.
  • the first phase of the calibration is explained in more detail.
  • the distance and the geometric arrangement of the dot marks on the calibration plate 50 are known to each other.
  • the location of the calibration plate is known.
  • the size of the dot marks is known, which, however, can be designed differently.
  • crosses, circles, line mesh or similar structures may be used.
  • Particularly advantageous are the point markings shown, which represent filled small circular markings.
  • the position of the camera and thus of the CCD chip to the calibration plate 50 is determined.
  • the location of the cameras in the room determined when the location of the calibration plate 50 is predetermined or known in space. Furthermore, this determines the position of the individual cameras relative to one another, and finally the inclination of the individual cameras relative to one another is determined or determined.
  • This first phase calibrates to a universally valid world coordinate system.
  • the plane calibration plate 50 is firmly connected to a calibration.
  • the holder can be designed as a tube and has a locking nose or index marking in order to insert the sensor in a clearly defined position in a repeatable manner.
  • phase 2 the position of the cameras for lighting or lighting device is determined.
  • the pattern or the shape of the circulating light path which projects the illumination device onto the calibration plate, is viewed with all the cameras and each camera takes an image of this scene.
  • the light cone is shown, which is projected by the illumination device in the form of a light ring 21 on the calibration plate.
  • This light ring 21 is now seen distorted by each camera depending on their position in space.
  • the cameras 31 and 32 see the light ring 21 as a compressed in one direction ellipse. Alternatively, if a projected square were seen by the individual cameras, each camera would detect a corresponding trapezium due to the lateral offset.
  • the image evaluation unit which calculates the calibration values knows the ideal shape of the illustrated light ring 21. Therefore, it is possible for the image evaluation unit to calculate the position of the individual cameras due to the nature of the distortion of the pattern or light ring 21 on the calibration plate.
  • the eccentricity of the ellipse and the ratio of the two major axes of the ellipse are used in the present case.
  • this second phase is now calibrated to the sensor coordinate system, the origin of which represents, for example, the center of the light ring 21 projected onto the calibration plate.
  • the tip of the resulting cone can be used as a coordinate origin, if the Rays of illumination extended beyond the calibration plate.
  • the illumination with its symmetry axis is perpendicular to the calibration plane. If a deformation of the ideal circular shape is detected, then the type, size or nature of the deformation can be used to deduce the three-dimensional shape of the light section.
  • the training can also coincide with the third phase of the calibration.
  • the training run is also used to set the camera map, i. which cameras perform the 3D evaluation during the test run.
  • the nozzle of the applicator will not be aligned exactly perpendicular to the substrate but will be slightly skewed.
  • it can be calculated in which angle to the component the nozzle is aligned.
  • This essentially forms the third phase of the calibration, which generates a data record which determines and describes the geometry of the substrate surface.
  • the data is then provided to the calculation of the 3D data.
  • a history list is deposited, which contains the data for the travel and the travel time of the applicator, which also data on the direction and the 3D cross-section of the adhesive track are provided.
  • the applied adhesive trace is now tested in relatively small sections.
  • short sections are detected three-dimensionally with a high recording frequency, for example every 1 to 3 mm.
  • the subsections can be combined by means of the image evaluation unit to the entire applied adhesive trace.
  • the device according to the invention and the method according to the invention can be used in various joining methods, such as the application of adhesive seams or sealing seams, the positionally accurate application of Foaming, soldering and welding.
  • Welding may involve arc welding and laser welding, whereby, on the one hand, the weld is checked and, on the other hand, a guide may also be provided based on the edge of the components to be welded.
  • endless profiles with a corresponding 3D shape can be generated and checked. Such endless profiles can be produced as a strand or by plastic extrusion.
  • volume sections can be determined via the 3D profile of the adhesive in order to readjust the adhesive quantity in real time during the test run.
  • the applied total volume can be measured over several inspection runs and the order quantity can be readjusted or controlled on the basis of these values.
  • a compressible material or a foam can be generated and monitored, which is constructed from a fluid or enclosed gas bubbles, which only reach the actual volume after the application. As a result, the volume of the order structure can be measured or checked only a short time after the order.
  • the 3D data determined according to the invention can be fed into a 3D CAD system and further processed in the desired manner.
  • Such 3D data can be determined by the device according to the invention due to the all-round view of the cameras and the illumination in the form of a circulating path.
  • the device according to the invention can use, for example, dual processor cores of physically existing or even virtual multicore systems, wherein during the test runs an evaluation is carried out on the basis of stored or actual images with the same or modified test parameters in order to determine the effects of changes in the test parameters or to capture and evaluate changes in the environment.
  • the height of the adhesive nozzle can be readjusted to the sheet during the application, as in addition to the information about the 3D structure to be tested and information about the environment of the working area of the applicator device present.
  • the entire working area of the tool can be monitored three-dimensionally, so that, for example, a sheet edge or workpiece edge can be determined in the advance direction and the tool can be readjusted in each spatial direction during the application process and the test.
  • test object or conveyor moves
  • the environment must be continually monitored to guide the tool with high precision during an assembly process, such as bolting with a screw robot while the component is moving on the conveyor belt, or even the application of sealants while the body shell is moving on.
  • the present invention can also be used for the fully automatic repair of adhesive beads. Since the missing volume is measured according to the invention by the 3D detection, the exact volume of the adhesive in the bead can be refilled.
  • a corresponding measuring device may be provided in the application device.
  • the measurement is not carried out by optical means, but with the aid of the image processing system according to the invention it is possible to compare the volume flow or the volume measured by optical means with the volume measured by the applicator and if necessary to draw corresponding conclusions.
  • an apparatus and a method for automatically applying or generating and monitoring a / a structure applied to a substrate is described, preferably an adhesive bead, adhesive trace, adhesive seam, sealing seam, Foam profile, continuous profile, geometric profile, in particular a cylinder-like profile or a triangular profile or weld.
  • an application device for producing or applying the application structure an illumination device which is attached to the application device or a support structure of the applicator, at least two cameras for optically detecting the applied structure, which is offset from the illumination device at the applicator or the support structure of the applicator are mounted and mounted opposite each other, and an image evaluation unit for detecting the applied structure, which is connected to the cameras.
  • the illumination device emits one or more light paths, each of which has an encircling, self-contained shape, and wherein the one or more circulating light paths around the application device are projected onto the substrate and the applied structure immediately after application, and wherein the one or more circulating light paths projected onto the substrate and the applied structure are detected by the cameras and the image evaluation unit in the online mode immediately after application of the applied structure such that the image evaluation unit detects the change in the projected circumferential light path or light paths used by calculation method to determine at least one of the following features of the applied structure: the width of the applied structure, which in particular substantially perpendicular to the center line with respect to the course of the applied structure ermit Telt, and / or the height of the applied structure, and / or the volume of the applied structure, in particular with respect to the applied length of the job structure including the height, the width and the profile or the shape of the applied structure, and / or Position of the deposited structure on the substrate.
  • the width of the applied structure which in particular substantially perpendicular to the center line with
  • FIGS. 1 to 19 may be component or component of components described by means of the following figures or be adapted to them.
  • Fig. 21 shows a partial representation of a preferred invention Device.
  • the device preferably has at least or exactly one application device 10 with one, at least one or exactly one application nozzle 12.
  • the device preferably comprises a lighting device 20, wherein the lighting device 20 may consist of a plurality of lamp units and the individual lamp units from each of a pair of lamps 21a, 21b, 22a, 22b, 23a, 23b, 24a, 24b, 25a, 25b may exist.
  • each lighting unit may have more than one lighting means, in particular like lighting means.
  • the device has 6 Leuchtm ittelcrurecte and thus 12 bulbs.
  • the individual pairs of lamps are preferably arranged such that the totality of the lighting couples forms a symmetrical shape.
  • Each lamp of a pair of lamps emitted as a result of triggering light of a predetermined wavelength or a plurality of predetermined wavelengths or a predetermined wavelength range in the direction of a substrate to be examined or a structure to be examined 6.
  • Illuminating pairs thus each generate a light plane, in particular a laser plane.
  • the totality of the lighting pairs thus generates a plurality of light planes, in particular laser planes. Since the individual light planes extend straight and the plurality of pairs of lamps are arranged around the applicator, the light paths 21-26 delimit a polygon surface.
  • the pairs of light sources are preferably arranged in such a way that the light paths 21-26 extend beyond the extent of the adjacent light paths and thus cut them.
  • the light paths in the crossing area produce unwanted light effects when two intersecting light paths are generated at the same time. For this reason, at least adjacent lighting means for generating adjacent light paths are generated only one after the other, in particular pulsed.
  • the reflected light is detected by an associated camera and supplied to the image evaluation device.
  • the cameras are preferably arranged in a triangulation angle of less than 30 °, in particular of less than 25 °, that is, an angle of the light plane generated with respect to the pair of light sources or light sources generated by the pair of lamps.
  • the inclination preferably results from a reflection characteristic of a freshly generated or applied structure, in particular adhesive bead.
  • the individual lamps of a pair of lamps are in at least A level in terms of magnitude equal to or substantially equal in magnitude equal to the applicator 10 inclined.
  • the preferably selective activation of one or more specific lamp units is advantageous over the control of all lamp units, since only non-intersecting light paths are generated.
  • the detection area or the detection areas can extend over the entire light path or substantially over the entire light path despite the small size of the device.
  • very precise image information is generated over a large width per camera.
  • the image information as a whole is better and less in terms of data compared to simultaneous recording by means of all cameras (and associated light emission of all lamps).
  • the image acquisition can be done at a higher clock rate, thereby increasing the overall throughput.
  • FIG. 20b shows the device shown in FIG. 20a, which may be equipped, for example, with one or more robot devices (robotics) 80.
  • the device according to the invention is equipped with a robot which is arranged on the device and which is designed to reposition the device.
  • the robotics preferably represents a multi-axis system.
  • the device can be moved by means of robotics with respect to a preferably stationary or likewise moved substrate.
  • the substrate or workpiece to be treated can be moved by means of robotics with respect to a preferably stationary or moving device according to the invention.
  • the movement information for the traversing movement of the image evaluation unit in the form of data, in particular movement data is preferably provided.
  • This data or movement data may also have characteristic data of the substrate or of the workpiece, in particular, which contour has the workpiece.
  • Image data acquired by means of a camera which are selected by the image evaluation unit taking into account the movement data and / or property data, are significantly easier to analyze faster and more accurately, since in particular the foot points of the applied structure can be better determined.
  • the motion parameters in particular location coordinates, speed, acceleration, movement direction etc. of the robotics images of individual cameras be specifically selected for further analysis.
  • Fig. 21 shows the underside of the device according to the invention. It can be seen that only very limited space is provided for arranging the lighting means and therefore the detection of broad light paths is possible only by the selective driving of light sources.
  • the illumination device thus comprises at least two laser pairs, which together generate a light line in each case.
  • the illumination device consists of at least four laser pairs whose light is a closed, in particular polygonal, contour.
  • the light planes, in particular laser planes are preferably oriented such that they either meet the adhesive trace perpendicularly or in such a way that they are reflected when reflected on the substrate and the applied structure at the angle of reflection to at least one camera, or such that the angle of incidence the laser plane lies between the mentioned, limiting solutions.
  • the illumination device preferably consists of at least two units of light bulbs placed on a straight line, in particular lasers or LEDs, whose light is bundled by means of a suitable optical system into at least two lines on the substrate and the applied structure.
  • the transmission of the coordinates of the robotics to the image evaluation unit preferably takes place continuously, in particular in real time.
  • the image evaluation unit makes a comparison of the measurement profiles of two cameras, wherein the cameras are preferably opposite one another and one camera advances the application of the structure and the other behind. This is advantageous because a comparison of the situation before and after the generation or the application of the structure can be made and thus easier to determine changes.
  • Fig. 22 shows schematically the orientation of the camera 31 with respect to the
  • Illuminants 21a and 21b Reference numeral 6 denotes the applied structure.
  • the reference numeral 90 denotes the
  • the triangulation angle is particularly preferably less than 30 ° or less than 25 °.
  • Fig. 23 shows a pair of lamps 21a, 21b.
  • the light sources 21a and 21b of the pair of lamps are preferably aligned with respect to a central plane 92, in particular theoretical plane, in the same or substantially the same angle.
  • This illustration shows that all surface portions of the structure 6 are illuminated by the totality of the light beams of the light sources 21a and 21b.
  • the light rays emitted by the luminous means 21a lie in the same plane or substantially in the same plane as the light rays emitted by the luminous means 21b.
  • Fig. 24 shows six light lines 21-26 generated by illuminant units. It can be seen that the adjacent light lines intersect. Therefore, not all illuminant units are generated at the same time for detecting the contour of an applied structure in online operation of the device. Preferably, only one or preferably only two or preferably only three lines of light are generated at the same time.
  • the proportion of a light line which contributes to the formation of a polygon is preferably greater than the portions of a light line which do not contribute to the formation of a polygon.
  • FIG. 25 shows a light line 21 which extends along the structure 6 and along the substrate 7.
  • the shown light line 21 preferably results in the arrangement shown in FIG. It can be seen that the light line does not cause shading, which results from the advantageous arrangement of the first luminous means 21a and the second luminous means 21b.
  • the laser line 21 shown is generated jointly by the first luminous means 21a and the second luminous means 21b.
  • the first luminous means 21a can not illuminate the entire area of the adhesive structure 6, since this is not possible due to the inclination of the first luminous means 21a relative to the central plane.
  • the second luminous means 21b which can generate the corresponding other part of the laser line 21, which the first luminous means 21a can not project.
  • 26 a shows an arrangement according to which a first component 58 and a second component 59 are to be connected to one another by means of a glue bead.
  • the components 58 and 59 lie one above the other, with the surface of the first component 58 and the end face of the second component 59 resulting in two surfaces on which the adhesive bead is to be attached or produced.
  • the adhesive bead 6 has a base point 87 which bears against the end face of the second component 59, and the adhesive bead 6 also has a second base point 88 which lies on the surface of the first component 58.
  • a detection of the foot points 87, 88 can be found much faster and safer, based on the knowledge of the geometries, an image of a camera can be selected that shows the applied structure.
  • the image data can be reduced to a section in which the structure is to be expected. As a result, less data has to be examined algorithmically, which significantly improves the examination result and significantly reduces the examination time.
  • Fig. 27 shows a device according to the invention, in which only a camera 131 is shown, which is arranged on a camera mounting ring 140.
  • the camera 131 shown in FIG. 27, however, is shown purely by way of example together with a pair of lamps 121a, 121b, wherein the device according to the invention has at least one further camera or, in particular, a total of six cameras which are arranged at uniform spacing in the circumferential direction on the camera mounting ring 140.
  • a pair of lamps is provided in each case for each camera (not shown), with only one pair of lamps 121a, 121b being shown purely by way of example in FIG.
  • the pair of lamps 121 a, 121 b has a first luminous means 121 a and a second luminous means 121 b, each in the form of a laser emitting unit, which in each case emits a laser beam.
  • the first luminous means 121a radiates a laser line 221a onto a deflecting mirror 151a, which in the immediate vicinity of the luminous means 121a is arranged such that the laser line 221a is deflected to the field of view of the corresponding camera 131.
  • the first luminous means 121a and the second luminous means 121b may be connected to one another in order to simplify the optical alignment of the correspondingly emitted laser beam.
  • the second luminous means 121b radiates a laser beam, which is deflected by a deflecting mirror 151b in such a way that a laser line 321 results on the substrate in the viewing region of the associated camera 131, on which, for example, an adhesive trace 6 is to be applied.
  • the laser line 321 is formed of each of the first laser beam 221a and the second laser beam 221b.
  • the first illuminant 121a and the second illuminant 121b are driven by a luminous flux driving unit such that the first laser beam 221a is emitted offset in time from the second laser beam 221b, wherein the second laser beam 221b is 0.01 to 0.04 milliseconds, in particular preferably 0.02 to 0.2 milliseconds, is emitted with a time delay.
  • the camera 131 assigned to the light-emitting means pair 121 is activated synchronously with the activation of the respective light-emitting means, with a plurality of image shots being taken by the camera 131 at a short time interval, depending on the number of light-emitting means.
  • a third or fourth illuminant may be provided in addition to the first luminous means 121a and the second illuminant 121b, it being possible for a corresponding number of exposures of the associated camera 131 to be made depending on the number of illuminants.
  • the images of the camera 131 recorded at a short time interval from each other are particularly advantageous because an exact mechanical alignment of the lamps relative to one another is not absolutely necessary and the first laser beam 221a and the second laser beam 221b are recorded successively so that there are no negative overlays gives the laser lines, so that a mutual influence of the lamps is avoided.
  • the camera 131 is arranged opposite the application nozzle such that the application nozzle for the adhesive or application device (10) is arranged essentially in the center of the camera receiving ring 140, as shown in FIGS. 1 and 2 ,
  • the camera 131 and the other cameras not shown in FIG. 27 are substantially orthogonal to the substrate, and the pair of lamps 121a, 121b are arranged such that the associated camera 131 is in position between the application nozzle and the pair of lamps 121a, 121b.
  • the pair of lamps 121a, 121b is preferably arranged at an angle of approximately 20 ° to the applicator nozzle in relation to the viewing angle of the camera.
  • This arrangement of the camera directly on the applicator nozzle with a pair of neutrals 121 arranged on the outside in the circumferential direction has the advantage that the sensor unit resulting from the cameras and illuminant pairs can be made more compact, since the respective illuminant pairs can be made more compact with respect to a camera, so that a very large compact design and a reduced footprint for the pick-up sensors results.
  • a further advantage of the invention with the cameras orthogonal to the substrate and inwardly inclined pairs of lamps described with reference to FIG. 27 can be seen in the fact that a strong geometric distortion of the image recording due to the octogonally oriented camera is avoided. This is a significant difference to the orthogonally oriented pair of lamps 121a, 121b and the inclined camera 31 according to FIG. 22.
  • FIG. 28 shows the schematic structure of the pick-up sensor system according to FIG. 27, wherein additionally a surface illumination device 180 is shown which has a multiplicity of LED diodes 181 which are arranged concentrically around the application device 10 or application nozzle.
  • the LED diodes 181 are arranged directly next to the cameras or the camera 131, wherein the camera 131 is not disturbed in its viewing direction by the LED diodes 181, ie that the image pickup area 135 is not disturbed by the LED diodes 181.
  • the LED diodes 181 are arranged around the application device such that they are arranged in the circumferential direction before and after the camera 131.
  • the LED diodes 181 are preferably arranged in a circle in the circumferential direction by the application device, wherein the pair of lamps 121a, 121b is arranged directly adjacent to the outer circular design of the LED diodes 181.
  • the LED diodes 181 thus form a surface illumination, which can be provided in addition to the pairs of lamps 121 and can be driven parallel to the pairs of lamps 121.
  • a 360 ° recording around the application nozzle or applicator can be realized.
  • the overlapping of the image areas makes it possible to capture a further 2D and 3D analysis of the surface around the application nozzle.
  • an upstream 3D position correction can be realized with a corresponding sensor system, as disclosed in the published patent EP 1701803 B1 of the Applicant, to which reference is hereby made in its entirety.

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Coating Apparatus (AREA)

Abstract

La présente invention concerne des dispositifs d'application ou de génération et de surveillance automatiques d'une structure à appliquer sur un substrat, de préférence un cordon adhésif, une piste adhésive, un joint adhésif, un joint d'étanchéité, un profilé en mousse, un profilé continu, un profil géométrique, en particulier un profilé cylindrique ou un profilé triangulaire, ou une soudure, lesquels dispositifs d'application comportent un moyen d'application (10), un moyen d'éclairage (20), au moins deux caméras (31 à 36) et une unité de traitement d'image. Le moyen d'éclairage (20) émet au moins un trajet de lumière qui est projeté sur le substrat et la structure appliquée (6) immédiatement après l'application, et l'au moins un trajet de lumière (21) projeté sur le substrat et la structure appliquée est détecté, en fonctionnement en ligne, par les caméras (31 à 36) et l'unité d'évaluation d'image immédiatement après l'application de la structure appliquée (6) de manière à ce que l'unité d'évaluation d'image utilise la variation de l'au moins un trajet de lumière projetée (21) au moyen de procédé de calcul pour déterminer au moins une caractéristique de la structure appliquée (6). Selon l'invention, le moyen d'éclairage comporte au moins deux paires de moyens d'éclairage. Chaque paire de lampes comprend un premier et un deuxième moyen d'éclairage. Chaque moyen d'éclairage projette de la lumière sur le substrat de manière à ce que le premier moyen d'éclairage émette un premier faisceau laser et que le deuxième moyen d'éclairage émette un deuxième faisceau laser décalé dans le temps de 0,01 à 0,4 millisecondes par rapport au premier faisceau laser.
PCT/EP2017/084277 2017-12-21 2017-12-21 Dispositif optique d'application ou de production et de surveillance automatiques d'une structure déposée sur un substrat avec détermination de dimensions géométriques et procédé correspondant Ceased WO2019120557A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/EP2017/084277 WO2019120557A1 (fr) 2017-12-21 2017-12-21 Dispositif optique d'application ou de production et de surveillance automatiques d'une structure déposée sur un substrat avec détermination de dimensions géométriques et procédé correspondant

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2017/084277 WO2019120557A1 (fr) 2017-12-21 2017-12-21 Dispositif optique d'application ou de production et de surveillance automatiques d'une structure déposée sur un substrat avec détermination de dimensions géométriques et procédé correspondant

Publications (1)

Publication Number Publication Date
WO2019120557A1 true WO2019120557A1 (fr) 2019-06-27

Family

ID=61244544

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2017/084277 Ceased WO2019120557A1 (fr) 2017-12-21 2017-12-21 Dispositif optique d'application ou de production et de surveillance automatiques d'une structure déposée sur un substrat avec détermination de dimensions géométriques et procédé correspondant

Country Status (1)

Country Link
WO (1) WO2019120557A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110530273A (zh) * 2019-09-23 2019-12-03 易思维（杭州）科技有限公司 基于结构光测量的涂胶信息检测方法
CN111260541B (zh) * 2020-01-13 2021-04-20 陕西心像信息科技有限公司 线缆密集度高的设备线缆的展示方法及展示设备
CN113077517A (zh) * 2020-01-03 2021-07-06 湖南科天健光电技术有限公司 基于光束直线特性的空间光测系统标定装置及方法
WO2021191363A1 (fr) * 2020-03-25 2021-09-30 QUISS Qualitäts-Inspektionssysteme und Service GmbH Nouveau type de dispositif(s) destiné(s) à contrôler automatiquement un revêtement et/ou une structure appliquée à un substrat à détermination de propriétés de réflexion et/ou de dimensions géométriques, et procédé correspondant
CN114485434A (zh) * 2022-01-27 2022-05-13 南京航空航天大学 基于多目测距的柔性三维织造装备导向棒安装检测方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005063406A1 (fr) 2003-12-23 2005-07-14 Quiss Gmbh Procede de reconnaissance d'une structure a appliquer sur un substrat a l'aide de plusieurs cameras et dispositif correspondant
DE102006018558A1 (de) * 2006-04-21 2007-10-25 Quiss Gmbh Vorrichtung zum automatischen Aufbringen oder Erzeugen und Überwachen einer auf einem Substrat aufgebrachten Struktur mit Ermittlung von geometrischen Abmessungen sowie ein entsprechendes Verfahren hierfür
DE102012112321A1 (de) * 2012-12-14 2014-07-03 Faro Technologies, Inc. Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung
DE102014100579A1 (de) * 2014-01-20 2015-07-23 Hella Kgaa Hueck & Co. System zur Erzeugung von Informationen über eine Projektionsfläche vor einem Kraftfahrzeug
DE102016007586A1 (de) * 2016-06-21 2017-12-21 QuISS Qualitäts-Inspektionssysteme und Service AG Neuartige Vorrichtung/en zum automatischen Aufbringen oder Erzeugen und Überwachen einer auf einem Substrat aufgebrachten Struktur mit Ermittlung von geometrischen Abmessungen sowie ein entsprechendes Verfahren

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005063406A1 (fr) 2003-12-23 2005-07-14 Quiss Gmbh Procede de reconnaissance d'une structure a appliquer sur un substrat a l'aide de plusieurs cameras et dispositif correspondant
EP1701803B1 (fr) 2003-12-23 2010-05-26 Quiss GmbH Procede d'application et de controle automatiques d'une structure a appliquer sur un substrat et dispositif destine a cet effet
DE102006018558A1 (de) * 2006-04-21 2007-10-25 Quiss Gmbh Vorrichtung zum automatischen Aufbringen oder Erzeugen und Überwachen einer auf einem Substrat aufgebrachten Struktur mit Ermittlung von geometrischen Abmessungen sowie ein entsprechendes Verfahren hierfür
DE102012112321A1 (de) * 2012-12-14 2014-07-03 Faro Technologies, Inc. Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung
DE102014100579A1 (de) * 2014-01-20 2015-07-23 Hella Kgaa Hueck & Co. System zur Erzeugung von Informationen über eine Projektionsfläche vor einem Kraftfahrzeug
DE102016007586A1 (de) * 2016-06-21 2017-12-21 QuISS Qualitäts-Inspektionssysteme und Service AG Neuartige Vorrichtung/en zum automatischen Aufbringen oder Erzeugen und Überwachen einer auf einem Substrat aufgebrachten Struktur mit Ermittlung von geometrischen Abmessungen sowie ein entsprechendes Verfahren

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110530273A (zh) * 2019-09-23 2019-12-03 易思维（杭州）科技有限公司 基于结构光测量的涂胶信息检测方法
CN110530273B (zh) * 2019-09-23 2024-04-02 易思维(杭州)科技股份有限公司 基于结构光测量的涂胶信息检测方法
CN113077517A (zh) * 2020-01-03 2021-07-06 湖南科天健光电技术有限公司 基于光束直线特性的空间光测系统标定装置及方法
CN111260541B (zh) * 2020-01-13 2021-04-20 陕西心像信息科技有限公司 线缆密集度高的设备线缆的展示方法及展示设备
WO2021191363A1 (fr) * 2020-03-25 2021-09-30 QUISS Qualitäts-Inspektionssysteme und Service GmbH Nouveau type de dispositif(s) destiné(s) à contrôler automatiquement un revêtement et/ou une structure appliquée à un substrat à détermination de propriétés de réflexion et/ou de dimensions géométriques, et procédé correspondant
US12264909B2 (en) 2020-03-25 2025-04-01 Quiss Qualitaets-Inspektionssysteme Und Service Gmbh Type of device(s) for automatically monitoring a coating and/or structure applied to a substrate with determination of reflective properties and/or geometric dimensions, and a corresponding method
CN114485434A (zh) * 2022-01-27 2022-05-13 南京航空航天大学 基于多目测距的柔性三维织造装备导向棒安装检测方法
CN114485434B (zh) * 2022-01-27 2022-10-21 南京航空航天大学 基于多目测距的柔性三维织造装备导向棒安装检测方法

Similar Documents

Publication Publication Date Title
WO2007121953A1 (fr) Dispositif pour appliquer ou créer automatiquement et surveiller automatiquement une structure appliquée sur un support avec détermination de dimensions géométriques, procédé associé
EP1701801B1 (fr) Procede de reconnaissance d'une structure a appliquer sur un substrat a l'aide de plusieurs cameras et dispositif correspondant
EP1979124B1 (fr) Tete de soudage a faisceau laser, son utilisation et méthode de soudage par faisceau
DE10335501B4 (de) Verfahren und Vorrichtung zum Schweißen oder Schneiden mit Laserstrahl
DE102011104550B4 (de) Optische Messvorrichtung zur Überwachung einer Fügenaht, Fügekopf und Laserschweißkopf mit der selben
DE102016007586A1 (de) Neuartige Vorrichtung/en zum automatischen Aufbringen oder Erzeugen und Überwachen einer auf einem Substrat aufgebrachten Struktur mit Ermittlung von geometrischen Abmessungen sowie ein entsprechendes Verfahren
WO2019120557A1 (fr) Dispositif optique d'application ou de production et de surveillance automatiques d'une structure déposée sur un substrat avec détermination de dimensions géométriques et procédé correspondant
DE102016014564B4 (de) Messvorrichtung zum Überwachen eines Bearbeitungsprozesses unter Verwendung von an unterschiedlichen Messpositionen erfassten Messinformationen
EP2668468A1 (fr) Étalonnage de détecteurs de coupe optique laser simultanément à la mesure
DE102015007142A1 (de) Messvorrichtung für ein Laserbearbeitungssystem und Verfahren zum Durchführen von Positionsmessungen mittels eines Messstrahls auf einem Werkstück
EP2131145B1 (fr) Dispositif de surveillance optique
EP2242623B1 (fr) Procédé et dispositif d'assemblage
WO2015036026A1 (fr) Procédé et dispositif de mesure de taraudages d'une pièce usinée au moyen d'un capteur optique
DE102022116099B3 (de) Oberflächeninspektionssystem und Verfahren zur Erfassung von Oberflächendefekten
WO1992008103A1 (fr) Procede et dispositif pour le mesurage opto-electronique d'objets
DE102017010055A1 (de) Laserstrahlschweißen von geometrischen Figuren mit OCT-Nahtführung
EP3752309A1 (fr) Système d'ajustement d'un écoulement de poudre par rapport à l'axe longitudinal central d'un rayon d'énergie
EP3710777B1 (fr) Dispositif pour la mesure optique du profil de filetage extérieur de tubes
EP2669622A1 (fr) Procédé de contrôle et tête de contrôle appropriée pour celui-ci
DE10153581A1 (de) Verfahren und Vorrichtung zur Ermittlung der Wirkkontur von Rotationswerkzeugen
DE102007031835B4 (de) Optische Führung und online Kontrolle an einem Werkzeug
WO2021191363A1 (fr) Nouveau type de dispositif(s) destiné(s) à contrôler automatiquement un revêtement et/ou une structure appliquée à un substrat à détermination de propriétés de réflexion et/ou de dimensions géométriques, et procédé correspondant
DE102008010965A1 (de) Roboter-Bahnführung
DE19736588A1 (de) Optoelektronisches Entfernungs-Meßverfahren sowie Entfernungsmeßeinrichtung zur Verfahrensdurchführung
DE102023105361B3 (de) Verfahren zum Kalibrieren eines Lichtschnittsensors und zugehöriges Robotersystem

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17842383

Country of ref document: EP

Kind code of ref document: A1

DPE1 Request for preliminary examination filed after expiration of 19th month from priority date (pct application filed from 20040101)
NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17842383

Country of ref document: EP

Kind code of ref document: A1