Range finder device for monitoring robot processing tool position

A method for monitoring a position of a robot processing tool relative to a tracking device mounted adjacent to the robot processing tool, the method comprising the steps of:

• attaching a range finder device to the tracking device, the range finder device comprising a laser unit having a laser and an operative projection arrangement for projecting a triangulation laser mark, a camera unit having an image sensor and an optical viewing arrangement, and a control unit connected to the laser unit and the camera unit;
• positioning the laser unit so that the triangulation laser mark is projectable on a target area of the robot processing tool;
• positioning the camera unit so that the triangulation laser mark, a tool center point of the robot processing tool and a processing area are in a field of view of the camera unit;
• controlling operation of the laser unit so that the triangulation laser mark is projected on the predetermined target area of the robot processing tool;
• receiving an image signal produced by the image sensor of the camera unit;
• producing triangulation laser measurement data from the triangulation laser mark in the image signal;
• generating a signal indicative of the position of the robot processing tool as function of the triangulation laser measurement data;
• and
• transmitting the image signal produced by the camera unit whereby the position of the robot processing tool is monitored with the image signal and the signal indicative of the position of the robot processing tool.