Automatic detection and robot-assisted machining of surface defects
AssigneeAtensor Engineering And Technology Systems GmbH
InventorKurt Häusler
Life of this patent
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Abstract
A method for automated detection of defects in a workpiece surface and generation of a robot program for the machining of the workpiece is described. In accordance with one embodiment, the method comprises the localization of defects in a surface of a workpiece as well as determining a three-dimensional topography of the localized defects and categorizing at least one localized defect based on its topography. Dependent on the defect category of the at least one defect, a machining process is selected and, in accordance with the selected machining process, a robot program for the robot-assisted machining of the at least one defect is generated with the assistance of a computer.
Claims17
A method for automated detection and robot-assisted machining of a defect in a workpiece surface, the method comprising:
- optically inspecting, using an optical inspection system, the workpiece surface of a workpiece to detect a defect;
- measuring, in three dimensions and using optical sensors of the optical inspection system, the workpiece surface in an area of the detected defect;
- determining a topography of the workpiece surface in the area of the defect;
- determining a parameter set that characterizes a determined topography of the defect;
- categorizing the defect based on the determined parameter set, wherein the defect is assigned to a defect category;
- selecting a machining process dependent on the defect category of the defect, wherein each machining process is associated with a template of a machining path along which the defect is to be machined;
- determining a machining path for the defect, wherein determining the machining path includes projecting the template onto the workpiece surface in accordance with a CAD model of the workpiece;
- generating, via a computing device, a robot program for robot-assisted machining of the defect.
A system for automated detection and robot-assisted machining of a defect in a workpiece surface, the system comprising:
- an optical inspection and measurement system for inspecting the workpiece surface to detect a defect and for a three-dimensional measurement of the workpiece surface in the area of the detected defect with the use of optical sensors;
- a robot for machining the workpiece surface;
- and
- a data processing device configured to:
- determine the topography of the workpiece surface in the area of the defect;
- determine a parameter set that characterizes the defect;
- categorize the defect based on the determined parameter set, wherein the defect is assigned to a defect category;
- select a machining process stored in a database in dependency of the defect category of the defect, wherein each machining process is associated with a template of a machining path along which the defect is to be machined;
- determine a machining path for the defect by projection of the template onto the workpiece surface in accordance with a CAD model of the workpiece;
- and
- generate a robot program for the robot-assisted machining of the defect by the robot.
A method for automated detection of a defect in a workpiece surface and generation of a robot program for the machining of the workpiece, the method comprising:
- localizing a defect in a surface of a workpiece;
- determining a three-dimensional topography of the localized defect;
- categorizing the localized defect based on the determining a three-dimensional topography;
- selecting a machining process dependent on a defect category of the defect;
- generating, via a computing device, a robot program for robot-assisted machining of the defect in accordance with a selected machining process.
A system for automated detection of a defect in a workpiece surface and generation of a robot program for the machining of the workpiece, the system comprising:
- an optical inspection system for localization of a defect in a surface of a workpiece;
- a data processing computer configured to:
- determine a three-dimensional topography of a localized defect;
- assign a localized defect to a defect category based on its the determined three-dimensional topography;
- select a machining process dependent on a defect category of the defect;
- generate a robot program for the robot-assisted machining of the defect in accordance with a selected machining process.
Dependencies are inferred from the claim text.