• 专利附录
  • 专利说明
  • 权利要求
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    • 专利摘要:
    The aim of the invention is to provide learning means without danger of accident while respecting the conditions of a real cut, by proposing to combine virtual cutting and resistance equipment with the advancement of cutting with tangible supports. of material to cut. A hybrid platform (1) according to the invention comprises a digital exercise management unit, a cutting table (10), a stereoscopic video projector (60) of a stationary cutting machine (80), a stereoscopic camera (40). ) tracking position of a tangible piece (70) and an operator equipped with markers, a control touch screen (50) in connection with the management unit and a tangible piece (70) to be cut virtually. The projected machine (80) is viewed by an operator equipped with 3D viewing glasses and said projector (60) is operatively combined with the tracking stereoscopic camera (40) associated with position markers equipping said workpiece and said operator. The platform (1) also comprises an electromagnet controlled by the management unit, arranged at the cutting member (8b) and able to interact with at least one active face of the workpiece (70). In addition, safety zones (Z1 to Z3) are projected by the video projector (60) around the cutting member (8b) of the cutting machine (80).
    公开号:FR3036219A1
    申请号:FR1500971
    申请日:2015-05-11
    公开日:2016-11-18
    发明作者:Jean Pierre Alexandre；Fabrice Baeli；David Sanchez
    申请人:Ass Nat Pour La Formation Professionnelle Des Adultes Afpa；
    IPC主号:
    专利说明:

    [0001] FIELD OF THE INVENTION [0001] The invention relates to a method of learning how to use stationary stationary cutting machines in a safe manner. DESCRIPTION OF THE PREFERRED EMBODIMENTS , especially for different categories of wood cutting, but also other non-metallic materials: plastic, synthetic or composite materials, rigid foam boards, etc. This method involves interacting virtual and real entities to simulate the cut while reproducing the actual conditions of execution of such a cut. The invention also relates to a hybrid platform, constituting an "augmented reality" type tool by combining tangible and virtual reality means for implementing such a method. Stationary machines, more particularly dedicated to cutting wood (the term "cutting" refers to the result on the part of the "cut" operated by the machine) - in particular band saws or circular format, jointers and routers - allow flow rates (straight flow, fretted, edging, cut-off, sizing for format and ribbon saws) and machining (dressing, routing, molding, profiling, for jointers and routers) . The training centers for cutting non-metallic materials are currently using educational workshops reconstituting workstations in the workplace, with the same safety rules as those in force in the companies concerned. One aspect is indeed the need to anticipate situations that may lead to work accidents related to the use of such machines, in particular by taking into account the double kinematics 3036219 2, that of the cutting tool and that of the material to be cut that moves in front of the cutting tool of the machine. [0004] Under these conditions, the learning of the cup is aimed at gradually teaching the attitude, the posture and the gestures that the apprentice will have to master according to the types of piece cut and the material used, all taking into account the risks associated with each phase of the cut. STATE OF THE ART [0005] The training courses are expensive in terms of the duration, the quantity of material to be cut and the large number of trainers necessary to enable the apprentice to gradually integrate such mastery of cutting. The duration of learning could be reduced when the risk of accidents are limited by the development of specific protection means near the cutting elements of the machines. Such means (shells, plates, guide means, etc.) are for example described in patent documents US Pat. No. 7,984,735, US Pat. No. 5,384,842 or US Pat. No. 5,423,359. However, these means are not adapted to the integration of the gestures and the posture necessary for the management of the danger, since the added means of protection aim to mask the cause of the risk incurred. These means of protection can be effective in a professional context but are not appropriate in a learning context. More recently, another approach has developed to propose using simulation means to reconstruct a virtual environment to optimize the safe conditions of cutting.
    [0002] Such an approach is disclosed, for example, in US patent documents 20120022677 or US 20090240482. These documents are more specifically directed to choosing the shape and location of optimal cuts or cutting lines from the detection of the workpiece, or to control the areas of interference between the cutting tool and the material to be cut. [0009] These simulations do not provide suitable learning means to ensure optimized training in time and in the medium, while at the same time enabling the integration of risk management in cutting trades, in particular, but not exclusively. , cutting the wood. SUMMARY OF THE INVENTION The object of the invention is precisely to provide such safe learning means while respecting the main conditions of a real cut, by proposing to combine virtual cutting and cutting equipment. cutting resistance with tangible material carriers to be cut in connection with a position detection of the material to be cut and the operator to monitor, analyze and estimate the behavior of the apprentice. More specifically, the subject of the present invention is a teaching method for cutting non-metallic materials by a stationary machine, comprising the following steps: a cutting exercise being selected in a digital management unit; virtual stationary machine, selected from a library of machines of the management unit with a suitable cutting element, is projected into stereoscopy on a cutting table and viewed by an operator equipped with three-dimensional visualization (3D); according to the exercise, a tangible piece to be cut virtually, detectable in position and comprising at least one magnetic interaction face, is constituted virtually of a material selected from a library of materials of the management unit, the materials being defined by at least one hardness image; the tangible piece to be virtually cut and the operator are equipped to be captured in stereoscopic imaging for tracking positions and movements; a feedback of electromagnetic force, which equips the cutting table beforehand, is controlled in intensity by the management unit according to the selected exercise, the hardness of the material, the position of the piece to be cut and or movements / orientations of the operator to interact, during the advancement of said workpiece, with at least one ferromagnetic face of this workpiece in order to exert a resistance to advance of the cut corresponding to that generated by a real machine of the same type; at least one safety zone is projected around the cutting element of said virtual machine, this zone being adapted in size to the selected cutting member, and an alarm is triggered in the event of crossing at least one security zone; and an operator learning level is evaluated by an analysis of the execution of the exercise on the basis of success rates of criteria relating to the regularity of cut and / or the speed of execution, the positioning of the operator 10 with respect to an ideal positioning and safe respect with regard to the proximity of the security zone or zones. According to particular modes: - a dressing of the piece to be cut virtually is also projected in stereoscopy on this piece, the dressing also covering any part 15 cut during the exercise and the materials are also defined in the library by their texture corresponding to said dressing; when the material of the piece to be cut is wood, the intensity of the electromagnetic stress return is weighted by a hardness image of the wood at a given cutting point corresponding to the average hardness of an image of extruded material perpendicular to the surface of the table to the level of that point by the management unit; vibrations corresponding to the virtual cutting of said piece are also generated at the level of the cutting member according to the choice of the exercise, the machine and said material of the workpiece, and are driven in intensity by the management unit; a generic sound accompaniment is provided, advantageously modulated by the intensity of the electromagnetic force feedback and the vibrations generated, the hardness of the wood and / or the cutting member; the head and the hands of the operator are equipped to be captured in infra-red stereoscopic (IR) imaging for tracking positions, orientations and movements; An accident zone is defined in the safety zone in the immediate vicinity of the cutting member, and the force return is stopped and / or the exercise is stopped when the operator crosses one of the zones; - A blurred shadow zone is projected stereoscopically at the 5 hands of the operator to hide the piece to be cut; alternatively, image subtraction processing of the hands of the operator is performed in the tracking imaging by the digital management unit to mask the piece to be cut out frame by frame; the management unit is in communication with a dedicated server which stores pedagogical data and common data in the execution of different exercises; the dedicated server hosts a trainer portal site accessible via a connection via a local network or the Internet and is responsible, by the management unit, for delivering access pages to the training portal to at least one terminal via a protocol access, exchange data with the management unit and store competency results data; the communication of data between a management unit and the server is chosen between an autonomous mode, in which the management unit and the dedicated server are hosted on the same computer site, a connected mode for several management units in which a site operates in stand-alone mode and the other management units are connected to the server via a local area network and / or the Internet, and a server mode in which the server communicates with the management units via a local area network and / or the Internet. [0013] The invention also relates to a hybrid platform for implementing the method defined above. Such a learning platform for cutting nonmetallic materials by a stationary machine comprises at least one numerical management unit of cutting exercises, a cutting table comprising a tray, a stereoscopic video projector of stationary cutting machines, a camera stereoscopic position tracking, 30 orientations and movements, a control and control screen in connection with the management unit and at least one tangible piece to be cut virtually. The management unit integrates operating characteristic libraries of stationary cutting machines, corresponding cutting members and cutting materials, the projected machines being able to be viewed by an operator equipped with 3D viewing glasses. Said projector is operatively combined with the stereoscopic camera tracking said tangible piece equipped with markers and an operator performing a cutting exercise on said table also equipped with markers. Such a video projector / camera combination advantageously makes it possible to adapt, via the management unit, the perspective of the projected images as a function of the position and orientation of the head of the operator. The stereoscopic tracking camera is associated with position markers equipping said workpiece and said operator. The platform also comprises an electromagnet controlled by the management unit arranged at the level of the cutting members and able to interact with at least one face of the piece to be cut coated with a ferromagnetic layer. And at least one safety zone is projected by the video projector around the cutting members of said machines. According to particularly advantageous embodiments: the pieces to be cut are dressed with images presenting material textures defined in the materials library and projected onto the pieces to be cut by the stereoscopic video projector in cooperation with the stereoscopic camera. tracking positions, orientations and movements of workpieces; a vibration member is arranged at the level of the cutting members and is controlled by the management unit according to the exercises, the cutting machines, the cutting members and the densities of the materials to be cut; at least one loudspeaker is controlled by the management unit according to the intensity of the electromagnet and the vibration member; an alert controlled by the management unit is capable of stopping the electromagnet and / or the exercise in case of crossing one of the zones situated inside the safety zone; - the stereoscopic camera being an infrared camera, the head and hands of the operator are equipped with IR camera markers, especially the 3036219 7 frames 3D viewing glasses are equipped with markers and the hands of the operator are equipped trackers; - The cutting table has a tray is covered with a highly reflective coating to optimize the stereoscopic projection; 5 - mobile model organs, in particular cutter protectors and side guides tangible pieces to be cut virtually associated with position adjustment means, are projected by the projector; visual aids to cutting can be projected by the video projector; the digital management unit is connected to a data storage server that can be transmitted via a local area network or the Internet, the management unit and the server being arranged in a storage space arranged under the board or close to the board. cutting.
    [0003] PRESENTATION OF THE FIGURES [0016] Other data, features and advantages of the present invention will appear on reading the following nonlimited description, with reference to the appended figures which show, respectively: FIG. perspective of an example of a hybrid platform according to the invention; - Figure 2, a top view of the cutting table of the hybrid platform of Figure 1, before the implementation of a cutting exercise; FIG. 3 is a perspective view of a tangible piece to be cut in a learning exercise according to the invention; FIGS. 4a and 4b, a perspective view of a tangible piece of clothing (FIG. 4a) with "material" images virtually extruded from the cutting table and making it possible to define the average hardness of a piece of wood at any point; at any given cutting level (Figure 4b); FIGS. 5a and 5b, an upper view of a virtual piece to be cut corresponding to particular instructions for cutting exercises, and a top view of the part dressing image to be cut after orientation by the operator to optimize positioning before cutting; FIGS. 6a and 6b, an example of 3D viewing glasses and an example of hand equipment, the glasses and the equipment being equipped with position / movement markers, and FIGS. 7a to 7f, the top view. schematic of the cutting deck during the implementation of cutting exercises with different cutting machines. DETAILED DESCRIPTION [0017] In the various figures, elements or parts of identical elements bear the same reference. The description of the same element represented in different figures is returned to the passage which deals with it in detail. In the text, the qualifiers "vertical", "horizontal", "superior", "lower" or equivalent expressions denote the position of an element in conventional use with respect to an orthonormal reference OXYZ defining a parallel Z axis. to the Earth's gravitational force, and an XY plane perpendicular to the Z axis. [0019] The perspective view of FIG. 1 illustrates an example of a hybrid platform 1 according to the invention dedicated to learning the cut of 20 wood. Such a platform comprises a cutting table 10, formed of a rectangular cutting plate 11 and four legs 12, and a gantry 120 whose vertical poles 121 bear along two of the feet 12 located at the end of a longitudinal edge B1 of the plate 11. The table 10 has an intermediate storage board 13 and a vertical reinforcing board 14 extending parallel to the longitudinal axis LL '(parallel to the Y axis) of the board 11 at a distance "D" from the longitudinal edge B1 shorter - about 1/3 of the width - than that which separates it from the other longitudinal edge B2 of the plate 11. A lateral guide 110 of cut is formed on the plate 11 at the same distance D of the longitudinal edge B1 as the reinforcing board 14 located under the plate 11. The lateral guide 110 has stops which are associated with lugs 11a, 11b of position adjustment, these lugs 11a, 11b being 3036219 9 able to slide in slide s 12a, 12b formed on the transverse edges B3, B4 of the plate 11 along the axis X. This guide 110 ensures a translational movement of a tangible piece 70 to be cut virtually. The lugs 11a, 11b are used in particular in the cutting operation called "shutting 5 stopped". In addition, a lower plank 15 in contact with the ground "S" connects the ends of the feet 12 resting on the ground "S". In the storage space El formed by the intermediate boards 13 and reinforcement 14 are installed a computer 20 incorporating a digital management unit 10 connected to a server 30 for teaching data storage. The server 30 exchanges data. cutting learning exercises with the management unit and delivers the pages of a "trainer" portal via a local network or the Internet. Since all these electronic and computer equipment are sensitive to variations in the electrical voltage, an inverter 15 is advantageously provided on the electrical supply circuit. Furthermore, an IR 40 stereoscopic camera and a control and control touch screen 50 (hereinafter "control screen") are respectively fixed on one and the other vertical mast 121 of the gantry 120. L The control screen 50 is steerable via a hinge arm 51. The masts 121 are connected at their upper ends by a beam 122 on which a stereoscopic projector 60 is fixed. The connecting cabling of the IR camera 40, of the video projector 60 and the control screen 50 to the computer 20, and connecting these equipment to a power supply network pass through the beam 122 and the masts 121 of the gantry 120. [0024] The tangible part 70, placed on the plate 11, is intended to be cut virtually in an exercise selected by the operator. To do this, the operator acts on the page of the control screen 50 edited by the computer management unit 20 to select the different parameters defining the exercise: type of cutting machine, type of cut to perform, hardness of the wood, 30 tangible part defined by its dimensions, flat and edge deformation parameters (for jointers), cutting instructions (flow or machining: dimensions, depth of cut, etc.), actions to be performed, level expertise. The tangible piece 70 is part of a game 7 of five pieces (the other four pieces are arranged in the space E1) of variable dimensions and adapted to the corresponding exercises. To define the cutting exercises, the computer management unit 20 integrates libraries of operating characteristics, stationary cutting machines, cutting members and different types of wood to be cut. Wood is defined by its texture and hardness which varies according to the texture. The tangible piece 70 to be cut virtually and the head and hands of the operator are equipped with markers (see Figure 6a and 6b) so that the IR camera 40 can track them in positions, orientations and movements . A stationary flow machine, a band saw 80 in the illustrated example (only its upper part is shown to simplify Figure 1) being selected, the stereoscopic projector 60 projects it above the plate 11. The blade 8b of the saw 80 pierces the plate 11 at the point of impact "I" and the lateral cutting guide 110 is moved back in position on the plate 11. This ribbon 8b is protected by a protective member 82 adjustable during of the virtual cup. The band saw 80 and its projected accessories (blade 8b, protection member 82) are visualized by the operator equipped with 3D viewing glasses (see Figure 6a). The analysis of the images projected by the video projector 60 as seen by the IR camera 40 allows the management unit, by conjunction of these images with the monitoring of position and movements of the operator also carried out by the IR camera 40, to adapt the perspective of projected images to the position and orientation of the operator's head. The position and orientation of the operator's head thus determines the combination of the projected images to give the environment in 3D. Security zones are also projected by the projector 60 around the cutting blade 8b. Alternatively, these safety zones can be projected on and / or in front of the blade 8b. These areas are sized and shaped to the cutter chosen for the exercise. In the example, the security zones consist of three zones Z1, Z2 and Z3, forming three homothetic rectangular parallelepipeds and centered on the cutting blade 8b: the accident zone Z1 delimited by the blade 8b, the zone of protection Z2 delimited by the protection member 82 and encompassing the accident zone Z1, and the warning zone Z3 encompassing the protection zone Z2. The dimensions and the transparency of these zones Z1 to Z3 are learning-related parameters of the simulation: the zones are visible and permanently colored in "beginner" mode (with a color change of the zone d Z3 alert when crossing), only when approaching the hands of the Z3 warning zone in "advanced" mode, and invisible in "expert" mode. A visual alert is triggered on the control screen 50 in case of crossing the warning zone Z3. In any case, the entry of a hand into the Z2 protection zone triggers the end of the exercise. The upper view of the cutting plate 11 is illustrated in FIG. 2. In order to optimize the stereoscopic projection, the plate 11 is covered with a highly reflective coating, here in white plastic material, on its upper face 11. s. In addition, an electromagnet 2 (seen in transparency) controlled by the management unit is arranged under the plate 11 at the impact "I" of the virtual cutting member. The electromagnet 2 makes it possible simultaneously to brake the translation movements in the XY plane and to rotate along the Z axis of the tangible piece 70. The management unit defines the variation of the attraction force and the surface of the interaction of the electromagnet 2 with the tangible piece 70 according to the conditions of the planned exercise and as the exercise unfolds, namely: the reference force to be exerted by the apprentice on the piece, the hardness and the amount of material to be removed at one time. In addition, a vibratory member 3 (also seen in transparency), here a vibrating blade, is also arranged under the plate 11, close to the electromagnet 2. The vibration member 3 activated with the electromagnet 2 and driven in vibration intensity by the management unit through the computing loop of the computer 20 (Figure 1). Because the cutting machines are rotating machines and cause vibrations by themselves and in interaction with the wood to be cut, the vibratory member 3 is then dedicated to form vibratory movements of the type that would cause the machine actual cut 3036219 12 corresponding to the selected virtual machine according to the conditions of the planned exercise. A stop button 4, positioned on a transverse edge B4 of the plate 11, can cut the power supply of the electromagnet 2 in case of emergency, 5 for example when a safety zone close to the blade section 8b is crossed by the operator. Advantageously, the emergency stop is integrated in the simulation. Thus, when the operator actuates the emergency stop button 4, the simulation reacts like an actual machine (progressive stop of the motor, stop of the exercise, etc.). In order to complete the realism of the simulated cut, the system is advantageously equipped with two loudspeakers 5a and 5b fixed on either side of the plate 11 to simulate the noise of the machine. The loudspeakers 5a, 5b are also controlled by the management unit of the computer 20 as a function of the force exerted by the electromagnet 2 and the intensity of the vibrations generated by the vibration member 15. sound return is thus integrated into the computation loop of the computer 20 from the contact with the cutting blade 8b with the tangible part 70, taking into account the hardness of the material to be cut virtually, or from the start en route of the machine that communicates vibrations to the table 10 (Figure 1). In addition, the operator conventionally has a pusher 6 to clear the virtual falls or push the tangible piece 70 to finish the cutting or machining action when the hands are too close to the cutting member. 8b. The pusher 6 is hooked to the edge B2 of the plate 11 by means of a flexible cord 16. Advantageously, the pusher 6 may be provided with markers in order to follow its position with the aid of the IR camera 40 (FIG. ). During the exercise, the position of the lateral guide 110 - with its stops 13a, 13b coupled to the lugs 11a, 11b - may be disrupted due to the significant forces generated by the operator on the tangible part 70. For To allow the operator to reposition them correctly, the video projector 60 (FIG. 1) projects virtual simplified views of these elements following a precise instruction to be executed. The operator then makes the physical elements 3036219 13 (guide 110, ergots 1a and 11b) correspond to the projected virtual elements. It is therefore useless to project a piece transport carriage to be cut. The perspective view of Figure 3 illustrates the tangible part 70, identified by a label numbered "R" on the upper face 11s of the plate 5 11 partially seen. The tangible parts such as the part 70 have a parallelepipedal shape and are coated on two sides Fl and F2 said active - a flat face Fl and a face F2 - of a ferromagnetic layer 7f. The other two faces F3 and F4 respectively opposed to the active faces F1 and F2, are coated with a constellation of IR markers 17. The interaction between the electromagnet 2 and the tangible part 70 only functions if one of the active faces Fl or F2 is in contact with the upper face 11 of the plate 11. The quantity of IR markers 17 per part 70 is determined so as to guarantee a continuity of the position and motion tracking 15 even when the two The hands of the operator conceal some of these markers 17. In general, the pieces to be cut virtually 70 are dressed by images projected by the video projector 60 in cooperation with the IR camera 40 (FIG. positions, orientations and movements 20 of said pieces 70, and representing wood textures defined in the library of materials. We distinguish the flow parts, cut by the flow machines - saws format and ribbon - machining parts cut by machining machines - jointers and routers -. The flow pieces are always placed on the flat face Fl in the example, and do not require virtual deformation: the cutting actions are performed perpendicularly to the plate 11, which makes it possible to work the workpiece on a blank in 2D, then generate 3D by extrusion. The "material" images, also called "skins", are thus extruded along the Z axis for the flow pieces and FIG. 4a illustrates a perspective view of such an extruded "material" image 200. The "material" image 200 of a piece of virtual wood respects the dimensions of the tangible board 70 on which it is projected in order to avoid the visual effects of stretching during the projection. To this "material" image 200 is associated an image "hardness 210, uniformly distributed on the Z axis. Each pixel of a" hardness "image 210 5 corresponds to a standardized hardness value, here between dl and d5 as illustrated by the top view of Figure 4b. The intensity of the force feedback provided by the electromagnet 2 (Figure 2) is weighted by the hardness of the actual part to be cut listed in the selected exercise. The extruded images then make it possible to determine the average hardness of the real part at any point of any virtual cutting level determined by the management unit and to deduce from it the force of the intensity of the electromagnet 2 to be applied. As for the machining parts, they are placed on the flat or on the edge, faces F1 or F2 in the example, and require virtual deformations 15 (the part being sharpened, hollow or tiled). The management unit uses a so-called "displacement" image technique from which the 3D part is generated. The piece of wood is in fact generated from two images respectively extruded along the Z axes (the flat) and X (the edge). The extrusion is then non-uniform and is a function of the "displacement" image. The machining then acts directly on this image and implicitly on the topography of the virtual part. The four types of wood piece can thus be simulated: standard part (without deformation), sharpened part (with roughness on the flat and on the edge), tiled piece (with a deformation arrow on the flat in the direction of the width and roughnesses on the edge), and hollow piece (with a deflection arrow on the flat in the direction of the length and roughnesses on the edge). In addition, special instructions can be requested by the exercise. The top view of FIG. 5a illustrates a cladding virtual part 170 on the tangible part 70 indicating a cutting instruction for the band saw 80 (FIG. 1), namely the curved line 18. [0051] moreover, in order to optimize a cut following the preparation instruction of an exercise - here a training of the bank - the operator can be brought to orient the "material" image 170 at an angle 0 with respect to the tangible piece 70, as shown in the top view of Figure 5b with reference to the XY mark. To do this, it modifies the angle 0 on the control and control screen 50 (FIG. 1). [0052] The execution of an exercise generally takes place in three phases: the preparation, the realization and the finalization. The preparation phase is performed on the control screen 50 and consists of configuring the machine. Depending on the virtual machine and the context of the exercise, the apprentice activates the safety devices, suction, light, etc. When the station is correctly set, the projection table is illuminated by the light projected from the projector 60 and the apprentice is invited to equip with 3D viewing glasses and trackers "left hand" and " right hand ". [0055] Figures 6a and 6b illustrate, respectively, an example of 3D viewing glasses and an example of hand or tracker equipment, the glasses and the tracker being equipped with position / movement tracking markers. [0056] Thus, each hinge 90 3D viewing glasses 9 is equipped with three IR markers 91 and each hand 8 of the operator is equipped with a "tracker" sleeve 92 on which five IR markers 91 are mounted. The operator should be careful not to invert the trackers 92 of the right hand and that of the left hand, respectively identified by a label "right" and "left". The hand tracker thus enables the management unit to track the position and movement of the hands by distinguishing the right hand from the left hand via the IR camera 40 (FIG. 1). The 3D IR 91 markers allow the operator to correctly view the images projected by the video projector 60 (FIG. 1) and the management unit to determine the position and orientation of the operator's head via the IR camera 40. [0058] In order to illustrate some phases of cutting exercises with different machines, FIGS. 7a to 7d diagrammatically show the top view of the cutting plate 11 during the implementation of these different phases. . The cutting machines concerned are a format saw for deliming and cutting (FIGS. 7a and 7b), a band saw for a line edging and a fretwork (FIGS. 7c and 7d), a jointer 5 for the dressing of a sharpened wood (Figure 7e) and a router for continuous routing (Figure 7f). During the preparation phase, the operator starts the suction and the machine, activates the protection, selects the right cutter and goes to the next step. According to the exercise, certain adjustments require a suitable physical action on the cutting deck 11, in particular the adjustment of the lateral guide 110, the lugs 11a, 11b and the tangible piece to be cut out 70 (FIG. ). For this, the apprentice matches the real elements to the virtual elements projected on the plate 11. During this phase, the positions of the tangible piece 70, the head and hands of the operator are captured. The video projector 60 projects on the plate 11 a blurred shadow zone at the level of the hands, to hide the tangible piece 70, and a "material" image on the tangible piece 70. The cut is made in the parallelepipedic volumes of the security zones Z1 to Z3 (Figure 1). In most exercises, the operator can adjust the cutting orientation by returning the part dressing 180 ° if the orientation does not correspond to that defined on the control screen 50 (Figure 1) . When the exercise is finished, the operator leaves his 3D glasses 9 25 (Figure 6a) and finalizes the exercise on the control screen 50 by stopping the machine, suction, etc. The results are displayed on the control screen 50 (Figure 1). [0064] More particularly, the first two examples of exercise illustrated by the top views of FIGS. 7a and 7b relate to the use of a format saw for, respectively, deliming and cutting. The edging (Fig. 7a) is to make a straight cut at a distance Xdeb along a longitudinal edge (called "bank") 310 of a tangible piece 71 to be previously erected. In the preparation phase, the operator orients the wood covering 220 5 on the control screen 50 according to the saw blade 8a to optimize the training of the bank. A virtual line T1 is displayed on the screen 50 and projected on the plate 11 in the extension of the blade 8a. The covering 220 is moved along the X axis and oriented along the Z axis. After this manipulation, the management unit determines and stores the position of the lateral guide 110 making it possible to carry out initial "training" operation involving a virtual guide 110a as explained below. In the production phase, the virtual guide 110a is projected on the plate 11. After wearing the 3D glasses 9 and threaded the trackers 15 92 (Figures 6a and 6b), the operator superimposes the lateral guide "real" 110 and the virtual guide 110a. He then plates the song of the piece 71 against the guide 110 and performs the training by moving the piece 71 along the Y axis (arrow Fy), to eliminate a virtual fall corresponding to the sapwood of the tangible piece using of the pusher 6. The management unit detects the end of the sequence via the IR camera 40 (FIG. 1) and the operator "repositions" the lateral guide 110 on the virtual guide 110a. After tightening the stops 13a, 13b on the lugs 11a and 11b, the operator plates the tangible piece 71 against the guide 110 and executes the edging by moving the tangible piece 71 along the Y axis (arrow Fy) with the help of the 6. The operator then evacuates the virtual coin 71c (located between the blade 8a 25 and the guide 110), then virtually replace the residual piece 71d upstream of the blade 8b in the management unit via the screen. control 50 (Figure 1). At the end of the exercise, the operator removes the tracking equipment, stores the tangible piece 71 and returns to the control screen 50 to finalize the exercise. In the case of cutting (FIG. 7b) over a distance X'deb of tangible part 72, the management unit uses the lateral guide 110 to simulate the piece transporting trolley by acting as a support and thus facilitating the translation of the tangible piece 72 along the axis OY (arrow Fy). Two virtual guides 110b and 110c 3036219 18 are projected, one (110b) on the position of the real lateral guide 110 and the other (110c) at the location of the position of the covering 230. This arrangement advantageously allows to complete the placement of the tangible lateral guide 110 and overcome the cantilever. [0071] This sequence consists of positioning the covering 230 according to that of the blade 8a in order to optimize the initial dressing of the edge. To help the positioning of the covering 230, a virtual line T1 is displayed on the screen 50 and projected in the extension of the blade 8a. The operator can move the trim 230 along the X axis and orient it 10 along the Z axis in a preparation phase. At the end of this manipulation, the management unit determines and memorizes the position of the virtual guide 110c and that of the actual guide 110 and then projects the virtual guides 110b and 110c to help the placement of the lateral guide 110 in the initial training phase , similar to that of the previous edging example. The operator then superimposes the actual guide 110 to the virtual guide 110b. He then plates the transverse edge 72a of the tangible piece 72 against the lateral guide 110. The operator then performs the training along the Y axis (arrow Fy). He then places the lateral guide 110 in superposition of the virtual guide 110c by means of the tightening of the lugs 11a, 11b and then carries out the cutting by moving the piece 72 along the Y axis (arrow Fy) with the aid of the button.
    [0004] The operator then evacuates the virtual coin 72c, then virtually places the residual piece 72d upstream of the blade 8a in the management unit via the control screen 50 (Figure 1). [0073] The following two examples of exercise, illustrated by the top views of FIGS. 7c and 7d, relate to the use of a band saw for, respectively, line edging and fretwork (FIG. 7d). Concerning the edging line T2 (Figure 7c), the operator positions the tangible piece 73 facing the blade 8b and aligns to the line T2. The operator then performs the complete sawing along the X axis (arrow Fx) and then repositions the tangible piece 73 upstream of the blade 8b. The management unit via the IR camera 40 detects the end of this first sequence and displays the second cut line T3. The operator performs the second sawing following the line T3. Once the second sawing is done, the operator ejects the virtual fall 73c and then repositions the tangible piece 73 upstream of the blade 8b. With regard to the fretwork (by a combination of linear sawing according to Fx and rotating according to Fz about an axis parallel to the axis Z on FIG. 7d), the operator follows the line of a curve. Cl whose radius keeps the same sign. The operator positions the tangible piece 73 to be jogged to the blade 8b. The operator then performs the complete sawing and repositions the tangible piece 73 upstream of the blade 8b to perform a line edging and virtually eliminate the fall 73d. With a jointer, the following exercise (FIG. 7e) relates to the dressing of a wood that has been sharpened by machining (and, in an equivalent manner, to the dressing of a tiled or hollow part, informing the unit management of the ideal position of the room). During the preparation phase, the operator configures the depth of pass on the control screen 50 as a function of the roughness value of the proposed dressing 240. The video projector 60 then projects the virtual guide 110d and the operator superimposes the real lateral guide 110 to the virtual guide 110d. It lays flat the tangible piece 74 on the plate 11 and plate the edge of this piece against the lateral guide 110. The machining is performed by exerting a force 20 along the Y axis (arrow Fy) by passing on the tool section 8c rotating about an axis parallel to the axis X. When the operator has completed the first "pass", he checks the surface condition of the tangible piece 74 downstream of the cutting tool 8c of It's the following way. By slightly raising the tangible part 74, the operator indicates to the management unit that he wishes to visualize the dressing of the "bottom" of the machined part. A "material" image of the result is then projected. Depending on the quality of the estimated surface condition, the operator then chooses to perform a new pass or to finalize the exercise by training the edge. Between each pass, the operator can change the depth of pass on the control screen 50. [0080] Edge dressing is performed in an equivalent manner to the edge dressing by pressing the edge against the lateral guide 1110. The last example of exercise relates to continuous routing (FIG. 7f). The router has a double cutter 8d which rotates on an axis parallel to Z and makes it possible to make a groove R1. The operator places the tangible piece 74 flat on the plate 11 and the plate on edge against the lateral guide 110. The machining is performed along the Y axis (arrow Fy) past the cutting tool 8d. When the operator has finished machining, he repositioned the piece 74 upstream of the double cutting member 8d, the piece remaining flat on the plate 11. [0082] The invention is not limited to the embodiments described. and represented. Thus, the operator's learning level for a given exercise can be evaluated by an analysis of the execution of that exercise. The analysis is carried out on the basis of success rates of cutting regularity criteria, speed of execution, positioning of the operator, in particular of his hands, with respect to an ideal positioning and safety respect the proximity of his hands to safety zones Z1 to Z3. [0083] Thus, the regularity of the cut can be evaluated by comparing the ideal path to that printed by the cutter on the workpiece. For a given exercise, it can be sampled over the entire section and is the average of the distance between the center of the cutting member and the ideal position. [0085] For machining exercises, this criterion may correspond to the maximum distance from the tangible part to the lateral guide and make it possible to determine whether the operator is correctly pressing the workpiece on the lateral guide. In addition, the speed of movement corresponds to the speed of movement of the tangible piece manipulated by the operator. By this criterion, the management unit controls the value and constancy of speed over an entire exercise. As for the position of the hands, it is evaluated by comparing the ideal position to that of the operator and is sampled over the entire section. The criterion can be based on a tolerance interval which reflects the maximum drift between the center of the hand and the ideal position. The evaluation phase of the system will make it possible to analyze the precision of the follow-up of the orientation of the hands of the operator. The orientation of the hands can be evaluated to qualify more finely the gesture. Finally, for the respect of the protection zone, this criterion can define the homothetic coefficient to be applied to the protection zone Z2 to obtain the accident zone Z1 (lower tolerance) and the warning zone. Z3 (upper tolerance). By evaluating the distance between the hands and the Z2 protection zone, the system provides indicators on the operator's actions in terms of safety. In order to simplify the projections, it is possible to project only the Z3 warning zone in 2D (two dimensions) on the table top. In addition, the means of adjustment in position of the lateral guide described, namely the lugs and stops, may be replaced by any known means, for example hooks, rings, toothed rods, etc.. In addition, visual aids for cutting can be projected by the video projector. Assistance is indicated by the display of visual guides (arrows, information) and / or the deactivation of certain machine configuration steps. For example, in "beginner" mode, the operator does not have to manage the start / stop of the machine and goes directly to the execution of the expected cutting gesture, the projector projecting on the tray the ideal position of the hands ("explicit guidance"). In "advanced" mode, the operator can not perform the cutting action until the configuration is complete ("implicit guidance"). Finally, in "expert" mode, if the operator chooses to execute a cutting action while the machine is not fully parameterized, the exercise stops ("no assistance"). In addition, to mask the piece to be cut, alternatively to the projection of a blurred area at the hands during an adjustment phase, a subtraction image processing of the hands of the operator can be performed in the follow-up imaging by the digital management unit to mask the piece to be cut out frame by frame. In addition, besides monitoring the hands and the head, it is possible to provide a camera that captures the silhouette of the operator without markers 3036219 22 (same principle as the "Kinect" control of video games) to follow the posture of the operator as a whole and to restore it as a wired skeleton. Furthermore, it is possible to provide a data communication between several management units, each located on a platform, and a single server and deliver the pages of the "trainer" portal on any computer or terminal via a local or internal network and an access protocol for a data exchange, for example to store proficiency results data on the server. This communication can be chosen between an autonomous mode, in which the management unit and the dedicated server are hosted on the same computer site, a connected mode for several management units in which a site operates in autonomous mode and the other management units are connected to the server via a local area network and the Internet (or only the local network or only the Internet), and a server mode in which the server communicates with the management units via a local area network and the Internet (or only the local network or only the Internet).
    权利要求:
    Claims (21)
    [0001]
    REVENDICATIONS1. A method of learning to cut non-metallic materials by a stationary machine, comprising the following steps: - a cutting exercise being selected in a digital management unit, a virtual stationary machine (80), selected from a library of machines of the management unit with a suitable cutting member (8a to 8d) is projected (60) in stereoscopy on a cutting table (10) and seen by an operator equipped with 3D three-dimensional visualization; - according to the exercise, a tangible piece (70 to 74) to be cut virtually, detectable in position and having at least one magnetic interaction face (F1, F2), is constituted virtually of a material selected from a library of materials of the management unit, the materials being defined by at least one hardness image (210); - the tangible piece to be cut virtually (70 to 74) and the operator are equipped (91) to be captured in stereoscopic imaging (40) tracking positions, orientations and movements; - An electromagnetic force return (2), which previously equips the cutting table (10), is controlled in intensity by the management unit according to the selected exercise, the hardness of the material, the position of the piece to be cut (70 to 74) and / or movements / orientations of the operator to interact, during the advancement of said piece (70 to 74), with at least one ferromagnetic face (F1, F2) of this piece (70 to 74) to exert a resistance to the advancement of the cut corresponding to that generated by a real machine of the same type; at least one safety zone (Z1 to Z3) is projected around the cutting element (8b, 8b, 84) of said virtual machine (80), this zone being dimensionally adapted to the chosen cutting element ( 8b, 8b, 84), and an alarm is triggered 30 when crossing at least one safety zone (Z1 to Z3); and an operator learning level is evaluated by an analysis of the execution of the exercise on the basis of success rates of criteria relating to the regularity of cut and / or the speed of execution, the positioning of the operator with respect to an ideal positioning and the safety respect with regard to the proximity of the safety zone or zones (Z1 to Z3).
    [0002]
    2. A learning method according to claim 1, wherein a cladding (220, 230, 240) of the piece to be cut virtually (70 to 74) is also projected stereoscopically on this piece (70 to 74, the dressing (200, 220, 230) also covering any portion cut during the exercise and the materials also being defined in the library by their texture corresponding to said skin.
    [0003]
    3. Learning process according to any one of claims 1 or 2, wherein when the material of the piece to be cut is wood, the intensity of the electromagnetic force return (2) is weighted by a hardness image wood (210) at a given cutting point corresponding to the average hardness of an image of material (200) extruded perpendicularly to the surface (11s) of the table (10) to the level of that point by the management unit.
    [0004]
    4. Learning method according to any one of the preceding claims, wherein vibrations corresponding to the virtual section of said piece (70 to 74) are also generated (3) at the cutting member (8a to 8d). ) according to the choice of the exercise, the machine and said material of the room, and are controlled in intensity by the management unit.
    [0005]
    5. Learning method according to any one of the preceding claims, wherein a generic sound accompaniment (5a, 5b) is provided, this accompaniment can be modulated by the intensity of electromagnetic force feedback (2) and vibrations. generated (3), the hardness of the wood and / or the cutting member (8a to 8d).
    [0006]
    The training method as claimed in any one of the preceding claims, wherein the head and hands (8) of the operator are equipped (91) to be captured in stereoscopic infrared (IR) image tracking positions, orientations and movements.
    [0007]
    7. Learning method according to any one of the preceding claims, wherein an accident zone (Z1) is defined in the safety zone in the immediate vicinity of the cutting member (8b, 8b, 84), and the effort return (2) is stopped and / or the exercise is stopped when the operator passes one of the zones (Z1, Z2).
    [0008]
    A learning method as claimed in any one of the preceding claims, wherein a blurred shadow area is projected stereoscopically at the operator's hands (8) to mask the cut-out piece (70-74). .
    [0009]
    9. Learning process according to any one of claims 1 to 7, wherein an image processing subtraction of the hands (8) of the operator is performed in the tracking imaging by the management unit 10 digital to mask the piece to be cut (70 to 74) image by image.
    [0010]
    10. Learning method according to any one of the preceding claims, wherein the management unit is in communication with a dedicated server (30) which stores pedagogical data and common data in the execution of different exercises. 15
    [0011]
    11. Learning method according to the preceding claim, wherein the dedicated server (30) hosts a trainer portal site accessible via a connection via a local network or the Internet and is responsible, by the management unit, for delivering pages. providing access to the training portal to at least one terminal via an access protocol, exchanging data with the management unit and storing competency results data.
    [0012]
    The learning method according to any of claims 10 or 11, wherein the data communication between the management unit and the server (30) is chosen between an autonomous mode, in which the management unit and the dedicated server (30) are hosted on the same computer site, a connected mode for several management units in which a site operates in autonomous mode and the other management units are connected to the server (30) via a local area network and / or the Internet, and a server mode in which the server (30) communicates with the management units via a local network and / or the Internet. 30
    [0013]
    13. Hybrid platform (1) for teaching the cutting of non-metallic materials by a stationary machine on a cutting table (10) for carrying out the method according to any one of the preceding claims, characterized in that it comprises at least one numerical management unit for cutting exercises, a stereoscopic video projector (60) for stationary cutting machines (80), a stereoscopic camera (40) for tracking positions, orientations and movements, a display screen, control unit and control unit (50) in connection with the management unit and at least one tangible part (70 to 74) to be cut virtually, in that the management unit integrates operating feature libraries of stationary machines of cutting (80), corresponding cutting members (8b, 8b, 84) and cutting materials, the projected machines (80) being able to be viewed by an operator equipped with 10 prescription glasses. 3D imaging (9), in that said projector (60) is operatively combined with the stereoscopic camera (40) for tracking said tangible part (70 to 74) and an operator performing a cutting exercise on said table ( 10), in that the stereoscopic tracking camera (40) is associated with position markers equipping said workpiece and said operator, in that the platform (1) also comprises an electromagnet (2) driven by the control unit. management, arranged at the level of the cutting members (8b, 8b, 84) and able to interact with at least one face (F3, F4) of the cutting part coated with a ferromagnetic layer (7f), and in that at least one safety zone (Z1 to Z3) is projected by the video projector (60) around the cutting members (8b, 8b, 84) of said machines (80).
    [0014]
    14. Hybrid platform according to the preceding claim, wherein the pieces to be cut (70 to 74) are dressed by images (200, 220, 230, 240) having textures of materials defined in the library of materials and projected on the parts. to be cut (70 to 74) by the stereoscopic video projector (60) in cooperation with the stereoscopic camera (40) for tracking positions, orientations and movements of the pieces to be cut (70 to 74).
    [0015]
    15. Hybrid platform according to any one of claims 13 and 14, wherein a vibration member (3) is arranged at the cutting members (8b, 8b, 84) and is controlled by the management unit based exercises, cutting machines (80), cutting members (8b, 8b, 84) and densities of the materials to be cut. 3036219 27
    [0016]
    16. Hybrid platform according to the preceding claim, wherein at least one speaker (5a, 5b) is controlled by the management unit according to the intensity of the electromagnet (2) and the vibration member. (3).
    [0017]
    17. Hybrid platform according to any one of claims 13 to 16, wherein an alert controlled by the management unit is able to stop the electromagnet and / or exercise in case of crossing one of the zones ( Z1, Z2) located inside the safety zone (Z3).
    [0018]
    A hybrid platform according to any one of claims 13 to 17, wherein the cutting table comprises a plate (11) covered with a highly reflective coating to optimize stereoscopic projection.
    [0019]
    A hybrid platform according to any one of claims 13 to 18, wherein movable modeled members, in particular cutter protectors (82) (8b, 8b, 84) and side guides (110) of the parts. cut out virtually associated with position adjusting means (11a, 11b, 13a, 13b) are projected by the projector (60).
    [0020]
    20. Hybrid platform according to any one of claims 13 to 19, wherein visual aids to cutting can be projected by the video projector (60).
    [0021]
    A hybrid platform according to any of claims 18 to 20, wherein the digital management unit is connected to a data storage server (30) that can be transmitted over a local area network or the Internet, the management and the server (30) being arranged in a storage (El) arranged under the plate (11) or near the cutting table (10). 25
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    同族专利:
    公开号 | 公开日
    WO2016180746A1|2016-11-17|
    US20180286278A1|2018-10-04|
    CA2985713A1|2016-11-17|
    US10679517B2|2020-06-09|
    EP3295446A1|2018-03-21|
    FR3036219B1|2017-05-26|
    EP3295446B1|2019-07-10|
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    优先权:
    申请号 | 申请日 | 专利标题
    FR1500971A|FR3036219B1|2015-05-11|2015-05-11|COMBINED CUT LEARNING METHOD OF SIMULATION ENTITIES AND THE HYBRID PLATFORM FOR IMPLEMENTING THE SAME|FR1500971A| FR3036219B1|2015-05-11|2015-05-11|COMBINED CUT LEARNING METHOD OF SIMULATION ENTITIES AND THE HYBRID PLATFORM FOR IMPLEMENTING THE SAME|
    CA2985713A| CA2985713A1|2015-05-11|2016-05-09|Method of learning cutting by combining simulation entities, and hybrid implementation platform|
    EP16735998.3A| EP3295446B1|2015-05-11|2016-05-09|Method of learning cutting by combining simulation entities, and hybrid implementation platform|
    PCT/EP2016/060260| WO2016180746A1|2015-05-11|2016-05-09|Method of learning cutting by combining simulation entities, and hybrid implementation platform|
    US15/572,903| US10679517B2|2015-05-11|2016-05-09|Method of learning cutting by combining simulation entities, and hybrid implementation platform|
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