• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A location system for determining the position of a movable object (12) like a power wrench in a three dimensional space and comprising a number of stationary signal communication modules (15, 16 and 17) and a movable signal communication module (18) carried by the movable object (12), wherein the stationary signal communication modules (15, 16 and 17) are connected to an evaluation and calculation unit (24) which is arranged to determine the position of the movable object (12) in response to the signals delivered by the stationary signal communication modules (15, 16 and 17) and based on signals communicated between the movable signal communication module (18) and the stationary signal communication modules (15, 16 and 17). At least one (16) of the stationary signal communicating modules (15, 16 and 17) is displaceable between two or more positions (A,B) to enable signal communication contact with the movable signal communicating module (18) in normally screened off positions.
    公开号:SE1150105A1
    申请号:SE1150105
    申请日:2011-02-10
    公开日:2012-08-11
    发明作者:Carl Johan Erik Wallgren
    申请人:Atlas Copco Tools Ab；
    IPC主号:
    专利说明:

    Location system for determining the position of an object.
    The invention relates to a location system for determiningthe actual position in a three dimensional space of amovable object by means of a number of stationary signalcommunicating modules located in the space, and a movablesignal communicating module carried on the object forcommunication with the stationary signal communicatingmodules. In a preferred embodiment, the invention concernsa location system for determining the actual position of apower tool movable in a three dimensional space between one or more working positions on a working object.
    A location system of the above mentioned type is suitablefor determining the actual position of a power wrench ornut runner used in assembly applications on car bodies.This type of system is based on an exchange of signalsbetween a signal communicating module on the power wrenchand stationary signal communicating modules, i.e. a remoteindication of the actual individual distances between thepower wrench and each one of a number of stationary signalcommunicating modules which are disposed in well definedpositions in the space surrounding the power wrench. Thedifferent distance related signals are communicated to anevaluation and calculating unit for determining theposition of the object in the three dimensional space. Thesignal communicating modules may be of any suitable type,for instance optically, based, acoustically or radio frequencyand signals from each one of the signalcommunicating modules corresponding to the individualdistances between the power wrench and the stationary signal communicating modules are communicated to an evaluation or analysing unit wherein the actual threedimensional position of the power wrench is calculated. Onesuch system of this type includes a signal transmitting tagmounted on the power wrench and arranged to respond to anactivation signal and emit signals to the stationary signal communicating modules.
    Systems of this type are used in car body assembly linestations to ascertain whether specific screw joints on thecar body have been attended to at all and whether they havebeen tightened to specified desired tightening levels. Thisis not only a system for quality ensuring, but keepingtrack of the power wrench working positions relative to aspecific car body and/or screw joint position on the carbody and enabling checking of the power wrench operationdata used on each screw joint is a way of guaranteeingsafety of the end product, namely the motor car.
    In US Patent 7,055,233 there is previously described anultrasonic based location system for a power wrench used oncar bodies travelling along an assembly line. This systemis able to determine in which car body on the assembly linethe power wrench is actually used, and whether the powerwrench has been used on screw joints in specified positionson the car body. For instance, it is possible to ascertainwhether each screw joint in specified positions on the carbody has been tightened or not, and even whether thetightening result for each screw joint is approved or not.This known system is based on reflection from the powertool of ultrasonic waves emitted by stationary sensors located adjacent the assembly line.
    However, a problem concerned with the above mentioned ultrasonic based system, and also with optical systems,resides in the difficulty to communicate with the powerwrench in certain screw joint positions, for instanceinside a car body, where parts of the car body screen offcommunication of sound or light signals. This means thatthere will be no or poor communication between the power wrench and the stationary signal communicating modules and,hence, no reliable distance responsive signal will bedelivered to the evaluation unit. Even the operator himselfmay screen off the signals in some working positions. Alsoradio frequency signals may be seriously disturbed by carbody parts or by the operator, resulting in poor and lessreliable signals from the signal communicating modules to the evaluation unit.
    It is an object of the invention to provide a locationsystem including a number of stationary signalcommunicating modules and a movable signal communicatingmodule carried on a movable object for determining theactual position of the movable object in a threedimensional space and adapted to obtain contact with theobject also in difficult to reach positions within thespace normally screened off by other objects or surrounding structures.
    It is a further object of the invention to provide alocation system for determining the actual position of amovable object in a three dimensional space by means of anumber of stationary signal communicating modules locatedin the space and a movable signal communicating module carried on a movable object, wherein one or more of the stationary signal communicating modules are displaceablebetween two or more positions to obtain contact with themovable signal communicating module carried on a movableobject also in difficult to reach positions normallyscreened off by surrounding structures or objects.Further objects, features and advantages of the invention will appear from the following specification and claims.
    A preferred embodiment of the invention is described below with reference to the accompanying drawing.
    In the drawing there is shown a location system accordingto the invention applied on a three dimensional space at anassembly line 10 with a consecutive row of car bodiestravelling along the line. In one of the car bodies 11there is illustrated a power wrench 12 intended to be usedinter alia for tightening screw joints inside the car body11. A power wrench location system comprises threestationary signal communication modules 15, 16 and 17located in well defined positions in the space, and onemovable signal communication module 18 carried on the powerwrench 12. The power wrench 12 is in fact a movable objectthe position of which is to be determined at certain pointsof time. The stationary signal communication modules 15, 16and 17 are connected via wiring 22 to a stationaryevaluation and calculating unit 24. The latter alsocontains means for supplying and receiving operation datafrom the power wrench 12 via a wireless communication. Thiswireless operation data communication between the power wrench 12 and the stationary unit 24 does not form a part of the invention and is, therefore, not described in further detail.
    The stationary signal communication modules 15, 16 and 17may be of the type sending out signals to be reflected bythe signal communication module 18 attached to the powerwrench 12. Alternatively, the movable signal communicationmodule 18 on the power wrench 12 may be a signalcommunication tag or any other type of device sending outsignals to be received by the stationary signalcommunication modules 15, 16 and 17. In either case thedirections of the signals received by the stationary signalcommunication modules 15, 16 and 17 and the distancesbetween each stationary signal communication module 15, 16and 17 and the movable signal communication module 18 areindicated and evaluated by the evaluation and calculatingunit 24. As a result of that signal evaluation the threedimensional position of the power wrench 12 in the space isdetermined.
    Both the stationary signal communication modules 15, 16 and17 and the movable signal communication module 18 aredesigned to emit and/or receive signals in response both todifferent distances and different directions between themodules. The signal communication module 18 on the powerwrench 12 preferably also emits and/or reflects signals inresponse to its rotational positions of the power wrench 12in different planes. For instance a signal communicationmodule may be used which is able to indicate its rotationalpositions in as much as six dimensions of freedom, DOF.This type of the signal communication module is previously known per se and does not form any part of the invention.
    Since the power wrench l2 is about to perform a tighteningoperation inside the car body ll there are certain parts ofthe car body ll, the roof for instance, that would screenoff the signals emitted by the stationary signalcommunication modules l5, l6 and l7 or the movable signalcommunication module l8 on the power wrench l2, which wouldresult in a poor or broken signal communication between thestationary signal communication modules l5, l6 and l7 andthe movable module l8 on the power wrench l2 and, hence, aloss of position indication of the power wrench. In orderto solve this problem one of the stationary communicationmodules l6 is displaceable between two or more positionsfor getting a proper communication with the power wrench l2inside the car body ll via a window or door opening in thecar body. In the example illustrated in the drawing figurethe signal communication module l6 is mounted on a pivotingarm 25 for movement between two well defined positions Aand B. The pivoting arm 25 has a stationary pivot point 26.When the power wrench l2 is to tighten screw joints incertain positions inside the car body the signalcommunication module l6 is displaced from a position A to aposition B via a swinging movement of the arm 25 to therebyget a free signal communication way relative to the movablesignal communication module l8 on the power wrench l2through a rear window opening l9 in the car body. The twopositions A and B are well defined and their co-ordinates are stored in the evaluation and calculating unit 24.
    In the illustrated example the signal communication modulel6 is displaceable by means of a pivoting arm, but could as well be moveable otherwise, for instance along a rectilinear rail. The signal communication module 16 could be displaced between more than two specific positions. Forinstance, it could be successively movable along anycertain path or freely in the space to find a favourablesignal communication position. Although not described infurther detail, the displaceable communication module 16could be provided with a signal communication tag, andother stationary communication modules 15 and 17 could beadapted to continuously communicate with that signalcommunication tag, whereby the evaluation and calculatingunit 24 could calculate both the momentary position of thesignal communication module 16 and the momentary position of the power wrench 12.
    In the described example the evaluation and calculatingunit 24 is illustrated as a separate unit but may as wellbe incorporated in one of the stationary communicationmodules 15 and 17. It is also to be pointed out that theexpression “signal communication modules” used throughoutthe application is meant to involve also mirrors used insome applications at the stationary module locations toreflect optical signals emitted by a light source on the object/power wrench.
    Since the assembly line 10 and the car bodies arecontinuously moving, see illustrating arrow in the drawing,the system including the evaluation and calculation unit 24has to be programmed to take that movement into accountwhen determining the actual momentary position of the powerwrench 18 in relation to the screw joints to be tightened.
    To that end each car body on the assembly line has been provided with an identification tag which tells the assembly plant system and the local station which type of car body, model etc. is passing through the assemblystation and exactly where in the local space the car bodyis at a certain point of time. The model, etc. of the carbody also tells the system exactly where the screw jointsto be tightened are located on the car body which is acondition for an accurate and safe ascertainment of wherethe power wrench is in relation to the screw joints at acertain point of time. The evaluation and calculation unit24 is programmed to evaluate and determine whether thepower wrench 12 has performed an acceptable tighteningoperation on each of the screw joints by comparing themomentary location of the power wrench 12 with the locationof the screw joint to be tightened and with the storedscrew joint tightening data to be applied at that very screw joint.
    权利要求:
    Claims (5)
    [1] 1. Location system for determining within a threedimensional space the actual position of a movable object(12), comprising a number of stationary signal communicating modules (15, 16 and 17) located in welldefined individual positions in the space,(18) (24) a movable signal communicating module attached to the object (12), and an evaluation unit communicating with the stationary signal communicating modules (15, 16 and 17) and arranged to calculate the actual position of the object (12) basedon signals communicated between the stationary signal(15, 16 and 17) (18) communicating modules and the movable signal communicating module and corresponding to theindividual distances between and/or angular positions ofeach one of the stationary signal communicating modules (15, 16 and 17) (18), and the movable signal communicating module (16)16 and 17) is in that at least one of the (15, c h a r a c t e r i z e dstationary signal communicating modulesdisplaceable between two or more positions (A,B) to enablesignal communication with the movable signal communicatingmodule (18) (12) on the object in normally screened off positions. wherein(16)16 and 17)
    [2] 2. Location system according to claim 1, said two or more positions of said at least one of the stationary signal communicating modules (15, are well defined in relation to the positions of the other stationary signal communicating modules (15, 17). wherein (16) is
    [3] 3. Location system according to claim 1, said at least one signal communicating module mounted on a pivot arm (25) for displacement between twowell defined positions (A,B).
    [4] 4. Location system according to claim 1, wherein the movable signal communicating module (18) is formed by a signal communication tag arranged to respond to an activation signal and to emit signals to reach the stationary signal communicating modules (15, 16 and 17).
    [5] 5. Location system according to claim 1, wherein thestationary signal communicating modules (15, 16 and 17) andthe movable signal communicating module (18) are arranged to respond to an actual multi-dimensional orientation of the object within the three dimensional space.
    类似技术:
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    SE1150105A|SE536087C2|2011-02-10|2011-02-10|Location system for determining the position of an object|SE1150105A| SE536087C2|2011-02-10|2011-02-10|Location system for determining the position of an object|
    JP2013552898A| JP6071146B2|2011-02-10|2012-01-26|Positioning system for determining the position of an object|
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    EP12704243.0A| EP2673653B1|2011-02-10|2012-01-26|Location system for determining the position of an object|
    PCT/EP2012/051236| WO2012107300A1|2011-02-10|2012-01-26|Location system for determining the position of an object|
    US13/984,516| US20130324156A1|2011-02-10|2012-01-26|Location system for determining the position of an object|
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