CA2413820A1 - System for cutting shapes preset in a continuous stream of sheet material - Google Patents

System for cutting shapes preset in a continuous stream of sheet material Download PDF

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Publication number
CA2413820A1
CA2413820A1 CA002413820A CA2413820A CA2413820A1 CA 2413820 A1 CA2413820 A1 CA 2413820A1 CA 002413820 A CA002413820 A CA 002413820A CA 2413820 A CA2413820 A CA 2413820A CA 2413820 A1 CA2413820 A1 CA 2413820A1
Authority
CA
Canada
Prior art keywords
pattern
sheet material
cutting
fiducial
fiducials
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.)
Granted
Application number
CA002413820A
Other languages
French (fr)
Other versions
CA2413820C (en
Inventor
Randall G. Andrews
Mary M. Bourke
Brian D. Sawatzky
Andrew Z. Reif
Brad Johnston
Cedar Mah
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.)
Lectra SA
Original Assignee
Lacent Technologies Inc
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
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Application filed by Lacent Technologies Inc filed Critical Lacent Technologies Inc
Publication of CA2413820A1 publication Critical patent/CA2413820A1/en
Application granted granted Critical
Publication of CA2413820C publication Critical patent/CA2413820C/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/408—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by data handling or data format, e.g. reading, buffering or conversion of data
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/4202—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the programme medium using a drawing, a model
    • G05B19/4205—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the programme medium using a drawing, a model in which a drawing is traced or scanned and corresponding data recorded
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
    • B23Q15/007—Automatic control or regulation of feed movement, cutting velocity or position of tool or work while the tool acts upon the workpiece
    • B23Q15/013—Control or regulation of feed movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q35/00—Control systems or devices for copying directly from a pattern or a master model; Devices for use in copying manually
    • B23Q35/04—Control systems or devices for copying directly from a pattern or a master model; Devices for use in copying manually using a feeler or the like travelling along the outline of the pattern, model or drawing; Feelers, patterns, or models therefor
    • B23Q35/08—Means for transforming movement of the feeler or the like into feed movement of tool or work
    • B23Q35/12—Means for transforming movement of the feeler or the like into feed movement of tool or work involving electrical means
    • B23Q35/127—Means for transforming movement of the feeler or the like into feed movement of tool or work involving electrical means using non-mechanical sensing
    • B23Q35/128—Sensing by using optical means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35162—Determine workpiece placement, nesting in blank, optimize, minimize loss material
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36412—Fine, autonomous movement of end effector by using camera
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37554—Two camera, or tiltable camera to detect different surfaces of the object
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45044—Cutting
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49366—Machine several small pieces on one sheet, break off pieces
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49372—Optimize toolpath pattern for a given cutting layer, mounting sequence
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P80/00—Climate change mitigation technologies for sector-wide applications
    • Y02P80/40—Minimising material used in manufacturing processes

Abstract

Method and apparatus enable cutting out shapes (S) preset in moving sheet material (10) by locating coordinates of one or more fiducials (F,F2...) in the sheet material (10) with a vision system (12). The fiducials (F,F2 ...) correspond to a pattern (P) for the preset shape (S). A cutting system (11) superimposes the pattern (P) relative to the located one or more fiducials (F,F2...) for cutting out the preset shape (S) while the vision system (12) is concurrently locating subsequent one or more fiducials (F,F2...) in the moving sheet material (10). The concurrent processes of cutting and locating subsequent fiducials (F.F2...) are repeated substantially continuously. Preferably, using two or more fiducials (F,F2...), distortion is detected and the pattern (P) can be remapped before cutting for accurate superposition of the pattern (P) and distorted preset shape (S).

Claims (25)

1. A method of cutting out one at least one shape (S) preset in sheet material (10), the at least one preset shape (S) having a pattern (P) with predetermined geometry and having at least one fiducial (F,F2...), each of the at least one fiducial (F,F2...) corresponding to predetermined coordinates in the pattern (P), comprising:
locating the global coordinates of one or more fiducials (F,F2...) in sheet material (10) moving relative to a vision system (12) and a cutting system (11);
cutting the pattern (P) superimposed relative to the located one or more fiducials (F,F2...) while concurrently locating subsequent one or more fiducials (F,F2...) in the moving sheet material (10); and substantially continuously repeating the concurrent processes of cutting and locating subsequent one or more fiducials (F,F2...).
2. The method of claim 1 wherein the vision system and cutting system are fixed and the sheet material is moved substantially continuously past the vision system and then past the cutting system.
3. The method of claim 1 or 2 further comprising:
establishing measures of the relative movement of the sheet material and the vision and cutting systems; and tracking the movement of the at least one fiducial between the vision system and the cutting system knowing the measures of relative movement.
4. The method of any one of claims 1 to 3 wherein the at least one preset shape is a plurality of shapes associated with at least one fiducial.
5. The method of any one of claims 1 to 4 wherein each of the at least one preset shapes is associated with at least one fiducial.
6. The method of any one of claims 1 to 5 wherein the at least one fiducial comprise a first fiducial and at least a second fiducial, further comprising:
comparing the pattern and the global coordinates of the at least a second fiducial relative to the first fiducial for establishing a distortion of the preset shape; and remapping the pattern so as to substantially correct for the distortion of the preset shape before superimposing the remapped pattern for cutting the sheet material.
7. The method of claim 6 wherein the remapping is applied to the whole of the pattern or a portion of the pattern.
8. The method of claim 6 or 7 wherein the remapping of the pattern corrects distortion of the preset shape selected from the group of stretching, rotation or both a rotation and a stretching.
9. The method of any one of claims 6 to 8 further comprising:
controlling a cutter of the cutting system with a motion profile;
predetermining the motion profile for the pattern; and modifying the motion profile according to the remapped pattern before applying the superimposed remapped pattern for cutting the sheet material.
10. The method of any one of claims 6 to 8 further comprising:
predetermining a cut line path for the pattern;
modifying the predetermined cut path for the remapped pattern; and modifying the motion profile according to the modified cut line path before applying the superimposed remapped pattern for cutting the sheet material.
11. The method of claim 10 further comprising identifying a flag fiducial from the at least one fiducials as being indicative of a change in at least a portion of a pattern associated with the flag fiducial;
modifying the cut line path to account for the change in the pattern; and modifying the motion profile according to the modified cut path before applying the superimposed remapped pattern for cutting the sheet material.
12. The method of claim 11 wherein the flag fiducial is indicative of a flaw in one of the one or more preset shapes, the pattern being changed to omit the flawed preset shape.
13. The method of any one of claims 6 to 10 wherein at least three fiducials of the at least one fiducials are located for the preset shape according to the relationship of 2+1n, where n=1 or more, wherein each three fiducials form a triangular patch, further comprising:
establishing one of the at least one fiducials as a reference fiducial;
comparing the pattern and the global coordinates of the each three fiducials in a triangular patch relative to the reference fiducial for establishing a distortion of the triangular patch within the preset shape; and remapping the pattern corresponding to the triangular patch so as to substantially correct the pattern for the distortion before applying the superimposed remapped pattern for cutting the sheet material.
14. The method of any one of claims 6 to 10 wherein at least four fiducials of the at least one fiducials are located for the preset shape according to the relationship of 2+2n fiducials, n=1 or more, wherein each four fiducials form a rectangular patch, further comprising:
establishing one of the at least one fiducials as a reference fiducial;
comparing the pattern and the global coordinates of the each four fiducials in a rectangular patch relative to the reference fiducial for establishing a distortion of the rectangular patch within the preset shape; and remapping the pattern corresponding to the rectangular patch so as to substantially correct the pattern for the distortion before applying the superimposed remapped pattern for cutting the sheet material.
15. The method of any of the above claims wherein the preset shape is woven into the sheet material.
16. The method of any of the above claims wherein the vision system comprises one or more cameras, further comprising staring at a width of the sheet material with the one or more cameras for locating the at least one fiducial.
17. The method of claim 16 wherein the width is one or more regions of interest as subsets of a transverse width of the sheet material.
18. The method of claim 16 further comprising detecting a change in contrast between the at least one fiducial and the sheet material.
19. The method of any of the above claims wherein the cutting system comprises a cutting zone known in a global coordinate system and a controller for storing a pattern of the geometry of the at least one preset shape to be cut out of the sheet material, further comprising:
positioning the vision system at known global coordinates upstream of the cutting system for looking at the sheet material;
moving the sheet material substantially continuously past the vision system for locating the at least one fiducial in global coordinates;
moving the sheet material substantially continuously past the cutting system while the vision system concurrently detects the subsequent at least one fiducial in global coordinates; and cutting the pattern when the controller determines that the global coordinates of one of the located at least one fiducial are within the cutting zone so as to accurately cut the pattern superimposed with the preset shape.
20. Apparatus for cutting out a shape preset (S) in sheet material (10), comprising:
a cut on-the-fly cutting system (11) for cutting a pattern (P) in the sheet material (10), the cutting system (11) being known in global coordinates;
a vision system (12) for locating global coordinates of at least one fiducial (F,F2..) in the sheet material (10) which correspond with predetermined coordinates in the pattern (P);
structure (16,11,12) for effecting relative movement substantially continuously between the sheet material (10) and the vision and cutting systems (12,11);
means (22,16) for establishing measures of said relative movement in global coordinates; and a controller (22) for superimposing the pattern (P) with the located at least first fiducial (F,F2...), so that the cutting system (11) cuts the pattern (P) for the preset shape (S) substantially concurrently while the vision system (12) locates global coordinates of subsequent at least one fiducial (F,F2...) in the sheet material (10).
21. The apparatus of claim 20 wherein the vision system and the cutting system are fixed in the global coordinates, the structure for effecting relative movement further comprising a conveyor for moving sheet material substantially continuously from the vision system to the cutting system.
22. The apparatus of claim 20 or 21 wherein the means for establishing measures of said relative movement comprises a device for tracking movement in global coordinates of the sheet material as it moves.
23. The apparatus of any of claims 20 to 22 wherein the controller compares the pattern and the global coordinates for at least two fiducials of the located at least one fiducial or more fiducials with the pattern for identifying distortion in the preset shape and remaps the pattern to so as to substantially correct the pattern for the distortion of the preset shape before superimposing the remapped pattern for cutting the sheet material.
24. The apparatus of any of claims 20 to 23 wherein the vision system is one or more cameras arranged for staring at a width of the sheet material.
25. The apparatus of any of claims 20 to 24 wherein the cut-on-the-fly vision system is a laser cutting system.
CA2413820A 2001-12-10 2002-12-10 System for cutting shapes preset in a continuous stream of sheet material Expired - Lifetime CA2413820C (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US33715101P 2001-12-10 2001-12-10
US60/337,151 2001-12-10

Publications (2)

Publication Number Publication Date
CA2413820A1 true CA2413820A1 (en) 2003-06-10
CA2413820C CA2413820C (en) 2010-10-05

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US (1) US7154530B2 (en)
EP (1) EP1321839B1 (en)
JP (1) JP4326337B2 (en)
KR (1) KR100790617B1 (en)
CN (1) CN100354780C (en)
AT (1) ATE350694T1 (en)
AU (1) AU2002350308A1 (en)
CA (1) CA2413820C (en)
DE (1) DE60217280T8 (en)
ES (1) ES2280491T3 (en)
PT (1) PT1321839E (en)
WO (1) WO2003054646A2 (en)

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US7154530B2 (en) 2006-12-26
ATE350694T1 (en) 2007-01-15
PT1321839E (en) 2007-04-30
WO2003054646A2 (en) 2003-07-03
US20030118229A1 (en) 2003-06-26
EP1321839A3 (en) 2004-04-28
CN1599890A (en) 2005-03-23
KR20040061029A (en) 2004-07-06
DE60217280T2 (en) 2007-10-25
JP4326337B2 (en) 2009-09-02
KR100790617B1 (en) 2007-12-31
AU2002350308A1 (en) 2003-07-09
WO2003054646A3 (en) 2004-03-04
AU2002350308A8 (en) 2003-07-09
CA2413820C (en) 2010-10-05
EP1321839A2 (en) 2003-06-25
CN100354780C (en) 2007-12-12
DE60217280D1 (en) 2007-02-15
ES2280491T3 (en) 2007-09-16
DE60217280T8 (en) 2008-02-21
JP2005513642A (en) 2005-05-12
EP1321839B1 (en) 2007-01-03

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