Boots – shoes – and leggings
Patent
1995-01-04
1996-07-02
Ruggiero, Joseph
Boots, shoes, and leggings
31856813, 364193, 395 89, 395 94, 901 5, 901 42, 901 47, G06F 1900
Patent
active
055329241
DESCRIPTION:
BRIEF SUMMARY
TECHNICAL FIELD
The present invention relates to an attitude control method of a visual sensor utilized for an industrial robot, more particularly, to an attitude control method of a visual sensor for detecting the positions of objects to be welded together prior to movement of a welding torch attached to a welding robot.
BACKGROUND ART
A visual sensor requires that its attitude be controlled so that the sensor can continue to detect objects, in all positions between two points, namely, a starting point and an end point on a moving path of a tool attached to a robot, when the robot moves the tool. For example, a visual sensor for a welding robot has its attitude controlled so that the sensor can continue to detect the positions of the objects to be welded together, prior to the movement of a welding torch attached to the robot.
In prior art, attitude control methods of a visual sensor utilized for an industrial robot have generally comprised the steps of dividing into a plurality of sections a tool path which lies between two points, namely a starting point and an end point, of the tool attached to the robot when the robot moves the tool; manually adjusting the attitude of the visual sensor when the tool is on each point between the divided adjacent sections in advance so that the sensor can accurately detect the objects; teaching the attitude representing data determined by the manual adjustment step; and controlling the attitude of the sensor when the tool is on each of the plurality of points between the two points in accordance with the attitude data taught in advance.
The attitude control methods of a visual sensor utilized for an industrial robot according to the prior art present no problem if the path between two points is a direct line because the necessary teaching points are merely two, therefore it does not require time and labor. However, if the path is a curve, there is the problem of the time and labor required to teach the attitude of the sensor so that the sensor can keep detecting the objects within the range of its sight at a large number of points when the tool moves between the two points. Furthermore, according to the prior art, it is possible to optimize the attitude at the taught points so that the sensor passes through the points, however, the attitude in between the taught points cannot be optimum. Therefore, the measuring accuracy for detecting positions of the objects by the visual sensor is only good at each of the taught points, but is not continually good in between the taught points.
DISCLOSURE OF THE INVENTION
Therefore, in the light of the above mentioned problems, it is an object of the present invention to provide an attitude control method of a visual sensor utilized for an industrial robot, thereby simplifying the teaching operation for adjusting the attitude of the visual sensor, enabling continual control of sensor attitude, and obtaining highly reliable measuring accuracy of the sensor for detecting positions of objects.
Fig.1 shows a basic process flowchart of an attitude control method of a visual sensor according to the present invention. The attitude control method of a visual sensor utilized for an industrial robot according to the present invention to overcome the aforementioned problems, wherein the method controls the attitude of the visual sensor 3 so that the sensor 3 may detect an object, for example, a juncture between two objects such as 4 and 5 when a tool 2 attached to a robot 1 moves along with the sensor 3 incorporated into the tool 2, comprises the following steps. tool 2 through which the tool 2 moves are taught. point of the visual sensor 3 is memorized. sensor 3 when the tool 2 moves through the path are periodically sampled and memorized. sensor 3 after sampling the moving attitude data at each sampling time matches the attitude represented by the initial attitude data, based on both the initial attitude data and the moving attitude data.
By carrying out the above steps, the attitude of the sensor 3 is controlled so that the visual cente
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Hara Ryuichi
Kobayashi Eiichi
Fanuc Ltd.
Ruggiero Joseph
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