Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1990-02-20
1991-11-19
Shoop, Jr., William M.
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
3185681, 901 3, 395 1, G05B 1918, G06F 1546
Patent
active
050669028
DESCRIPTION:
BRIEF SUMMARY
BACKGROUND OF THE INVENTION
1. Field of the Invention
The present invention relates to an automatic nominal data setting method and a correction data deriving method in a visual sensor system.
2. Description of the Related Art
In various machines such as industrial robots, it is conventionally known to correct the position and posture of operating sections of the machine in accordance with correction data supplied from a visual sensor system which is mounted on the machine. In operating the robot, for instance, the visual sensor system detects the operating position and posture of the robot, and supplies detection data to a control section of the robot. The control section determines correction data on the basis of the detection data and reference data (hereinafter, referred to as nominal data) such as data indicative of the operating position and posture of the robot which are set beforehand when teaching to the robot is effected, and corrects the operating position and posture of the robot. Conventionally, the nominal data for correction of operation is manually set beforehand by an operator. Therefore, the nominal data setting is troublesome and must be carried out by a skilled person.
SUMMARY OF THE INVENTION
An object of the present invention is to provide an automatic nominal data setting method in a visual sensor system which makes it possible to accurately and rapidly set the nominal data with ease.
Another object of the present invention is to provide a correction data deriving method in a visual sensor system which is executable on the basis of the automatically set nominal data.
In order to achieve the above object, according to the present invention, the automatic nominal data setting method in a visual sensor comprises steps of: (a) operating the visual sensor system to execute a program provided at its predetermined portion with a predetermined routine for nominal data setting; (b) detecting a value of a predetermined image parameter associated with the nominal data; and automatically setting, as the nominal data, the predetermined image parameter value which is detected at the time of executing the predetermined routine.
According to another aspect of the present invention, the correction data deriving method in the visual sensor system comprises steps of: (a) operating the visual sensor system to execute a program provided, in pairs, at its predetermined portion with first and second predetermined routines respectively for nominal data setting and correction data deriving; (b) detecting a value of a predetermined image parameter associated with the nominal data; (c) selecting one of a nominal mode where the program is executed with the first predetermined routine included and the second predetermined routine excluded and an actual mode where the program is executed with the first predetermined routine excluded and the second predetermined routine included; (d) automatically setting, as the nominal data, the predetermined image parameter value which is detected at the time of executing the first predetermined routine in the nominal mode; and (e) deriving correction data on the basis of the nominal data and the predetermined image parameter value which is detected at the time of executing the second predetermined routine in the actual mode.
As described above, according to the present invention, since the value of the image parameter, associated with the nominal data, which is detected at the time of executing the predetermined routine provided in the predetermined portion of the program, is automatically set as the nominal data, the nominal data setting in the visual sensor system can be accurately and rapidly effected with ease. Further, since the data for correction of operation of various machines is derived on the basis of the automatically set nominal data, the operation correction can be effected in an appropriate manner.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a block diagram showing an essential part of a visual sensor system for effecting the automatic nominal data settin
REFERENCES:
patent: 4517653 (1985-05-01), Tsuchihashi et al.
patent: 4613943 (1986-09-01), Miyake et al.
patent: 4707647 (1987-11-01), Coldren et al.
patent: 4757459 (1988-07-01), Lauchnor et al.
Fanuc Ltd
Moskowitz Larry
Shoop Jr. William M.
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