Method of detecting seam characteristic points

Details Method of detecting seam characteristic points Method of detecting seam characteristic points

1996-10-24

1998-08-18

Ruggiero, Joseph

Boots, shoes, and leggings

21912434, 318577, 395 94, 901 42, 901 47, G06F 1900

Patent

active

057966109

ABSTRACT:
In order to provide a method of detecting seam characteristic points which makes it possible to accurately and quickly detect seam characteristic points, which are used as work target positions, by using coordinate data of a series of distance points detected by a sensor, when sealing is performed by a robot (1) equipped with a sensor (2), seam characteristic points P of an object are detected, a distance to an arbitrary cross section of an object is detected by the sensor (2), the data obtained through the measurement are converted into coordinate data of a series of distance points arranged in a predetermined order, a statistic value regarding the distance between paired adjacent distance points among the series of distant points is calculated so as to obtain a threshold level for judging discontinuity, based on the statistic value, the distance between paired adjacent distance points is compared with the discontinuity threshold level so as to detect a pair of adjacent distance points which are separated from each other by a distance equal to or greater than the threshold level, the center point between the detected pair of adjacent distance points which are separated from each other by a distance equal to or greater than the threshold level is obtained as a seam characteristic point.

REFERENCES:
patent: 4413910 (1983-11-01), Cornu et al.
patent: 4501950 (1985-02-01), Richardson
patent: 4672190 (1987-06-01), Rostkowski et al.
patent: 4815006 (1989-03-01), Anderson et al.
patent: 4831232 (1989-05-01), Andersson et al.
patent: 5570458 (1996-10-01), Umeno et al.

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