US5066902A
Expired / Lapsed
US
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Automatic nominal data setting method in a visual sensor system
Assignee: Fanuc Corp
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Filing: 1989-06-30
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Granted: 1991-11-19
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Expires: 2009-06-30
Abstract
Abstract An automatic nominal data setting method in a visual sensor system is capable of accurately and rapidly setting nominal data with ease, and a correction data deriving method is executable on the basis of the automatically set nominal data. If operation of the visual sensor system in a nominal mode is determined (S200) upon start of execution of an orientation portion of a user program by the visual sensor system mounted on an industrial robot, a message for interrogating whether or not nominal data setting should be executed is displayed (S201). When an operator inputs a nominal data setting command (S202), the workpiece position/posture data in the sensor coordinate system at that time, determined based on gray-scale image data, is converted into workpiece position/posture data in the robot coordinate system to be stored as nominal data (S203). During a robot operation, the visual sensor system calculates correction data for correction of the operating position/posture of the robot on the basis of workpiece position/posture data created similarly and the nominal data, and supplies same to the robot.
Inventors
- 👤 Atsushi Watanabe
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-28 20:12
CPC Classifications
B; B25; B25J; B25J19/00; B25J19/02; B25J19/021; B25J9/00; B25J9/16; B25J9/1694; B25J9/1697; G; G05; G05B; G05B19/00; G05B19/02; G05B19/18; G05B19/401; G05B19/4015; G05B19/42; G05B19/4202; G05B19/4207; G05B2219/00; G05B2219/30; G05B2219/36; G05B2219/36417
Claims Analysis
Total Claims: 6
Claim 1
Independent Claim
86 words
An automatic nominal data setting method in a visual sensor system, comprising the steps of: (a) operating the visual sensor system to execute a program including a predetermined routine for obtaining nominal data; (b) automatically detecting a value of a predetermined image parameter associated with the nominal data during execution of the predetermined routine while said operating is performed in step (a); and (c) automatically storing, as the nominal data, the value of the predetermined image parameter detected in step (b), by executing the predetermined routine.
Claim 2
Dependent Claim
86 words
An automatic nominal data setting method in a visual sensor system, comprising the steps of: (a) operating the visual sensor system to execute a program including a predetermined routine for obtaining nominal data; (b) automatically detecting a value of a predetermined image parameter associated with the nominal data during execution of the predetermined routine while said operating is performed in step (a); and (c) automatically storing, as the nominal data, the value of the predetermined image parameter detected in step (b), by executing the predetermined routine.
Claim 3
Dependent Claim
107 words
An automatic nominal data setting method in the visual sensor system according to claim 1, further comprising the steps of: (d) displaying a message for interrogating whether said storing of the nominal data in step (c) should be executed; and (e) determining whether a nominal data setting command was input by an operator in response to said displaying of the message in step (d), and wherein said storing of the nominal data in step (c) is executed only when it is determined in step (e) that the nominal data setting command was input by the operator in response to said displaying of the message in step (d).
Claim 4
Dependent Claim
186 words
A correction data deriving method in a visual sensor system, comprising the steps of: (a) operating the visual sensor system to execute a program including at least one orientation portion with first and second predetermined routines respectively for storing nominal data and deriving correction data; (b) automatically detecting a value of a predetermined image parameter associated with the nominal data during operation of the program in step (a); (c) selecting one of a nominal mode where said operating of the program in step (a) includes executing the first predetermined routine, but not the second predetermined routine, and an actual mode where said operating of the program includes executing the second predetermined routine, but not the first predetermined routine; (d) automatically storing, as the nominal data, the value of the predetermined image parameter detected during execution of the first predetermined routine in said operating of the program in the nominal mode; and (e) automatically deriving correction data from the nominal data and the value of the predetermined image parameter detected during execution of the second predetermined routine in said operating of the program in the actual mode.
Claim 5
Dependent Claim
186 words
A correction data deriving method in a visual sensor system, comprising the steps of: (a) operating the visual sensor system to execute a program including at least one orientation portion with first and second predetermined routines respectively for storing nominal data and deriving correction data; (b) automatically detecting a value of a predetermined image parameter associated with the nominal data during operation of the program in step (a); (c) selecting one of a nominal mode where said operating of the program in step (a) includes executing the first predetermined routine, but not the second predetermined routine, and an actual mode where said operating of the program includes executing the second predetermined routine, but not the first predetermined routine; (d) automatically storing, as the nominal data, the value of the predetermined image parameter detected during execution of the first predetermined routine in said operating of the program in the nominal mode; and (e) automatically deriving correction data from the nominal data and the value of the predetermined image parameter detected during execution of the second predetermined routine in said operating of the program in the actual mode.
Claim 6
Dependent Claim
105 words
A correction data deriving method in the visual sensor system according to claim 3, further comprising the steps of: (f) displaying a message for interrogating whether storing of the nominal data in step (d) should be executed; and (g) determining whether a nominal data setting command was input by an operator in response to said displaying of the message in step (f), and wherein said storing of the nominal data in step (d) is executed only when it is determined in step (g) that the nominal data setting command was input by the operator in response to said displaying of the message in step (f).
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1994-11-18 | 1995-05-20 | 1995-11-19 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1998-11-18 | 1999-05-20 | 1999-11-19 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2002-11-18 | 2003-05-20 | 2003-11-19 | $7700.00 | Window Closed / Lapsed |