US 5,668,628 A · Detection angle control method for laser sensor

Abstract

A robot is moved to a laser sensor detection angle adjustment position, and scanning with a laser beam is started. As this is done, a reading-scanning operation of a CCD light detector of a laser sensor is executed repeatedly, and cell numbers i for maximum detection outputs and their output values .beta.i are stored. When the laser beam scanning is finished, the individual output values .beta.i are compared with a reference value .alpha.. If all the values .beta.i are not greater than the reference value .alpha., then the robot attitude is changed by a small angle, and repetition of laser beam scanning, reading-scanning of the CCD detector, storing of cell numbers i for the great detection output and their output values .beta.i and comparison between the values .beta.i and the reference value .alpha. are repeated. An attitude .phi. for the point of time when the reference value .alpha. is exceeded by all the values .beta.i is taught to the robot, and a welding operation is performed by moving the robot along a step corner line of a workpiece in a manner such that an instruction path is corrected in accordance with a conventional real-time tracking system based on the laser sensor without changing the robot attitude .phi..

Claims3

Dependent claims

A detection angle control method for a laser sensor, comprising the steps of:

(a) moving a robot furnished with a laser sensor to a laser sensor detection angle adjustment position;
(b) emitting a laser beam from said laser sensor to an object of operation at a laser detection angle to scan said object with said laser beam;
(c) adjusting an attitude of said robot to allow a satisfactory light detection level of said laser beam reflected by said object and detected by the laser sensor at the laser sensor detection angle adjustment position;
(d) teaching the attitude to the robot;
and
(e) executing a robot operation for the object of operation while maintaining the robot at said taught attitude.

3 more elements

Dependencies are inferred from the claim text.

Detection angle control method for laser sensor

Life of this patent

Detection angle control method for laser sensor

Life of this patent

Abstract

Claims3