Operation line tracking device using sensor

An operation line tracking device for a robot to perform an operation with a tool mounted on the robot while moving the tool along an operation line formed on an object of operation, said device comprising:

• a detector to detect a position of the operation line using a sensor mounted on said robot under a preset detecting condition;
• operation stopping means to stop the operation of the robot and the detection of the operation line by said detector when said detector fails to detect the operation line;
• detecting condition changing means to change or reset the preset detecting condition of said detector after the detection of the operation line is stopped;
• and
• operation restarting means to restart the detection of the operation line under the changed or reset detecting condition, and restart the operation of the robot when said detector succeeds in detecting the operation line under the changed or reset detecting condition.

An operation line tracking device for a robot to perform an operation with a tool mounted on the robot while moving the tool along an operation line formed on an object of operation, said device comprising:

• a detector to detect a position of the operation line, said detector detecting the position of the line by using a sensor and detecting according to detecting condition information;
• analyzing means to analyze a cause of a detection failure when said detector fails in detecting the operation line by using the sensor;
• and
• detecting condition changing means to automatically adapt the detecting condition information in accordance with the cause of the detection failure analyzed by said analyzing means, said detector further detecting the line according to the adapted detecting condition information.

An operation line tracking device for a robot to perform an operation with a tool mounted on the robot while moving the tool along an operation line formed on an object of operation, said device comprising:

• a detector to detect a position of the operation line with a sensor under a preset detecting condition;
• operation stopping means to stop the robot operation and the detection of the operation line when said detector fails in detecting the operation line;
• analyzing means to analyze a cause of the detection failure;
• detecting condition changing means to change or reset the preset detecting condition in accordance with the cause of the detection failure analyzed by said analyzing means;
• and
• operation restarting means to restart the detection of the operation line with the changed or reset detecting condition and restart the operation of the robot when said detector succeeds in detecting the operation line under the changed or reset detecting condition.

An operation line tracking device for a robot to perform an operation with a tool mounted on the robot while moving the tool along an operation line formed on an object of operation, said device comprising:

• a detector detecting a position of the operation line using a sensor mounted on said robot under a preset detecting condition;
• an operation stopping unit stopping the operation of the robot and the detection of the operation line by said detector when said detector fails to detect the operation line;
• a detecting condition changing unit changing or resetting the preset detecting condition of said detector after the detection of the operation line is stopped;
• and
• an operation restarting unit restarting the detection of the operation line under the changed or reset detecting condition, and restarting the operation of the robot when said detector succeeds in detecting the operation line under the changed or reset detecting condition.

An operation line tracking device for a robot to perform an operation with a tool mounted on the robot while moving the tool along an operation line formed on an object of operation, said device comprising:

• a detector detecting a position of the operation line with a sensor under a preset detecting condition;
• an operation stopping unit stopping the robot operation and the detection of the operation line when said detector fails in detecting the operation line;
• an analyzing unit analyzing a cause of the detection failure;
• a detecting condition changing unit changing or resetting the preset detecting condition in accordance with the cause of the detection failure analyzed by said analyzing unit;
• and
• an operation restarting unit restarting the detection of the operation line with the changed or reset detecting condition and restarting the operation of the robot when said detector succeeds in detecting the operation line under the changed or reset detecting condition.

An operation line tracking method for a robot to perform an operation with a tool mounted on the robot while moving the tool along an operation line formed on an object of operation, said method comprising:

• detecting a position of the operation line using a sensor mounted on said robot under a preset detecting condition;
• stopping the operation of the robot and the detection of the operation line when said detecting fails to detect the operation line;
• automatically changing or resetting the preset detecting condition after the detection of the operation line is stopped;
• and
• restarting the detection of the operation line under the changed or reset detecting condition, and restarting the operation of the robot when said detecting succeeds in detecting the operation line under the changed or reset detecting condition.

An operation line tracking method for a robot to perform an operation with a tool mounted on the robot while moving the tool along an operation line formed on an object of operation, said method comprising:

• detecting a position of the operation line with a sensor under a preset detecting condition;
• stopping the robot operation and the detection of the operation line when said detecting fails in detecting the operation line;
• analyzing a cause of the detection failure;
• automatically changing or resetting the preset detecting condition in accordance with the cause of the detection failure analyzed by said analyzing;
• and
• restarting the detection of the operation line with the changed or reset detecting condition and restarting the operation of the robot when said detector succeeds in detecting the operation line under the changed or reset detecting condition.

An operation line tracking device for a robot to perform an operation with a tool mounted on the robot while moving the tool along an operation line formed on an object of operation, said device comprising:

• a detector detecting a position of the operation line, said detector detecting the position of the line by using a sensor mounted on the robot;
• detecting condition information according to which the detector detects the operation line;
• an observing unit observing a detection state of said device detecting the operation line with said detector;
• and
• a detecting condition changing unit automatically adapting said detecting condition information in accordance with the detection state observed by said observing unit, said detector further detecting the line according to the adapted detecting condition information.

An operation line tracking device for a robot to perform an operation with a tool mounted on the robot while moving the tool along an operation line formed on an object of operation, said device comprising:

• a detector detecting a position of the operation line, said detector detecting the position of the line by using a sensor and detecting according to detecting condition information;
• an analyzing unit analyzing a cause of a detection failure when said detector fails in detecting the operation line by using the sensor;
• and
• a detecting condition changing unit automatically adapting the detecting condition information in accordance with the cause of the detection failure analyzed by said analyzing means, said detector further detecting the line according to the adapted detecting condition information.

An operation line tracking method for a robot to perform an operation with a tool mounted on the robot while moving the tool along an operation line formed on an object of operation, said method comprising:

• detecting a position of the operation line by using a sensor mounted on the robot and according to detecting condition information;
• observing a state of said detecting the operation line;
• and
• automatically adapting said detecting condition information in accordance with the observed detecting state, and further detecting the line according to the adapted detecting condition information.

An operation line tracking method for a robot to perform an operation with a tool mounted on the robot while moving the tool along an operation line formed on an object of operation, said method comprising:

• detecting a position of the operation line by using a sensor and detecting according to detecting condition information;
• analyzing a cause of a detection failure when said detecting fails to detect the operation line;
• and
• automatically adapting the detecting condition information in accordance with the cause of the analyzed detection failure, and further detecting the line according to the adapted detecting condition information.