Diagnostic method for a real time sensor mounted on a robot
US5511007A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Apr 22, 1993 |
| Grant date | Apr 23, 1996 |
| Priority date | — |
| Expiry date | Apr 22, 2013 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01D3/08
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A diagnostic method in which data obtained from a real-time sensor are stored during the operation of a robot for later diagnosis of the operation state of the sensor. This method includes the steps of scanning an object by using a laser sensor, thereby obtaining sectional data; detecting a weld line position on the basis of the sectional data; storing in a memory the weld line position along with robot positions corresponding to the time of detection; and storing in the memory the sectional data when a predetermined robot position is reached with a conditional value set to "1", when the weld line position has first failed to be detected with the conditional value set to "2", or when the variation of the weld line position is larger than a predetermined value. The operation state of the sensor is traced on the basis of the weld line position and the sectional data stored in the memory, and various parameters for detection are set so that an optimum state for detection can be established. By doing so, the operation of the sensor can be continually monitored during its operation, thereby enabling the parameters to be set to optimum values.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.