Title:
METHOD OF SETTING TEACHING DATA IN A VISUAL SENSOR SYSTEM
Document Type and Number:
WIPO Patent Application WO/1990/009627
Kind Code:
A1
Abstract:
A method of setting teaching data in a visual sensor system whichis capable of automatically and quickly setting optimum teaching data. A circular sample picture is processed to tentatively determine setpoint values of first to sixth parameters (P1 to P6) that correspond to the diameter, circumferential length, area, and degree of distortion of a circle, the type of smoother filter, and the type of emphasizing filter. Setpoint center positions of the pictures are determined by processing many sample pictures using these tentatively set values. Second to fourth parameters are fixed to the tentatively set values and the first parameter is changed, whereby an optimum value of the first parameter is automatically determined (100) that minimizes the sum of the sequare powers of errors between the detected center positions of the pictures and the center positions that have been set. Similarly, the second to fourth optimum values are determined (101 to 103). Furthermore, the first to fourth parameters are fixed to optimum values and the types of the filters are changed to process the pictures, inorder to determine the fifth and sixth optimum parameters (108, 109).
Inventors:
WATANABE ATSUSHI (JP)
ARIMATSU TARO (JP)
ARIMATSU TARO (JP)
Application Number:
PCT/JP1990/000165
Publication Date:
August 23, 1990
Filing Date:
February 09, 1990
Export Citation:
Assignee:
FANUC LTD (JP)
International Classes:
G01B11/00; B25J19/04; G01V8/10; G05B19/42; G05D3/12; G06T1/00; H04N7/18; (IPC1-7): G05B19/42
Foreign References:
| JPS58141864A | 1983-08-23 | |||
| JPS62182809A | 1987-08-11 | |||
| JPS62182810A | 1987-08-11 |
Other References:
See also references of EP 0477366A4
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