Title:
OPTICAL DISTANCE SENSOR
Document Type and Number:
WIPO Patent Application WO/1990/013001
Kind Code:
A1
Abstract:
An optical distance sensor which is featured by precise measurement and simple constitution is mounted on, for example, the welding torch of an arc-welding robot. The laser beam from a laser (1) scans in a direction perpendicular to the welding line on a work (100) according to the oscillation of a mirror (2). The primary and secondary reflected lights and scattered light, except arcing light interrupted by a filter (5), are received by the light-receiving cells of a light-receiving unit (3) comprising a one-dimensional charge coupled device, via a lens (4). When the light-receiving unit is being scanned, the outputs according to the quantity of the light are successively produced from the light-receiving cells, and data that specifies the light-receiving cells that have produced the outputs whose levels exceed a predetermined one is written in one of memory buffers (12, 13). The output of the light-receiving cell is sent to a peak detecting circuit (18) via an analog switch (17) only when the data indicating that the output of the cell in the previous scanning cycle have been of the predetermined level is read out from the other memory buffer, whereby the sputtering light is removed. On the basis of the outputs of the peak detecting circuit and of the address counter (14), the robot controller (30) determines the light-receiving cell that has generated the peak output, and calculates the distance from a work by the trigonometrical survey method on the basis of the position of the cell and the oscillating angle of the mirror.
Inventors:
TORII NOBUTOSHI (JP)
WAKIO HIROSHI (JP)
WAKIO HIROSHI (JP)
Application Number:
PCT/JP1990/000505
Publication Date:
November 01, 1990
Filing Date:
April 18, 1990
Export Citation:
Assignee:
FANUC LTD (JP)
International Classes:
B23K9/095; G01C3/06; B23K9/127; B25J19/02; G01B11/24; G01S17/06; G01S17/46; G01S17/89; (IPC1-7): G01C3/06
Foreign References:
| JPS5871404A | 1983-04-28 | |||
| JPS63225117A | 1988-09-20 | |||
| JPS62192610A | 1987-08-24 | |||
| JPS5958308A | 1984-04-04 | |||
| JPS56138206A | 1981-10-28 | |||
| JPH01143911A | 1989-06-06 |
Other References:
See also references of EP 0422249A4
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