| 摘要 |
In order to provide a method of detecting seam characteristic points which makes it possible to accurately and quickly detect seam characteristic points, which are used as work target positions, by using coordinate data of a series of distance points detected by a sensor, when sealing is performed by a robot 1 equipped with a sensor 2, seam characteristic points P of an object are detected, a distance to an arbitrary cross section of an object is detected by the sensor 2, the data obtained through the measurement are converted into coordinate data of a series of distance points arranged in a predetermined order, a statistic value regarding the distance between paired adjacent distance points among the series of distant points is calculated so as to obtain a threshold level for judging discontinuity, based on the statistic value, the distance between paired adjacent distance points is compared with the discontinuity threshold level so as to detect a pair of adjacent distance points which are separated from each other by a distance equal to or greater than the threshold level, the center point between the detected pair of adjacent distance points which are separated from each other by a distance equal to or greater than the threshold level is obtained as a seam characteristic point.
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