OPTISCHE SENSOREN ZUR ERFASSUNG VEREINZELTER WERKSTUECKE MIT INDUSTRIEROBOTERN

摘要

The optical sensing system for component identification allows angular position to be determined. A television camera scans the component and from the data obtained the centre of area is determined. A second stage involves the determination of the diameter of a number of circles tangential to the profile surfaces of the component. The component is scanned a second time with reference to the calculated centre of area to determine the co-ordinate position of a boundary contact with one of the reference circles. From the co-ordinate data the angular position is calculated.