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Method of recognizing a screw hole and screwing method based on the recognition

  • US 6,122,398 A
  • Filed: 04/10/1996
  • Issued: 09/19/2000
  • Est. Priority Date: 04/11/1995
  • Status: Expired due to Fees
First Claim
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1. A method of recognizing deviation between all upper screw hole in an upper object and a lower screw hole in a lower object, comprising the steps of:

  • (a) imaging first and second upper holes in the upper object and corresponding first and second lower holes in the lower object to obtain a contrast image;

    (b) setting a contour scanning circle of a contrast scanning window substantially equal to the circumference of the first and second upper holes in the upper object;

    (c) scanning the contrast image of a portion of the first and second upper holes in the upper object with the contrast scanning window onto plural concentration correlation lines, each concentration line having a portion of concentration measuring points inside the contour scanning circle and outside the contour scanning circle, each measuring point measures a value of image concentration at the respective measuring point, each concentration line is to measure image concentration inside and outside of the contour scanning circle;

    (d) calculating the absolute value of the difference between a total measured concentration value of the image concentration inside the contour scanning circle of a correlation line and a total measured concentration value of the image concentration outside the contour scanning circle of a correlation line at every concentration correlation line;

    (e) detecting the positions where the absolute values calculated in step (d) is greater than a specified concentration threshold value, as the position of the first and second upper holes in the upper object,(f) setting the scanning range of the contour scanning circle substantially equal to the circumference of the first and second lower holes in the lower object,(g) detecting the position of the first and second lower holes in the lower object;

    (h) calculating the deviation amount between the position of the first upper hole and first lower hole and between the second upper hole and second lower hole;

    (i) calculating the rotation angle of either the upper object or lower object to be tightened to the respective other of the upper object or lower object;

    (j) calculating the deviation between the upper screw hole and the lower screw hole based on the calculated deviation amounts and rotation angle; and

    (k) inserting and tightening screws sequentially beginning with one of said holes in the upper object having a minimum deviation amount relative to a corresponding one of said holes in the lower object.

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