Optical distance sensor

Details Optical distance sensor Optical distance sensor

G - Physics

01

C

33/45

G01C 3/02 (2006.01) B23K 9/095 (2006.01) G01S 17/06 (2006.01) G01S 17/46 (2006.01) G01S 17/89 (2006.01)

Patent

CA 2032416

A B S T R A C T An optical distance sensor superior in measuring accuracy and simple in construction is mounted to, e.g., a welding torch of an arc welding robot. A laser beam from a laser oscillator (1) is moved on a workpiece (100) in a direction perpendicular to a weld line, with angular movement of a mirror (2). Primary reflected light, secondary reflected light and spatter light, except for arc light intercepted by a filter (5), are incident via a lens ( 4) on light receiving cells of a light receiving section (3) composed of a one-dimensional charge-coupled device. At scanning of the light receiving section, outputs of the light receiving cells depending on incident light quantities are successively sent, and data specifying those light receiving cells which generate predetermined level outputs are written in one of memory buffers (12, 13). The light-receiving-cell output is applied to a peak detection circuit (18) via an analog switch (17), only when data indicating that the light receiving cell output in the preceding scanning period is at the predetermined level is read from the other memory buffer, to thereby eliminate the spatter light. robot controller (30) responsive to the peak detection circuit output discriminates, on the basis of an address counter (14) output, a position of that light receiving cell on the light receiving section which generates the peak output, and calculates distance from the workpiece by a triangulation method based on the cell position and the mirror angular-movement angle.

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