Aosite, kaha 1993
Lihokelo tsa mamati le lifensetere li bapala karolo ea bohlokoa boleng le polokeho ea meaho ea sejoale-joale. Tšebeliso ea li-hinges tsa tšepe tse sa hloekang tsa boemo bo phahameng li bohlokoa ho netefatsa hore li tšoarella le ho tšepahala. Leha ho le joalo, mokhoa o tloaelehileng oa tlhahiso ea li-hinge hangata o lebisa litabeng tsa boleng, tse kang ho se nepahale hantle le litekanyetso tse phahameng tsa bokooa. Ho rarolla liphephetso tsena, ho entsoe mokhoa o mocha oa ho lemoha o bohlale ho ntlafatsa ho nepahala le ho sebetsa hantle ha tlhahlobo ea li-hinge.
Sistimi e etselitsoe ho bona likarolo tsa mantlha tsa kopano ea hinge, ho kenyeletsoa bolelele bo felletseng ba sebaka sa mosebetsi, sebaka se lekanyelitsoeng sa masoba a workpiece, bophara ba sebaka sa mosebetsi, symmetry ea lesoba la workpiece, flatness ea sebaka sa mosebetsi, le bophahamo ba mohato pakeng tsa lifofane tse peli tsa workpiece. Mahlale a ho bona ka mochini le ho lemoha ka laser a sebelisoa bakeng sa tlhahlobo e hlakileng le e hlakileng ea li-contours le libopeho tsena tse nang le mahlakore a mabeli.
Sebopeho sa sistimi se na le maemo a fapaneng, se khona ho amohela mefuta e fetang 1,000 ea lihlahisoa tsa hinge. E kopanya pono ea mochini, tlhahlobo ea laser, taolo ea servo, le mahlale a mang ho ikamahanya le tlhahlobo ea likarolo tse fapaneng. Sistimi e kenyelletsa tafole ea thepa e behiloeng holim'a seporo sa tataiso ea mola, e tsamaisoang ke mochini oa servo o hokahantsoeng le screw ea bolo ho tsamaisa motsamao le ho beha sebaka sa mosebetsi bakeng sa ho lemoha.
Ts'ebetso ea ts'ebetso ea sistimi e kenyelletsa ho fepa sesebelisoa sebakeng sa ho lemoha ho sebelisa tafole ea thepa. Sebaka sa ho lemoha se na le lik'hamera tse peli le sensor ea laser displacement, e ikarabellang bakeng sa ho lemoha litekanyo tsa ka ntle le ho bata ha mosebetsi. Sistimi e sebelisa lik'hamera tse peli ho lekanya ka nepo litekanyo tsa mahlakore ka bobeli a sekotoana sa T, ha sensor ea laser displacement e tsamaea ka mokhoa o otlolohileng ho fumana lintlha tse nepahetseng le tse nepahetseng mabapi le ho bata ha sesebelisoa.
Mabapi le tlhahlobo ea pono ea mochini, sistimi e sebelisa mekhoa e fapaneng ho netefatsa litekanyo tse nepahetseng. Bolelele bohle ba workpiece bo baloa ho sebelisoa motsoako oa servo le pono ea mochine, moo ho lekanngoa ha khamera le ho fepa ha pulse ho nolofalletsa ho tseba bolelele bo nepahetseng. Boemo bo lekanyelitsoeng le bophara ba masoba a li-workpiece li lekantsoe ka ho fepa tsamaiso ea servo ka palo e tsamaellanang ea li-pulse le ho sebelisa li-algorithms tsa ho lokisa litšoantšo ho ntša lihokela le litekanyo tse hlokahalang. Symmetry ea lesoba la workpiece e hlahlojoa ka ho lokisa setšoantšo esale pele ho ntlafatsa ho hlaka, ho lateloa ke lipalo tse ipapisitseng le lintlha tsa ho tlola tsa boleng ba pixel.
Ho tsoela pele ho ntlafatsa ho nepahala ha ho sibolloa, sistimi e kenyelletsa sub-pixel algorithm ea li-bililinear interpolation, e nka monyetla ka qeto e lekanyelitsoeng ea khamera. Algorithm ena ka katleho e ntlafatsa botsitso le ho nepahala ha sistimi, ho fokotsa ho se ts'oanehe ha ho sibolloa ho tlase ho 0.005mm.
Ho nolofatsa ts'ebetso, sistimi e hlophisa li-workpieces ho ipapisitse le li-parameter tse hlokang ho bonoa mme e abela mofuta o mong le o mong barcode e nang le khoutu. Ka ho lekola barcode, sistimi e khona ho tseba hore na ho na le lintlha life tse hlokahalang, 'me e ntše litekanyo tse lumellanang le eona bakeng sa likahlolo tsa sephetho. Mokhoa ona o netefatsa boemo bo nepahetseng ba sesebelisoa nakong ea ho sibolloa mme se nolofalletsa ho hlahisa litlaleho tsa lipalo-palo mabapi le liphetho tsa tlhahlobo.
Qetellong, ts'ebetsong ea mokhoa o bohlale oa ho lemoha o ipakile o atlehile ho netefatsa tlhahlobo e nepahetseng ea lisebelisoa tse kholo tsa mosebetsi, ho sa tsotellehe qeto e fokolang ea pono ea mochine. Sistimi e fana ka tšebelisano, ho feto-fetoha, le ho ikamahanya le maemo bakeng sa likarolo tsa litlhaloso tse fapaneng. E fana ka bokhoni bo nepahetseng ba tlhahlobo, e hlahisa litlaleho tsa sephetho sa tlhahlobo, 'me e ts'ehetsa ho kopanngoa ha tlhahisoleseling ho litsamaiso tsa tlhahiso. Sistimi ena e ka tsoela liindasteri tse fapaneng molemo haholo, haholo tlhahlobong e nepahetseng ea lihokelo, liporo tsa lilaete, le lihlahisoa tse ling tse amanang le tsona.