Patent ID: 9619433
Date: 2017-04-11
CPC Classifications: G01B,G06F

Claim:
1. A normal-line detection method for finding a normal vector of a measurement surface of a measurement target by measuring a plurality of distances to the measurement target by means of at least one distance detector and calculating the normal vector from measurement results thus obtained, the normal-line detection method included in a machine jig and comprising the steps of: receiving a plurality of measurement positions from non-contact sensors arranged on the machine jig, wherein the distance detector on the machine jig measures the distances to the measurement target using the received measurement positions; expressing, in three-dimensional coordinates, a plurality of measurement points on the measurement surface corresponding to the plurality of measurement positions from which the distance detector measures the distances to the measurement target, on the basis of the plurality of measurement positions and the plurality of measurement results obtained by the distance detector from the plurality of measurement positions; setting, as a first vector, a straight line connecting a first measurement point and a second measurement point in a three-dimensional coordinate system, the first measurement point being a point on the measurement target a distance to which is measured by the distance detector from a first measurement position being any one of the plurality of measurement positions, the second measurement point being a point on the measurement target a distance to which is measured by the distance detector from a second measurement position located opposite to the first measurement position; setting, as a second vector, a straight line connecting a third measurement point and a fourth measurement point in the three-dimensional coordinate system and shifted in parallel such that an end thereof is set at any one of the first measurement point and the second measurement point, the third measurement point being a point on the measurement target a distance to which is measured by the distance detector from a third measurement position located between the first measurement position and the second measurement position, the fourth measurement point being a point on the measurement target a distance to which is measured by the distance detector from a fourth measurement position located between the first measurement position and the second measurement position and being opposite to the third measurement position; finding the normal vector of the measurement surface by calculating an exterior product of the first vector and the second vector using a computer; and controlling a posture of the machine jig using the determined normal vector.