US 12,236,654 B2
Fastening tool system and control method thereof
Tae Mun Hwang, Jeonju-si (KR); DongHa Jeong, Uiwang-si (KR); Byung Cheol Song, Seoul (KR); and Dong Yoon Choi, Seosan-si (KR)
Assigned to HYUNDAI MOTOR COMPANY, Seoul (KR); KIA CORPORATION, Seoul (KR); and INHA UNIVERSITY RESEARCH AND BUSINESS FOUNDATION, Incheon (KR)
Filed by HYUNDAI MOTOR COMPANY, Seoul (KR); KIA CORPORATION, Seoul (KR); and INHA UNIVERSITY RESEARCH AND BUSINESS FOUNDATION, Incheon (KR)
Filed on Nov. 15, 2023, as Appl. No. 18/510,375.
Application 18/510,375 is a division of application No. 17/004,659, filed on Aug. 27, 2020, granted, now 11,854,236.
Claims priority of application No. 10-2019-0123901 (KR), filed on Oct. 7, 2019.
Prior Publication US 2024/0087277 A1, Mar. 14, 2024
Int. Cl. G06V 10/10 (2022.01); B25B 21/00 (2006.01); B25B 23/147 (2006.01); G01C 3/02 (2006.01); G01J 5/00 (2022.01); G06F 18/21 (2023.01); G06F 18/22 (2023.01); G06F 18/24 (2023.01); G06T 3/60 (2006.01); G06T 5/40 (2006.01); G06T 7/00 (2017.01); G06V 10/24 (2022.01); G06V 10/32 (2022.01); G06V 10/764 (2022.01); G06V 10/82 (2022.01); G06V 20/10 (2022.01); G06V 20/20 (2022.01); G06V 20/40 (2022.01); H04N 23/54 (2023.01); H04N 23/56 (2023.01); G06K 7/14 (2006.01); G06V 10/50 (2022.01)
CPC G06V 10/17 (2022.01) [B25B 21/002 (2013.01); B25B 23/147 (2013.01); G01C 3/02 (2013.01); G01J 5/00 (2013.01); G06F 18/21 (2023.01); G06F 18/22 (2023.01); G06F 18/24 (2023.01); G06T 3/60 (2013.01); G06T 5/40 (2013.01); G06T 7/0004 (2013.01); G06V 10/242 (2022.01); G06V 10/32 (2022.01); G06V 10/764 (2022.01); G06V 10/82 (2022.01); G06V 20/10 (2022.01); G06V 20/20 (2022.01); G06V 20/41 (2022.01); H04N 23/54 (2023.01); H04N 23/56 (2023.01); G01J 2005/0077 (2013.01); G06K 7/1413 (2013.01); G06K 7/1417 (2013.01); G06T 2207/10016 (2013.01); G06T 2207/10048 (2013.01); G06T 2207/20084 (2013.01); G06T 2207/30164 (2013.01); G06V 10/50 (2022.01)] 4 Claims
OG exemplary drawing
 
1. A control method of a fastening tool for fastening a component part, the control method comprising:
photographing a fastening portion of the component part through a camera portion mounted on the fastening tool;
pre-processing that rotates an input image photographed by the camera portion to match with representative model image;
estimating the fastening portion through an inference process through a convolutional neural network (CNN) algorithm-based image classification work on a video input image of a same fastening portion finished with the pre-processing work; and
setting a torque value matched with a recognized fastening portion when a probability value of the fastening portion in the inference process exceeds a predetermined reference ratio,
wherein the pre-processing includes
masking an outer portion of a circle based on a center of the input image,
calculating a slope angle according to a statistical value of slope distribution for each region of the input image obtained through histogram of gradient (HOG) algorithm, and
performing matching by rotating the input image based on the slope angle.