ファイバグレーティングを用いた三次元視覚エキスパートシステムの研究 : 第2報, プラント配管のパイプライン情報の計算方法

概要

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This paper deals with a computational method for plant pipeline information using the visual method for the plant maintenance robot. For this purpose, the fiber grating (F. G.) method is employed in this paper to calculate the direction and radius of pipeline which generally has a cylindrical surface. The F. G. is itself made of optical fibers, through which the laser beams make discrete dot patterns without any mechanical scanning structure, unlike other scanning methods. Thus the proposed method has the following advantages: (1) it is possible to obtain 3D image information by means of a single camera; (2) the processing time is generally shorter than that of the other scanning methods. Although the proposed method do not give a fine analysis method of image data like the common scene analysis, it is suitable for obtaining rough information on the working environment of robots. This paper introduces a computational method capable of obtaining pipeline information, (the direction and radius) without the influence of the rotation of pipeline. Some experimental results are also shown here to verify the proposed method.
一般社団法人日本機械学会の論文
1991-07-25