面法線計測センサを用いる埋設管先曲折方向の識別(機械力学,計測,自動制御)

概要

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This paper proposes a method to recognize connected direction of a buried pipe's end using a surface-normal sensor. The method uses a range sensor and a pair of wedge-prisms for the purpose of collecting three or more distance data in a small surface of measurement object. To make a laser beam shift a little bit from main optical axis of the range sensor, a driving mechanism is assembled for rotating the pair of wedge-prisms. We attach the sensor at entrance of a pipe and measure the connected direction of a linked pipe at the other end making an elbow. Firstly we describe the measurement principle of the surface normal sensor. Then, we apply the sensor to recognize the direction of life line pipes feeding gas, water, steam and so on. We simulate the measurement of tracking an elbow connecting water pipes to collect its direction data. Comparing the data with experimental data, shows usefulness of the method for tracing unknown pipe arrangement.
社団法人日本機械学会の論文
2006-07-25