Compact 3-D sensor for robots using X-shaped slit light.
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概要
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Recently many types of practical robot vision systems have been developed. However, most of them are based on the 2-D image processing technique and can recognize objects only on a known plane. On the other hand, much fundamental research effort on 3-D recognition has been made, but achieved results are still time-consuming and impractical.In this paper, we describe the compact 3-D sensor for robots. 3-D information about objects can be detected by the light section method. Projecting a slit light onto the object and taking its image from the oblique direction, the distances from a point on the slit light plane to the light stripes, which are intersections of the object and the slit light, can be measured based on the triangulation. The proposed sensor projects two slit lights one by one, which are arranged like X-shape. The light stripes neighboring the intersection of two slit lights in the taken images are guaranteed to be on a continuous surface. Therefore, once the sensor is directed to the desired surface just roughly, the orientation and the distance of the surface in the 3-D space can be detected through the calculation of the distances to the points neighboring the intersection of the slit lights, without moving the sensor.The developed sensor consists of two slit light sources and a solid state TV camera. Infrared LED chips are used as the light source and Camera Control Unit is separated from the sensor itself. They enable us to realize a light-weight and compact sensor which is suitable for being mounted on a robot arm. The size of the sensor is 200mmW×57mmH×75mmL and the weight is 400g. According to the experimental results, the repeatability of the detected position of the cylindrical object is σ=0.04mm for the x-y coordinate, σ=0.09mm for the distance and σ=0.2° for the orientation and the acquisition time is about 0.1 second.
- 公益社団法人 計測自動制御学会の論文
公益社団法人 計測自動制御学会 | 論文
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