Development of The Robot Eye System using a new device FIBER GRATING

本文介绍了基于光纤光栅(F.G.)的三维面形测量系统的研制。作为一种图案投影装置，我们采用了一种方法，通过在物体上投影一个三维亮点阵列来确定物体的三维形状，并测量每个光点的位移。该方法被归类为主动立体方法，其显著特点是利用光纤陀螺作为图案投影装置和光纤束作为图像检测和传输装置，成功地将系统的视觉传感器部分实现了极小型化。第一年，我们在稳定的光学实验台上进行了基本系统的实验构建，以验证所提出的方法的合理性，并收集了试验系统开发所需的基础数据。第二年，我们通过对第一年获得的基本数据的讨论，澄清了该方法存在的问题，并针对这些问题提出了改进技术；提出了从输入图像中识别每个光点的顺序的方法，并在系统中实现。针对图案投影和图像检测设备的光学像差以及光纤束和CCD摄像机的分辨率限制对测量精度的影响，提出了一种提高测量精度的算法，并将该系统安装在机器人手臂上进行了实际使用和机器人视觉系统的实验，验证了测量凹面物体的可行性。

This report describes on the development of the 3-dimensional shape measurement system using a FIBER GRATING (F.G.) as a pattern projection device.We adopted a method which decides the 3-dimensional shape of the object by projecting a 3-dimensional array of bright spots on the object and measures the displacement of the each spot. This method is classified into the Active Stereo Method and the distinctive feature of the method is that which succeeds in the extreme miniaturization of the visual sensor parts of the system by the utilization of the F.G. as a pattern projection device and a fiber bandle as an image detection and transmission device.The first year, we made an experimental constructing the basic system on a stabilized optical bench to confirm propriety of the proposed method, and collected the basic data required for the development of the pilot system. And we decided a specification of the system.The next year, we clarified problems of this method by discussing the basic data obtained in the first year and in succession we proposed improving techniques for these problems.We proposed the method recognizing the order of each spot from an input image and implemented to the system. And we also implemented an algorithm to improve the degradation of the measurement precision which depends on the optical aberations of pattern projection and image detecting devices and on the resolution limitations of the fiber bandle and a CCD camera.And finally we attached this system to a robot arm to try to use actually and a robot visual system, as a results we verified the possibility to measure objects having concave planes.