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

使用新设备光纤光栅开发机器人眼系统

基本信息

批准号：
59850071
负责人：
NAKAJIMA Masato
金额：
$ 4.29万
依托单位：
Keio University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Developmental Scientific Research
财政年份：
1984
资助国家：
日本
起止时间：
1984 至 1985
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-59850071/
关键词：
Robot-eye Grating Fiber Bandle Image Processing レーザ

项目摘要

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.

本文介绍了利用光纤光栅（F.G.）作为图形投影装置，我们采用了一种通过在物体上投影三维亮斑阵列并测量每个亮斑的位移来确定物体三维形状的方法。该方法被归类为主动立体方法，该方法的显著特征是通过利用F.G.第一年，我们在稳定光具座上进行了基本系统的实验性构建，以验证所提出的方法的正确性，并收集了开发中试系统所需的基础数据。第二年，我们通过对第一年获得的基本数据的讨论，阐明了该方法存在的问题，并针对这些问题提出了改进技术。我们提出了从输入图像中识别每个点的顺序的方法，并在系统中实现。针对投影仪和图像检测装置的光学像差以及光纤带和CCD摄像机的分辨率限制对测量精度的影响，提出了一种改进的算法，并将该系统与机器人手臂和机器人视觉系统进行了实际应用，验证了对凹面物体进行测量的可行性。