影情報を利用して柔軟な線状物の3次元位置を計測する視覚システムの試作

点击翻译按钮获取中文摘要

It is necessary to develop vision system which can detect wires and measure their positions in order to automate wiring and/or soldering operations in electronics appliances industry. In this research, we develop a vision system which can measure 3-D positions and orientations of wires by a method which utilize shadow information effectively.Last year, we implemented our shadow information theory on a microcomputer (PC-9801) and examined the accuracy and processing speed. We could obtain enough accuracy (less than 1% of visual field) for a manipulator to grasp wires and reasonable processing speed (about 17sec). To further increase its processing speed, this year, we implemented our method onan image processor (TOSPIX-II).We could obtain processing speed of 0.40sec which is more than 40 times of that implemented on the microcomputer. We also connected the vision system with a manipulator(PUMA) and made hand-eye experiments for a variety of objects.