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

为了实现电器行业的自动化布线和/或焊接操作，有必要开发能够检测导线并测量其位置的视觉系统。在本研究中，我们发展了一套能有效利用阴影资讯来量测导线三维位姿的视觉系统，并于去年在PC-9801微型计算机上实作了阴影资讯理论，并检验其精度与处理速度。我们可以获得足够的精度（小于1%的视野），机械手抓住电线和合理的处理速度（约17秒）。为了进一步提高其处理速度，今年我们在TOSPIX-Ⅱ图象处理机上实现了我们的方法，处理速度可达0.40秒，是在微机上实现的40倍以上。我们还将视觉系统与机械手（MANUA）连接，并对各种物体进行了手眼实验。

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.