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Kozo Ohtani,Mitsuru Baba 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper describes a method of identifying the surface roughness and three-dimensional shape of a metal part with alaser range finder. Our range finder is equipped with an optical position sensor that can simultaneously detect the position of alight and its incident angle with respec to the sensor. Moreover, the sensor has an autonomous expo sure time control function with a microcomputer. Therefore, the laser range finder can detect the three-dimensional(3-D) shape of an object with unknown reflectance. We constructed aprototype system and performed experiments with measured objects made of ther mally sprayed materials. First, we in spected the surface reflection of each elementin the ther mally sprayed materials and established the measurement procedure using our range finer, which can identify surface roughness based on the optical properties of a surface. Next, we measured the thermally sprayed materials with several kinds of delaminations. From the measurement results, we found the error of the 3-D shape measurement to be Δz/z=0.7%, which was independent of the surface reflection of the measured objects. Regarding the detection of the surface roughness, we could identify four types of delamination conditions with accuracy. The proposed method has great potential for use in a wide range of industrial inspections.
An Ultrasonic Shape Recognition Considering Change of Ambient Atmospheric Pressure
Shinya Omori,Takayuki Yamamoto,Kozo Ohtani,Mitsuru Baba 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
Recognition methods with an ultrasonic sensor are often utilized in situations where optical sensors cannotbe used or in objects which are hard to be identified by the approach based on the light. Among ultrasonic data, an ultrasound pressure data has the advantage of being able to acquire three-dimensional shape information with high resolution and with comparative ease by use of ultrasonic sensor array. The ultrasound pressure data is vulnerable to the change of the atmosphere pressure. Therefore, this paper proposed an ultrasonic shape recognition approach consideringchange of ambient atmospheric pressure. We designed and built a prototype shape recognition system with ultrasound pressure. From experimental results, it was shown that the proposed approach is effective for shape recognition withultrasound pressure data.