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2平行レーザシートの投光による下水管形状計測ロボット
http://hdl.handle.net/10458/1582
http://hdl.handle.net/10458/15827da8edd6-cad2-4abd-920b-4365ccd38063
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
kawasue kikaironbunsyu737 2008.pdf (2.4 MB)
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| Item type | 学術雑誌論文 / Journal Article(1) | |||||
|---|---|---|---|---|---|---|
| 公開日 | 2008-06-23 | |||||
| タイトル | ||||||
| タイトル | 2平行レーザシートの投光による下水管形状計測ロボット | |||||
| 言語 | ja | |||||
| タイトル | ||||||
| タイトル | Sewer Pipe Measurement Robot Using Parallel Laser Sheets | |||||
| 言語 | en | |||||
| 言語 | ||||||
| 言語 | jpn | |||||
| キーワード | ||||||
| 言語 | en | |||||
| 主題Scheme | Other | |||||
| キーワード | Sewer, Pipe measurement, Image processing, Laser, Calibration, 3 Dimensional | |||||
| 資源タイプ | ||||||
| 資源タイプ | journal article | |||||
| 著者 |
川末, 紀功仁
× 川末, 紀功仁× 酒井, 将司× 脇山, 輝史× 大山, 茂樹× 千田, 尚× SAKAI, Shoji× WAKIYAMA, Terufumi× OHYAMA, Shigeki× SENDA, Hisashi |
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| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | Sewer pipes over 380,000 kilometers in total are existed under the ground in Japan. However,worn pipes have been increased and a number of subsidences of a ground caused by the collapse wereoccurred. Recently, the inspection of the pipe is executed by the moving cart with CCD camera. Currently human inspector judges the condition of the pipe by the images recorded by the CCD camera. It should be noted that the judgment by the human causes the individual variation since it depends on the person's sense. Quantitative measurement is required. In this paper, the 3D quantitative measurement system for a sewer pipe is introduced. Two parallel laser sheets are projected from the inside of the pipe and the two circular laser streaks appeared on the inside surface of the pipe are recorded by the CCD. The measurement of the crosssection is established by analyzing the recorded streaks. Amount of displacement between two circular streaks are used to detect the tilt of the system against the axis of the pipe. The pipe is reconstructed by stacking of the crosssections on considering the moved distance and the tilt of the robot. The automatic calibration using a liquid crystal display is also introduced in this paper. The calibration method reduces the lens distortion of a wide-angle lens and a high accurate measurement is established. Experimental result shows the feasibility of the system. |
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| 言語 | en | |||||
| 書誌情報 |
ja : 日本機械学會論文集. C編 en : Transactions of the Japan Society of Mechanical Engineers. C 巻 74, 号 737, p. 90-97, 発行日 2008-01-25 |
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| 出版者 | ||||||
| 出版者 | 日本機械学会 | |||||
| 言語 | ja | |||||
| 出版者 | ||||||
| 出版者 | The Japan Society of Mechanical Engineers | |||||
| 言語 | en | |||||
| ISSN | ||||||
| 収録物識別子タイプ | ISSN | |||||
| 収録物識別子 | 03875024 | |||||
| 書誌レコードID | ||||||
| 収録物識別子タイプ | NCID | |||||
| 収録物識別子 | AN00187463 | |||||
| 著者版フラグ | ||||||
| 出版タイプ | VoR | |||||
