二次元レーザレンジスキャナおよび鏡を用いて物体の全周およびスキャナ周囲の物体を同時に走査する走査装置

抄録

In the present study, a scanning instrument to scan the whole circumference of an object and objects around a scanner and mirrors at once by a two-dimensional laser range scanner and mirrors is described. Laser reflecting points on the whole circumference of the object are gotten uniformly by eight mirrors. The construction and the function about the scanning instrument were shown. Coordinates and angles of the mirrors, trajectories of the laser, installation conditions of the mirrors, scanning area without the mirrors, and coordinates of the laser reflecting points on the surface of the objects were designed on the basis of the coordinate systems. Experimental equipment using an actual scanner and actual mirrors was built to evaluate the performance of the scanning instrument, and experiments were conducted. The error and the standard deviation of the distance from the scanner to the object in the case of the scanning with the mirrors were larger than in the case of the scanning without the mirrors. The whole circumference of the object and the objects around the scanner and the mirrors were identified from the assembly of the laser reflecting point. The errors of the coordinate values of the laser reflecting point were effective to grasp the object by a gripper.