Measuring Device for Large Piping Structures
Kazuo Ichimura*, Kiyohide Yui* and Takakazu Ishimatsu**
*Nagasaki Shipyard & Machinery Works, Mitsubishi Heavy Industries Ltd., 1-1 Akunoura-machi, Nagasaki, Japan
**Department of Mechanical System Engineering, Nagasaki University, 1-14 Bunkyo-machi, Nagasaki, Japan
The 3-D noncontact measuring device we developed for large piping structures consists of a 3-axis gantry robot and 3-axis rotation using a vision sensor consisting of a CCD camera and a slit laser. Center points of pipes are calculated by fitting ellipses to each section curves using the least squares method. We used this device to measure 3-D pipe structures. Tests verified device accuracy using ellipse fitting.
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