Measuring Device for Large Piping Structures

Kazuo Ichimura; Kiyohide Yui; Takakazu Ishimatsu

doi:10.20965/jrm.2000.p0018

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JRM Vol.12 No.1 pp. 18-23

doi: 10.20965/jrm.2000.p0018

(2000)

Paper:

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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

Received:

June 1, 1999

Accepted:

July 13, 1999

Published:

February 20, 2000

Keywords:

three-dimensional measurement, vision sensor, large structure, automated production

Abstract

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.

Cite this article as:

K. Ichimura, K. Yui, and T. Ishimatsu, “Measuring Device for Large Piping Structures,” J. Robot. Mechatron., Vol.12, No.1, pp. 18-23, 2000.

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This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

Measuring Device for Large Piping Structures

Kazuo Ichimura*, Kiyohide Yui* and Takakazu Ishimatsu**

Kazuo Ichimura^, Kiyohide Yui^ and Takakazu Ishimatsu^**