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Proceedings Paper

Miniature 3D optical scanning sensor for pipe-inspection robot
Author(s): Hiromi Totani; Hiroshi Goto; Masaaki Ikeda; Tsuneji Yada
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Paper Abstract

We have newly developed a miniature optical scanning sensor capable of 3D recognition for pipe-inspection. The sensor, the size of (phi) 23 - 18 mm, consists of a miniature 2D optical scanner integrated with photo detector and piezoresistor a laser diode with collimating lens and an amplifier circuit. The 2D optical scanner actuated by piezoelectric actuator was applied to the sensor for miniaturization of the scanning mechanism. In order to detect on surface in pipe 3D, circular scanning pattern with variable scanning range, such as spiral pattern, was adopted. Reflected beam intensity from surface in pipe at each scanning position is detected by the photo detector. When scratches or obstructions exist on surface in pipe, the detected signal is changed. Shape recognition of the surface in pipe can be realized by detecting the change signals and its each scanning position information. In the case, piezoresistor fabricated on the torsional spring of the scanner was applied for detection of scanning position. Sensing range of 100 to 200 mm and resolution of less than 1 mm was obtained in 1 inch diameter pipe. This sensor could be useful for recognition sensors of miniature mobile robot in many inspection fields.

Paper Details

Date Published: 18 December 1995
PDF: 9 pages
Proc. SPIE 2593, Microrobotics and Micromechanical Systems, (18 December 1995); doi: 10.1117/12.228644
Show Author Affiliations
Hiromi Totani, Omron Corp. (Japan)
Hiroshi Goto, Omron Corp. (Japan)
Masaaki Ikeda, Omron Corp. (Japan)
Tsuneji Yada, Omron Corp. (Japan)


Published in SPIE Proceedings Vol. 2593:
Microrobotics and Micromechanical Systems
Lynne E. Parker, Editor(s)

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