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Three-dimensional vision sensors for autonomous robots

A three dimensional measurement system, which is important for developing autonomous robots is described. Industrial robots used in today's plants are of the preprogrammed teaching playback type. It is necessary to develop autonomous robots which can work based on sensor information for intelligent manufacturing systems. Moreover, practical use of robots which work in unstructured environments such as outdoors and in space is expected. To realize this, a function to measure objects and the environment three-dimensionally is a key technology. Additional important requirements for robotic sensors are real-time processing and compactness. We have developed smart 3-D vision sensors for the purpose of realizing autonomous robots. These are two kinds of sensors with different functions corresponding to the application. One is a slitted light range finder ( SLRF ) to measure stationary objects. The other is a real-time tracking vision ( RTTV ) which can measure moving objects at high speed. SLRF uses multiple slitted lights which are generated by a semiconductor laser through an interference filter and a cylindrical lens. Furthermore, we developed a liquid crystal shutter with multiple electrodes. We devised a technique to make coded slitted light by putting this shutter in front of the light source. As a result, using the principle of triangulation, objects can be measured in three dimensions. In addition, high-speed image input was enabled by projecting multiple slitted light at the same time. We have confirmed the effectiveness of the SLRF applied to a hand-eye system using a robot.