Abstract: A method of determining the three-dimensional position of an object in a specific position with respect to a predetermined standard position includes storing position data representative of a distinctive part of the object as if the object is virtually located in a predetermined standard position, formularizing a relation between the specific and standard positions in terms of a standard three-dimensional co-ordinate system as an equation including a positional deviation as an unknown parameter, and determining a restrictive condition for the position of the distinctive part of the object located in the specific position. The equation is solved under a condition in which the position of the distinctive part satisfies the restrictive condition to find a positional deviation.

Abstract: An apparatus is utilized to detect defects and finish a surface of a workpiece moving at a predetermined speed along an automatic finishing line. The defects are detected and the surface is finished by a manipulator disposed at a predetermined finishing station of the automatic finishing line. The manipulator has an image pickup device and a finishing device combined into one unit. The apparatus performs the steps of moving the manipulator relative to a workpiece while detecting a surface defect on a surface of the workpiece with the image pickup device. The apparatus moves the manipulator at the same speed as the workpiece while finishing the surface defects on the surface of the workpiece with the finishing device.

Abstract: An inspection method including the steps of irradiating a light with a predetermined changing pattern onto a substantially specular surface to be inspected through an irradiation device facing the surface, forming an image based on reflected light in correspondence with the predetermined changing pattern by an imaging device, and utilizing reflected light of only 200-350 nm wavelength to form the image so as to detect a flaw in the surface by identifying points which differ from the changing pattern of the irradiation device. The flaws in the coating can be detected with a high accuracy irrespective of the color of the coating surface. An inspection device is also provided for the same object.

Abstract: A surface defect inspection apparatus includes a light radiation source, arranged to oppose a surface to be inspected serving as a mirror surface, for radiating light having a predetermined change pattern toward the surface to be inspected, a camera mechanism for receiving an image of the light radiation source, reflected by the surface to be inspected and forming a received-light image corresponding to the change pattern of the light radiation source, and a discriminator for discriminating a surface defect portion on the surface to be inspected by discriminating a portion whose change pattern is different from the change pattern on the basis of the received-light image formed by the camera mechanism.

Abstract: A drilling method of drilling an imaginary facing for excavating a curved tunnel such that the imaginary facing is nonparallel to an existing facing. The drilling method includes the steps of obtaining a first equation for transformation between a primary coordinate system defined with respect to the imaginary facing and a secondary coordinate system defined with respect to the existing facing, transforming a primary drilling pattern of the primary coordinate system into a secondary drilling pattern of the secondary coordinate system, obtaining a second equation for transformation between the secondary coordinate system and a final coordinate system defined with respect to a drilling vehicle, and transforming the secondary drilling pattern to a final drilling pattern of the final coordinate system.