A Sensor-Based Robotic Line Scan System With Adaptive ROI for Inspection of Defects Over Convex Free-Form Specular Surfaces

被引：9

作者：

Huo, Shengzeng ^{[1
]}

Zhang, Bin ^{[1
]}

Muddassir, Muhammad ^{[1
]}

Chik, David T. W. ^{[2
]}

Navarro-Alarcon, David ^{[1
]}

机构：

[1] Hong Kong Polytech Univ, Dept Mech Engn, Hong Kong, Peoples R China

[2] Hong Kong Appl Sci & Technol Res Inst ASTRI, Hong Kong, Peoples R China

来源：

IEEE SENSORS JOURNAL | 2022年 / 22卷 / 03期

关键词：

Inspection; Robot sensing systems; Sensors; Robots; Surface treatment; Robot kinematics; Point cloud compression; Line scan sensor; depth sensor; defect inspection; path planning; sensor-guided robots; specular surfaces; MANIPULATION;

D O I：

10.1109/JSEN.2021.3132428

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

In this paper, we present a novel sensor-based system to perform defect inspection tasks automatically over free-form specular surfaces. The inspection procedure is performed by a robotic manipulator equipped with a line scanner system. Taking the geometric and optical parameters into consideration, our algorithm computes a flexible scanning path. Based on a mesh model, the system segments the convex surface into areas with similar curvatures, then adaptively adjusts the line sensor's scanning range to ensure the complete coverage of the surface. We consider the scanning efficiency through constrained optimization. To align the computed scanning path with the specular object, a real-time workpiece localization algorithm in a coarse-to-fine manner is developed. Our control framework synchronizes the motion of the manipulator and the acquisition of the line scanner for robotic inspection. We also provide an image processing pipeline for automatic defect detection. To validate the proposed formal methodology, we report a detailed experimental study with the developed robotic inspection prototype.

引用

页码：2782 / 2792

页数：11