In 3D robotic inspection systems, view planning and path planning are important to minimize the operation time of the system. In this study, an automated inspection system is proposed that consists of a structured light scanner, a collaborative robot, and a rotary table. In addition, a rescan strategy algorithm is proposed that can minimize the operation time of the system and enhance the reliability of the inspection task. This algorithm uses a small number of viewpoints for view planning by selecting an area to be rescanned. At the same time, path planning with the rotation and alignment of viewpoints using a rotary table make it possible to reduce the scanning time. Experimental results on various objects have verified that the proposed method can be applied to the 3D quality inspection task with a reasonable operation time.
|Number of pages
|International Journal of Precision Engineering and Manufacturing
|Published - 2019 Oct 1
Bibliographical noteFunding Information:
This work was supported by IITP Grant funded by the Korea Government MSIT (No. 2018-0-00622).
© 2019, Korean Society for Precision Engineering.
- Active vision
- Model-based robotic inspection
- Path planning
- View planning
ASJC Scopus subject areas
- Mechanical Engineering
- Industrial and Manufacturing Engineering
- Electrical and Electronic Engineering