Rescan Strategy for Time Efficient View and Path Planning in Automated Inspection System

Hoon Kwon, Minwoo Na, Jae-Bok Song

Research output: Contribution to journalArticle

Abstract

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.

Original languageEnglish
JournalInternational Journal of Precision Engineering and Manufacturing
DOIs
Publication statusPublished - 2019 Jan 1

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Motion planning
Inspection
Planning
Robotics
Robots
Scanning

Keywords

  • Active vision
  • Model-based robotic inspection
  • Path planning
  • View planning

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

Cite this

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abstract = "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.",
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AB - 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.

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