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

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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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Acknowledgement

This work was supported by IITP Grant funded by the Korea Government MSIT (No. 2018-0-00622).

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Authors and Affiliations

  1. School of Mechanical Engineering, Korea University, Anam-dong, Seoungbuk-gu, Seoul, 02841, South Korea

    Hoon Kwon, Minwoo Na & Jae-Bok Song

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  1. Hoon Kwon
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  2. Minwoo Na
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  3. Jae-Bok Song
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Correspondence to Jae-Bok Song.

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Kwon, H., Na, M. & Song, JB. Rescan Strategy for Time Efficient View and Path Planning in Automated Inspection System. Int. J. Precis. Eng. Manuf. 20, 1747–1756 (2019). https://doi.org/10.1007/s12541-019-00186-x

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  • DOI: https://doi.org/10.1007/s12541-019-00186-x

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