A laser scanner based in-process inspection approach of thru-hole for drilling robotic system

Open Access

Abstract: An in-process hole inspection subsystem was integrated with the drilling robotic system, which is based on the line laser scanner installed near the end-effector. The proposed inspection approach is based on the image processing of 3D (three dimension) point cloud obtained from laser scanner driven by the robotic manipulator. The normal of measuring surface was detected from the 3D point data on the hole edge, which determines the feedback signal to the hardware to adjust the direction of laser beam. By normal adjusting algorithm, the laser scanner is driven by the robotic manipulator to achieve the normal direction of the measuring hole. Then, based on 2D (two dimension) point data, the least square ellipse fitting method was applied to compute the hole parameters, such as diameter, circularity and positioning of the hole. The designed approach was tested for its accuracy and robust in an example of through hole automatic inspection

Keywords: line laser scanner, drilling robot, hole inspection, normal adjusting

Weiwei Yu, Yangyang Feng, Xi Li, Jingyi Tang

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Northwestern Polytechnical University, China

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Vol. 4, Issue 1

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136-144

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05-04-2018

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