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1 Introduction
3 Geometry Detection
Mesh Region
Edge detection
generation segmentation
The objective is to detect the elementary geome-
tries in a range image. This section presents the ap-
proach of PFeatureDetector (Process-oriented Feature Cavity
Rib detection
detection
Detector) to solve this task. Using a triangulation
laser scanner and camera from IVP, Schweden, a range
image of the part is taken when traversing on the con- Fusion of
veyor. Triggering the camera with a signal of an im- elementary geometries
pulse generator measuring the actual conveyor motion
Elementary geometries
assures that scans are equidistant. Up to 600 scans per
second can be taken. Fig. 3 shows the 3D points of Figure 4: Block diagram of detecting elementary ge-
an image of the steering column after filtering. The ometries in PFeatureDetector.
resolution for a scanning width of 2m is about 1.2mm,
which is sufficient for most painting applications. are lower than the surrounding region are clustered
into a larger region. Using the edge map the rim of
the cavity is detected with an accuracy in the range of
resolution 1.2mm. This is important to obtain the full
cavity region including the areas that are occluded due
to the typical shadows when taking the range image.
Fig. 5 shows the regions which have been automati-
cally classified as cavities.
All remaining surfaces are represented with a mesh.
Figure 3: Range image point cloud of a full part scan
The original point data is approximated with a mesh
showing the stearing column. Left: front view. Right:
(using VTK) to reduce the amount of data for the path
side view.
generation step. The reduction is needed to assure
The technical challenge is to segment the range data that path planning can be done in short time.
into the areas of elementary geometries that have been In the last step, the fusion of features assigns an
defined in the Geometry Library. Fig. 4 summarises elementary geometry (free-form surface, rib, cavity)
the procedure of PFeatureDetector. The calibrated to each region and determines the parameters (size)
images are segmented into the parts after subtracting and the location relative to the skid mounted on the
the skid (for example the mirrors in Fig.1). For each conveyor. For a part as shown in Fig. 5 the entire
segmented part a mesh and an edge map are gener- process as described in Fig. 4 requires a calculation
ated using the procedures of the VTK Visualisation time of 5 seconds and a 800 MHz PC with 256 Mb
Tool Kit. Additionally, for each part a region segmen- RAM. Visualisation of the results takes longer than
tation is executed. Using the result of [3], the method this, but is not needed for the industrial in-line usage.
developed in [4, 5] is used, since it is more robust and
faster in data processing than the classical approach
of [1]. 4 Paint Path Generation
Presently two specific elementary geometries can be
detected: ribs and cavities. Rib detection is based on The generation of paint paths is divided into the
finding a minimal number of parallel lines at equal following steps: planning of the painting process, plan-
distances in the edge map. ning of collision free spray gun motions, and simula-
Cavity detection is based on finding a region that tion of the robot trajectory to generate a robot pro-
is lower (using the direction of the surface normal) gram.
than the neighbouring regions. Several regions that The module ’Generate Painting Trajectory’, shown
Figure 6: Filtered point data and reduced mesh repre-
senting the stearing column. Range image was taken
with one scan only.
6 Experiments Figure 11: Painting cell with the calibration tool (left)
and the camera (bottom front).
The system is already implemented as a proto-
type and has been tested in ABB’s technical center The prototype installation demonstrated to be ca-
ing and cleaning with liquid (including high-pressure
cleaning), washing and cleaning with physical contact
between tool and part, de-greasing, sandblasting, pol-
ishing, sealing (e.g. for corrosion protection), inspec-
tion systems, polishing, grinding, deburring and glu-
ing.
Acknowledgements
Figure 12: The robot painting the stearing column This work is mainly supported by the RTD project Flex-
with the automatically generated program. The black Paint (GRD1-1999-10693). Patents are pending for the
paint can be seen on the part. contents shown and therefore are confidential until the pa-
per is published.