Development of an Automatic Scraping Machine with Recognition for Bearing of Scraped Surfaces (1st Report)

Investigation into Hand Scraping: A Microanalysis

“…Several research groups have set up systems for automated scraping. Tsutsumi et al built a dedicated gantry type machine with an end effector tool and a CCD camera to determine the locations to be scraped from the colored areas after rubbing [11][12][13]. Similar approaches were taken by Tong et al [14] and Yasuo et al [15].…”

“…A key issue for automated scraping is the measurement of the workpiece surface before each cut to determine the areas that have to be scraped. Many research groups imitate the procedure of hand scraping by detecting dark and bright spots on the rubbed surface using cameras [11][12][13][14][15]19,20]. Fan et al scanned the surface using a dedicated system based on a DVD pick-up head [21], while Hsieh et al used a laser triangulation sensor [22].…”

Development of a laser-based measurement system for evaluation of the scraping workpiece quality

“…Based on the results, the microcomputer determines locations that require scraping. Tsutsumi et al [5][6][7] developed an automatic machine with a CCD camera and a scraper tool. An image processing method and an image coordinate system are used to identify the points of the bearings on the specimen and to precisely position the tool.…”

“…Principle of evaluating the distribution of heights of points (HOP) or depth of surroundings (DOS)For the evaluation of HOP (or DOS), the average height of all peak zones and the average depth of all valley zones are calculated using Eqs. (4) and(5). The distance between the height and depth is defined as the HOP (or DOS).…”