Robotic Autoscanning of Highly Skewed Ship Propeller Blades

Njaastad, Eirik B.; Munthe-Kaas, Njaal H.; Egeland, Olav

doi:10.1016/j.ifacol.2018.11.595

Cited by 7 publications

(3 citation statements)

References 11 publications

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“…Collision avoidance could be added to the system, taking into account the complete robot model and the continuous stream of information originating while inspecting the workpiece. Further work may also focus on improving the scanning execution time and integration of the approach into our ship propeller inspection system [18].…”

Section: Discussionmentioning

confidence: 99%

Planning of Robotic Inspection from Visual Tracking of Manual Surface Finishing Tool

Njaastad

Egeland

2019

2019 Third IEEE International Conference on Robotic Computing (IRC)

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A planning system for efficient of robotic inspection of surface tolerances is presented. This is done using visual tracking of a manual polishing tool. The application that is studied is surface finishing of large ship propeller blades. The propeller blade is cast in in NiAl bronze and then adjusted by manual surface finishing. Robotic inspection is used to check the quality of the resulting surface using an high-accuracy RGBD-camera. To avoid time-consuming inspection of the entire propeller blade, the area affected by the manual adjustment is detected with a visual tracking system, which measures the motion of the manual tool using a particle filter and a CAD model of the tool. The main contribution of this work is the strategy for selecting camera views for the inspection robot. The algorithm employs Hotelling's T-squared distribution in a Principal Component Analysis to find efficient viewpoints. The approach is implemented with an industrial robot, a highaccuracy RGBD-camera, and a low-cost RGBD-camera. The system is validated in simulations and experiments, where a surface conditioned ship propeller blade is inspected.

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Section: Discussionmentioning

confidence: 99%

Planning of Robotic Inspection from Visual Tracking of Manual Surface Finishing Tool

Njaastad

Egeland

2019

2019 Third IEEE International Conference on Robotic Computing (IRC)

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“…However, this method may cause a sudden change in the direction of the scanner between the two paths. Njaastad et al [18] combined industrial robots with high-precision 3D cameras and laser distance sensors to form an automated scanning system to measure ship propeller blades. According to the shooting range of the 3D camera and the optimal proximity distance of the laser sensor, the scanning trajectory of the highly inclined ship propeller blade was planned with a resolution of 0.1 mm.…”

Section: Introductionmentioning

confidence: 99%

Research on Three-Dimensional Scanning Path Planning of Casing Parts Based on Industrial Robot

Wang

et al. 2023

Applied Sciences

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According to the requirements for the rapid scanning and measurement of the geometric shape during the process of chemical milling of an aviation engine casing, the scanning path of the casing is planned and studied. This paper introduces the principle and method of the tracking scanner and automatic measuring system and analyzes the scanning area range, approach distance, and wide angle of the field. The casing process is modeled by applying part of the machine, obtaining a series of scanning path point and synthesizing the scanning trajectory. On this basis, the entire scanning process is divided into two alternating actions: scanning measurement and posture adjustment, and the mathematical model of the annular scanning path on the outer surface of the casing part is obtained. Adjusting the scan height was used to solve the repeated scan area problem, and the results show that the adjustment method effectively shortened the scan path’s length and time. The simulation method verifies the planned finite ring-scanning path, which verifies the correctness and feasibility of the mathematical model. Through the automatic scanning reconstruction process test, the reconstruction rate of the ring scanning trajectory reaches 85%, which is 80% higher than the manual detection efficiency.

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“…From the virtual model, the pitch of the propeller can be determined. Previous studies show that the digitization process of propellers utilized costly equipment such as 3D scanners [8,9,10,11], machine vision system [12], and even low cost equipment such as digital cameras [13,14]. Using 3D scanning systems and machine vision systems would offer a highly accurate inspection of propeller blades.…”

Section: Introductionmentioning

confidence: 99%

Measuring propeller pitch based on photogrammetry and CAD

Van¹,

Thanh²,

Náprstková³

2021

Manufacturing Technology

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There are a number of methods for measuring propeller pitch, but there could still be problems for many fishing boat builders because of their lack of necessary professional equipment. This paper presents a method of propeller pitch measuring based on photogrammetry and CAD (Computer-Aided Design). This method consists of three stages. The first stage is to take a series of 2D image photographs of the propeller using a smart phone. The second stage consists of processing these 2D images using photogrammetry software to create a 3D virtual model of the propeller. A CAD program is used to measure the pitch at different radii of each blade of the 3D virtual model in the third stage. In this study, several propellers for fishing boats were measured and the results were compared to those archived by using an EDM (Electrical Discharge Machining) machine and by a qualified professional worker using simple tools. The measurement results showed that the proposed method would be acceptable for measuring pitches of propellers of fishing boats.

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Robotic Autoscanning of Highly Skewed Ship Propeller Blades

Cited by 7 publications

References 11 publications

Planning of Robotic Inspection from Visual Tracking of Manual Surface Finishing Tool

Planning of Robotic Inspection from Visual Tracking of Manual Surface Finishing Tool

Research on Three-Dimensional Scanning Path Planning of Casing Parts Based on Industrial Robot

Measuring propeller pitch based on photogrammetry and CAD

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