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Path Planning of a Laser-scanner with the Control of Overlap for 3d Part Inspection

机译：具有重叠控制的3D零件检查激光扫描仪的路径规划

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This paper proposes a new approach to scan path planning for automated inspection of manufactured parts with an industrial robot based on the control of the overlap between 2 successive scanning paths. The novelty lies in the use of the least-squares conformal map, which stretches a 3D surface on a 2D plane. Equidistant paths calculated in the 2D space are transformed into equidistant paths in the 3D space. Controlling the overlap can maximize the coverage region on the scanned part. On the other hand, digitizing quality is ensured by managing the sensor configuration relatively to the part with respect to quality criteria. The approach is implemented with success for a laser-plane scanner mounted on an industrial robot.
机译：本文提出了一种新的扫描路径规划方法，该方法可基于对两个连续扫描路径之间重叠的控制，使用工业机器人对制造的零件进行自动检查。新奇之处在于使用最小二乘保形贴图，该贴图在2D平面上拉伸3D表面。在2D空间中计算出的等距路径将转换为3D空间中的等距路径。控制重叠可以最大化扫描零件上的覆盖区域。另一方面，通过根据质量标准相对于零件管理传感器配置，确保数字化质量。对于安装在工业机器人上的激光平面扫描仪，该方法已成功实施。

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