A Novel Complete-Surface-Finding Algorithm for Online Surface Scanning with Limited View Sensors.
A Novel Complete-Surface-Finding Algorithm for Online Surface Scanning with Limited View Sensors.
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DOI：
10.3390/s21227692
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发表时间：
2021-11-19
期刊：
影响因子：
--
通讯作者：
Gachagan A
中科院分区：
文献类型：
--
作者：
Poole A;Sutcliffe M;Pierce G;Gachagan A
机器人无损检测（NDT）彻底改变了该领域，提高了重复扫描程序的速度和到达危险环境的能力。机器人辅助NDT在特定行业中的应用，例如再制造和Aersopace，其中零件定期成型并且易受非临界变形的影响，但是存在缺点。在这些情况下，用于机器人路径规划的数字模型并不总是可用或准确的。为了应对机器人有限的灵活性，最先进的方法需要使用基于相机的系统进行初始预扫描，以便构建用于路径规划的CAD模型。本文试图创建一种新的算法，使机器人辅助超声检测的未知表面在一个单一的通过。这篇文章的影响的关键是启用自主剖析与传感器的孔径是几个数量级小于目标表面，任何规模的表面。所提出的算法的潜在应用包括大型，复杂，未知环境的自主无人机和履带式检查，除了传统的机器人分析设备不实用的情况下，如在密闭空间。在仿真中，该算法完全映射显着弯曲和复杂的形状，仅利用局部信息，输出传统的光栅图案时，曲率只存在于一个方向。在实际演示中，弯曲和非简单表面都完全映射，无需操作员干预。该算法在实际情况中的核心限制是所应用传感器的有效范围，并且作为一种独立的方法，它缺乏防止碰撞所需的环境知识。然而，由于该方法在完全扫描非阻塞性但仍然非常复杂的表面方面取得了成功，因此达到了本文的目标。未来的工作将侧重于低精度环境传感能力，以应对所面临的挑战。该方法的设计允许对适形楔形探头UT扫描进行单次扫描，但在传感器孔径明显小于零件的情况下，也可应用于任何表面扫描。
Robotised Non-Destructive Testing (NDT) has revolutionised the field, increasing the speed of repetitive scanning procedures and ability to reach hazardous environments. Application of robot-assisted NDT within specific industries such as remanufacturing and Aersopace, in which parts are regularly moulded and susceptible to non-critical deformation has however presented drawbacks. In these cases, digital models for robotic path planning are not always available or accurate. Cutting edge methods to counter the limited flexibility of robots require an initial pre-scan using camera-based systems in order to build a CAD model for path planning. This paper has sought to create a novel algorithm that enables robot-assisted ultrasonic testing of unknown surfaces within a single pass. Key to the impact of this article is the enabled autonomous profiling with sensors whose aperture is several orders of magnitude smaller than the target surface, for surfaces of any scale. Potential applications of the algorithm presented include autonomous drone and crawler inspections of large, complex, unknown environments in addition to situations where traditional metrological profiling equipment is not practical, such as in confined spaces. In simulation, the proposed algorithm has completely mapped significantly curved and complex shapes by utilising only local information, outputting a traditional raster pattern when curvature is present only in a single direction. In practical demonstrations, both curved and non-simple surfaces were fully mapped with no required operator intervention. The core limitations of the algorithm in practical cases is the effective range of the applied sensor, and as a stand-alone method it lacks the required knowledge of the environment to prevent collisions. However, since the approach has met success in fully scanning non-obstructive but still significantly complex surfaces, the objectives of this paper have been met. Future work will focus on low-accuracy environmental sensing capabilities to tackle the challenges faced. The method has been designed to allow single-pass scans for Conformable Wedge Probe UT scanning, but may be applied to any surface scans in the case the sensor aperture is significantly smaller than the part.
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