Generation of point cloud mesh and 3D design verification with LiDAR, depth camera and Cobots
Truong, Duong (2020)
2020
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Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi:amk-2020060917794
https://urn.fi/URN:NBN:fi:amk-2020060917794
Tiivistelmä
”The more we reduce ourselves to machines in the lower things, the more force we shall set free to use in the higher.” - Anna Callender Brackett
Applying automation in the production line is the groundwork of the development in modern industry and a primary trend in technical progress. Automation in production promotes the labor efficiency and the quality of manufactured products and enables an optimal use of all production resources. This thesis was commissioned by the Degree Programme in Automation Engineering and a concrete industry business to automate the precast concrete slab quality control process. The empirical targets for this thesis project included developing and commissioning of a system capable of operating automatically in reconstructing a concrete slab surface in 3D. In addition, the system was designed to be able to operate in various plant conditions and production processes by customizing the software and with an ability to integrate additional hardware.
In the project development phase, academic notion regarding to 3D restructuring solutions, related devices such as a camera, a sensor as well homogeneous programming environments were discussed along with concepts concerning data communications, the ability to operate independently and expand. In general, the concepts discussed focused on 3D reconstruction in a larger field, computer vision and computer graphics along with integrating IoT into use for remote operation capability.
The most important result of thesis project encompasses a realsense RGB-D camera designed for the ability to augment conventional images collected from the environment by depth information combined with SLAM algorithm to form a handheld 3D scanning system. Moreover, the system also had the ability to function flexibly when it was capable of operating as not mererly as a fixed scanning system but also a pre-programmed scan orbit system with a robot arm. In addition, the scanning system also included an extended design to act as a horizontal planar scanner where it opens up a possibility to use 2D LiDAR to enhance the quality of scanning. Finally, All data communications between the devices in the system were implemented on the basis of the network infrastructure of a local WLAN intranet system allowing the system to operate remotely and independently from certain fixed hardware. The scanning object to verify the precise quality of the system's 3D model output were hollow slabs provided by the concrete industry business.
The objectives set for this thesis were met and the results accepted by the research unit of HAMK and the concrete company along with a consensus to continue developing the project with future plans.
Applying automation in the production line is the groundwork of the development in modern industry and a primary trend in technical progress. Automation in production promotes the labor efficiency and the quality of manufactured products and enables an optimal use of all production resources. This thesis was commissioned by the Degree Programme in Automation Engineering and a concrete industry business to automate the precast concrete slab quality control process. The empirical targets for this thesis project included developing and commissioning of a system capable of operating automatically in reconstructing a concrete slab surface in 3D. In addition, the system was designed to be able to operate in various plant conditions and production processes by customizing the software and with an ability to integrate additional hardware.
In the project development phase, academic notion regarding to 3D restructuring solutions, related devices such as a camera, a sensor as well homogeneous programming environments were discussed along with concepts concerning data communications, the ability to operate independently and expand. In general, the concepts discussed focused on 3D reconstruction in a larger field, computer vision and computer graphics along with integrating IoT into use for remote operation capability.
The most important result of thesis project encompasses a realsense RGB-D camera designed for the ability to augment conventional images collected from the environment by depth information combined with SLAM algorithm to form a handheld 3D scanning system. Moreover, the system also had the ability to function flexibly when it was capable of operating as not mererly as a fixed scanning system but also a pre-programmed scan orbit system with a robot arm. In addition, the scanning system also included an extended design to act as a horizontal planar scanner where it opens up a possibility to use 2D LiDAR to enhance the quality of scanning. Finally, All data communications between the devices in the system were implemented on the basis of the network infrastructure of a local WLAN intranet system allowing the system to operate remotely and independently from certain fixed hardware. The scanning object to verify the precise quality of the system's 3D model output were hollow slabs provided by the concrete industry business.
The objectives set for this thesis were met and the results accepted by the research unit of HAMK and the concrete company along with a consensus to continue developing the project with future plans.