Autonomous, digital-twin free path planning and deployment for robotic NDT: introducing LPAS : Locate, Plan, Approach, Scan Using Low Cost Vision Sensors

Research output: Contribution to journalArticlepeer-review

6 Citations (Scopus)
28 Downloads (Pure)

Abstract

Robotised Non Destructive Testing (NDT) presents multifaceted advantages, saving time and reducing repetitive manual workloads for highly skilled Ultrasonic Testing (UT) operators. Due to the requisite accuracy and reliability of the field, robotic NDT has traditionally relied on digital twins for complex path planning procedures enabling precise deployment of NDT equipment. This paper presents a multi-scale and collision-free path planning and implementation methodology enabling rapid deployment of robotised NDT with commercially available sensors. Novel algorithms are developed to plan paths over noisy and incomplete point clouds from low-cost sensors without the need for surface primitives. Further novelty is introduced in online path corrections utilising laser and force feedback while applying a Conformable-Wedge probe UT sensor. Finally, a novel source of data beneficial to automated NDT is introduced by collecting frictional forces of the surface informing the operator of the surface preparation quality. The culmination of this work is a new path-planning free, single-shot automated process removing the need for complex operator-driven procedures with a known surface, visualising collected data for the operator as a three-dimensional C-scan model. The dynamic robotic control enables a move to the industry 4.0 model of adaptive online path planning. Experimental results indicate the flexible and streamlined pipeline for robotic deployment, and demonstrate intuitive data visualisation to aid highly skilled operators in a wide field of industries.
Original languageEnglish
Article number5288
Number of pages15
JournalApplied Sciences
Volume12
Issue number10
DOIs
Publication statusPublished - 23 May 2022

Keywords

  • NDT
  • free form surface profiling
  • flexible automatised robotic systems
  • Ultrasonic Testing
  • remanufacturing

Fingerprint

Dive into the research topics of 'Autonomous, digital-twin free path planning and deployment for robotic NDT: introducing LPAS : Locate, Plan, Approach, Scan Using Low Cost Vision Sensors'. Together they form a unique fingerprint.

Cite this