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Proceedings Paper

Panoramic optical-servoing for industrial inspection and repair
Author(s): Christian Sallinger; Paul O'Leary; Alexander Retschnig; Martin Kammerhofer
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Paper Abstract

Recently specialized robots were introduced to perform the task of inspection and repair in large cylindrical structures such as ladles, melting furnaces and converters. This paper reports on the image processing system and optical servoing for one such a robot. A panoramic image of the vessels inner surface is produced by performing a coordinated robot motion and image acquisition. The level of projective distortion is minimized by acquiring a high density of images. Normalized phase correlation calculated via the 2D Fourier transform is used to calculate the shift between the single images. The narrow strips from the dense image map are then stitched together to build the panorama. The mapping between the panoramic image and the positioning of the robot is established during the stitching of the images. This enables optical feedback. The robots operator can locate a defect on the surface by selecting the area of the image. Calculation of the forward and inverse kinematics enable the robot to automatically move to the location on the surface requiring repair. Experimental results using a standard 6R industrial robot have shown the full functionality of the system concept. Finally, were test measurements carried out successfully, in a ladle at a temperature of 1100° C.

Paper Details

Date Published: 3 May 2004
PDF: 8 pages
Proc. SPIE 5303, Machine Vision Applications in Industrial Inspection XII, (3 May 2004); doi: 10.1117/12.526349
Show Author Affiliations
Christian Sallinger, Univ. of Leoben (Austria)
Paul O'Leary, Univ. of Leoben (Austria)
Alexander Retschnig, Veitsch-Radex GmbH (Austria)
Martin Kammerhofer, Veitsch-Radex GmbH (Austria)

Published in SPIE Proceedings Vol. 5303:
Machine Vision Applications in Industrial Inspection XII
Jeffery R. Price; Fabrice Meriaudeau, Editor(s)

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