Automated single view 3D Texture Mapping and Defect Localisation of Thermography Measurements on large Components utilising an industrial robot and a laser system

摘要

Autonomous measurement with NDT system like thermography on a large aircraft component (e.g. fuselage sections) is a major challenge for standard industry robot. Many factors may affect the absolute positioning accuracy of created robot TCP positions. 0.1 absolute robot inaccuracy (TCP) can cause for 1 meter working distance up to 3mm position error. Another major drawback of thermography system is that certified examiners evaluate every 2D thermography image per measuring field one by one. This unhandy and less intuitive method for large number of numerical data is inappropriate for industrial applications. There are plenty of existing methods and technologies like Stereo vision method, using 3D feature or multi-view method for 3D texture mapping. These methods require either a second camera or time consuming additional processes or several images from every single measuring field.