협동 로봇 및 Depth 카메라를 활용한 선박 블록 벽체의 도막 두께 측정 연구

Translated title of the contribution: A Study on the Measurement of Ship Hull Paint Thickness Using Collaborative Robots and Depth Cameras

Jun Jae Lee, Hyo Seok Lee, Hak Yi

Research output: Contribution to journalArticlepeer-review

Abstract

This study presents a method for inspecting ship block wall painting using a cooperative robot. The robot used in this study is a representative example of a human-collaborative robot system. The end-effector of the robot is equipped with a depth camera, designed in an eye-in style. The camera is used to measure and evaluate the thickness of the paint applied to the iron plate, simulating the conditions of ship block wall painting. To improve the accuracy of the recognition, an object detection algorithm with rapid computation and high accuracy was utilized. The algorithm was used to identify and outline the paint areas using the Canny edge algorithm. The proposed method successfully demonstrated the precision of paint area recognition by clearly identifying the center point and outline of the areas. Comparing the paint thickness measurements with laser distance measurements confirmed the effectiveness of the proposed method.

Translated title of the contributionA Study on the Measurement of Ship Hull Paint Thickness Using Collaborative Robots and Depth Cameras
Original languageKorean
Pages (from-to)707-711
Number of pages5
JournalJournal of the Korean Society for Precision Engineering
Volume41
Issue number9
DOIs
StatePublished - 2024

Keywords

  • Collaborative robot
  • Kinematics
  • Object detection
  • Ship hull
  • Visual servoing

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