Robot-Assisted Trajectory Planning Method for NDT

In order to achieve the process conditions of phase-controlled ultrasonic nondestructive testing, a robot-assisted trajectory planning method of curved workpieces for NDT is proposed in this paper. Combined with computer vision and robotics, tasks such as 3D scene reconstruction, target recognition and path pose planning are implemented and fully autonomous NDT is achieved. Firstly, an environment based on 3D vision is built, and the scene point cloud is obtained through 3D reconstruction technology. Then the point cloud model of the workpiece to be detected is matched with the real-time scene point cloud, and the Euclidean clustering and SHOT feature descriptor are used to separate the scene. Finally, based on the recognized target point cloud, the robot detection trajectory is generated by plane slicing. The simulation results show that the point cloud model to be inspected obtained through segmentation and recognition can entirely and effectively express the entire workpiece to be reviewed. The generated trajectory points meet the accuracy requirements and pose requirements of NDT.