An autonomous and self locating handling device for reverse engineering systems
High accuracy digitalisation of geometric models, related to big size objects, usually is performed by means of multiple acquisitions from different scanning locations. It needs to correctly place the acquired point clouds in 3D digital environment. For this purpose, it is very important identifying the exact scanning location in order to correctly realign point clouds and automatically generate an accurate 3D CAD model. The present paper focuses on design and prototype of a mobile handling device for reverse engineering scanning systems, named Dedalo. It is able to locate itself using a sensor fusion method based on a Kalman Filter. The sensor equipment is composed by wheel encoders and an ultrasonic sensor for measuring the distance from a known reference. Although Dedalo is equipped with low cost hardware, results have showed a location accuracy by 0,1% error/meter, better than each sensor accuracy.
2019 20th International Conference on Research and Education in Mechatronics (REM)