Automatisation of workspace control based on ToF technology

This paper presents the subject of using 3D images produced with the TOF technology in a task of automatic detection and location of obstacles in the machine workspace and on the production lines. The robotic station with a TOF sensor and an application for gathering spatial data is presented. Further on, a method of building a 3D image of the space with the TOF method is presented. The algorithm used to analyse the 3D image is discussed that provides initial processing of the image in terms of filtering and enhancing the characteristic properties of the image. The resolution of the 3D image is described in the context of the most common tasks executed in production lines. Moreover in this paper research about quality of measurement in variety of disruption which exist in industrial environment is presented. Solution of depiction in disturbed condition has been presented for chosen group of distortion.
Keywords: TOF method, 3D vision system, 3D image, workspace control, image analysis