Smart Hand for Digital Twin Timber Work -The interactive procedural scanning by industrial arm robot

摘要

This paper describes a 3D automated scanning method for building materials, namely "The Interactive Procedural Scanning‚, in a collaborative environment composed of a human worker and a CNC robot. This procedure aims to translate the observation skill of an experienced carpenter into an intelligent robotic system. The system frames its function on the first stage of a traditional timber examination process, called ‚Kidori‚, in which observations and findings are marked on the timber surface to provide hints for the subsequent cutting process. This paper aims to recreate the procedures using an industrial robotic arm, computer vision, and a human worker. A digital twin model of the timber is created with a depth camera serving as a base map to exchange information and receive instruction from the human worker. The margin of a discrepancy between the original processing location and the location of the actual end effector, where the tools are, is minimised in this system.