2P1-B13 Detection of Screws on Metal Ceiling Structures for Dismantling Interior of Building

Abstract

In the dismantling works of office interiors for renewal, after the dismantling process of the ceiling panels, it is required to remove the screws attached to the Light Gauge Steel (LGS). At first, the pose of that metal ceiling structure is measured. Thus, the control system generates a trajectory near of the structure to measure more precisely for the screws. The trajectory is followed by an eye-in-hand of a robot arm. The screws are detected by applying a multi-template matching process to every captured image. The screws' position is measured by combining the results of a multi-frame integration.