Proposal of Entangled Chip Cleaning Using Image-Processing-Based Chip Detection and Robotic Grasping Chip Removal Motion

Abstract

This study addresses the rising demand for factory automation due to manpower shortages. In response to the common challenge of cleaning steel chips entangled in a turning process, we introduce an innovative automatic chip cleaning system with a mobile manipulator. The system integrates chip detection and removal functionalities. Utilizing a unique image alignment method in the chip detection process, it robustly identifies chips by comparing normal and abnormal chuck images under varying light conditions with low computational costs. Besides, the entire chip cleaning system’s movement was simulated, emphasizing its potential for new applications of a mobile manipulator in factory automation.