Collaborating robots in a museum environment: Modular systems for 3D documentation

The protection and preservation of cultural heritage for generations is a challenging task. Therefore this paper describes a system for non-contact and safe 3D measurement and digitization of unique cultural objects and craftworks. The aim of this project is the precise 3D capturing and the semi-automated processing of smaller and medium-sized cultural objects. Therefore this paper suggests a system that allows semi-automated usage in a museum environment using a collaborative robot equipped with comprehensive safety sensor technology. So further security mechanisms such as safety barriers are no longer necessary. To avoid a collision with the examined object the path planning and collision prevention system uses a Time of Flight (ToF) camera to detect the environment and the object. The system also continuously monitors the working environment to detect intrusion. If working environment is violated in scan process, the system changes to a safe state. Another system (ToF) is required to position the 3D measurement system (structured-light 3D scanner) in front of the cultural object. The assistant system measures the object depth in a preliminary scan.