Autonomous robotic system for thermographic detection of defects in upper layers of carbon fiber reinforced polymers

Carbon Fiber Reinforced Polymers (CFRPs) are composites whose interesting properties, like high strength-to-weight ratio and rigidity, are of interest in many industrial fields. Many defects affecting their production process are due to the wrong distribution of the thermosetting polymer in the upper layers. In this work, they are effectively and efficiently detected by automatically analyzing the thermographic images obtained by Pulsed Phase Thermography (PPT) and comparing them with a defect-free reference. The flash lamp and infrared camera needed by PPT are mounted on an industrial robot so that surfaces of CFRP automotive components, car side blades in our case, can be inspected in a series of static tests. The thermographic image analysis is based on local contrast adjustment via UnSharp Masking (USM) and takes also advantage of the high level of knowledge of the entire system provided by the calibration procedures. This system could replace manual inspection leading to a substantial increase in efficiency.