PigeonitČeština

Robotics / embedded / systems integration2019–present

HW/FW and robotic systems development for 3D scanning

A long-term collaboration across several generations of 3D scanning systems, connecting robotic motion, cameras, projection, lighting, control electronics and the communication layer.

Role
Development and integration of custom HW/FW, synchronisation electronics and robotic applications across several generations of scanning equipment.
Robotic workstation for 3D scanning during development
One generation of the robotic workstation for automated 3D scanning.

Long-term development context

This was not the development of a single machine, but an ongoing collaboration on several generations of equipment since 2019. The mechanics, imaging technology and control approach varied between assemblies, while reliable coordination of motion, image capture, projection, lighting and other peripherals remained the common task.

The solution therefore evolved as a layered whole: robotic applications and safety constraints, custom synchronisation electronics and firmware, communication interfaces, and a server layer for configuration, sequences and diagnostics. The 3D reconstruction algorithms themselves were outside the scope of this work.

Delivery and scope

01

Robotic systems

The work included integrating, programming and configuring FANUC LR Mate 200iD/7L robots for scanning applications, including their links to cameras, projectors, lighting and other peripherals.

It also covered safety areas, no-go zones and virtual motion constraints. Trajectories were created in external software; the work described here was their ingestion and safe integration with the robot and the rest of the workstation.

02

Scanning heads and peripherals

Several generations of assemblies integrated Basler, Sony and Hasselblad cameras, Texas Instruments projectors, controlled lighting, polarisation and positioning peripherals.

The task was to unify different interfaces and timing requirements into repeatable capture sequences, not to develop the reconstruction algorithms.

03

Prototyping and commissioning

Development was supported by rapid prototyping and the preparation of supporting parts in FreeCAD and OpenSCAD, using FDM, DLP, CNC laser cutting and milling.

This made it possible to validate electronics placement, cabling, interfaces and service access while commissioning each generation step by step.

Scanning heads and peripherals

Development assembly of a scanning head with cameras and projection
Integration of imaging technology, projection and controlled peripherals.
Detail of another generation of the 3D scanning assembly
Scanning assemblies evolved throughout the collaboration for each specific application.

Technical solution

01

Custom electronics and firmware

Control and synchronisation electronics based primarily on ESP32 handled camera and projector I/O, lighting, polarisation and other peripherals. Firmware in C/C++ managed sequence timing and communication over USB/COM, TCP/IP, Wi-Fi and, where required, DMX.

The work included designing custom printed circuit boards, commissioning them and integrating them with the relevant equipment generation.

02

Modular device control

A later architecture distributed control across multiple ESP32 modules communicating over Wi-Fi and TCP. Subordinate Arduino units used serial links, GRBL or custom instruction protocols.

Raspberry Pi, NVIDIA Jetson and BeagleBoard also appeared as supporting platforms where a particular assembly required them.

03

Software and integration layer

A Python server and web-based configuration interface provided network discovery, device setup, sequence management and distribution, central logging, and device status reporting.

This layer connected the custom electronics to the other parts of the system. The externally developed simulator and robot trajectory generator served only as an integration input.

Embedded HW/FW and synchronisation

Electronics and cabling of the scanning system during integration
Custom electronics synchronise cameras, projection, lighting and other peripherals.
Scanning assembly controls during commissioning
Interfaces and control modules were adapted to each generation of equipment.

System evolution over time

A later generation of the integrated 3D scanning system
The modular concept allowed further changes to the assembly and its control approach.
Scanning equipment from a later phase of the long-term development
Ongoing development connected new peripherals to the established integration layer.

Result

The gradual development produced a functional integration layer used across several generations of scanning equipment — from individual peripheral control to FANUC robotic workstations.

The collaboration continues around a platform that can adapt to further camera, projection, lighting, motion and control configurations without rebuilding every generation from the ground up.

Related services

Discuss a project

A case study covering long-term HW/FW development and the integration of several generations of robotic systems for automated 3D scanning.

Discuss a project