Robotic arm, 3D vision and geometric matching for an efficient implementation of inverse Patch Transfer Function method

The inverse patch transfer function method was developed to reconstruct the acoustic fields (velocity, pressure, intensity) at the surface of a vibrating source with a complex geometry using the concept of a virtual acoustic domain. This method can be used to manage sources with complex shapes in a non-anechoic acoustic environment, even in the presence of masking objects. However, this method is quite demanding experimentally as it requires a large number of measurement positions with good spatial positioning accuracy. This article presents a dedicated experimental platform developed to simplify and automate the entire measurement process. First, a 3D camera placed on a robotic arm constructs a point cloud characterising the source and its environment. Using a geometric matching algorithm, the CAD of the object under test is detected in the cloud of points, enabling the different coordinate systems (CAD, robot and physical part) to be matched. Secondly, the measurement points required to apply iPTF can be defined directly in the CAD and reproduced in near-real time on the test rig, regardless of the type of antenna used, providing an efficient means of applying iPTF and opening the way to many advanced applications.