July 7, 2021

Dynamic generation of robot trajectory for automated pressure washing of heavy machinery


The application is part of the TRINITY project, including:

Centria University of Applied Sciences

Convergent Information Technologies GmbH

LRA-Raskashuolto Oy



The washing of trailer tanks and lorries is currently carried out manually in SMEs, which is dangerous and time-demanding. Suitable washing stations are often situated far away from SMEs and therefore they are seldom utilized. Automating the task would therefore minimize the risk of injuries, save time, and increase productivity.



PhoXi 3D Scanner XL

The automation solution deploys a PhoXi 3D Scanner model XL from Photoneo, an ABB IRB 4400 robot, a reactive robot programming software AUTOMAPPPS from Convergent IT, and CloudCompare for point cloud processing.

First, the object is scanned with the PhoXi 3D Scanner to create point cloud data. After data processing, AUTOMAPPPS software uses the 3D model for dynamic generation of a virtual model of the robotic cell, the objects, and of the robot trajectory.

The dynamic generation of the robot trajectory is then used for automated agile pressure washing of heavy machinery.



Photoneo PhoXi 3D Scanner XL was chosen as it meets the project requirements and can easily be integrated with the industrial robot. It offers the largest scanning volume among the PhoXi models.

The automation solution brought a number of advantages, including increased work safety, better work ergonomics, considerable labor time savings compared to manual work, increased flexibility and productivity, and also the fact that it is considerate of the environment as it needs to use less water and detergents than washing stations or manual washing.


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