Visual quality and safety monitoring system for human-robot cooperation

Kozamernik, Nejc (author), Zaletelj, Janez (author), Košir, Andrej (author), Šuligoj, Filip (author), Bračun, Drago (author)

Efficient workspace awareness is critical for improved interaction in cooperative and collaborative robotic applications. In addition to safety and control aspects, quality-related tasks such as the monitoring of manual activities and the final quality assessment of the results are also required. In this context, a visual quality and safety monitoring system is developed and evaluated. The system integrates close-up observation of manual activities and posture monitoring. A compact single-camera stereo vision system and a time-of-flight depth camera are used to minimize the interference of the sensors with the operator and the workplace. Data processing is based on a deep learning to detect classes related to quality and safety aspects. The operation of the system is evaluated while monitoring a human-robot manual assembly task. The results show that the system ensures a high level of safety, provides reliable visual feedback to the operator on errors in the assembly process, and inspects the finished assembly with a low critical error rate.

• Language: English
• Keywords: human-robot cooperation, vision systems, quality, safety, assembly supervision
• Work type: Article
• Typology: 1.01 - Original Scientific Article
• Organization: FS - Faculty of Mechanical Engineering; FE - Faculty of Electrical Engineering
• Publication status: Published
• Publication version: Version of Record
• Year: 2023
• Number of pages: Str. 685–701
• Numbering: Vol. 128, iss. 1/2
• PID: 20.500.12556/RUL-152541
• UDC: 007.52
• ISSN on article: 0268-3768
• DOI: 10.1007/s00170-023-11698-2
• COBISS.SI-ID: 159531011
• Publication date in RUL: 27.11.2023

Record is a part of a journal

• Title: International journal of advanced manufacturing technology
• Shortened title: Int. j. adv. manuf. technol.
• Publisher: Springer Nature
• ISSN: 0268-3768
• COBISS.SI-ID: 25636352

Licences

• License: CC BY 4.0, Creative Commons Attribution 4.0 International
• Link: http://creativecommons.org/licenses/by/4.0/
• Description: This is the standard Creative Commons license that gives others maximum freedom to do what they want with the work as long as they credit the author.

Secondary language

• Language: Slovenian
• Keywords: sodelovanje človek-robot, slikovni sistemi, varnost, kakovost, nadzor sestavljanja

Projects

• Funder: ARRS - Slovenian Research Agency
• Project number: P2-0270
• Name: Proizvodni sistemi, laserske tehnologije in spajanje materialov

• Funder: ARRS - Slovenian Research Agency
• Project number: P2-0246
• Name: ICT4QoL - informacijsko komunikacijske tehnologije za kakovostno življenje