Robotski sistem za pobiranje majhnih industrijskih polizdelkov s pomočjo računalniškega vida

GORŠE, SIMON (author), Skočaj, Danijel (mentor)

Cilj diplomske naloge je izdelava učinkovitega, robustnega ter hkrati cenovno ugodnega sistema za pobiranje ter obdelavo kovinskih izdelkov na različnih obdelovalnih postajah. Glavna prednost pred namenskimi obdelovalnimi avtomati je vsestranskost, saj naj bi bil tak sistem zmožen zaznati in obdelati mnogo različnih oblik izdelkov. Sistem sestavljajo kamera, robot ter računalnik, na katerem se izvaja program, ki smo ga razvili. Izdelki so postavljeni na ravni površini. Kamera zajame sliko te površine, ki se nato prenese na računalnik, kjer se slika v namenskem programu obdela s pomočjo algoritmov računalniškega vida. V programu se izvaja tudi preslikava točk iz koordinatnega sistema kamere v koordinatni sistem robota. Program nato s pomočjo teh koordinat upravlja robota. Robot pobere izdelek ter ga nese na eno izmed obdelovalnih postaj, kjer se izvede obdelava - vrtanje lukenj, vtiskanje ali vrezovanje navojev, brušenje površin ipd. Po končanem ciklu je izdelek odložen v zaboj in proces se ponovi z naslednjim izdelkom.

• Language: Slovenian
• Keywords: scara, robot, računalniški vid, pobiranje industrijskih izdelkov
• Work type: Bachelor thesis/paper
• Organization: FRI - Faculty of Computer and Information Science
• Year: 2017
• PID: 20.500.12556/RUL-89275
• Publication date in RUL: 01.03.2017

Secondary language

• Language: English
• Title: Computer vision based robotic system for collecting small industrial products

Abstract

The goal of this thesis is the development of an efficient, robust and inexpensive system for collection and processing of metal products on various processing stations. The main advantage of the system over dedicated automation machines is its versatility, as it can identify and process many different types of products. The complete system consists of a camera, a robot and a computer with our software. Metal products are placed on a flat surface. The camera takes a photo of the surface, which is transfered to the PC and then processed using computer vision. Our software also transforms the points from the coordinate system of the camera to the coordinate system of the robot. The robot is then controlled using these coordinates. The robot picks up a product from the surface and carries it to the processing station where it is processed further – hole drilling, thread rolling or thread cutting, grinding, etc. After the cycle is finished, the product is put in a container. The cycle is then repeated with the next product.

• Keywords: scara, robot, computer vision, collection of industrial pieces