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1.
Evaluating robot bin-picking performance based on Box and Blocks Test
Primož Bencak, Darko Hercog, Tone Lerher, 2022, published scientific conference contribution

Abstract: The rise of e-commerce, which demands solutions for small order sizes, large product assortment, short delivery times, and variable order quantity has created a need for more advanced warehousing and order-picking systems. The advancements in collaborative robotics have made it possible to automate intralogistics processes, especially the order-picking systems. If the items to be order-picked are stored in small containers, called bins, the process is known as bin-picking. The processes of bin-picking are still mainly manual due to the adaptability, dexterity, and pace of human hands. However, with the emerging technologies, the gap between human and robot dexterity is getting thinner. The integrators of robotic technologies are therefore faced with the challenge of choosing an appropriate robotic system for bin-picking. There is a lack of standardized procedures, which are designed to process such decisions easier. In our research paper, we propose an improved robotic version of the Box and Blocks Test (BBT), which provides a quick evaluation of a complete robotic bin-picking system. Using our improved robot-adapted BBT protocol, we evaluate a sample robotic bin-picking system, consisting of a collaborative robot, a 3D vision system and three types of robotic grippers, comparing the bin-picking performance of each configuration.
Keywords: robotic bin-picking, intralogistics, Box, Blocks Test, vision system, collaborative robot
Published in DKUM: 03.03.2023; Views: 650; Downloads: 49
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2.
Design of an Embedded Position Sensor with Sub-mm Accuracy : magistrsko delo
Matej Nogić, 2019, master's thesis

Abstract: This master’s thesis presents the development of a machine-vision based localization unit developed at Robert Bosch GmbH, Corporate Sector Research and Advance Engineering in Renningen, Germany. The localization unit was developed primarily for position detection purposes with three degrees of freedom in highly versatile manufacturing systems but has an immense potential to be used anywhere where a precise, low-cost localization method on a two-dimensional surface is required. The complete product development cycle was carried out, from the components selection, schematic and optical system design, to the development of machine vision algorithms, four-layer Printed Circuit Board design and evaluation using an industrial robot. Thanks to the use of a patented two-dimensional code pattern, the localization unit can cover a surface area of 49 km2. The size and speed optimized, self-developed machine-vision algorithms running on a Cortex-M7 microcontroller allow achieving an accuracy of 100 µm and 60 Hz refresh rate.
Keywords: localization, machine-vision, code pattern, image sensor, embedded system
Published in DKUM: 14.01.2020; Views: 1220; Downloads: 48
.pdf Full text (18,20 MB)

3.
Svetlobni opozorilniki hitrosti v cestnem prometu : diplomsko delo
Bojan Kerin, 2010, undergraduate thesis

Abstract: V diplomski nalogi smo se osredotočili na področje povečanja prometne varnosti s pomočjo svetlobnih opozorilnikov hitrosti. Na kratko smo poskušali povzeti trenutno stanje varnosti v cestnem prometu na področju Evropske unije in jo primerjali z nacionalno problematiko. Pod drobnogled smo vzeli problematiko omejevanja hitrosti, ki je ključni faktor prometnih nesreč s hudimi telesnimi poškodbami in s smrtnim izidom, ki puščajo posledice tako na ljudeh kot tudi na samem gospodarstvu. Po študijah, ki smo jih opravili (pri izdelavi diplomskega dela), smo prišli do zaključka, da bi uporaba svetlobnih opozorilnikov hitrosti pripomogla k izboljšanju prometne varnosti, še zlasti na črnih točkah. Z uporabo takšnih naprav se izboljša percepcija prometne signalizacije zaradi osvetlitve iz sekundarnega vira svetlobe. Uporabljamo jih lahko v namene statističnih analiz stanja na cestah. Zaradi omejevanja hitrosti se posledično izboljša tudi kakovost življenja ljudi, ki živijo neposredno ob cesti, hkrati pa se doseže zmanjšanje izpustov strupenih plinov iz vozil. Z modifikacijo bi lahko svetlobne opozorilnike hitrosti uporabljali tudi na nivojskih prehodih čez železnico, ki bi nadomestili drage zapornice. Prednost svetlobnih opozorilnikov hitrosti je možnost njihove nadgradnje in uporabe za prihajajoče inteligentne prometne sisteme.
Keywords: svetlobni opozorilniki hitrosti, vizija nič, omejevanje hitrosti, prometna varnost, črne točke, light-based speed warning system, vision zero, speed limitation, traffic safety, black spots
Published in DKUM: 03.09.2010; Views: 3117; Downloads: 184
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