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Title:Design of an Embedded Position Sensor with Sub-mm Accuracy : magistrsko delo
Authors:ID Nogić, Matej (Author)
ID Brezočnik, Zmago (Mentor) More about this mentor... New window
ID Schröck, Sebastian (Comentor)
Files:.pdf MAG_Nogic_Matej_2019.pdf (18,20 MB)
MD5: 5EA53FD47C5ED5FEE4128E064D0EB0DA
PID: 20.500.12556/dkum/c075a63e-e625-46d5-8d1f-accdaddc9dff
 
Language:English
Work type:Master's thesis/paper
Typology:2.09 - Master's Thesis
Organization:FERI - Faculty of Electrical Engineering and Computer Science
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
Place of publishing:Maribor
Place of performance:Maribor
Publisher:[M. Nogić]
Year of publishing:2019
Number of pages:X, 92 f.
PID:20.500.12556/DKUM-74062 New window
UDC:681.586.5(043.2)
COBISS.SI-ID:22935574 New window
NUK URN:URN:SI:UM:DK:U0STHMUM
Publication date in DKUM:14.01.2020
Views:1220
Downloads:48
Metadata:XML RDF-CHPDL DC-XML DC-RDF
Categories:KTFMB - FERI
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Licences

License:CC BY-NC-ND 4.0, Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International
Link:http://creativecommons.org/licenses/by-nc-nd/4.0/
Description:The most restrictive Creative Commons license. This only allows people to download and share the work for no commercial gain and for no other purposes.
Licensing start date:30.07.2019

Secondary language

Language:Slovenian
Title:Načrtovanje vgrajenega senzorja položaja s podmilimetrsko natančnostjo
Abstract:V magistrski nalogi sta predstavljena načrtovanje in izdelava vgrajenega senzorja položaja, ki deluje na principu strojnega vida. Delo je opravljeno v Kampusu Robert Bosch za razvoj in napredni inženiring v Renningenu v Nemčiji. Senzor položaja je razvit za namene pozicioniranja v vsestranskih sistemih montaže, ki se bodo uporabljali v pametnih tovarnah prihodnosti, čeprav je njegova uporaba mogoča v katerikoli drugi aplikaciji, kjer je potrebno natančno pozicioniranje na dvodimenzionalni površini. Položaj je določen s patentiranim dvodimenzionalnim vzorcem katerega slika je pridobljena s pomočjo CMOS senzorja slike. V okviru magistrske naloge so bile razvite kompletne hardverske rešitve glede Cortex-M7 mikrokrminlnika in programske rešitve za obdelavo pridobljene slike. Vse programske rešitve za obdelavo slik in vzorcev so bile razvite v programskem jeziku C od samega začetka brez uporabe kakršnihkoli knjižnic za obdelavo slik. Knjižnica OpenCV je bila uporabljena na osebnem računalniku med postopkom potrjevanja koncepta dekodiranja vzorca, vendar rešitev, razvita na vgrajeni platformi, takšnih knjižnic ne vsebuje. Razvito rešitev smo preizkusili s pomočjo industrijskega robota in aplikacije, razvite v programskem okolju LabVIEW. Izmerjeni rezultati izkazujejo točnost 100 µm s frekvenco osveževanja podatkov pozicije 60 Hz.
Keywords:lokalizacija, strojni vid, kodni vzorec, slikovni senzor, vgrajeni sistem


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