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Jämförelse och implementering av visionsystem

Hedberg, Viktor and Karlsson, Eric (2016)
Computer Science and Engineering (BSc)
Abstract
This thesis project has been conducted in collaboration with
Automationsteknik in Hässleholm. The issue of this thesis was to investigate
two vision cameras from different manufacturers and create an application that
can improve part of an existing automation system.
The process that was to be improved packs cupboard doors with an industrial
robot arm. Mechanical aspects of the packing process will not be covered
unless the required accuracy of 2mm is affected. The base of the problem lies
in the fact that the doors are stacked 100 to a pallet and not oriented properly
when they arrive to this process. In the existing system this problem is solved
with an angled table. A method for replacing the angled table with vision
cameras has been... (More)
This thesis project has been conducted in collaboration with
Automationsteknik in Hässleholm. The issue of this thesis was to investigate
two vision cameras from different manufacturers and create an application that
can improve part of an existing automation system.
The process that was to be improved packs cupboard doors with an industrial
robot arm. Mechanical aspects of the packing process will not be covered
unless the required accuracy of 2mm is affected. The base of the problem lies
in the fact that the doors are stacked 100 to a pallet and not oriented properly
when they arrive to this process. In the existing system this problem is solved
with an angled table. A method for replacing the angled table with vision
cameras has been developed to speed up the process and make it more
versatile.
A PLC from Siemens operates the system which also consists of a robot from
Yaskawa Motoman, a grip tool on the robot and camera lights. The PLC sends
out positons that instructs the robot how to operate depending on the size of
the door and where in the process the robot is. First, the robot lifts the door at
one position, moving the door so that it’s placed with one of its corners in
front of the camera. Once there, the camera takes a photo of the corner. The
vision system is constructed so that it has hardware and software built in the
camera, making it able to detect the position of the corner and to do necessary
calculations for the operation. This information is sent to the PLC which
calculates how to adjust the doors position before putting it down on its final
position with the right accuracy. (Less)
Please use this url to cite or link to this publication:
author
Hedberg, Viktor and Karlsson, Eric
organization
year
type
M2 - Bachelor Degree
subject
language
Swedish
id
8878503
alternative location
https://portal.ch.lu.se/Campus.NET/Services/Publication/Export.aspx?id=2954&type=doc
date added to LUP
2016-06-08 04:09:28
date last changed
2016-06-08 04:09:28
@misc{8878503,
  abstract     = {This thesis project has been conducted in collaboration with
Automationsteknik in Hässleholm. The issue of this thesis was to investigate
two vision cameras from different manufacturers and create an application that
can improve part of an existing automation system.
The process that was to be improved packs cupboard doors with an industrial
robot arm. Mechanical aspects of the packing process will not be covered
unless the required accuracy of 2mm is affected. The base of the problem lies
in the fact that the doors are stacked 100 to a pallet and not oriented properly
when they arrive to this process. In the existing system this problem is solved
with an angled table. A method for replacing the angled table with vision
cameras has been developed to speed up the process and make it more
versatile.
A PLC from Siemens operates the system which also consists of a robot from
Yaskawa Motoman, a grip tool on the robot and camera lights. The PLC sends
out positons that instructs the robot how to operate depending on the size of
the door and where in the process the robot is. First, the robot lifts the door at
one position, moving the door so that it’s placed with one of its corners in
front of the camera. Once there, the camera takes a photo of the corner. The
vision system is constructed so that it has hardware and software built in the
camera, making it able to detect the position of the corner and to do necessary
calculations for the operation. This information is sent to the PLC which
calculates how to adjust the doors position before putting it down on its final
position with the right accuracy.},
  author       = {Hedberg, Viktor and Karlsson, Eric},
  language     = {swe},
  note         = {Student Paper},
  title        = {Jämförelse och implementering av visionsystem},
  year         = {2016},
}