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Design of a PC-based Open Industrial robot Control System Integrated with Real-Time Machine vision 1

Design of a PC-based Open Industrial Robot Control System In...

引用

1st World robot conference (WRC) / Symposium on Advanced robotics and Automation (SARA)

作者： Liu, Yanan Hu, Tianliang Ni, Hepeng Zhang, Chengrui Lin, Bao Judd, Euan Univ Bristol Bristol Robot Lab Bristol BS16 1QY Avon England Shandong Univ Sch Mech Engn Jinan 250061 Shandong Peoples R China Shandong Univ Key Lab High Efficiency & Clean Mech Manufacture Minist Educ Jinan 250061 Shandong Peoples R China

ISBN: (纸本)9781538676752

This paper presents a new industrial robot control system integrated with real-time image processing based on a Windows PC. This enables both machine vision and robot control tasks to be carried out on a single general-purpose computer rather than using two separate systems to perform different tasks. To accomplish this, a three-layer software structure is developed along with a series of standard peripheral devices in the hardware layout. Real-time performance of the system is tested and we demonstrate the system on a DELTA parallel manipulator. Experimental results show that the manipulator can pick up 120 objects on a moving conveyor per minute. This work demonstrates the feasibility of integrating real-time machine vision tasks with robot control tasks without dedicated hardware.

关键词： Real-time systems Hardware robot control Machine vision Microsoft Windows standards

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A vision-Based System for Object Identification and Information Retrieval in a Smart Home

A Vision-Based System for Object Identification and Informat...

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1st International Joint conference on Ambient Intelligence

作者： Grech, Raphael Monekosso, Dorothy de Jager, Deon Remagnino, Paolo Kingston Univ Digital Imaging Res Ctr Kingston upon Thames KT1 2EE Surrey England Univ Ulster Comp Sci Res Inst Coleraine BT52 1SA Londonderry North Ireland

ISBN: (纸本)9783642169168

This paper describes a hand held device developed to assist people to locate and retrieve information about objects in a home. The system developed is a standalone device to assist persons with memory impairments such as people suffering from Alzheimer's disease. A second application is object detection and localization for a mobile robot operating in an ambient assisted living environment. The device relies on computer vision techniques to locate a tagged object situated in the environment. The tag is a 2D color printed pattern with a detection range and a field of view such that the user may point from a distance of over 1 meter.

关键词： Smart home object detection and recognition

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Mobile robot exploration via pseudo range model

Mobile robot exploration via pseudo range model

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International Association for computer and Information Science/JNU International conference on computers, Networks, Systems and Industrial Engineering

作者： Kim, Ryun Seok Choi, Hyukdoo Kim, Euntai Park, Chang-Woo Computational Intelligence Lab. Yonsei university Seoul Korea Republic of Korea Electronics Technology Institute Bucheon-siGyeonggi-do Korea Republic of

ISBN: (纸本)9780769544175

This paper presents an autonomous exploration system using a robot equipped with a vision sensor but no range sensor. The fully automatic exploration system operating on a mobile robot determines the next motion in the environment. We extract ceiling boundaries from images. Then we use the pseudo range model that converts the ceiling boundary to range information. This paper proposes the vision based exploration system and presents experimental results. © 2011 IEEE.

关键词： Ceilings

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Implementation of computer vision for Object Alignment Mechanism in RHI-MOLA Mobile robot as robotic Learning Platform 1

Implementation of Computer Vision for Object Alignment Mecha...

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1st International conference on Technology, Engineering, and Computing Applications, ICTECA 2023

作者： Widayaka, Parama Diptya Wardani, Ayusta Lukita Anifah, Lilik Alamsyah, Sayyidul Aulia Radimas Putra, M.D.L. Hadi, Sirojul Universitas Negeri Surabaya Dept. of Electrical Engineering Surabaya Indonesia Universitas Negeri Surabaya Dept. of Power Electronics Surabaya Indonesia Institut Teknologi Nasional Malang Dept. of Electrical Engineering Malang Indonesia Universitas Bumigora Dept. of Information Technology Mataram Indonesia

ISBN: (纸本)9798350360554

Nowadays, technology has developed rapidly that can be observed around us. Technology has had many impacts and changes in the world, for example in the industrial world. There are so many advanced technologies inside the industry such as robotics technology. With this condition, it becomes a challenge for the education sector to produce students who are competent in their fields, especially in the field of robotic. One way to increase student competency is by creating a robotics-based learning platform to increase student understanding. With this development, it is also hoped that it will be able to answer one of the agendas of Sustainable Development Goals (SDGs) number 4 Quality Education in Innovation. This article presents about application of computer vision in robotic learning platform to perform object alignment using Raspberry Pi as the unit to perform image processing and an Arduino based microcontroller to control the robot. HSV color model has been used to detect the object and PID controller has been applied in stabilizing the robot relative to the object so that the robot can maintain it position to the object. The experiment give a result of the application of computer vision with the HSV color model give a value of Hue high = 41, Hue low = 0, Saturation high = 255, Saturation low = 225, Value high = 255, and Value low = 77 to detect the object. PID controller give a good result for the robot movement with the value of kp = 2.5, ki = 0, and kd = 0.5. © 2023 IEEE.

关键词： Three term control systems

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Syntactic pattern recognition for robot vision 1

Syntactic pattern recognition for robot vision

引用

1st IEEE International conference on robotics and Automation, ICRA 1984

作者： stenstrom, J. Rensselaer Polytechnic Institute TroyNY United States

ISBN: (纸本)081860526X

vision will be increasingly important in robotics applications. An object is modeled by critical curves extracted from the object. In the simplest case the object's curve is its outline. A solution to the curve partitioning problem is shown for nonconvex objects. Curves are described in a rotation and translation invariant way. A way to build a combined model database of many classes of objects is presented. A test to insure disjointness of model classes is given. An efficient technique for computing a network of these curves from a gray-level frame is presented. A graph algorithm is presented to match the model in an efficient way, independent of the scaling found in the scene. A technique for computing and classifying more general critical curves from three-dimensional data is developed. © 1984 IEEE.

关键词： computer vision

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Cooperative Information Fusion in a Network robot System 1

Cooperative Information Fusion in a Network Robot System

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1st International conference on robot Communication and Coordination, RoboComm 2007

作者： LeBlanc, Kevin Saffiotti, Alessandro AASS Mobile Robotics Lab Örebro University Örebro Sweden

ISBN: (纸本)9789639799080

The vision of network robot systems involves robots embedded in smart environments, with which they can collaborate and communicate. In such systems, robots have access to many different sources and types of information, which need to be coordinated and combined effectively. In this work, we propose a framework which addresses the problem of combining heterogeneous information in a network robot system. The approach is inspired by work on conceptual spaces and perceptual anchoring, and is implemented using tools from fuzzy logic. Copyright © 2011-2012 ICst

关键词： robots

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Control algorithm of an autonomous obstacles negotiating inspection robot for power transmission lines 1st

Control algorithm of an autonomous obstacles negotiating ins...

引用

1st International conference on Information Science and Engineering, ICISE2009

作者： Zheng, Li Yi, Ruan School of Optical-Electrical and Computer Engineering University of Shanghai for Science and Technology China College of Mechanical Engineering and Automation Shanghai University Shanghai China

ISBN: (纸本)9780769538877

In biorobotics research, engineers and biologists come together to implement the researcher's vision of the mechanisms driving a biological process in steel and silicon. Bionics has made a great progress and appeared all kinds of biologic design and application for robot. This paper describes the development of a mobile robot capable of negotiation such obstacles as electric power fitting, damper, anchor clamp, and torsion tower. The mobile robot suspends on overhead ground wires of 500KV power towers. Its ultimate purpose is to automate the inspection of power transmission line equipment. Biology principle of the movement of the monkey is taken as reference prototype to design and produce the inspection robot driven by 13 motor with two arms, two wheels, two wrists, two claws and a box. The inspection robot is designed to realize the function of observation, grasp, walk, rolling, turn, rise, and decline. An embedded computer based on PC/104 bus is chosen as the core of control system. A video capture card and thermal infrared camera are installed to obtain the temperature information of the power transmission lines, and the communication system between the robot and the ground station is based on wireless LAN TCP/IP protocol. An expert system programmed with Visual C++ is developed to implement the automatic control. A novel prototype with careful considerations on mobility was designed to inspect the 500KV power transmission lines. The new control algorithm of posture plan is proposed for obstacles cleaning in the torsion tower. Results of experiments demonstrate that the robot can be applied to execute the navigation and inspection tasks. ©2009 IEEE.

关键词： Machine design

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Categorical Depth Distribution Network for Monocular 3D Object Detection

Categorical Depth Distribution Network for Monocular 3D Obje...

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IEEE/CVF conference on computer vision and Pattern Recognition (CVPR)

作者： Reading, Cody Harakeh, Ali Chae, Julia Waslander, steven L. Univ Toronto Robot Inst Toronto ON Canada

ISBN: (纸本)9781665445092

Monocular 3D object detection is a key problem for autonomous vehicles, as it provides a solution with simple configuration compared to typical multi-sensor systems. The main challenge in monocular 3D detection lies in accurately predicting object depth, which must be inferred from object and scene cues due to the lack of direct range measurement. Many methods attempt to directly estimate depth to assist in 3D detection, but show limited performance as a result of depth inaccuracy. Our proposed solution, Categorical Depth Distribution Network (CaDDN), uses a predicted categorical depth distribution for each pixel to project rich contextual feature information to the appropriate depth interval in 3D space. We then use the computationally efficient bird's-eye-view projection and single-stage detector to produce the final output detections. We design CaDDN as a fully differentiable end-to-end approach for joint depth estimation and object detection. We validate our approach on the KIM 3D object detection benchmark, where we rank 1st among published monocular methods. We also provide the first monocular 3D detection results on the newly released Waymo Open Dataset. We provide a code release for CaDDN which is made available.

关键词： computer vision Three-dimensional displays Codes Estimation Object detection Distribution networks Detectors

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Human visual system based framework for concealed weapon detection

Human visual system based framework for concealed weapon det...

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canadian conference on computer and robot vision

作者： Bhatnagar, Gaurav Wu, Q.M. Jonathan Department of Electrical and Computer Engineering University of Windsor Windsor ON N9C 1M2 Canada

ISBN: (纸本)9780769543628

In this paper, an efficient concealed weapon detection algorithm is proposed which uses the characteristics of human visual system in frame let domain. The main idea is to decompose the visual and IR/MMW images to be fused into low and high frequency bands using frame let transform. The fusion is performed by two different strategies while exploiting the characteristics of low and high frequency bands. The first strategy is adaptive weighted average based on local energy and is applied to fuse the low-frequency bands. In order to fuse high frequency bands, a new strategy is developed based on texture while exploiting the human visual system characteristics, which can preserve more details from source images and further improve the quality of detected weapons in the fused image. Experimental results demonstrate the efficiency and robustness of the proposed concealed weapon detection algorithm in visual inspection and objective evaluation criteria. © 2011 IEEE.

关键词： Image fusion

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1st International conference on computer vision Systems, ICVS 1999

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1st International conference on computer vision Systems, ICVS 1999

ISBN: (纸本)3540654593

The proceedings contain 32 papers. The special focus in this conference is on vision for Navigation and computer vision Systems. The topics include: Integrating vision based behaviours with an autonomous robot;topological maps for visual navigation;vision-aided outdoor navigation of an autonomous horticultural vehicle;an interactive computer vision system DyPERS;using computer vision to control a reactive computer graphics character in a theater play;a language and optimizing compiler for image processing on reconfigurable computing systems;simulation and scheduling of real-time computer vision algorithms;real-time maintenance of figure-ground segmentation;an integrated framework for robust real-time 3D object tracking;face-tracking and coding for video compression;tracking people in a railway station during rush-hour;active knowledge-based scene analysis;experience in integrating image processing programs;integration of vision and decision-making in an autonomous airborne vehicle for traffic surveillance;multilevel integration of vision and speech understanding using bayesian networks;a bayesian computer vision system for modeling human interaction;automatic visual analysis and synthesis of interactive behaviour;a hierarchical vision architecture for robotic manipulation tasks;optimal image processing architecture for active vision;reactive computer vision system with reconfigurable architecture;a modular and extensible path planning system using observation;an active vision system for detection, tracking and recognition;improving 3D active visual tracking and surveillance system based on detection and tracking of moving objects using CMOS imagers.

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