A computer vision assisted system for autonomous forklift vehicles in real factory environment

Syu, Jia-Liang; Li, Hsin-Ting; Chiang, Jen‐Shiun; Hsia, Chih-Hsien; Wu, Po-Han; Hsieh, Chi-Fang; Li, Shih‐An

doi:10.1007/s11042-016-4123-6

Cited by 25 publications

(10 citation statements)

References 21 publications

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“…2: Graphical User Interface for CV Toolkit ity of metal powder-bed additive manufacturing processes and detect the defects in the manufactured product. A monocularcamera based system for autonomous forklift vehicles in a real factory environment is proposed in [18] for assisting in automated storage and retrieval tasks. IIoT and vision-systems have also aided in increasing sustainability in the manufacturing industry [19].…”

Section: Literature Reviewmentioning

confidence: 99%

Computer Vision Toolkit for Non-invasive Monitoring of Factory Floor Artifacts

Deshpande,

Telikicherla,

Jakkali

et al. 2020

Preprint

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Digitization has led to smart, connected technologies be an integral part of businesses, governments and communities. For manufacturing digitization, there has been active research and development with a focus on Cloud Manufacturing (CM) and the Industrial Internet of Things (IIoT). This work presents a computer vision toolkit (CV Toolkit) for non-invasive digitization of the factory floor in line with Industry 4.0 requirements for factory data collection. Currently, technical challenges persist towards digitization of legacy systems due to the limitation for changes in their design and sensors. This novel toolkit is developed to facilitate easy integration of legacy production machinery and factory floor artifacts with the digital and smart manufacturing environment with no requirement of any physical changes in the machines. The system developed is modular, and allows real-time monitoring of production machinery. Modularity aspect allows the incorporation of new software applications in the current framework of CV Toolkit. To allow connectivity of this toolkit with manufacturing floors in a simple, deployable and cost-effective manner, the toolkit is integrated with a known manufacturing data standard, MTConnect, to translate the digital inputs into data streams that can be read by commercial status tracking and reporting software solutions. The proposed toolkit is demonstrated using a mock-panel environment developed in house at the University of Cincinnati to highlight its usability.

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Section: Literature Reviewmentioning

confidence: 99%

Computer Vision Toolkit for Non-invasive Monitoring of Factory Floor Artifacts

Deshpande,

Telikicherla,

Jakkali

et al. 2020

Preprint

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“…The prototype forklift is regularly applied in container yard, pallet-based storehouse or cold storage. The structure of forklift [18][19][20] entails of a single active rear wheel and two nondriven front wheels balanced in electric stacker. Around the automatic forklift, several sensing modules, for instance, positioning encoder, laser scanner or GPS-indoor are often attached to collect environmental information.…”

Section: Problem Statementmentioning

confidence: 99%

The Fusing Framework Between Lifting Carrier and Tractor-Trailer for Modern Transportation

Ngo¹,

Nguyễn²,

Nguyen³

2019

Adv. sci. technol. eng. syst. j.

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The integrating model becomes one of key trends in engineering design. The more the product has functional specifications, the more the industrial consumer apply in many fields. In this paper, a fusion design of architecture platform for autonomous system is demonstrated. It is greater due to combining the specifications of various types in commercial market such as driving structure, multi-functional model or autonomous level. Therefore, plentiful advantages of systems are converged into one platform. From customer's requirements, the system parameters and specifications are offered to consult during the process of design. To compare with previous works, the enhancement of tractortrailer, lifting-carrier and auto-feeder using differential driving mechanism is merged successfully. The detailed design of prototype involves the development of hardware components and infrastructure. Later, the modeling of autonomous system is simulated on computer to meet the employed conditions. The force analyzing scheme helps to predict the working ability to complete their mission. To verify the proposed design, an experimental version of this system is tested in different cases. In mode of lifting carrier, the vehicle and cargo that become a rigid body, follow the reference trajectory in practical map. In another circumstance, vehicle plays a role as leader which take along with cargo, as follower. From these results, it can be seen that the proposed design is feasible, effective and capable in real world. In future works, a fleet of autonomous vehicles mixing multi-modes in the same map should be considered.

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“…Parameters Values ( , ) P t are trajectories for the individual x-, y-, and z-axis movements, respectively. Equations (4)- (7) are the approximate functions for generating the related general robot motion waves.…”

Section: Humanoid Robot Machine Action Planning and Simulationsmentioning

confidence: 99%

“…The other vision-based robot machines also support the robot applications. (7) User-friendly robot operating system (ROS) software is developed as a functional framework to rapidly integrate the computational resources in the distributed operating environment. The ROS contains powerful tools for executing consistent communication between internal procedures such as Service, Topic, and Action.…”

Section: Introductionmentioning

confidence: 99%

Humanoid Robot Field-programmable Gate Array Hardware and Robot-operating-system-based Software Machine Co-design

Feng¹,

Wong²,

Xiao³

et al. 2019

Sensors and Materials

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Keywords: humanoid robot, robot operating system, hardware and software co-design, embedded SoC, FPGA systemWe utilized the robot operating system (ROS) and the embedded system-on-a-chip (SoC) field-programmable gate array (FPGA) system to achieve the hardware and software codesign. A novel SoC FPGA processor system architecture is implemented by combining both ARM kernel and FPGA technologies. The advanced FPGA with the parallelized utilization and the powerful central processing unit (CPU) with universal abilities are adopted to complete the hardware and software co-design. The hybrid ROS-based control architectures efficiently communicate with each other at nodes to devise the correct sequential procedures and complete the full transformation of information in the distributed peer-to-peer topology. The humanoid robot platform design is intended to mimic the human body and its related motion to support various tasks. Humanoid robot machines have the limbs and trunk like the human body. The robot's structure routing comprises connections between sheet-metal parts and linking motors. Motors rotate joints to imitate human motion. Pose and pressure sensors are located at the waist and on the undersides of the two feet, respectively. Sensors intuitively perceive relational robot situations and outdoor environment information. A kernel control board functions like a human brain to gather the whole information. The controller analyzes an appropriated command for the motor driver board to realize the suitable joint motion of the robot. A detail humanoid robot machine design and its related working events in different experiments are shown in this study.

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A computer vision assisted system for autonomous forklift vehicles in real factory environment

Cited by 25 publications

References 21 publications

Computer Vision Toolkit for Non-invasive Monitoring of Factory Floor Artifacts

Computer Vision Toolkit for Non-invasive Monitoring of Factory Floor Artifacts

The Fusing Framework Between Lifting Carrier and Tractor-Trailer for Modern Transportation

Humanoid Robot Field-programmable Gate Array Hardware and Robot-operating-system-based Software Machine Co-design

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