Vision-based control of an autonomous disassembly station

Büker, Ulrich; Drüe, Siegbert; Götze, Nicolai; Hartmann, Georg; Kalkreuter, Björn; Stemmer, Ralf; Trapp, Ralf

doi:10.1016/s0921-8890(01)00121-x

Cited by 45 publications

(21 citation statements)

References 21 publications

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“…In recent years, a number of researchers have focused the vision systems and the recognition process on the disassembly tasks. Examples of these systems are, a demanufacture application of mobile phones based on structured lighting to estimate the product surface (Bailey and Kuren 2006), and a vision-guided robotic system for an autonomous disassembly process of wheels (Bu¨ker et al 2001). In this last work, a combination of contour and PCA-based recognition is used.…”

Section: Target and Characteristics Detectionsmentioning

confidence: 99%

Flexible multi-sensorial system for automatic disassembly using cooperative robots

Gil

Pomares

Puente

et al. 2007

International Journal of Computer Integrated Manufacturing

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Flexible multisensorial systems are a very important issue in the current industry when disassembling and recycling tasks have to be performed. These tasks can be performed by a human operator or by a robot system. In the current paper a robotic system to perform the required tasks is presented. This system takes into consideration the distribution of the necessary tasks to perform the disassembly of a component using several robots in a parallel or in a cooperative way. The algorithm proposed to distribute the task among robots takes into consideration the characteristics of each task and the sequence that needs to be followed to perform the required disassembly of the product. Furthermore, this paper presents a disassembly system based on a sensorized cooperative robots interaction framework for the planning of movements and detections of objects in the disassembly tasks. To determine the sequence of the disassembly of some products, a new strategy to distribute a set of tasks among robots is presented. Subsequently, the visual detection system used for detecting targets and characteristics is described. To carry out this detection process, different well known strategies, such as matching templates, polygonal approach and edge detection, are applied. Finally, a visual-force control system has been implemented in order to track disassembly trajectories. An important aspect of this system is the processing of the sensorial information in order to guarantee coherence. This aspect allows the application of both sensors, visual and force sensors, co-ordinately to disassembly tasks. The proposed system is validated by experiments using several types of components such as the covers of batteries and electronic circuits from toys, and drives and screws from PCs.

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Section: Target and Characteristics Detectionsmentioning

confidence: 99%

Flexible multi-sensorial system for automatic disassembly using cooperative robots

Gil

Pomares

Puente

et al. 2007

International Journal of Computer Integrated Manufacturing

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“…And in Balaguer and Abderrahim (2008) and Chu et al (2008) can be found more studies about robotic systems in the construction industry. The number of robotic applications on dismantling and disassembling tasks are rather limited and mainly seen in hazardous nuclear decommissioning tasks (Bakari et al, 2007), methods for the generation of disassembly sequences for recycling end‐of‐life goods (Dini et al, 2001), disassembly stations for used cars (Büker et al, 2001), and modification of hydraulic crushers to convert them into indoor assistance machines to achieve concrete wall dismantling (Shimoi et al, 2006). However, to the best of our knowledge, in the literature there are no studies about dismantling office interiors.…”

Section: Introductionmentioning

confidence: 99%

Vision-Based Hierarchical Recognition for Dismantling Robot Applied to Interior Renewal of Buildings

Cruz-Ramírez

Mae

Arai

et al. 2010

Computer-Aided Civil and Infrastructure Engineering

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New robotic systems are going to play an essential role in the future dismantling service for renewing office interiors in buildings. In dismantling tasks, robots are expected to be able to find and remove very small parts such as screws and bolts. Such recognition of small parts is difficult for robots. The article describes a vision-based hierarchical recognition applied to dismantling tasks where large structures are detected at first, thus small parts attached to these structures are detected easier. Regarding the items in the ceiling side, after the dismantling task of the ceiling panels, it is necessary to remove carefully the screws that once held these panels to the light gauge steel (LGS), with the purpose of reusing it. With the pose detection of the large structure (LGS) and considering a robot arm with a stereo camera on its tip, a trajectory near that structure can be computed to detect the small parts, in this case the screws. The large structure is detected by using a process of line detection in 2D and its 3D pose is measured with the stereo camera. During the motion along the structure, the screws are detected by applying a multi-template matching process to every captured image. Followed by, the Support Vector Machine (SVM), which recognizes those screw candidates with high true positive rate and low false positive one. These rates are improved with a temporal multi-image integration for tracking the screw candidates. In the experiment, 10 actual screws distributed in 1.1 m along a linear segment on the LGS are successfully recognized with a few false positives and with a final computed 3D position of 2 mm in average. Feasibility of methodology is evaluated by experimentation under different lighting conditions in a realistic environment. Experimental

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“…The number of robotic applications on dismantling and disassembling tasks are rather limited as just seen in hazardous nuclear decommissioning tasks [6], software for the generation of disassembly sequences [7], and disassembly stations for used cars [8]. The dismantling of office interiors is a challenging trial for RT application.…”

Section: Introductionmentioning

confidence: 99%

Detection of screws on metal-ceiling structures for dismantling tasks in buildings

Cruz-Ramírez

Mae

Takubo

et al. 2008

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

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In the renewal process of office interiors, a robotic system is needed in order to assist the human workers engaged in this kind of job. Regarding the items in the ceiling side, after the dismantling task of the ceiling panels, it is necessary to remove carefully the screws that once held these boards to the Light Gauge Steel (LGS), with the purpose of reusing. The proposed methodology to achieve the task consists at first of the LGS detection. Such detection is useful as a first approach to detect the screws because a trajectory under and near of that metal-ceiling structure can be generated for a scanning process. In both tasks, a stereo camera configured as an eye-in-hand system is necessary. During the motion under the structure, the screws are detected by applying a multi-template matching process to every caught image. A multi-frame integration increases the robustness in the screw detection process. The results of all the processed images along the trajectory are analyzed in order to measure both the true and the false positive detection rates of the screws attached to the LGS and to measure the 3D position of each one.

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Vision-based control of an autonomous disassembly station

Cited by 45 publications

References 21 publications

Flexible multi-sensorial system for automatic disassembly using cooperative robots

Flexible multi-sensorial system for automatic disassembly using cooperative robots

Vision-Based Hierarchical Recognition for Dismantling Robot Applied to Interior Renewal of Buildings

Detection of screws on metal-ceiling structures for dismantling tasks in buildings

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