Retrofitting of the Robuter's platform to an AGV with visual guidance
Autor(a) principal: | |
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Data de Publicação: | 2017 |
Tipo de documento: | Dissertação |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | http://hdl.handle.net/10773/22379 |
Resumo: | The industrial automation has made its way in responding to the growing market’s needs. Companies that wish to keep up with the competition have a common goal: improve the product’s quality while reducing manufacturing costs and time. In the last decade, the autonomous guided vehicles (AGV) have gained expression due to the fact that they are capable of responding this the last mentioned necessity. The context of the current dissertation is inserted in the development of this thematic through the recovery of an equipment with industrial scale applications. The main goal is centered in the Robuter II platform’s retrofitting. For that, it is intended to replace the old control part by a modern solution that allows the integration of different modules based on a ROS distributed architecture. A detailed analysis of the existing platform was made in order to redo all the electrical installation, as well as to setup all of the used equipment. In the end, a vehicle capable of navigating, both manual and autonomously, was achieved. The vehicle can be operated manually (via remote control) and as a proof of concept, autonomous navigation was carried out through a simple artificial vision algorithm. It was also verified the versatility of the developed solution by integrating different equipment and designed code in a simple way. This document describes generally the project where all the different steps are identified, as well as all the work developed until the present moment. Furthermore, the guidelines to follow in order to achieve the proposed goals, is presented. Finally, navigation experimental results and the integration of different works on the platform are presented. |
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Retrofitting of the Robuter's platform to an AGV with visual guidanceEngenharia de automação industrialAutomaçãoControlo automáticoVisão artificialThe industrial automation has made its way in responding to the growing market’s needs. Companies that wish to keep up with the competition have a common goal: improve the product’s quality while reducing manufacturing costs and time. In the last decade, the autonomous guided vehicles (AGV) have gained expression due to the fact that they are capable of responding this the last mentioned necessity. The context of the current dissertation is inserted in the development of this thematic through the recovery of an equipment with industrial scale applications. The main goal is centered in the Robuter II platform’s retrofitting. For that, it is intended to replace the old control part by a modern solution that allows the integration of different modules based on a ROS distributed architecture. A detailed analysis of the existing platform was made in order to redo all the electrical installation, as well as to setup all of the used equipment. In the end, a vehicle capable of navigating, both manual and autonomously, was achieved. The vehicle can be operated manually (via remote control) and as a proof of concept, autonomous navigation was carried out through a simple artificial vision algorithm. It was also verified the versatility of the developed solution by integrating different equipment and designed code in a simple way. This document describes generally the project where all the different steps are identified, as well as all the work developed until the present moment. Furthermore, the guidelines to follow in order to achieve the proposed goals, is presented. Finally, navigation experimental results and the integration of different works on the platform are presented.A automação industrial é uma parte fundamental para responder às crescentes necessidades do mercado. As empresas que desejam estar a par da competição, têm todas uma premissa em comum — melhorar a qualidade do produto, reduzindo custos e tempo de fabrico. Na última década, os veículos autonomamente guiados (AGV) têm ganho expressão devido ao facto de serem capazes de responder a esta última necessidade. O contexto da presente dissertação insere-se no desenvolvimento desta temática através da recuperação de um equipamento com aplicações à escala industrial. O objetivo principal passa por fazer o retrofitting da plataforma Robuter II, que se encontra obsoleta. Para isso, pretende-se substituir toda a parte de controlo por uma solução mais atual que permita a integração de diferentes módulos com base numa arquitetura distribuída baseada em ROS. Foi então necessário proceder a uma análise detalhada da plataforma existente para refazer toda a instalação elétrica da mesma, bem como proceder à instalação de diversos equipamentos. No final, obteve-se um veículo capaz de navegar de forma manual (com controlo remoto) e foi ainda realizada uma prova de conceito de navegação autónoma através da realização de um algoritmo simples de visão artificial. Foi ainda verificada a versatilidade suficiente para integrar diferentes equipamentos e código desenvolvido de forma simples. Neste documento é feita uma descrição geral do projeto onde são identificadas as várias etapas do mesmo e o trabalho desenvolvido até ao momento. Para além disso, é apresentada a forma como se irá proceder para a implementação das metas propostas. Por último, são apresentados resultados experimentais de navegação e integração de outros trabalhos na plataforma.Universidade de Aveiro2018-02-26T20:08:17Z2017-07-21T00:00:00Z2017-07-21info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesisapplication/pdfhttp://hdl.handle.net/10773/22379TID:201941155engVieira, Bruno Carvalhoinfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2024-02-22T11:43:57Zoai:ria.ua.pt:10773/22379Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-20T02:56:33.723439Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
Retrofitting of the Robuter's platform to an AGV with visual guidance |
title |
Retrofitting of the Robuter's platform to an AGV with visual guidance |
spellingShingle |
Retrofitting of the Robuter's platform to an AGV with visual guidance Vieira, Bruno Carvalho Engenharia de automação industrial Automação Controlo automático Visão artificial |
title_short |
Retrofitting of the Robuter's platform to an AGV with visual guidance |
title_full |
Retrofitting of the Robuter's platform to an AGV with visual guidance |
title_fullStr |
Retrofitting of the Robuter's platform to an AGV with visual guidance |
title_full_unstemmed |
Retrofitting of the Robuter's platform to an AGV with visual guidance |
title_sort |
Retrofitting of the Robuter's platform to an AGV with visual guidance |
author |
Vieira, Bruno Carvalho |
author_facet |
Vieira, Bruno Carvalho |
author_role |
author |
dc.contributor.author.fl_str_mv |
Vieira, Bruno Carvalho |
dc.subject.por.fl_str_mv |
Engenharia de automação industrial Automação Controlo automático Visão artificial |
topic |
Engenharia de automação industrial Automação Controlo automático Visão artificial |
description |
The industrial automation has made its way in responding to the growing market’s needs. Companies that wish to keep up with the competition have a common goal: improve the product’s quality while reducing manufacturing costs and time. In the last decade, the autonomous guided vehicles (AGV) have gained expression due to the fact that they are capable of responding this the last mentioned necessity. The context of the current dissertation is inserted in the development of this thematic through the recovery of an equipment with industrial scale applications. The main goal is centered in the Robuter II platform’s retrofitting. For that, it is intended to replace the old control part by a modern solution that allows the integration of different modules based on a ROS distributed architecture. A detailed analysis of the existing platform was made in order to redo all the electrical installation, as well as to setup all of the used equipment. In the end, a vehicle capable of navigating, both manual and autonomously, was achieved. The vehicle can be operated manually (via remote control) and as a proof of concept, autonomous navigation was carried out through a simple artificial vision algorithm. It was also verified the versatility of the developed solution by integrating different equipment and designed code in a simple way. This document describes generally the project where all the different steps are identified, as well as all the work developed until the present moment. Furthermore, the guidelines to follow in order to achieve the proposed goals, is presented. Finally, navigation experimental results and the integration of different works on the platform are presented. |
publishDate |
2017 |
dc.date.none.fl_str_mv |
2017-07-21T00:00:00Z 2017-07-21 2018-02-26T20:08:17Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/masterThesis |
format |
masterThesis |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://hdl.handle.net/10773/22379 TID:201941155 |
url |
http://hdl.handle.net/10773/22379 |
identifier_str_mv |
TID:201941155 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.publisher.none.fl_str_mv |
Universidade de Aveiro |
publisher.none.fl_str_mv |
Universidade de Aveiro |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
instname_str |
Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
instacron_str |
RCAAP |
institution |
RCAAP |
reponame_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
collection |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository.name.fl_str_mv |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
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