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Design of an experimental stand for three-dimensional image acquisition
Mužný, Lukáš ; Pochylý, Aleš (referee) ; Kubela, Tomáš (advisor)
This thesis deals with the possibilities of 3D vision. The theoretical part describes the principles of machine vision, constitutes the basic elements, description and the methods of measurement and 3D. The practical part is focused on the design of experimental workplace, which is consists of conveyor, experimental stand, industrial robot and PLC control. The system used to recognize and grasp objects undirected. Construction chapter focuses on the treatment needs of the conveyor for sensing applications and design of experimental stand with linear axis, which is equipped with camera and lasers. Furthermore solved by a communication network between the elements of work includes the design of their communications with the description of the control of its individual elements.
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Machin vision-based inspection of embossed texts and patterns on tubes
Záhorský, Patrik ; Holoubek, Tomáš (referee) ; Škrabánek, Pavel (advisor)
Bachelor thesis deals with the inspection of embossed text and patterns on plastic tubes using machine vision. Part of the work is a research part, which deals with the composition of machine vision systems and its tasks in industry, the method of digital imaging, properties, technology and use of individual system components, including a description of technical and software tools for data processing. Subsequently, the solved tasks are specified and the monitored objects are described. The design of the system consists of a description of the hardware components, their interconnection, selection of a suitable geometry and implementation into a complete assembly. The following is a proposal for solutions for specified tasks, which describes the selection of individual algorithms and the setting of their parameters. Finally, the implemented solution is tested on two different sets of samples and the results are accordingly evaluated.
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Robot vision with industrial robots Kuka
Krutílek, Jan ; Pochylý, Aleš (referee) ; Kubela, Tomáš (advisor)
Diploma thesis deals with a robot vision and its application to the problem of manipulation of coincidentally placed objects. There is mentioned an overview of current principles of the most frequently used vision systems on the market. With regard to the required task to be solved, there are mentioned various possibilities of using basic softsensors during the recognition of different objects. The objective of this Diploma thesis is also programming and realization of a demonstration application applying knowledge of PLC programming, knowledge of expert programming KRL language (for KUKA robots), knowledge of designing scripts for smart camera in Spectation software and knowledge of network communication among all devices used in this case.
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Machine vision for robotic manufacturing systems
Honkyš, Pavel ; Bražina, Jakub (referee) ; Vetiška, Jan (advisor)
The Master's thesis deals with the use of a camera system in automated industrial applications and the use of TwinCAT Vision tools for image processing and control software PLC, which works on an industrial computer from BECKHOFF. The theoretical part deals with the algorithm of the camera system design for the industrial environment, the description of the individual components that create this camera system and the industrial buses used to transmit data from the cameras. The practical part contains the assignment, its analysis and design of a robotic workplace using a camera system to control products. The designed camera system is then assembled, programmed and verified for the functionality of the created algorithms and the designed HMI.
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Automatic evaluation of fermentation degree of cocoa beans
Sedlmajer, Jakub ; Kůdela, Jakub (referee) ; Škrabánek, Pavel (advisor)
Standardní metodou zjištění výsledné kvality fermentace kakaových semen je tzv. cut-test. Při tomto testu je kakaové semeno rozříznuto na 2 poloviny, a následně je posouzeno vysoce kvalifikovaným odborníkem. Vzhledem k obrovským objemům zpracovávaného kakaa je automatizace tohoto procesu pomocí strojového vidění nevyhnutelná. Tato práce se zabývá návrhem a vytvořením softwarových nástrojů, které to efektivně umožní.
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Design and virtual commissioning of an educational robotic cell
Novák, Štěpán ; Bražina, Jakub (referee) ; Vetiška, Jan (advisor)
This master's thesis discusses the creation of a virtual commissioning of a machine vision demonstration program in an educational robot cell. The first section of this thesis deals with the theory in robotics, virtual commissioning and machine vision. Systemic analysis of the problem was addressed in the second section. The third section cotains the design of the cell. The fourth section describes the design of some individual parts of the cell, the process of creating the program and virtual commissioning itself.
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Innovation of the existing feeding device solution in the context of an automated and robotic workstation
Porubský, Radek ; Marek, Jiří (referee) ; Knoflíček, Radek (advisor)
This thesis deals with the design of a new version of the production and assembly node, which is part of an automated and robotized workstation for product assembly. The main objective of modifying the original solution is to eliminate the problems of the existing solution and apply innovations to make the work process of the equipment more efficient. The main modification of the original solution is the replacement of the bowl vibratory feeders in combination with linear vibratory feeders by a flexible feeding system with camera and robot. The paper describes the process of designing a new solution for the node, which eliminates the problems of the existing solution and at the same time comes up with new innovations. By solving the problems of the original solution and introducing the innovations, the reliability, speed and smoothness of the working process of the machine is improved. The work includes, among other things, drawings, risk analysis and costing.
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Robotic selection of 2D objects from a container
Velen, Bohumil ; Parák, Roman (referee) ; Matoušek, Radomil (advisor)
In this thesis, a specific problem of production automation is addressed. Specifically, in this case, it concerns the selection of 2D products from a container by a robot. The thesis briefly presents both the wide range of options that are offered on the market in this regard, and the specific build and programming of a robot that can identify the part, grasp it and manipulate it to get it into the desired position. In this paper, the results of the identification and manipulation of several 2D parts are presented and documented. These experiments have demonstrated the effectiveness of the solution and the practical performance of the machine vision system and the ABB YuMi collaborative robot that was used. This also showed the way to solve similar manipulation tasks in other possible industrial applications.
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Bin picking of non-oriented components using a parallel manipulator
Novák, David ; Marada, Tomáš (referee) ; Štěpánek, Vojtěch (advisor)
This master's thesis deals with the design of sorting unoriented components using a parallel manipulator. In the literature review section, it describes machine vision methods and important aspects when selecting a suitable camera for machine vision, which will be used for robot navigation. This section also discusses robot programming methods and describes possible approaches to programming robot movement. The practical part includes the design of the fourth axis of a delta manipulator in the NX Siemens environment, which allows for the orientation of manipulated objects. The software section presents the design of PLC control in the TwinCAT3 program. In this environment, functionalities for inverse kinematics, trajectory planning, image processing, and HMI for robot operation are utilized. Furthermore, a functional model was created in the virtual NX MCD environment, which communicated with TwinCAT3 via an OPC server.
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