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تعداد صفحات این فایل: ۳۴ صفحه

بخشی از مقاله انگلیسیعنوان انگلیسی:A Prototype Smart Materials Warehouse Application Implemented using Custom Mobile Robots and Open Source Vision Technology Developed using EmguCV~~en~~

Abstract

Customized mobile robots are commonplace in manufacturing and material handling applications. One class of mobile robots, known as Automatic Guided Vehicles (AGV), follow a fixed path along the floor using tracks, RFID tags, or magnetic tape. These robots typically travel along predetermined routes and offer limited flexibility for changes to be made or for their use in environments like hospitals or military installations. Moving away from traditional fixed AGV systems to wireless and dynamic control and monitoring presents some distinct advantages and new opportunities. This type of robot is known as an Autonomous AGV. A prototype smart materials warehouse is presented in this paper as a platform to explore some particular aspects of this technology. First, four multi-purpose mobile robots were built using off-the-shelf BattleBot kits, wireless Arduino controls, and fabricated components. Secondly, a Microsoft Kinect camera was installed on one robot for visual feedback, obstacle avoidance, and shape recognition. Lastly, a ceiling mounted IP camera was used with software developed using Visual Studio .NET and the C# wrapper for OpenCV (EmguCV) to facilitate robot path development, video processing and real-time tracking. Testing of the completed system was done in a 2000 sq. ft. mock warehouse set up with stations for shipping/receiving, storage, staging areas, and processes including cutting, milling, and turning for preparing raw stock to be used in production. As cyber-physical systems research continues to grow, the integration of computational algorithms, physical systems, wireless controls, and custom user interfaces will undoubtedly lead to their increased use throughout society. This work was completed as part of the Northwest Manufacturing Initiative at the Oregon Institute of Technology. Possibilities for applying the results of this work in the military, retail and service sectors are also identified. All hardware and software for the project was developed to facilitate future work.

۱ Introduction

Product and material handling and transportation systems have been used in manufacturing companies for many years. The level of automation utilized in industry has continued to grow over time as robotic, electronic, and computer technologies have improved in terms of functionality, ease of use, integration with other devices, and affordability. With this progress, the level of complexity and interactivity between all types of systems has increased dramatically. International interest in innovating and sharing advances with these systems is being driven by the need to collaborate on projects and increase global competitiveness. Since mechanical, physical, electrical, and software components cannot be isolated and do not function independently, the term Cyber-Physical Systems (CPS) has been coined to guide present and future work. Some definitions for CPS were taken from a recent international conference and are presented here to provide a foundation and perspective for the work in this paper (Isaksson & Drath, 2016).

• A system of collaborating computational elements controlling physical entities

• Interconnection between a physical and a virtual world (models)

• Ability for autonomous behavior, self-control, self-optimization

• Different system borders: CPS including or excluding of a physical world

Examples of CPS in manufacturing are being used to modernize and add flexibility to production systems and integrate them in control networks that span departments and multi-site engineering or distribution facilities. As mass customization and agility in production line changeovers become a higher priority, the ability to deliver materials, tooling and supplies must also be considered. The use of multifunction mobile robots for this purpose is a viable alternative. An Automated Guided Vehicle System (AGVS) enables flexible material routing and dispatching, and is especially suited for flexible manufacturing environments in which product mix and priorities may continuously vary (Reveliotis, 2000). Their movement is directed by a combination of software and sensor-based guidance systems. As this technology continues to expand, many areas outside of manufacturing will benefit from innovations in the following areas: 1) mobile and autonomous robots, 2) open source software, 3) vision systems, and 4) wireless communications. Some of the applications to think about are medicine distribution in hospitals, replenishing products in retail settings, military field operations, and supplies/tool deployment in large construction projects. Mechanical, manufacturing, industrial, electrical, and computer engineers must collaborate to develop versatile systems for the future.

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