Mobile robot localization and manipulator bin-picking in unstructured environments using internet of vision

• Main Authors: Pin-Jui Hwang, 黃品叡
• Other Authors: Yin-Tien Wang
• Format: Others
• Language: zh-TW
• Published: 2016
• Online Access: http://ndltd.ncl.edu.tw/handle/87352717804481352511

碩士 === 淡江大學 === 機械與機電工程學系碩士班 === 104 === This study investigates the issues of internet of robotic things. The purpose is to localize the robot in environment automation using internet of visual sensor and present a vision-based robotic bin-picking system. The issues of the study include internet of robotic things, robot localization and vision-based robotic bin-picking system. Automated storage and retrieval system connect robot and vision sensor with internet in order to planning and give instructions. Robot localization divide into two parts, first is using Bluetooth Low Energy (BLE) localization or known as iBeacon localization. Another localization is QR-code localization whit IP camera. The first part is for outside the workspace and the QR-code localization is for the workspace. Vision-based robotic bin-picking system is using color histogram and continuously adaptive mean-shift (CAM-Shift) to identify the product and guide the robot arm to pick the product. The software program of this study investigates is developed in a PC-based controller using Microsoft Visual Studio C++. The resultant system is used to perform the internet of visual sensor localization and vision-based robotic bin-picking system.