Automatització i robotització de processos de la industria ... · 12 Els nostres Robots...
Transcript of Automatització i robotització de processos de la industria ... · 12 Els nostres Robots...
Automatització i robotització de processos de la industria càrnia
Ignasi Papell
https://vimeo.com/262980152
https://vimeo.com/262979940
UNITAT DE ROBÒTICA I AUTOMATITZACIÓ
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Robotics and Automation
Applied robotics research for real
applications
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OBJECTIVE
Research and development to achieve advanced solutions to automate different tasks in different types environments
STREATEGIC LINES and TECHNOLOGICAL OFFER
Aerial and Terrestrial Vehicles
Navigation and Control
Autonomous Systems
Sensors and Actuators
Remote Sensing
Heterogeneous fleets
Services Industrial
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Collaborative Robotics
Process Control
Sensors and Actuators
Computer Vision
Automated Quality control
Robotized cells
Tooling
Modelling and Simulation
Intuitive and Multimodal Programming
Robotics and Automation UnitACTIVITIES
FIELD ROBOTICS
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Robòtica Mòbil Autònoma
• Vehicles (air or ground) that could move autonomously to perform the assigned task without human intervention. They must perceive and understand their environment
• They can perform different missions depending on the payload (sensors and actuators)
GROUND AND AERIAL
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Línies principals d’activitatAUTONOMOUS SYSTEMS
Localization
• Multi-sensor robust localization(IMU + vision + laser + GNSS)
• Simultaneous Localization andMapping (SLAM)
• Precise GNSS
Control
• Motion control
• Auto Take-Off and Landingon mobile platforms
• AGV auto-docking and multi-AGV following
Heterogeneous multi-robot systems• Ground and aerial robots
cooperation• Communications• Task planning
Navigation
• Specialized path planners• Collision avoidance• Infrastructure servoing: wall
tracking, vertical pipe tracking.• 3D flight planning based on
models or geometric shapes(helicoidal, etc)
Vision and Perception
• Vision based navigation• 3D scene reconstruction• Victim detection• Image segmentation• Thermal, multispectral and
stereo imaging
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Els nostres RobotsAUTONOMOUS SYSTEMS
OUTDOORS
Diameter: 1.2mNet weight : 4.5 kgTake-off weight: 9.5 kgAuto Take Off and LandingEndurance: 35 mins.
INDOORS
Diameter: 60cmNet weight: 2 kgTake-off weight: 3 kgAuto Take Off and LandingEndurance: 25 mins.
EDUCATIONAL
Diameter: 60cmNet weight: 1kgTake-off weight: 1.2kgEndurance: 18 mins.
AGV
Omnidirectional driveSize: 960 x 793 x 296 mmWeight: 135KgMax. Payload: 100KgMax Speed: 1.1m/sRuntime (With max. payload): 15hUser power: 5V, 12V, 24V (10A)
UGV
Differential driveSize: 990 x 670 x 390 mmWeight: 50Kg.Max. Payload: 75KgMax. Speed: 1m/sRuntime (Nominal usage): 4hUser power: 5V, 12V, 24V (5A)
EDUCATIONAL
Differential driveSize: 315 x 347 x 430 mmWeight: 5KgMax. Payload: 5KgMax. Speed: 0.65m/sRuntime (Nominal usage): 7hUser power: 3.3V, 5V, 12V
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Els nostres SensorsAUTONOMOUS SYSTEMS
Inertial sensors
Xsens MTI 10 IMUVectorNav VN-100 IMUAnalogue sensors
Cameras
VI-Sensor (stereo+inercial)Zed stereo cameraPointgrey firefly (mono and color)IDS ueye camera (mono)Kinect v1 and v2
GNSS
Septentrio PolaRx3GLeica GX1230 RTK GPS receiverNovatel GPS -701-GG AntennaNovatel OEMstarNovatel OEM615NordNav GPS receiver
2D / 3D Lasers
Hokuyo UTM-30LX-EWHokuyo URG-04LX-UG01Hokuyo UST-10LXSICK S3000 professionalSICK LMS111Velodyne Puck Lite
UAV equipment
UAV Dev BoardAPM AutopilotPixhawk AutopilotBrushless GimbalsFPV glasses
Different bands
FLIR TAU 2 640 (Thermal)Sony 𝛼6000 HDCanon IXUS 285 HS (compact)Micasense Rededge (Multispectral)
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AplicacionsAUTONOMOUS SYSTEMS
Oil and Gas industry
Electric towers, wind turbines
Railway networks monitoring
Tunnels, bridges and damns
Search and Rescue
Border security
Firefighting
Target tracking
Automated Container
management
Autonomous AGVs
Cooperative transportation
Autonomous UGV for
agricultural tasks
Precise agriculture through
multi-robot cooperation
Vegetation analysis
Aerial photography
Mapping and surveying
3D reconstruction
Seismic, pollution and
climate monitoring
3D reconstruction
Object recognition
Damage inspection
Smart materials
Infrastructure InspectionSecurity and Emergency
ServicesLogistics
Agriculture Construction Cultural Heritage
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Drons – Projectes en marxaAUTONOMOUS SYSTEMS
INSPECTION
Drones for inspection of severalindoor and outdoors infrastructure:• electric towers,• sewers,• bridges,• tunnels.
NATURE4CITIES
• Nature based solutions forre-naturing cities
• Urban landscaping supportedby drones
COPILOT
• Upgrades any commercialReady To Fly Multirotor to afully autonomous intelligentMAV.
ARSI
• Semi-autonomous inspectionof sewer networks with aerialrobots
• Autonomous navigation andmapping
• Damage detection
BUILT2SPEC
• 3D reconstruction with aerialimages for Construction Siteinspection and auditing
SMARTS
• Inspection, monitoring andanalysis of Cultural Heritagematerials (objects andstructure surfaces) by meansof multi-analyticalapproaches based on a low-cost apparatus.
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Sistemes autònoms – Projectes en marxa
LOGIMATIC
• Tight integration of EGNSS andon-board sensors for port vehicleautomation
• Modular GIS-based route andyard planning integrated withTerminal Operating Systems
GRAPE
• (Semi)autonomous vineyardmonitoring and farming tasks,with Unmanned GroundVehicles (UGVs).
GEOMOVE
• Two synchronized AGVs(master/slave) for thecooperative transportation ofheavy, high-value loads in theaeronautic industry
• Sensor-based non-invasiveautonomous localization andnavigation
MAIC
• Cooperative mobile manipulator• System composed by a highly
flexible robot arm and anomnidirectional AGV in theproduction line of our customerfrom the automotive industry.
BOTS2REC
• Robots to reconstruction• Multi-robot units for asbestos
removal
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ARSIAERIAL ROBOT FOR SEWER INSPECTION
This research has received funding from the European Union’sSeventh Framework programme under grant agreement 601116
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BUILT2SPECBUILT TO SPECIFICATIONS
3D reconstruction with aerial images gathered with UAVs for Construction Site inspection and auditing
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NATURE4CITIESNATURE BASED SOLUTIONS FOR RE-NATURING CITIES
Use of drone technologies to:• Detect and identify vegetation• Detect and identify terrain and urban features• Automatically detect pollutants via spectral
analysis
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GEOMOVEAGVS IN SUPPORT/TOOLING OF AERONAUTIC INDUSTRY
Two synchronized AGVs (master+slave)for the cooperative transport of heavy,high-value parts in the manufacturingprocess of the aeronautic industry
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GEOMOVEAGVS IN SUPPORT/TOOLING OF AERONAUTIC INDUSTRY
• Map creation and update, SimultaneousLocalization and Mapping (SLAM) module
• Multi-sensor robust localization (IMU + laser +odometry…) without infrastructuremodification
• Specialized path planners and motion control• Autonomous navigation with collision
avoidance and re-planning capabilities• Robot modelling and simulation
• AGV auto-docking and multi-AGV following• Cooperative navigation and coordination
https://youtu.be/lZNU5nEiIlw
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LOGIMATICSMART PORT VEHICLE MANAGEMENT
Tight integration of EGNSS and on-board sensorsfor port vehicle automation.
IMPACTS• Improve productivity by increasing operational
efficiency• Increase task accuracy and reduce errors• Reduce worker strain and safety incidents
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LOGIMATICSMART PORT VEHICLE MANAGEMENT
NOVEL HYBRID POSITIONING SYSTEM• Map creation and update• EGNOS capable multi-constellations receiver, including
GPS, GLONASS and GALILEO signals• Multi-sensor robust localization (GNSS + IMU + laser
+ odometry)
NOVEL GNSS CYBER-SECURITY MODULE• Robust and secure service provision based on cyber-
attacks protection
NOVEL GIS-BASED YARD TRANSPORT LOGISTICSPLANNING AND MONITORING SYSTEM• Modular GIS-based route and yard planning integrated
with Terminal Operating System• Advanced navigation solution: specialized path planners
and motion control• Collision avoidance and re-planning capabilities
INDUSTRIAL ROBOTICS
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Industrial RoboticsR&D LINES
Advanced modelling
(kinematics and dynamics) &
simulation of industrial robots
Robot Calibration
Active collission avoidance,
human tracking and intelligent
path plannig.
Environment perception
Collaborative industrial
processes, co-manipulation.
Hand-guiding, gesture & voice
recognition, and programming by
demonstration.
Co-workers for industrial
applications
OpenSource Industrial
platform.
Collaborative Environment Human-Robot Interaction
Intuitive & multi-modal
programming
Industrial Mobile
ManipulatorsROS and ROSindustrial
Modelling and Simulation
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Industrial Robotics ADVANCED INTEGRATION
Manipulación de lunas con robot industrial + visió 2D
Automatización de encajado de piezas de inyecciónpara el sector de la cosmética
• From feasibility tests to turnkey solutions
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Advanced integrations
MACHINING CELL
Simulation Software -OFFLINE programming
with virtual robot
CAD Desing
CAM Machining
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Collaborative robotics
Silentblock insertion in chassis withKUKA LBR iiwa
Lenses manipulation using anUR & vision
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ROBOTS FOR SLAB TRACKS
Development of a new slab track concept, economically and environmentally sustainable.
Especially designed to establish an innovative process, completely automatized using a robot-based system
Robotrack
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RobotrackROBOTS FOR SLAB TRACKS
It is being conducted the design and integration of a robotic system:
• a new slab track concept based able to be manipulated with robot
• design and integration of a robotic system
• Tooling design• Láser+Vision precise slab
location and installation Sensor System
• F/T control• Process control and HMI
Nombre Tipo Mín. Máx.
Desplazamientos1 URES: Desplazamientos
resultantes
0 mm
Nodo: 87
0.0116501 mm
Nodo: 11196
Pinza_model_V4.2-Análisis estático 1-Desplazamientos-Desplazamientos1
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Bots2RecROBOTS TO RE-CONTRUCTION
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ROBOTS TO RE-CONTRUCTION
Bots2Rec
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MAICCOLLABORATIVE MOBILE MANIPULATOR
The objective of the project is to develop anew concept of autonomous and collaborativemobile manipulator for in-Factory handlingtasks, able to co-manipulate objects withworkers in a production line
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MAICCOLLABORATIVE MOBILE MANIPULATOR
PERCEPTION• Work station identification• Obstacle detection• Handling pieces detection and recognition
MANIPULATION• 3D vision Precise part location• Intelligent grasping• Collision avoidance in manipulation• Cooperative manipulation and HRI
AUTONOMOUS NAVIGATION• Map creation and update based on natural landmarks• No infrastructure modification needed• Advanced navigation solution: specialized path
planners and motion control• Collision avoidance and re-planning capabilities
INDUSTRIAL SAFETY• Safe design solution ready for CE mark
https://youtu.be/GFPBAhHOjJA
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R&D FACILITIES AND COLLABORATIONS
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Our LabsROBOTICS AND AUTOMATION
Indoor arena
Safe areaOptitrack motion capture
Industrial robotics
Universal robots 5KUKA AgilusABB IBR 1200ABB IBR 6660Industrial vision systems
Mechanical and electronics
Simulation and design
Outdoors drone centre
Collaboration agreement with BCNdrone centerSegregated air space
Collaborative robotics
Universal robots 5LBR IIWA3D Vision cameras
GNSS lab
Spirent Galileo SimulatorGNSS Signal monitoringAntennas and Rx
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Col·laboracions i entitats
INDÚSTRIA ALIMENTÀRIA 4.0
INDÚSTRIA ALIMENTÀRIA 4.0
AGRIFOOD 4.0 Resum de capacitats
http://www.grape-project.eu/
47Ground Robot for Vineyard Monitoring and Protection
GRAPE concept
GRAPE addresses the market of instruments for biological control by
developing the tools required to execute vineyard monitoring and farming tasks with
(semi) autonomous Unmanned Ground Vehicles (UGVs)
• Autonomously perform vineyard scouting with UGVs. If a problem is detected, the agronomist can teleoperate the required analysis.
• Deployment of pheromone dispensers with a mobile manipulator
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Simulations
49Ground Robot for Vineyard Monitoring and Protection
Robot setup
Novatel OEMStarreceiver
Xsens IMU
2D Horizontal laser
2D Vertical laser
3D Laser Velodyne
ZED stereo camera
3 X color cameras
50Ground Robot for Vineyard Monitoring and Protection
2D Mapping
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3D Mapping with Vertical Laser (Push-broom)
52Ground Robot for Vineyard Monitoring and Protection
Octomap representation
53Ground Robot for Vineyard Monitoring and Protection
3D Mapping with Velodyne
https://github.com/laboshinl/loam_velodyne
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3D Mapping with Photogrametry
agROBOfood
Building a network of digital innovation hubs for robotics in agri food
Janneke de Kramer, Wageningen University & Research, coordinator agROBOfood
Examples of EU projects to support
• the digital transformation of Europe
• companies and famers in agri-food, robotics and ICT
Examples of EU projects running and expected
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agROBOfood – start and growing the network
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agROBOfood
DIH network
started with
41 DIH members
(+ CCs)
agROBOfood
consortium
consists of
39 partners
(DIH/CC/SMEs)
Advanced Manufacturing Systems
Research and development of Advanced Manufacturing Systems (AMS)
addressed to innovative technologies, flexible manufacturing, high efficiency
and high productivity for solving industrial problems.
Photonics Ultrasounds MicrowavesAdditive
Manufacturing
New Machines
& Technologies
Optical Sensors
Microfluidic Devices
Laser Sources
Microwave Induced Plasma
Microwave Deposition
Modelling
Microwave Sintering of Metals
Incremental Sheet Forming
Industrial Applications
Engineering & Designing
Fused Filament Fabrication
Selective Laser Sintering
Digital Light Processing
Ultrasonic Deposition
Modelling
Ultrasonic Moulding
Ultrasonic Deposition
Modelling
Ultrasonic Injection
Development of optical sensors and microfluidic devices with photonic interrogation
are an innovative technology with high potential applications. These devices are compact,
allow high resolution and low cost detection. Moreover, can be implemented to the real
time detection.
Photonics
Optical sensorMicrofluidic by optical
interrogation Ice-water sensor
Photonics (PHO)
Hybrid Technologies
Eurecat and AMS has knowledge and expertise to combine together different
technologies (innovative and traditional). Several applications are under
development.
Ultrasounds MicrowavesAdditive
Manufacturing
New Machines
& Technologies
DT-FOF-12-2019. Handling systems for flexible materials (RIA)
https://www.animalia.no/no/kjott--egg/automeate--norwegian-food-automation-cluster/aktuelt/forsker-pa-framtidens-slakterier/
EMBOT-ITs
Utilització de tecnologia
avançada i gestió de Big
Data per a optimitzar
assecadors d’embotitscurats
Finançament. Departament d’Agricultura –projectes pilot de Grups Operatius
https://ruralcat.gencat.cat/alimencat/suport-agroindustria/-/noticia/2001_INSTANCE_TntPt540Qmdu/innovacc-
impulsa-22-projectes-empresarials-i-un-concurs-per-a-estudiants
Ignasi Papell Garcia
Responsable de negoci Alimentació
618.414.270
EURECAT
Avinguda Universitat 1
43204 – Reus (Spain)