Robotski zadatak raščišćavanja hrpe za automatsko rukovanje paketima nakon automatskog sortiranja

master's thesis

• Title (english): Robot-based pile decomposition task for automated parcel handling after automatic sorting
• Author: Vladimir Slošić
• Mentor: Zdenko Kovačić (mentor)
• Committee member: Zdenko Kovačić (predsjednik povjerenstva)
• Committee member: Stjepan Bogdan (član povjerenstva)
• Committee member: Tamara Petrović (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2020-02-25, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Korištenjem robotskog vida potrebno je razraditi strategiju raščišćivanja hrpe paketa. Adresa, barkod te ostale informacije zapisane na naljepnici paketa su često teško čitljive zbog savijenih ili neravnih površine paketa i samih naljepnica što otežava automatsko očitavanje naljepnica, a time i klasificiranje i sortiranje paketa, što stvara potrebu za asistenciju radnika. Unutar simulacijskog okruženja je simulirana hrpa paketa na kojima se nalaze identifikacijski kodovi u savršenim uvjetima koji su stvarnome svijetu jako rijetki. Ovaj rad prikazuje izradu i implementaciju algoritama za transformaciju skena trodimenzionalne površine u dvodimenzionalni prikaz. Učinkovitost predloženih algoritama je uspoređena s već postojećim te testirana na primjerima.

Abstract (english)

A task of the thesis is to develop a strategy to clear a pile of parcels using robotic vision. The address, barcode and other information that is on the shipping label of the parcel are often hardly readable. Due to banded or crumpled surfaces of the parcels and labels, automatic reading of the label and classification and sorting of the parcel is not a trivial task anymore, therefore assistance of the worker is needed. Using the simulator, the pile of parcels with identifying codes is simulated and reading of the labels is tested under perfect conditions that are rare in the real world. This thesis presents the development and implementation of algorithms for transforming scans of a three-dimensional surface into a two-dimensional surface. The performance of the proposed algorithms is compared with the existing ones and tested on samples.

• Keywords: robotika; raščišćavanje hrpe; sortiranje paketa; 3D skener; automatizacija; optimizacija
• Keywords (english): robotics; pile decomposition; package sorting; 3D scanner; automatisation; optimisation
• Language: croatian
• URN:NBN: urn:nbn:hr:168:685808
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-01-13 10:43:47