A System for Visual-Based Automated Storage Robots

摘要

Automated storage systems often rely on that the positions of the pallets are known with high precision. In this thesis, a turnable camera mounted on the robot has been used for handling the situation of approximately known pallet positions. The robot is given the approximate location of a pallet, and its objective is to locate the pallet with a precision that is high enough to be able to approach it from the correct direction and then lift it. For this, a precision of a few centimetres in each direction is needed. A system for locating the pallet from single images, based on rotational symmetry filters, has been developed, and a simple program for controlling the robot has been implemented. These could very well be extended and improved, e.g. by considering multiple images and improving the path planning. The main part of the thesis deals with the image processing part. Other parts of the project, apart from the controller, include implementation of servers controlling the camera and the frame grabber. Some tests have been made, which show fairly promising results.