Master Thesis - Hochschule Bonn-Rhein-Sieg

9. List of Figures Master Thesis Björn Ostermann page 123 of 126
9 List of Figures
Figure 1: Pilz SafetyEYE - an invisible fence [47] ............................................................................... 10
Figure 2: Assembly of the workspace ................................................................................................... 15
Figure 3: Camera’s view on the working space a) from the side and b) from top ................................ 16
Figure 4: Hard- and software, necessary for the approach from chapter 2.3.2...................................... 19
Figure 5: Reis RV20-16 [52] with numbered axes................................................................................ 21
Figure 6: RV30-16 kinematics – upper right arm configuration........................................................... 22
Figure 7: RV30-16 kinematics – lower left arm configuration ............................................................. 23
Figure 8: Mesa Swissranger SR-3100 [55] ........................................................................................... 25
Figure 9: Camera emitting near infrared ray (blue) and receiving reflected ray (orange)..................... 25
Figure 10: Example of a Phase Shift between two waves..................................................................... 26
Figure 11: Generating a superimposed wave by amplitude modulation ............................................... 26
Figure 12: Table containing Camera Data, taken from [55].................................................................. 27
Figure 13: Workspace in the BGIA....................................................................................................... 28
Figure 14: Robot working place with reflective balls (red circles) ....................................................... 29
Figure 15: MS Visual Studio form designer.......................................................................................... 30
Figure 16: Control hierarchy between PC and Camera......................................................................... 31
Figure 17: Control hierarchy from PC to robot – diagram created with the help of F. Som, REIS
Robotics....................................................................................................................... 32
Figure 18: Data exchange diagram........................................................................................................ 34
Figure 19: Main control window numbering in accordance with chapter 4.3 ff. .................................. 35
Figure 20: Camera control thread – part 1 Timer, intensity and distance depiction ............................. 37
Figure 21: a) Intensity Image enhanced by histogram analysis and b) Distance Image........................ 38
Figure 22: Camera control thread – part 2 Recording, storing and retrieving the distance values of the
workspace’s background ............................................................................................. 39
Figure 23: Camera control thread – part 3 Setting the offset value and showing the detected intrusions
..................................................................................................................................... 40
Figure 24: Detected intrusions with different settings .......................................................................... 42
Figure 25: Camera control thread – part 4 Aiming at the robot base, calculating the reachable space
and the approach of the robot towards dynamic intrusions ......................................... 44
Figure 26: Detected intrusion a) before targeting and b) after targeting the robot base........................ 45
Figure 27: a) Based upon the situation in the workspace (see Figure 21a) b) Image of the robot and the
reachable space c) Image of the robot and its distance to the nearest intrusion .......... 46
Figure 28: Camera control thread – part 5 Activating the image for the aiming at reference points and
aiming at those points .................................................................................................. 47
Figure 29: Image showing a) the highly reflective balls and b) the manual aiming process................. 48
Figure 30: Camera control thread – part 6 Recording, storing and retrieving the positions of markers in
the camera coordinate system...................................................................................... 48
Figure 31: Flowchart path planning control thread – part 1 loading the necessary data and checking the
current goal position .................................................................................................... 50
Figure 32: Flowchart path planning control thread – part 2 processing the environmental data (see
Figure 25) in path planning routines............................................................................ 52
Figure 33: Flowchart path planning control thread – part 3 Handling collisions and transmitting the
desired parameters ....................................................................................................... 54
Figure 34: Flowchart robot control thread Acquiring the desired settings and communicating them to
the robot’s PLC............................................................................................................ 55
Figure 35: Storing data in the Data Exchange Object ........................................................................... 57