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

1 2

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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ICARUSUNMANNED SEARCH AND RESCUE

http://www.fp7-icarus.eu/

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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

48Ground Robot for Vineyard Monitoring and Protection

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

51Ground Robot for Vineyard Monitoring and Protection

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

54Ground Robot for Vineyard Monitoring and Protection

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

ignasi.papell@eurecat.org

EURECAT

Avinguda Universitat 1

43204 – Reus (Spain)