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© Fraunhofer IFF, Magdeburg 2014

Fraunhofer Institute for Factory Operation and Automation IFF

Robotic Systems Business Unit Magdeburg, Germany


Robotic Systems Business Unit

Service Robots

For inspection, cleaning and maintenance

Areas of application

• Industrial infrastructures

• Pipes, culverts, canals

• Power plants, wind turbines

• …

Technologies

Kinematic systems and tool carriers

Movement systems and robotic platforms

Control systems and navigation

Cleaning and inspection technologies

Operation and teleoperation

Industrial Robots

Path planning (collision-free, time-, energy-, ...., „ergonomics“-optimized)

Manually (force-)guided robots

3D processing, robots as tool machines

Flexible handling and gripping technology

Robot-robot cooperation

...

Safe human-robot interaction

Tactile and capacitive sensors, collision / proximity detection

Multi-sensor system, workspace monitoring

Dynamic monitoring of safety zones

Studying collisions between humans and robots

Safe manipulators, modular robotics

Multimodal interaction

Voice, GUI, tactile, force-guided, haptics

Assistive Robotics

Mobile assistance robots

Software architektures and middleware

Environment perception and navigation

Cooperating robots (two-arm robots)

Stationary assistance robots

Planning and validation of HRI robot cells

Optimization of HRI robot cells according to safety standards

Manually guided robots with AR support


Service Robots for Inspection, Cleaning and Maintenance

Robots for dangerous, monotonous and unreasonable jobs


Service Robots for Inspection, Cleaning and Maintenance Inspection System for the Emscher Sewer System


Mobile sewer inspection robots Abbildung: Der Spiegel, 12.11.2012, S.145

Service Robots for Inspection, Cleaning and Maintenance Inspection System for the Emscher Sewer System


Service Robots for Inspection, Cleaning and Maintenance Inspection System for the Emscher Sewer System Innovative robotic systems for fully automatic inspection

of large-volume sewers

High-precision damage detection


Service Robots for Inspection, Cleaning and Maintenance Inspection System for the Emscher Sewer System Motivation for a software framework


Service Robots for Inspection, Cleaning and Maintenance MAINBOT – Inspection of solar thermal power plants Robotic system for inspection of vertical structures in solar thermal

power plants (receiver tower, tanks)

Access and movement through walking kinematics secured by a crane

Integration and guiding of NDT sensors

© Torresol Energy © Torresol Energy


Service Robots for Inspection, Cleaning and Maintenance ATLAS – Inspection of large plants Complex sensor system for visual inspection

Positioning of the sensor system using a robot

(e.g. cable-driven robot) Fusion of 3D data with camera pictures and overall picture

generation out of single images

Extraction of inspection characteristics


Assistance Robotics and Safe HRI Stationary and mobile robots and assistant systems Safe human-robot interaction


Assistance Robotics and Safe HRI Stationary and mobile assistance robots

LiSA – assistance robot for life science company labs

LiSA – Assistenzroboter für den Einsatz in Laboren von Life-Science Unternehmen

Mobile assistance robot „ANNIE“

Stationary assistance robots: tactile sensors for collision detection


Motivation

Relief for humans of physical strain

Flexible automation Merging of human and robot

strengths Increase in efficiency, productivity

and quality New facility concepts through

omission of separating protective barriers

Research priorities of the Fraunhofer IFF‘s Robotic Systems Business Unit

Stationary and mobile assistance robots Development of new technologies for safe

human-robot collaboration Intuitive human-robot interaction

Challenges

Demographic change Lack of skilled personnel Production in high-wage countries Cost effectivness Quality inprovement New production concepts

Human-Robot Collaboration Challenges, Motivation

LiSA – mobile assistance robot for life science company labs

Mobile assistance robot „ANNIE“

Capacitive sensors for proximity detection

Tactile sensors for collision detection


Safe Human-Robot Collaboration Types/degrees of human-robot collaboration

Shared workspace intentional contact, simultaneous movement (e.g. hand-guiding)

Shared workspace contact unintentional, but possible

Common workspace

Common workspace, but no movement contact possible, but only with stationary robot

Workspace of the robot

Workspace of the worker

Protective fence contact impossible

No protective fence contact unintentional sensory safeguarding e.g. by light barrier

Shared workspace with mobile robot intentional contact


An integrated device for visual odometry / visual localization for mobile systems in factory buildings and warehouses as well as lab and home environments: Mapping and navigation with monocular

self-localization and mapping (SLAM) Combination of natural and artificial

landmarks as reference points

Assistance Robotics and Safe HRI Visual Odometry

Data Processing Hardware

Inertial Sensors

Camera Module #1

Camera Module #2

NIR LED Array


Assistance Robotics and Safe HRI Current Priorities and Technologies

Tactile sensors on robots or machines Proximity detection (capacitive

sensors) Pressure-sensitive floor mats

with spatial resolution

Tactile and capacitive sensor systems Bionic, elephant trunk kinematics

Lightweight robotics

Safe kinematics

Collision measurement Augmented-Reality environment Planning of HRI cells

Planning, Set-up and Testing

Projection and camera based systems Online planning of safeguarded zones Dynamic safe area planning Safeguarding tools

Sensor-based Workplace Monitoring


Assistance Robotics and Safe HRI Pressure-sensitive Robot Skin

Geometrically adapted tactile sensors with shock-absorbing characteristics for safe collision detection

Collision detection and tactile interaction


Assistance Robotics and Safe HRI Hybrid Robot Skin Symbiosis of tactile sensors

and capacitive sensors for collision and proximity detection

two-stage

safety concept

collision detection

proximity detection


Use as a safety sensor

Relative measurement required: One-time recording of sensor data for the

process and setup Robot operation: continuous matching

with previously defined absolute values Static objects within the workspace are

“blinded out“ BUT: process and workspace must not

change unpredictably! Application specific risk assessment required:

Definition of endangered body parts and attainable detection distances

Limitation of robot velocity in consideration of delay distances

Safe Human-Robot Collaboration Capacitive sensors for proximity detection

Definition of detection distance

© Fraunhofer IFF

Relative measurement principle

Robot control

Safety control

Safe position

Safe sensor values

Approval

Look-Up-Table sensor valuas


Safe Human-Robot Collaboration Capacitive sensors for proximity detection (Examples)

Proximity detected Capacitive sensors integrated in gripper

Hand in sufficient distance (no detection)


Assistance Robotics and Safe HRI Tool Protection and Gripper Monitoring

Capacitive sensors for tool protection Pressure-sensitive gripper jaws

Capacitive sensors detect the approaching

of a human hand Gripper jaws with

tactile sensors enable sensitive gripping


Assistance Robotics and Safe HRI Pressure-sensitive Flooring Flooring with integrated tactile sensors for person localization and flexible

safeguarding of machines and devices

Freely definable warning and safety areas


Safe Human-Robot Collaboration Projection- and camera-based sensor system for workspace monitoring Projector and camera technology for generation

and monitoring of safe areas (patented)

Dynamic change of safe areas regarding shape, position and size

Safe areas are projected directly into the environment

Violation of safe areas by disrupting the projection beams

Hard (safety) and soft (intuitive interaction) safety


Additional functions and capabilities:

Visualization of the safe area and further fade-ins are possible (next process steps, operating elements)

2 ½ D detection of objects within the workspace for processing purposes

Use of NIR light for non-visible safe areas

Assistance Robotics and Safe HRI Projection- and camera-based sensor system for workspace monitoring (collaborative workplace)


Robot-assisted sensitive hand-guiding of heavy workpieces

Tactile sensors as enabling switch (3-stage), two-hand control device

Workpiece detection by stereo camera system

Automatic operation: Workspace monitoring by camera-based projection system

Assistance Robotics and Safe HRI Worker assistant with industrial robot Hand-guided robot/ safety/ ergonomics


Assistance Robotics and Safe HRI Conception and Realization of HRI robot cells Full consideration of HRI scenarios (simulation, cycle time optimization, …)

Realization of HRI applications and robot cells

Safety sensors, implementation of risk analyses


For future use in industrial applications and professional services: Logistics Fetch-and-carry tasks Workpiece insertion/removal Lab automation Home care

Assistance Robotics and Safe HRI Mobile Service and Assistant Robot

KUKA Lightweight Robot with 3-finger hand

Sensors (incl. light field camera)

Height adjustable torso

Mecanum wheel drive Lithium-polymer battery (~ 12h mobile operation)


Safe human-robot collaboration

Perception, interaction,

and machine intelligence

Autonomy, navigation, and

localization

Tactile/capacitive sensors Ambient sensors, and safety-space planning

Visual odometry, and place recognition Navigation strategies

Synthetic Aperture Camera

Feature Extraction

(Reduction)

View-based Identification

Geometry-based Identification &

LocalizationIterative Refinement

Large Aperture Images

Small Aperture Images

Iterative Refinement

Context dependent Object Datasets

Context dependent Image Datasets

Initialization

2½D Camera

Task Coordination

Context

Object Segmentation

Self Detection & Localization

Initialization

Multi-modal user interaction

Light field camera-based object recognition & localization

Intelligent software architecture

Assistance Robotics and Safe HRI “Annie“: research priorities


Contact Dr. techn. Norbert Elkmann Robotic Systems Business Unit Manager Phone +49 391 4090-222 Fax +49 391 4090-93-222 email [email protected]

Fraunhofer Institute for Factory Operation and Automation IFF Sandtorstrasse 22 39106 Magdeburg

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