Abstract
This paper presents the development of a bin-picking solution based on low-cost vision systems for the manipulation of automotive electrical connectors using machine learning techniques. The automotive sector has always been in a state of constant growth and change, which also implies constant challenges in the wire harnesses sector, and the emerging growth of electric cars is proof of this and represents a challenge for the industry. Traditionally, this sector is based on strong human work manufacturing and the need arises to make the digital transition, supported in the context of Industry 4.0, allowing the automation of processes and freeing operators for other activities with more added value. Depending on the car model and its feature packs, a connector can interface with a different number of wires, but the connector holes are the same. Holes not connected with wires need to be sealed, mainly to guarantee the tightness of the cable. Seals are inserted manually or, more recently, through robotic stations. Due to the huge variety of references and connector configurations, layout errors sometimes occur during seal insertion due to changed references or problems with the seal insertion machine. Consequently, faulty connectors are dumped into boxes, piling up different types of references. These connectors are not trash and need to be reused. This article proposes a bin-picking solution for classification, selection and separation, using a two-finger gripper, of these connectors for reuse in a new operation of removal and insertion of seals. Connectors are identified through a 3D vision system, consisting of an Intel RealSense camera for object depth information and the YOLOv5 algorithm for object classification. The advantage of this approach over other solutions is the ability to accurately detect and grasp small objects through a low-cost 3D camera even when the image resolution is low, benefiting from the power of machine learning algorithms.
Highlights
Robotic machine manufacturers targeting automatic assembly processes are being pushed to do more and better with less waste, urged to align towards the UN SustainableDevelopment Goal 12.5 [1]
YOLOv5 allowed us to work with different associated
YOLOv5 allowed us to work with different levels of complexity associated with neural networks
Summary
Robotic machine manufacturers targeting automatic assembly processes are being pushed to do more and better with less waste, urged to align towards the UN SustainableDevelopment Goal 12.5 (to substantially reduce waste generation through prevention, reduction, recycling and reuse, by 2030) [1]. Robotic machine manufacturers targeting automatic assembly processes are being pushed to do more and better with less waste, urged to align towards the UN Sustainable. Automatic assembly is a complex process that involves strict quality control, mostly by means of computer vision. If an assembled object is faulty, it is rejected and may end up in the trash. The work described in this paper describes an application that classifies, collects, sorts and aligns different objects for later reuse. The Electric Distribution System (EDS) has to constantly adapt to these changes in terms of concept quality and technological requirements. By the end of 2026, annual sales of battery-powered electric cars are expected to exceed 7 million and to contribute about 15% of total vehicle sales
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