Desenvolvimento de sistema de visão para auxílio de robôs autônomos na manipulação de pallets

Abstract

With the growing evolution of automation and cyber-physical systems, mainly arising with Industry 4.0, companies have been implementing these concepts in their industries in order to improve production, whether for financial, safety or even for employees’ quality of work life. One of the technologies that is used to transport materials is AGV, which stands for Automatically Guided Vehicles, or even AMR, which stands for Autonomous Mobile Robot. There are several different mechanical models that can take this form of autonomous work, one of which is the pallet truck, whose main work characteristic is the handling of pallets. However, for the use of this technology in warehouses, a series of infrastructure improvements are necessary to ensure the correct functioning of the autonomous vehicle, which despite its characteristic being the operation independent of human intervention, this premise is only confirmed with the use of technologies that support the device só that it can make its own decisions when faced with a situation outside the one that it was programmed. Thus, the development of this work seeks, through the use of computer vision technology, to support pallet handling vehicles when a pallet is out of position. The performance verification of the support means developed here will be carried out by coupling this system to an AGV prototype and simulating a situation where the vehicle must be able to make the decision to correct its position to be aligned with the pallet and be able to carry out the appropriate and safe maneuver.