ATEX & hazardous areas
gripping positions. Since the point clouds captured by the 3D camera are high- resolution and dense, it is possible to generate very precise gripping positions for each object in the scene. Based on this, our “hypothesis ranking algorithm” determines the next object to pick up, based on the robot’s current position,” explains Dr Naresh Marturi, senior research scientist at the National Centre for Nuclear Robotics. (The principle is similar to that of the skill game Mikado, where one stick must be taken away at a time without moving any other sticks). The determined path guidance enables the robot to navigate smoothly and evenly along a desired path to the target gripping position. Like a navigation system, the system supports the operator in guiding the robot arm to the safe grasp, if necessary, also past other unknown and dangerous objects. The system calculates a safe corridor for this and helps the operator not to leave the corridor through haptic feedback. The system maps the operator’s natural hand movements exactly and reliably in real time to the corresponding movements of the robot. The operator thus always retains manual control and is able to take over in the event of component failure. The operator can simply turnoff AI and move back to human intelligence by turning off the “force feedback mode”. In accordance with the principle of shared control between man and machine, the system thus remains under control at all times - essential in an environment with the highest level of danger.
THE CAMERA “For all our autonomous grasp planning, remote control and visual object tracking tasks, we use Ensenso N35 model 3D cameras with blue LEDs (465nm) mounted on the end effector of the robots along with
other tools,” says Marturi. Most of the systems from the Extreme Robotic Lab have so far been equipped with a single 3D camera. “However, recently to speed-up the process of 3D model building we have upgraded our systems to use additional three scene mounted Ensenso 3D cameras along with the one on-board the robot.” The Ensenso N series is predestined for this task. It was specially designed for use in harsh environmental conditions. Thanks to its compact design, the N series is equally suitable for the space-saving stationary or mobile use on a robot arm for the 3D detection of moving and static objects. Even in difficult lighting conditions, the integrated projector projects a high-contrast texture onto the object to be imaged by means of a pattern mask with a random dot pattern, thus supplementing the structures that are not or only weakly present on its surface. The aluminium housing of the N30 models ensures optimal heat dissipation of the
electronic components and thus stable light output even under extreme ambient conditions. This ensures the consistently high quality and robustness of the 3D data. Even in difficult lighting conditions, the integrated projector projects a high-contrast texture onto the object to be imaged by means of a pattern mask with a random dot pattern, thus supplementing the structures that are not or only weakly present on its surface. Cameras of the Ensenso N camera family are easy to set up and operate via the Ensenso SDK. It offers GPU-based image processing for even faster 3D data processing and enables the output of a single 3D point cloud of all cameras used in multi-camera operation, which is required in this case, as well as the live composition of the 3D point clouds from multiple viewing directions. For the assistance system, the researchers have developed their own software in C++ to process the 3D point clouds captured by the cameras. “Our software uses the Ensenso SDK
Extreme Robotics Lab’s 3D vision-guided semi-autonomous robotic cutting of metallic object in radioactive environment. Instrumentation Monthly February 2023
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