Design and Implementation of a Computer Vision System for Robotic Disassembly of Electric Vehicle Battery Pack

The increasing demands for greener transport solutions results in a foreseeable increase of Electric Vehicles (EV). The development of EVs puts strong demands on the development of LithiumIon Batteries but also into its dismantling process, which today is made manually and therefore is time-consumin...

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Detalhes bibliográficos
Autor: Martí Bigorra, Eduard
Formato: tesis de maestría
Fecha de publicación:2020
País:España
Recursos:Universitat Politècnica de Catalunya (UPC)
Repositorio:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglés
OAI Identifier:oai:upcommons.upc.edu:2117/333087
Acesso em linha:https://hdl.handle.net/2117/333087
Access Level:acceso abierto
Palavra-chave:Information display systems
Electric automobiles
Automòbils elèctrics
Visualització (Informàtica)
Àrees temàtiques de la UPC::Enginyeria mecànica
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spelling Design and Implementation of a Computer Vision System for Robotic Disassembly of Electric Vehicle Battery PackMartí Bigorra, EduardInformation display systemsElectric automobilesAutomòbils elèctricsVisualització (Informàtica)Àrees temàtiques de la UPC::Enginyeria mecànicaThe increasing demands for greener transport solutions results in a foreseeable increase of Electric Vehicles (EV). The development of EVs puts strong demands on the development of LithiumIon Batteries but also into its dismantling process, which today is made manually and therefore is time-consuming. LIBRES, Lithium-Ion Battery Recycling, is a project owned by Norsk Hydro with the goal of finding fully-automated solutions for complete LIB batteries dismantling. The work presented in this thesis is a part of the LIBRES project and its aim is to develop a task planner for EV LIB battery pack dismantling to a module level through the design and implementation of a computer vision system. The designed task planner integrates the communication between the primary system elements (i.e. the robot, the 3D camera and the computer). The aim of the task planner is (1) to scan the dismantling scene, (2) to identify the different LIB components and their locations in the battery, (3) to create a dismantling order and lastly (4) to move the robot to the detected dismantling positions. The object detection algorithm "You Only Look Once" combined with the projects pose estimation part is used to find the different components in the disassembly scene and determine their position. To implement the designed task planner, a Volkswagen Hybrid LIB pack is considered. Results show that the method has a good accuracy with errors lower than 5 mm. In addition, the system is able to perform steps (1), (2), and (3) mentioned above, in an average time of 40 seconds.Universitat Politècnica de CatalunyaWunnik, Lucas Philippe vanHubert Choux, Martin MarieTyapin, Ilya20202020-07-3120202020-11-25master thesishttp://purl.org/coar/resource_type/c_bdccNAhttp://purl.org/coar/version/c_be7fb7dd8ff6fe43info:eu-repo/semantics/masterThesisapplication/pdfhttps://hdl.handle.net/2117/333087reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2http://creativecommons.org/licenses/by-nc-nd/3.0/es/info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/3330872026-05-27T15:37:01Z
dc.title.none.fl_str_mv Design and Implementation of a Computer Vision System for Robotic Disassembly of Electric Vehicle Battery Pack
title Design and Implementation of a Computer Vision System for Robotic Disassembly of Electric Vehicle Battery Pack
spellingShingle Design and Implementation of a Computer Vision System for Robotic Disassembly of Electric Vehicle Battery Pack
Martí Bigorra, Eduard
Information display systems
Electric automobiles
Automòbils elèctrics
Visualització (Informàtica)
Àrees temàtiques de la UPC::Enginyeria mecànica
title_short Design and Implementation of a Computer Vision System for Robotic Disassembly of Electric Vehicle Battery Pack
title_full Design and Implementation of a Computer Vision System for Robotic Disassembly of Electric Vehicle Battery Pack
title_fullStr Design and Implementation of a Computer Vision System for Robotic Disassembly of Electric Vehicle Battery Pack
title_full_unstemmed Design and Implementation of a Computer Vision System for Robotic Disassembly of Electric Vehicle Battery Pack
title_sort Design and Implementation of a Computer Vision System for Robotic Disassembly of Electric Vehicle Battery Pack
dc.creator.none.fl_str_mv Martí Bigorra, Eduard
author Martí Bigorra, Eduard
author_facet Martí Bigorra, Eduard
author_role author
dc.contributor.none.fl_str_mv Wunnik, Lucas Philippe van
Hubert Choux, Martin Marie
Tyapin, Ilya
dc.subject.none.fl_str_mv Information display systems
Electric automobiles
Automòbils elèctrics
Visualització (Informàtica)
Àrees temàtiques de la UPC::Enginyeria mecànica
topic Information display systems
Electric automobiles
Automòbils elèctrics
Visualització (Informàtica)
Àrees temàtiques de la UPC::Enginyeria mecànica
description The increasing demands for greener transport solutions results in a foreseeable increase of Electric Vehicles (EV). The development of EVs puts strong demands on the development of LithiumIon Batteries but also into its dismantling process, which today is made manually and therefore is time-consuming. LIBRES, Lithium-Ion Battery Recycling, is a project owned by Norsk Hydro with the goal of finding fully-automated solutions for complete LIB batteries dismantling. The work presented in this thesis is a part of the LIBRES project and its aim is to develop a task planner for EV LIB battery pack dismantling to a module level through the design and implementation of a computer vision system. The designed task planner integrates the communication between the primary system elements (i.e. the robot, the 3D camera and the computer). The aim of the task planner is (1) to scan the dismantling scene, (2) to identify the different LIB components and their locations in the battery, (3) to create a dismantling order and lastly (4) to move the robot to the detected dismantling positions. The object detection algorithm "You Only Look Once" combined with the projects pose estimation part is used to find the different components in the disassembly scene and determine their position. To implement the designed task planner, a Volkswagen Hybrid LIB pack is considered. Results show that the method has a good accuracy with errors lower than 5 mm. In addition, the system is able to perform steps (1), (2), and (3) mentioned above, in an average time of 40 seconds.
publishDate 2020
dc.date.none.fl_str_mv 2020
2020-07-31
2020
2020-11-25
dc.type.none.fl_str_mv master thesis
http://purl.org/coar/resource_type/c_bdcc
NA
http://purl.org/coar/version/c_be7fb7dd8ff6fe43
dc.type.openaire.fl_str_mv info:eu-repo/semantics/masterThesis
format masterThesis
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/333087
url https://hdl.handle.net/2117/333087
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2

http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2

http://creativecommons.org/licenses/by-nc-nd/3.0/es/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Universitat Politècnica de Catalunya
publisher.none.fl_str_mv Universitat Politècnica de Catalunya
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15.301603

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