A

Project Stage-I Report On

AUTOMATION OF INDUSTRIAL ARTICLES WITH USING BIN PICKING

BY LAB VIEW
In the partial fulfillment for Bachelor of Engineering -
Mechanical Engineering

Submitted By
Mr. Rahul M. Shelar
Mr. Parvez Z. Sayyad
Mr. Ankush S. Patil
Mr. Pranav S. Watile

Under The Guidance Of: Sir Nilesh Patil

Prof. Guide Name: Nilesh Patil

Department of Mechanical Engineering

IMPERIAL COLLEGE OF ENGINEERING
AND RESEARCH
A.Y.2021-2022
 JSPM'S
IMPERIAL COLLEGE OF ENGINEERING
AND RESEARCH WAGHOLI, PUNE-412207
DEPARTMENT OF MECHANICAL ENGINEERING

CERTIFICATE
This is to certify that Mr. Rahul Shelar, Mr. Parvez Sayyad, Mr.
Ankush Patil & Mr. Pranav Watile has successfully completed
the Project Stage-I entitled “Automation of industrial
articles with using bin piking by lab view ” under my
supervision, in the partial fulfillment of Bachelor of
Engineering – Mechanical Engineering, by Savitribai Phule
Pune University.

Date: / /2021
Place: Wagholi

Prof. Nilesh Patil External Examiner

Prof. N. S. Biradar Dr. R. S. Deshpande

Head of Department Principal
IMPERIAL COLLEGE OF ENGINEERING IMPERIAL COLLEGE OF ENGINEERING
AND RESEARCH AND RESEARCH

Seal
 ACKNOWLEDGEMENT

It’s my great pleasure to present project report entitled “ Automation of industrial articles
with using bin piking by lab view ”. This projects an outcome of various efforts by us in
Collating and identifying the sources of information and knowledge. I use this occasion to thank
my guide with whose guidance this effort would not have borne fruits. I find no words to express
my gratitude to Prof. Nilesh Patil. Who not only advised and guided me during the report
writing but also answered all my queries concerning collection of data, proper structuring of the
report, and its improvement. I would also thankful of my friends which gave me a proper guide
line about my subject. I am virtually indebted to the Head of the Department Prof. N. S. Biradar
from Imperial College of Engineering and Research who have bestowed all their blessings in the
form of guidance which was the leading light to complete this seminar report. I would also like
to thank our principal, Dr. R. S. Deshpande who provided me valuable support in completion of
seminar by providing me different facilities in college and by giving permission for working out
of college.

Mr. Rahul M. Shelar [BD 28]

Mr. Parvez Z. Sayyad [BD 19]
Mr. Ankush S. Patil [BC 43]
Mr. Pranav S. Watile [BD 69]

B.E (Mechanical), Department Of Mechanical Engineering Page 3

 ABSTRACT

Bin Picking usually involves numerous component variants that require effective
sorting of components. Here, picking activities are often performed manually, but the
prospect of robotics for bin picking has potential to improve quality while reducing
man-hour consumption. Robots can make use of vision systems to learn how to perform
their tasks. This project aims to understand the differences in two learning approaches,
supervised learning, and unsupervised learning. The proposed work investigates the
benefits of combining a vision system and deep learning policies with a collaborative
robot for sorting purpose in industries. Finally, the project analyzes the component and
then sort the components with high performance accurately.
 INDEX

1. Introduction

2. Literature Review

3. Methodology

4. Advantages

5. Limitations

6. Applications

7. Reference
 INTRODUCTION

Bin Picking usually involves. numerous component variants that require effective
sorting of components. Picking and sorting activities are often performed in warehouses
or at logistics workspaces, e.g. as kit preparation, in order to arrange materials for the
assembly processes, and high levels of quality, flexibility, and productivity is essential.

Picking processes involve extensive material handling work, but it also involves
considerable engineering work with keeping the process up to date with changes in the
product structure and SKU (Stock-Keeping Unit) assortment. The engineering work is
critical for normal operation of the picking process, and it is important that the engineers
are equipped with effective tools to this end.

Using robotics for picking and sorting activities has the potential to improve
quality and productivity. While robots tend to perform effectively in deterministic
settings. where all critical factors are known before task execution, the application of
robots to picking activities usually implies dealing with materials arranged as received
from suppliers, in form of picking and sorting of randomly organized materials inside
bins - often referred to as bin picking. Bin picking is a challenge in most robotic
applications, owing to the precise information needed about the items position and
orientation for the robot to effectively perform its task.
Vision systems referring to a scanner for taking 2D or 3D images of objects, and a
software for analyzing the images to extract useful information can be an effective
support for robotic bin picking applications, whereby robots can learn to recognize
components in order to perform their tasks. Robots can learn in accordance with two
principal approaches: supervised and unsupervised. With the former, at person shows
the robot what to recognize, for example by means of indicating the shapes of items to
pick on a set of images, a process hereon forth denoted as annotation. With the latter, the
learning takes place automatically by means of a deep learning model which is capable
of distinguishing objects and object features, ideally without the support of a person.

While introducing robotics for picking activities is appealing from a standpoint of

improved quality and productivity, it is crucial to consider the work involved with
setting up and maintaining normal operation of the process. With robot-supported
applications, reconfigurability of tasks and resources are key from both an operational
and from an organizational standpoint. Supervised and unsupervised learning presents
two different approaches that may affect both operational performance and the
engineering work required to maintain the process, which, in turn, play key roles for
reconfigurability of robot tasks and collaboration between humans and robots.
 LITERATURE REVIEW

Emde, S., Boysen, N.:- Mixed-model assembly usually involves numerous component
variants that require effective materials supply. Here, picking activities are often
performed manually, but the prospect of robotics for bin picking has potential to
improve quality while reducing man-hour consumption. Robots can make use of vision
systems to learn how to perform their tasks. This aims to understand the differences in
two learning approaches, supervised learning, and unsupervised learning. An experiment
containing engineering preparation time (EPT) and recognition quality (RQ) is
performed. The findings show an improved RQ but longer EPT with a supervised
compared to an unsupervised approach.

Fager, P:- Vision systems – referring to a scanner for taking 2D or 3D images of

objects, and a software for analyzing the images to extract useful information – can be
an effective support for robotic bin picking applications, whereby robots can learn to
recognize components in order to perform their tasks. Robots can learn in accordance
with two principal approaches: supervised and unsupervised. With the former, a person
shows the robot what to recognize, for example by means of indicating the shapes of
items to pick on a set of images, a process hereon forth denoted as annotation.

Simonetto, M:- compare the engineering preparation time and the recognition accuracy
of two learning approaches: supervised and unsupervised. The two approaches were
compered in terms of five different categories and criteria with respect to the ability of
the vision system to provide a robot manipulator with reliable information in order to
carry out bin picking of components in an application for kit preparation.

M. Alonso:- This paper presents the details of a collaborative robot cell assembled with
off-the-shelf components designed for random bin-picking and robotic assembly
applications. The proposed work investigates the benefits of combining an advanced
RGB-D vision system and deep learning policies with a collaborative robot for the
assembly of a mobile phone. An optimized version of YOLO is used to detect the
arbitrarily placed components of the mobile phone on the working space. In order to
overcome the challenges of grasping the various components of the mobile phone, a
multi-gripper switching strategy is implemented using suction and multiple fingertips.
Finally, the preliminary experiments performed with the proposed robot cell
demonstrate that the increased learning capabilities of the robot achieve high
performance in identifying the respective components of the mobile phone, grasping
them accurately and performing the final assembly successfully.
 METHODOLOGY

An experiment was designed to compare the engineering preparation time and

the recognition accuracy. The robot works with respect to the ability of the vision
system to provide a robot manipulator with reliable information in order to carry out bin
picking of components in an application for sorting. The Robotic arm picks the
component and analyze it with the vision camera and detects the errors and dimensions
of the component and sort them according to their category.

What is meant by bin picking?

There are three processes in Bin Picking

Pick A robotic arm is used to pick the component using

pneumatic system.
Review The picked component is reviewed by vision camera. It
detects the dimensions and errors in the component.
Drop once the component is reviewed it is categorised for further
activity.

We started working on project with some literature review, need or to gather all
information related with this project. Find the type, design and the system used on the
development of machine, also including the differences for each stage in the market. All
the information was collected from internet, journal, reference book and people. We
learnt that there are Robots in the markets which can sort things manually and needed a
professional worker. So, we decided to make a Bin picking robot which can detect the
components and sort them using a programming software.

The main purpose of the robot is to classify the components and then transfer them to
their respective bins. So, there is a camera fitted on the main grabbing am, which grabs
the component using pneumatic system and the camera analyses the component and
shows on the screen, which allows the robot to understand the component and sort it. So,
the robot works in 3 DOF which allows the robotic arms to move in their maximum

possible directions to pick and drop the component.

This Bin picking Robot allows to increase the production capacity with almost no
errors. It will reduce the human efforts and will only require an observer to check if the
robotic is sorting properly of not which can be done by a low skilled worker. It can be
used in Food industries and other similar industries. We are using a programming
software to input all the command to the robot. The software also uses the camera on the
robot arm and does the calculations according to the software commands. The software
we use is LabVIEW which allows to control all the robotic movements.

Minimum required specs for working of software is as follow:

8GB Ram
200 GB Storage
i3 Processor
 ADVANTAGES

 Mass production
 Higher quality
 Increased efficiency
 Improved working environment
 Increased profitability
 Reduce longer working hour
 No skilled labour required
 Less cycle time

LIMITATIONS

 Programming is Difficult
 It is slow working but very precise

APPLICATION

 Used in several industrial supplication such as food industry, mechanical industry

and many more

 Welding, quality inspection, welding & material handling, bin picking application
 REFERENCES

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D. Chrysostomou, A dual-arm collaborative robot system for the smart factories of the
future, Procedia Manufacturing 38 (2019) 333–340 (2019). URL
https://doi.org/10.1016/j.promfg.2020.01.043

[3] S. T. Mortensen, D. Chrysostomou, O. Madsen, A novel framework for virtual

recommissioning in reconfigurable manufacturing systems, in: 2017 22nd IEEE Int.
Conf. on Emerging Technologies and Factory Automation (ETFA), IEEE, 2017, pp. 1–4
(2017). URL https://doi.org/10.1109/ETFA.2017.8247744

[4] R. E. Andersen, E. B. Hansen, D. Cerny, S. Madsen, B. Pulendralingam, S. Bøgh, D.

Chrysostomou, Integration of a skill-based collaborative mobile robot in a smart cyber-
physical environment, Procedia Manufacturing 11 (2017) 114–123 (2017). URL
https://doi.org/10.1016/j.promfg.2017.07.209

[5] M. Alonso, A. Izaguirre, M. Grana, ˜ Current research trends in robot grasping and
bin picking, in: The 13th Int. Conf. on Soft Computing Models in Industrial and
Environmental Applications, Springer, 2018, pp. 367–376 (2018).