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Development of Synthetic Cameras for Virtual Commissioning

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Development of Synthetic Cameras for Virtual Commissioning DEVELOPMENT OF SYNTHETHIC CAMERAS FOR VIRTUAL COMMISSIONING Bachelor Degree Project in Automation Engineer 2020 DEVELOPMENT OF SYNTHETIC CAMERAS FOR VIRTUAL COMMISSIONING Bachelor Degree Project in Automation Engineering Bachelor Level 30 ECTS Spring term 2020 Francisco Vico Arjona Daniel Pérez Torregrosa Company supervisor: Mikel Ayani University supervisor: Wei Wang Examiner: Stefan Ericson 1 DEVELOPMENT OF SYNTHETHIC CAMERAS FOR VIRTUAL COMMISSIONING Bachelor Degree Project in Automation Engineer 2020 Abstract Nowadays, virtual commissioning has become an incredibly useful technology which has raised its importance hugely in the latest years. Creating virtual automated systems, as similar to reality as possible, to test their behaviour has become into a great tool for avoiding waste of time and cost in the real commissioning stage of any manufacturing system. Currently, lots of virtual automated systems are controlled by different vision tools, however, these tools are not integrated in most of emulation platforms, so it precludes testing the performance of numerous virtual systems. This thesis intends to give a solution to this limitation that nowadays exists for virtual commissioning. The main goal is the creation of a synthetic camera that allows to obtain different types of images inside any virtual automated system in the same way it would have been obtained in a real system. Subsequently, a virtual demonstrator of a robotic cell controlled by computer vision is developed to show the immense opportunities that synthetic camera can open for testing vision systems. 2 DEVELOPMENT OF SYNTHETIC CAMERAS FOR VIRTUAL COMMISSIONING Bachelor Degree Project in Automation Engineering 2020 Certify of Authenticity This thesis has been submitted by Francisco Vico Arjona and Daniel Pérez Torregrosa to the University of Skövde as a requirement for the degree of Bachelor of Science in Production Engineering. The undersigned certifies that all the material in this thesis that is not my own has been properly acknowledged using accepted referencing practices and, further, that the thesis includes no material for which I have previously received academic credit. Francisco Vico Arjona Daniel Pérez Torregrosa Skövde 2020-05-18 School of Engineering Science 3 DEVELOPMENT OF SYNTHETIC CAMERAS FOR VIRTUAL COMMISSIONING Bachelor Degree Project in Automation Engineering 2020 Acknowledgements In these brief lines we would like to extend our most sincere gratitude to all the people who has helped us during the development of this project Firstly, we would like to thank to all the team behind Simumatik AB for the great opportunity to work with them in this project. Specially, we wish to express our sincere thanks to our industrial supervisor Mikel Ayani for his constant and tireless assistance during all this project. Secondly, we would like to thank the University of Skövde, for providing us all the facilities for the research. Furthermore, our gratitude goes to our university supervisor Wei Wang for all the support regarding to this report itself. Finally, we cannot fail to express our gratitude to our family and friend, for their unconditional support through all these years of continuous efforts for developing ourselves as professionals. 4 DEVELOPMENT OF SYNTHETIC CAMERAS FOR VIRTUAL COMMISSIONING Bachelor Degree Project in Automation Engineering 2020 Table of Contents 1. INTRODUCTION ............................................................................................................ 12 1.1 Background ................................................................................................................ 12 1.2 Problem statement ..................................................................................................... 12 1.3 Objectives .................................................................................................................. 13 1.4 Delimitations ............................................................................................................. 13 1.5 Overview ................................................................................................................... 13 2. SUSTAINABLE DEVELOPMENT ................................................................................ 14 2.1 Environmental Sustainability .................................................................................... 14 2.2 Economic Sustainability ............................................................................................ 15 2.3 Social Sustainability .................................................................................................. 15 3. FRAME OF REFERENCE .............................................................................................. 16 3.1 Virtual Commissioning.............................................................................................. 16 3.2 Emulation and simulation .......................................................................................... 16 3.2.1 Emulation ........................................................................................................... 17 3.2.2 Simulation .......................................................................................................... 17 3.2.3 Differences between emulation and simulation ................................................. 17 3.3 Graphics engine ......................................................................................................... 18 3.4 Application Programming Interface (API) ................................................................ 18 3.4.1 OpenGL .............................................................................................................. 19 3.4.2 DirectX ............................................................................................................... 19 3.4.3 Vulkan ................................................................................................................ 19 3.4.4 Other alternatives ............................................................................................... 20 3.5 Machine Vision.......................................................................................................... 20 3.5.1 Benefits ............................................................................................................... 20 3.5.2 Equipment .......................................................................................................... 20 3.6 Computer Vision........................................................................................................ 21 3.6.1 Applications of computer vision in manufacturing industry .............................. 21 3.6.2 Computer vision tools ........................................................................................ 23 3.7 Cameras ..................................................................................................................... 24 3.7.1 Optical system .................................................................................................... 24 3.7.2 Digital camera .................................................................................................... 26 3.7.3 Synthetic cameras ............................................................................................... 27 5 DEVELOPMENT OF SYNTHETIC CAMERAS FOR VIRTUAL COMMISSIONING Bachelor Degree Project in Automation Engineering 2020 3.8 3D Sensors ................................................................................................................. 27 3.8.1 Stereoscopic cameras ......................................................................................... 27 3.8.2 Refocusing techniques ........................................................................................ 27 3.8.3 Time of Flight cameras (TOF) ........................................................................... 28 3.8.4 Structured Light .................................................................................................. 28 3.8.5 Light Detection And Ranging (LIDAR) ............................................................ 28 3.8.6 RGBD Cameras .................................................................................................. 28 4. LITERATURE REVIEW ................................................................................................. 30 4.1 Application of Virtual Commissioning in manufacturing industry ........................... 30 4.2 Generation of synthetic images ................................................................................. 31 4.3 Obtention of depth map of a 3D scene ...................................................................... 31 4.4 Applications of Depth Sensing .................................................................................. 33 4.4.1 Augmented and Virtual Reality (AR/VR) .......................................................... 33 4.4.2 Robotics .............................................................................................................. 33 4.4.3 Facial recognition ............................................................................................... 33 4.4.4 Gesture and proximity detection ........................................................................ 34 5. METHOD ......................................................................................................................... 35 6. DESIGN AND CREATION IMPLEMENTATION .......................................................
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