A Visual Intelligence Scheme for Hard Drive Disassembly in Automated Recycling Routines

Erenus Yildiz, Tobias Brinker, Erwan Renaudo, Jakob Hollenstein, Simon Haller-Seeber, Justus Piater, Florentin Wörgötter

2020

Abstract

As the state-of-the-art deep learning models are taking the leap to generalize and leverage automation, they are becoming useful in real-world tasks such as disassembly of devices by robotic manipulation. We address the problem of analyzing the visual scenes on industrial-grade tasks, for example, automated robotic recycling of a computer hard drive with small components and little space for manipulation. We implement a supervised learning architecture combining deep neural networks and standard pointcloud processing for detecting and recognizing hard drives parts, screws, and gaps. We evaluate the architecture on a custom hard drive dataset and reach an accuracy higher than 75% in every component used in our pipeline. Additionally, we show that the pipeline can generalize on damaged hard drives. Our approach combining several specialized modules can provide a robust description of a device usable for manipulation by a robotic system. To our knowledge, we are the pioneers to offer a complete scheme to address the entire disassembly process of the chosen device. To facilitate the pursuit of this issue of global concern, we provide a taxonomy for the target device to be used in automated disassembly scenarios and publish our collected dataset and code.

Paper Citation

in Harvard Style

Yildiz E., Brinker T., Renaudo E., Hollenstein J., Haller-Seeber S., Piater J. and Wörgötter F. (2020). A Visual Intelligence Scheme for Hard Drive Disassembly in Automated Recycling Routines.In Proceedings of the International Conference on Robotics, Computer Vision and Intelligent Systems - Volume 1: ROBOVIS, ISBN 978-989-758-479-4, pages 17-27. DOI: 10.5220/0010016000170027

in Bibtex Style

@conference{robovis20,
author={Erenus Yildiz and Tobias Brinker and Erwan Renaudo and Jakob Hollenstein and Simon Haller-Seeber and Justus Piater and Florentin Wörgötter},
title={A Visual Intelligence Scheme for Hard Drive Disassembly in Automated Recycling Routines},
booktitle={Proceedings of the International Conference on Robotics, Computer Vision and Intelligent Systems - Volume 1: ROBOVIS,},
year={2020},
pages={17-27},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010016000170027},
isbn={978-989-758-479-4},
}

in EndNote Style

TY - CONF

JO - Proceedings of the International Conference on Robotics, Computer Vision and Intelligent Systems - Volume 1: ROBOVIS,
TI - A Visual Intelligence Scheme for Hard Drive Disassembly in Automated Recycling Routines
SN - 978-989-758-479-4
AU - Yildiz E.
AU - Brinker T.
AU - Renaudo E.
AU - Hollenstein J.
AU - Haller-Seeber S.
AU - Piater J.
AU - Wörgötter F.
PY - 2020
SP - 17
EP - 27
DO - 10.5220/0010016000170027