İnsan - endüstriyel mobil robot etkileşiminde güvenlik önlemlerinin boyutlandırılması için nesne tespit modeli geliştirme

Tarık Aslan; Mustafa Yağımlı

doi:10.17341/gazimmfd.1306981

Research Article

İnsan - endüstriyel mobil robot etkileşiminde güvenlik önlemlerinin boyutlandırılması için nesne tespit modeli geliştirme

Year 2024, Volume: 39 Issue: 4, 2197 - 2208, 20.05.2024

Tarık Aslan Mustafa Yağımlı

https://doi.org/10.17341/gazimmfd.1306981

Abstract

İnsan-robot etkileşiminde, standartlaşan temel güvenlik önlemleri; güvenlik dereceli izlenen durdurma, elle yönlendirme, hız/mesafe izleme ve güç/kuvvet sınırlaması olmak üzere, dört ana teknik ile tanımlanmaktadır. Bu teknik önlemler genellikle yakınlık sensörlerinden elde edilen veriler doğrultusunda uygulanmakta ve diğer kriterler dikkate alınmamaktadır. Çalışanların koruyucu ekipman kullanımı ya da yetki seviyeleri gibi yeni kriterler tespit edilebilirse güvenlik önlemleri derecelendirilebilir. Koşullardan bağımsız standart bir şekilde ve sürekli uygulanan aynı düzey güvenlik önlemleri yaklaşımı yerine verimi de dikkate alan yeni bir yaklaşım kullanılabilir ve mobil robotların operasyonel verimliliğini artırabilir. Bu çalışmada, mobil robotların, YOLO nesne algılama algoritmaları kullanılarak aynı çalışma ortamında bulunan çalışanların koruyucu ekipman kullanımların ve yetkilerinin tespit edebileceği, güvenlik önlemi belirlemede bu tespiti kriter olarak kullanabileceği ve böylece verimi de dikkate alacak şekilde güvenlik önlemlerini belirleyebileceği ileri sürülmektedir. Eğitim sonucunda 44 FPS’lik bir hız çıkarımı ve %98’lik mAP doğruluk değeri elde edilmiştir.

Keywords

Derin öğrenme, güvenlik önlemi derecelendirme, kriter tespiti, mobil robot

Supporting Institution

İstanbul Gedik Üniversitesi Bilimsel Araştırma Projeleri Koordinasyon Birimi

Project Number

GDK202207-09

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