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Assistant Professor, Department of Computer Engineering, Fr. C. Rodrigues Institute of Technology, Vashi, India
2,3,4
Department of Computer Engineering, Fr. C. Rodrigues Institute of Technology, Vashi, India
Email: 1vijibalaji2001@gmail.com, rhnptt@gmail.com, gayatri6792@gmail.com, punit_lohani@yahoo.com
Abstract In recent increasing need of automation, machine vision is supposed to be pioneer future technology. Industrial
automation and robotics are at high demand in the industry as both of them directly affect the growth of industry.
Autonomous robots with sophisticated sensors are used in such industries with accurate and prcised work output.
Utilization of sensors has made it possible to extend capabilities of industrial robots. Vision sensors are used for providing
visual information to assist robot controllers. The robot controller uses the extracted object information and the simulation
program to control the robot arm for approaching, grasping and relocating the object. One picture is worth more than 10,000
words. Image processing has become the most common and powerful emerging technology. Machine vision is supposed to
be pioneer future technology. Machine vision gives flexibility to identify and manipulate any surrounding object. Ensuring
reliability and reducing per unit cost are two fundamental objectives of process automation in manufacturing industry. The
focus is on the technical details of pick and place robot. For a pick and place application accurate positioning is essential in
assuring product quality and also fast and stable operating speed enables high product rate to be achieved. Also colour is the
most common feature to distinguish between objects, sorting, recognizing and tracking.
Keywords Automation, machine vision, vision sensors, robot controllers, simulation program, Image Processing
I.
INTRODUCTION
II.
ANALYSIS
2.
Cartesian method
This method is used to convert color image to
grayscale image using Median filter to remove
noise from the image and then convert grayscale
image to binary image.
The binary image is then processed to find object.
In binary image, object is of black color and
background is of white color.
As we need to find centroid of object, binary image is
then, processed with image negative algorithm. Now,
just by adding the pixel co-ordinate contained by
object and dividing by number of pixel contained by
object, we can calculate the centroid of an object
Where, A = Area contained by object surface. xi =
Pixel x-axis co-ordinate yi = Pixel y-axis co-ordinate.
f(xi,yi) = Gray level value of image pixel.
Object Identification
RoboCIM software
The industrial robot used in this project is an
elbow Lab-Volt robot Model 5250[Fig 1] with five
rotational axes with servo actuators: base, shoulder,
elbow, wrist, and gripper. The controller has 16
inputs and outputs TTL channels which can be used
to integrate the controller with external subsystems.
The elbow Lab-Volt robot Model 5250[3] robot can
be programmed by using either a hand-held terminal
(teach pendant) or a RoboCIM simulation software.
The RoboCIM simulation software involves all
controlled commands that help the robot to perform
its tasks. It allows creating a program, performing a
test in simulation mode, and then performing a test in
the control mode with actual robot. In robotic
environments there are two options to position the
camera with respect to the robot. The camera can be
either placed at a fixed position and remain stationary
while the robot moves; or it can be mounted on the
robot arm that moves with it.
C.
1.
3.
Objrec algorithm
Objrec algorithm[2] is developed in MATLAB[5]
to recognize the color and send command to the
controller using serial communication. The controller,
using the incoming signal controls the movements of
the robot. The robot consist of two DC motors one for
the base and another for the gripper.
Fig.4 Ideal Position of the ball
Object Detection Using Image Processing For An Industrial Robot
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1.
CONCLUSION
2.
Using Optocoupler
After identifying the object and its location,
control signal is generated and transfer to control
system to move pick and place manipulator toward
the object. Based on calibration, centre of object
found interms of pixel coordinate, and this value
further convert into actual measurement of unit like
centimeter. As actual coordinates of Cartesian
manipulator[2] is in terms of centimeter. The control
system is made of Programmable logic controller that
is more flexible for industrial applications. There are
two ways to interface microcomputer and PLC
By using port of computer.
SCADA SYSTEM (OPC & HMI SYSTEM)
ACKNOWLEDGMENT
We would like to thank our principal, Dr. Rollin
Fernandes for giving the Third Year students the
time and resources for completion of our Seminar
Report. We would like to thank Prof. H. K. Kaura,
HOD of Computer Department and Mrs. M.
Kiruthika, co-ordinator of Computer Department for
their support and guidance. We express our sincere
gratitude to our project guide Mrs.Vijayalaxmi. For
her help and support. Without her guidance it would
not have been possible to complete our project in
adherence to university guidelines. We would also
like to thank her for providing us with her valuable
inputs which enabled us to complete the project in a
hassle free manner.
APPLICATONS
REFERENCES
[1]
[2]
[5]
[6]
[7]
[8]