A real-time automated sorting of robotic vision system based on the interactive design approach

摘要

This research paper presents the proposes a robotic vision system to distinguish the color for the object and his position coordinate, and then sort the object (product) on the right branch conveyor belt according to color in real-time. The system was built based on the HVS mode algorithm for sorting product based on color. Furthermore, the system can be distinguished the object shape and then find his position to picking the object shape and putting on the right branch conveyor belt. The assumptions for the object shape were based on the shape properties, centroid algorithm, and border extraction. Both the object detection and the contour coordinate extraction methods are implemented using a series of image processing techniques. The main goal is met by sorting the object depends on the color feature from a gathering of objects. The robot movement (open and close griper, move up and down the arm, and move to the left and right) controlled by a microcontroller that controls the movement to the right branch conveyor belt. When the color or the object is detected, the microcontroller will initiate the actions of the robot. It was found that the accuracy of results based on the approach that developed in this paper which is 92% for shape sorting and 97% for colors sorting objects.