Automated Object Sorting System with Real-Time Image Processing and Robotic Gripper Mechanism Control
DOI:
https://doi.org/10.38032/jea.2023.03.003Keywords:
Image Processing, Arduino UNO, Microcontroller, Object Sorting, Robotic Gripper, PythonAbstract
This work represents an industrial sorting system where image processing is accompanied using a pick-and-place robotic gripper. The sorting of objects is done based on their shape and color. Here the color and shape of different objects are identified using image processing. For this, a webcam is used to capture images of the object in real-time and then process them via a digital computer. Python programming language is used for image processing in this work. After successfully identifying the color and shape of an object, the object is picked and placed at the desired position using the robotic gripper. Controlling the gripper mechanism is also executed using the Python programming language. It is controlled using the Arduino Uno microcontroller and a few DC servo motors. The gripper can move from 0° to 180°. The objects are brought in front of the camera using a belt conveyor system. After the complete fabrication and assembly, 4 objects of different shapes and colors are used to sort objects at 4 different angles. The objects are picked from 90° and is sorted in either 0°, 45°, 135°, or 180° position. This research work not only gives information about robotics but also can help industries sort complex objects automatically without any human interaction.
References
Gonzalez, R.C. and Woods, R.E. (2018) Digital Image Processing. Uttar Pradesh, India: Pearson.
Groover, M.P. et al. (1986a) Industrial Robotics: Technology, programming and applications. New York: McGraw-Hill.
Siciliano, B., Sciavicco, L. and Villani, L. (2009) Robotics modelling, planning and Control. New York: Springer. DOI: https://doi.org/10.1007/978-1-84628-642-1
Pratt, W.K. (2007) Digital Image Processing: PIKS scientific inside. Hoboken, NJ: Wiley-Interscience. DOI: https://doi.org/10.1002/0470097434
Robotics: Modelling, planning and control (2009a). London: Springer.
CORKE, P. (2023) Robotics, vision and Control: Fundamental Algorithms in MATLAB. S.l.: SPRINGER. DOI: https://doi.org/10.1007/978-3-031-07262-8
CRAIG, J.J. (2005) Introduction to robotics: Mechanics and control. Upper Saddle River: Pearson Prentice Hall.
Joy, A., 2014. Object sorting robotic arm based on colour sensing. Int. J. Adv. Res. Electr, 3(3), pp.7741-7746.
Nicolaus, K., Hooper, J., Wood, R. and Ham, C., 2016, October. Development of an autonomous ball-picking robot. In 2016 International Conference on Collaboration Technologies and Systems (CTS) (pp. 373-378). IEEE. DOI: https://doi.org/10.1109/CTS.2016.0073
Jia, Y., Yang, G. and Saniie, J., 2017, May. Real-time color-based sorting robotic arm system. In 2017 IEEE International Conference on Electro Information Technology (EIT) (pp. 354-358). IEEE. DOI: https://doi.org/10.1109/EIT.2017.8053385
Shah, R. and Pandey, A.B., 2018. Concept for automated sorting robotic arm. Procedia Manufacturing, 20, pp.400-405. DOI: https://doi.org/10.1016/j.promfg.2018.02.058
Sampreeth, A., Harsha, A. K., Rao, A., Desai, K. V., Rohith K., Praveena K. S., 2018. Object Sorting Robot Using Image Processing, International Journal of Engineering Research & Technology, 6(13), pp.1-4.
Kale, V.R. and Kulkarni, V.A., 2013. Object sorting system using robotic arm. International Journal of Advanced Research in Electrical, Electronics and Instrumentation Engineering, 2(7), pp.3400-3407.
Amin, U., Ahmad, G., Liaqat, N., Ahmed, M. and Zahoor, S., 2014. Detection & Distinction of Colors using Color Sorting Robotic Arm in a Pick & Place Mechanism. International Journal of Science and Research, 3(6), pp.1164-1168.
Kunhimohammed, C.K., Saifudeen, K.M., Sahna, S., Gokul, M.S. and Abdulla, S.U., 2015. Automatic color sorting machine using TCS230 color sensor and PIC microcontroller, International Journal of Research and Innovations in Science and Technology, 2(2), pp.33-38.
Bhaskar, P. S., Dofe, S. S., Tripahi, S. S. and Banode, H. R., 2016. Colour Sorting System with Robotic Arm, International Journal for Innovative Research in Science & Technology, 2(10), pp.267-272.
Deshmukh, A., Nagane, M. and Awatade, V., 2016. Design & Development of Automatic Conveyor Controlling System for Sorting of Component on Color basis. Red, 630, p.780.
Shirgave, S., Salunkhe, A., Shirgave, K. and Upadhye, S.Y., 2017. Color sorting robot. International Journal of Advanced Research in Computer and Communication Engineering, 6(3), pp.2278-1021. DOI: https://doi.org/10.17148/IJARCCE.2017.6392
Suryawanshi, S., Sonone, S., Patil, P. and Parbhane, P., 2017. Color Sorting Robotic Arm. International Research Journal of Engineering and Technology, 4(10), pp.1011-1013.
Patel, H., Joy, R., Macwan, S. and Modi, H., 2018. IOT color based object sorting machine. International Journal of Applied Engineering Research, 13(10), pp.7383-7387.
Jakkan, D.A., Sudhakar, C.B., Vilas, J.S. and Aslam, K.U., 2019. Color based product sorting machine using IoT. Journal of Embedded Systems and Processing, 4(3), pp.25-29.
Patil, P. B., Patil, S. S. and Harugade, M. L., 2019. Review on Colored Object Sorting System Using Arduino UNO. International Research Journal of Engineering and Technology, 6(05), pp.6181-6184.
Sireesha, T., Raghuram, C. H., Surya, K. V., and Venkat, T., 2021. Automated Sorting System Based on Color and Thickness of Waste Management. International Research Journal of Engineering and Technology, 8(2), pp. 229-232,.
Ghosh, A., Mukherjee, D., Das, D., Chakraborty, M., Chandra, S., Mitra, S., Saha, N., and Saha, I., 2019. Colour based Product Organization Tool using Arduino, International Journal for Research in Applied Science & Engineering Technology, 7(5), pp.1895-1898. DOI: https://doi.org/10.22214/ijraset.2019.5581
Kamboj, D.S. and Diwan, A., 2019. Development of Automatic Sorting Conveyor Belt Using PLC. International Journal of Mechanical Engineering and Technology, 10(8).
Shen, L.J. and Hassan, I., 2015. Design and development of colour sorting robot. Journal of Engineering Science and Technology, 10, pp.71-81.
Zulfiqar, R., Mehdi, B., Ifthikar, R., Khan, T., Zia, R. and Saud, N., 2019, January. PLC based automated object sorting system. In 2019 4th International Electrical Engineering Conference (IEEC 2019) (pp. 1-7).
Nuva, T.J., Ahmed, M.I. and Mahmud, S.S., 2022. Design & Fabrication of Automatic Color & Weight-Based Sorting System on Conveyor Belt. Journal of Integrated and Advanced Engineering, 2(2), pp.147-157. DOI: https://doi.org/10.51662/jiae.v2i2.87
Downloads
Additional Files
Published
How to Cite
Issue
Section
License
Copyright (c) 2023 Safqut Sanwar, Md. Imteaz Ahmed
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.
Most read articles by the same author(s)
- Kazi Safayet Md. Shabbir, Md. Imteaz Ahmed, Marzan Alam, Detection of Glaucoma using ORB (Oriented FAST and Rotated BRIEF) Feature Extraction , Journal of Engineering Advancements: Vol. 2 No. 03 (2021)