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Design and Development of Object Recognition and Sorting Robot for MaterialHandling in Packaging and Logistic Industries

CH P!"R '

LI!"R !%R" S%R(")

Robotic arm is a type of mechanical arm, usually programmable, with similar functions toa human arm. Types of robot arms depend on their range, working capability and reach.+artesian robot is used for pick and place work, plotting and handling arc welding. tsrange is mostly dimensional. +ylindrical robot is also used for the above mentionedworking categories, but since it operates in a cylindrical co"ordinate system, it can beused to do the operations more precisely and accurately, furthermore it also has a wider reachable range. -pherical robot works on the polar coordinate system. R% / robot armis mainly used for pick and place work. t has to parallel rotary joints to provideflexibility in a plane. Then for a three dimensional reach it is usually combined with other

mechanisms. Articulated robot has three rotary joints. $arallel robots are used in themobile platform handling cockpit flight simulators. t is a robot whose arms haveconcurrent prism shaped or rotary joints. Anthropomorphic robot this resembles a humanhand, with independent fingers and thumbs.

And gripper is an end"of"arm device often used in material handling applications.0enerally, the gripper is a device that is capable of generating enough grip force to retainan object while the robot performs a task on the part such a pick"and"place operation. Anygripper must be capable of performing the task of opening and closing with a prescribedamount of force over many years of daily operation The most commonly used grippersare finger grippers. These grippers generally have two opposing fingers or three fingerslike a lathe chuck. The fingers are driven together such that once gripped any part iscentered in the gripper. This gives some flexibility to the location of components at the

pick"up point. Two finger grippers can be further split into parallel motion or angular motion fingers. Angular jaw gripper opens and close around a central pivot point, movingin an arcing motion.

"*IS!I$+ S)S!"M

n earlier days, industrial control was purely by human beings which required lot of efforts. To overcome the drawbacks of this system there came the concept of automationin industries. There are two types of existing system. They are 1uman effort heavyvehicles and machineries and the second type is automated machineries but its method of operation uses a set of inductive, capacitive and optical sensors do differentiate objectcolor. 2hen this system is used, there is a need of huge effort of human and its having along time. And existing automated machineries based on sensors and half automated likesystems

DIS D( $! +"S O, "*IS!I$+ S)S!"M

!($T )* (+(, Atria nstitute of Technology Page 2


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3. 4anual effort must require to operate the system. t's take a long time to complete the tasks

5. ts require high energy and fuel consumption.

6. 4aintenance is difficult in multiple levels.

. -ensor based automated system may not show a stability.

PROPOS"D S)S!"M

The $roposed system is a smart approach for a real time inspection and selection of

objects in continuous flow. mage processing in today's world grabs massive attentions asit leads to possibilities of broaden application in many fields of high technology. The realchallenge is how to improve existing sorting system in the modular processing systemwhich consists of four integrated stations of identification, processing, selection andsorting with a new image processing feature. (xisting sorting method uses a set of inductive, capacitive and optical sensors do differentiate object color. This paper presentsa mechatronics color sorting system solution with the application of image processing.

mage processing procedure senses the objects in an image captured in real"time by awebcam and then identifies color and information out of it. This information is processed

by image processing for pick"and"place mechanism. The $roject deals with an automatedmaterial handling system. t aims in classifying the colored objects by color, si#e, whichare coming on the conveyor by picking and placing the objects in its respective pre"

programmed place. Thereby eliminating the monotonous work done by human, achievingaccuracy and speed in the work. The project involves sensors that senses the object'scolor, si#e and sends the signal to the microcontroller. The microcontroller sends signal tocircuit which drives the various motors of the robotic arm to grip the object and place it inthe specified location. %ased upon the detection, the robotic arm moves to the specifiedlocation, releases the object and comes back to the original position.



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D"("LOPM"$! O, !H" PRO-"C!.

The basic theme of this project is object flowing on conveyor are sensed, selected andsorted depending on their color and si#e. *or this, camera is used as input sensor, camerais overhead camera which will be mounted on $+, and will be connected to $+ by 7-%.The camera will take a snap and it will feed to $+ for color processing. n $+ 4AT8A%is used for processing on color, depending on this signal will be given to microcontroller Renesas R89:. The microcontroller in turn will control the servomotors by $24 signals.These servomotors will control the movement of robotic arm, by controlling their angular movement. Thus the robotic arm will be fully controlled by servomotors. The gripper of robotic arm will pick the object place it depending on its si#e. This is full automatic

process no manual support is needed. The microcontroller used here is with the support of Arduino kit. The Arduino is good platform for robotics application. t is the software andhardware also, using both the above system is developed. Thus the real time, continuousobject sorting can be done.



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CH P!"R /

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A webcam was mounted on the Robot which was connected to the 7-% port of the $+.The specifications of the camera are as follows;

+4)- camera with plug and play 7-% connection ideo data format; 6 bit R0%

5/ fps max

Resolution ?6/ x 6:/ pixels

*ocus range; 5 cm to infinity

+lip type mounting to clamp on any surface

)nce the colour is detected, the microcontroller will initiate the following actions on therobot.

0ripper open



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0ripper close

8eft Right

CH P!"R 0

1LOC2 DI +R M D"SCRIP!IO$

!ransmitter Section.

Receiver Section.


Po3ersuppl4

M *'/'5I+1""

#'vdopter

PC 3it6

M !L 1

7ebcam


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The image of the product on the conveyer belt is captured by the camera and sent tosystem with 4at8ab. The system with 4at8ab performs the image processing andrecogni#es the object based on color. The information extracted by the image processing


Microcontroller

Renesas RL89

5ig1ee

Motor Driver

L':/D

Pick and Place

RM

IR sensor tostop

Conve4or

Ma;'/'

Motor Driver

L':/D

Conve4or 1elt


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is converted into binary data and transmitted to the robot section using @ig%ee. Thetransmitted data is received by the @ig%ee receiver and processed using themicroprocessor. The R sensor used will stop the conveyer belt when the object to besorted reaches the robot arm. Then the suitable command is given to the robot bymicroprocessor to pick and sort the object. !ifferent colored objects are picked and

placed in different location e.g. red objects to right and green objects to left. This processis continuous and the following steps are reported to sort the object in industries.

Met6odolog4 or Implementation

!($T )* (+(, Atria nstitute of Technology Page 8%lock !iagramAnalysis


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CH P!"R <

H RD7 R" D"SCRIP!IO$

Pin. RL89?R'


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• R)4; 3? %, RA4; %, data flash memory; %• 1igh speed on"chip oscillator; 6B3?B3 B:B6B3 41# can be selected• )n"chip debug function

•

$orts Total 3/ ports with ? nputBoutput $ins

o $ort / / to 3 Total pins in port /

o $ort 3 / to 9 Total : pins in port 3

o $ort / to 5 Total 6 pins in port

o $ort 5 / to 3 Total pins in port 5

o $ort 6 / Total 3 pins in port 6

o $ort / to 3 Total pins in port

o $ort ? / to 3 Total pins in port ?

o $ort 3 / to Total 5 pins in port 3

o $ort 35 9 Total 3 pins in port 35

o $ort 36 9 Total 3 pins in port 36

• 7ART; 5 channel• + $rotocol• 3?"bit timer; : channels• 2atchdog timer; 3 channel• A!+; : +hannel 3/ bit



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5.1.3 Timer Array Unit:



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The timer array unit has fourBeight 3?"bit timers.

(ach 3?"bit timer is called a channel and can be used as an independent timer. n addition,two or more DchannelsE can be used to create a high"accuracy timer.

*igure .5; RenesasC5/$in; Time Array 7nit

t is possible to use the 3?"bit timer of channels 3 and 5 as two :"bit timers


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@cA ";ternal event counter

(ach timer of a unit can be used as an event counter that generates an interrupt when thenumber of the valid edges of a signal input to the timer input pin onl4A

A clock input from a timer input pin


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@gA Dela4 counter

+ounting is started at the valid edge of the signal input to the timer input pin


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@cAMultiple P7M @Pulse 7idt6 ModulationA output

%y extending the $24 function and using one master channel and two or more slavechannels, up to three types of $24 signals that have a specific period and a specifiedduty factor can be generated.


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to % R!'A Communication.

This is a start"stop synchroni#ation function using two lines; serial data transmission


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7ART/ is compatible with -F))@( mode. 2hen Rx!/ pin input is detected while inthe -T)$ mode, the -F))@( mode makes data reception that does not require the +$7

possible.


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• )n"chip debug function

• $orts Total 33 ports with : nputBoutput $ins

o

$ort / / to ? Total 9 pins in port /


o $ort / to 9 Total : pins in port


o $ort 6 / to 5 Total 6 pins in port 6

o $ort / to Total ? pins in port

o $ort ? / to 5 Total 6 pins in port ?



o $ort 35 /, 9 Total pins in port 35

o $ort 36 /, 3, ?, 9 Total 6 pins in port 36

• )n"chip power"on"reset !! M3.? to . >=; ? to ? channels

• $ower supply voltage; >!! M 3.? to . >



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*igure . ; RenesasC?6$in; 4emory -pace


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Control registers

The control registers control the program sequence, statuses and stack memory. Thecontrol registers consist of a

$rogram counter


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This flag controls the interrupt request acknowledge operations of the +$7.

2hen /, the ( flag is set to the interrupt disabled

2hen 3, the ( flag is set to the interrupt enabled


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(R

The K%ee family of @ig%eeB:/ .3 .6 R* modules is the premiere choice for )(4slooking for excellent wireless performance in a cost"effective, small form factor solution.(ach K%ee module comes in either a regular or long"range DN$R)E versionO. All K%eemodules are pin"for"pin compatible with the exception of a few varying B) features,which provides a standard footprint for )(4s with multiple applications.


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o $rogrammable output power " /d%mP3d%m

o )peration temperature range; "6/PQ: deg +

o

)peration voltage; 3.:P5.? >olts.

o Available frequency at; .6P .6:5 01#

o !igital R--


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U 2

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+ 3 3 V

R DT D

*igure .35; @ 0%(( TRAF-+( >(R $in

Table


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3. f the module is receiving a continuous stream of R* data, the data in the serial receive buffer will not be transmitted until the module is no longer receiving R* data.

. f the module is transmitting an R* data packet, the module may need to discover thedestination address or establish a route to the destination. After transmitting the data, themodule may need to retransmit the data if an acknowledgment is not received, or if thetransmission is a broadcast. These issues could delay the processing of data in the serialreceive buffer.


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Figure 5.4: L293 Motor Driver

The 8 I5 is an integrated circuit motor driver that can be used for simultaneous, bidirectional control of two small motors. -mall means small. The 8 I5 is limited to ?//mA, but in reality can only handle much small currents unless you have done someserious heat sinking to keep the case temperature down. 7nsure about whether the 8 I5will work with your motor 1ook up the circuit and run your motor while keeping your finger on the chip. f it gets too hot to touch, you canSt use it with your motor. The 8 I5comes in a standard 3?"pin, dual"in line integrated circuit package. *or completeinformation, consult the 7nit rode 8 I5 data sheet. The pinout for the 8 I5 in the 3?"pin

package is shown below in top view. $in 3 is at the top left when the notch in the package

faces up. Fote that the names for pin functions may be slightly different than what isshown in the following diagrams. The following schematic shows how to connect the8 I5 to your motor and the $ +. (ach motor takes $ + pins. This table assumes onlyone motor is connected to the $ +. 1ere is a table describing the control pin functions.

Fote that the enable pin is always high when the motor runs so we can simply pull it highon the cct board and then it will not take up extra $ + pins.


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bron#e plates which ensures silent running. The output shaft rotates in a sintered bushing.The whole assembly is covered with a plastic ring. All the bearings are permanentlylubricated and therefore require no maintenance. The motor is screwed to the gear boxfrom inside.

*igure . ; 3 v 3// rpm !+ 0eared 4otor


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*igure .?; 8+! !isplay

A liBuid cr4stal displa4


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supply. (ach receiver converts ( A" 5

inputs to "> TT8B+4)- levels. These receivers have a typical threshold of 3.5 > and atypical hysteresis of /. >, and can accept U5/"> inputs. (ach driver convertsTT8B+4)- input levels into ( A" 5 levels.

,eatures

H 4eet or (xceed T AB( A" 5 "* and T7 Recommendation >. :

H )perate with -ingle "> $ower -upply

H )perate 7p to 3 / bitBs

H Two !rivers and Two Receivers

H U5/"> nput 8evels

H 8ow -upply +urrent . . . : mA Typical

H !esigned to be nterchangeable with 4axim 4AK 5

H (-! $rotection (xceeds V(-! N ///"> 1uman"%ody 4odel


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The 84339 series of adjustable 5"terminal positive voltage regulators is capable of supplying in excess of 3. A over a 3. > to 59> output range. They are exceptionally easyto use and require only two external resistors to set the output voltage. *urther, both lineand load regulation are better than standard fixed regulators. Also, the 84339 is packagedin standard transistor packages which are easily mounted and handled.

n addition to higher performance than fixed regulators, the 84339 series offers fulloverload protection available only in +Ss. ncluded on the chip are current limit, thermaloverload protection and safe area protection. All overload protection circuitry remainsfully functional even if the adjustment terminal is disconnected.

Formally, no capacitors are needed unless the device is situated more than ? inchesfrom the input filter capacitors in which case an input bypass is needed. An optionaloutput capacitor can be added to improve transient response. The adjustment terminal can

be bypassed to achieve very high ripple rejection ratios which are difficult to achieve withstandard 5"terminal regulators.

%esides replacing fixed regulators, the 84339 is useful in a wide variety of other applications. -ince the regulator is WWfloatingSS and sees only the input"to"outputdifferential voltage, supplies of several hundred volts can be regulated as long as themaximum input to output differential is not exceeded, i.e., avoid short"circuiting theoutput.


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Robo" arm is assembly of number of joints which can work in 3:/"degree direction thatallows the object to Xmove' in its require direction, and is commonly used in mechanicalindustry where pick and place operation are carried out. t consists of a pair of hingeslocated close together, oriented at maximum I/Y to each other, connected by a pin joint.

Fow, this project is based from ceramic industry in which the robo"arm perform itsoperation for pick and place activity very quickly. 1ere, design the mechanical structureof robo"arm. Robo"arm can work at which places where, human can't work continuouslyin ceramic industry. *or example, at *urnace division. Roboarm has its own end effectors.with the help of it, rob"arm can pick the object easily and safely. %asic design concept istaken from ceramic industry at the furnace division where, the working temperature ismore than ambient temperature.

2ith the help of robo "arm we can save the time and cost, as compare to crane operatedloading system and manual belt conveyor system, because robo"arm can place thecomponent at particular place of the part storage area. A robotic arm for +eramic industryis a type of mechanical arm, usually programmable, with similar functions to a humanarm the arm may be the sum total of the mechanism or may be part of a more complexrobot. The links of such a manipulator are connected by joints allowing either rotationalmotion (2 interfaced with micro"controller in controlling arobotic arm is a latest technique which is being implemented in this project. n medium



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designed. The results of the work, showing effective and satisfactory operation of themanipulator, are presented. The quest to move small objects quickly, efficiently, safely,and effectively has been a goal of robotics and manufacturing since the beginning of mass

production and the decreasing si#e of components of technological interest


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Figure 3.4: Night Vision Camera

The list below shows some of the features,

• +olor camera +4)-.• $ower requirement /mw.• Receiver AB> fine tuning type.• -ystem output FT-+• Transmitting *requency .601#

S4stem ReBuirements.

The program needs the following computer configuration to run;

H ntel\ $entium\ 3 01# or betterH ?4% RA4H 30% free disk spaceH 4icrosoft 2indowsH A frame grabber with video source +R, etc.=, or 7-% camera, or Fetwork camera.H A mouseH A color monitor.

7ebcamSpecifications.

Connection!4pe

7-%

%S1 !4pe 7-% ./



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%S1(ID=PID

/: I

%(C Support Jes

Microp6one Jes

Microp6one!4pe

4ono

Lens andSensor !4pe

$lastic

,ocus !4pe *ixed

OpticalResolution

True ?6/x6:/, nterpolated 3.54$

Diagonal,ield of (ie3@,O(A

?:Y

,ocal Lengt6 .5 mm

ImageCapture @0./SDA

5 / x 6/, ?6/ x 6:/, 3.54$O

ImageCapture @# .:7A

5 / x 3:/, 5?/$

(ideo

Capture @0./SDA 5 / x 6/, ?6/ x 6:/, 3/ 6 x 9?:

(ideoCapture @# .:7A

5 / x 3:/, 5?/p

,rame Rate@ma;A

5/ fps ]?6/ x 6:/

Rig6t Lig6t FBA



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(ideo "ffects@(,*A

FBA

1uttons FBA

IndicatorLig6ts @L"DA

Jes

Privac4S6ade

Fo

!ripodMountingOption

FBA

%niversalClip

djustabilit4@rangeA

93mm

Cable Lengt6 6 *eet, 3 3.I +4


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• *irst appearance of cube suite page +8 + )

• +8 + 0) option of D+reate Few $rojectE

• -elect +ontroller, give a project name and folder will be created with the samename and +8 + +R(AT(



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• -elect Dcode generatorE and +8 + D*ix settingsE

• -elect D2atchdog TimerE and make it as D7nusedE



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• -elect required peripherals

• After -electing required peripherals +8 + )F D0enerate +odeE

• *iles generated with 4ain file



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,L SH PRO+R M %SI$+ R"$"S S ,L SHPRO+R MM"R

• -elect device

• -elect emulator



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• +8 + F(KT

• -elect voltage reference D >E



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• %rowse for .hex file



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• After selecting .hex file +8 + )F D-tartE

M !L 1.!($T )* (+(, Atria nstitute of Technology Page 48


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7H) M !L 1G

4AT8A% is a modern programming language environment it has sophisticated datastructures, contains built in editing and debugging tools, and supports object"oriented

programming. 4AT8A% is an interactive system whose basic data element is an arraythat does not require dimensioning. t also has easy to use graphics commands that makethe visuali#ation of results immediately available

3. mage can be assumed as the visuali#ation of what vision senses that is captured by camera.

. mage is considered as a two dimensional function with variables that representthe spatial coordinate. t holds information about color as well as shapes.

5. n color image, R0% color model mixes those three prime color components, red,green and blue, to produce another color

6. -ince our project is a prototype ,we use primary colors red and blue to sort theobjects

Colour detection algorit6m ;

n colour"detection algorithm, the primary"colour


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PPLIC !IO$

The developed Robotic arm is able to detect the Red, %lue, 0reen colored object and place it in the desired location. The color detection capability can be increased to other

secondary colors by advanced image processing and which can sort out. There are manyapplications in this sorting system. 4ainly this finds the important application inagriculture field where it can be used to sort the different agriculture products like grains,lemons, almonds, grapes, and many more. *or human beings it becomes comber sum task to sort out the objects with high quality also the possibility of accuracy is less. n industryit can be used for sorting of various objects, tools, with high degree of accuracy andquality with an automation. %y this way the proposed project can be used. t findsapplication in enormous way in agriculture, industry.

3. n small scale and large scale industries. To sort the products based on the various parameters like diameter, material shape etc.

. +an be used in store department as A-BR-

5. n malls and small shops for sorting material

6. n medicals and wine industries to sort the bottles of various si#es

. n food industries to identify the rotten fruits.

?. $ackaging and logistic industries to sorting and handling of material for shipping

D( $! +"S

3. 1igh efficiency; the sorting speed can be very high.

. 1igh precision; the margin of error can be reduced to great extent.

5. This type of sorter can be used for various objects or vegetables of differentcolors. Also suit to select pears, orange and other fruits of this kind

6. 1igh degree of intelligence if used with $8+ control. The machine with a highdegree of intelligent, can control it.

. 0ood quality and low failure rate with long life.

?. Reliable operation and maintenance



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LIMI! !IO$S

The main advantages of the proposed approach rely on the high discriminatory capacityof the object classes and on the high degree of parallelism, capable of processing largeamounts of material on production lines. The use of modern electronic systems alsoallows high operative speed, easy calibration and flexibility


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CO$CL%SIO$

*ully functional sorter machine can be implemented by using a structure of parallel andindependent channels in order to increase the overall throughput which results with aforecasted performance. The project can work successfully. There are two main steps insensing part, objects detection and recognition. The system can successfully performhandling station task, namely pick and place mechanism with help of sensor. Thus a costeffective 4echatronics system can be designed using the simplest concepts and efficientresult can be observed. The project can work successfully and can sort the objectdepending on their color. 1ence for color sorting. s done in 4at8ab based code willinterface with a 7-% web cam on $+Blaptop which will sense objects and its colors and

according command will be sent to the microcontroller to pick and place object 2e'll primarily sense three +olors R(! 0R((F and %lue.

The conclusions drawn from results given by algorithms used for automatic colour objectcounting and sorting in prototype system design to implement automation in automatictechnique to determine colour of object, object count and sort object based on colour using image processing approach are as follows,

3. An image processing approach for object colour detection, count calculation and objectsorting has been implemented.

. mplemented system gives accurate result for purely Red, 0reen and %lue colouredobjects.

5. 2ith some software changes this system can be used for different shades of basicspecified colour.

6. !ue to use of automation in colour determination and count calculation process,manual efforts are reduced which leads to improving accuracy as well as saves money

and time.



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The developed (ye"%ot is able to detect the colour of the object and place it in the desiredlocation. The colour detection capability can be increased to blue and green along withred which can sort out wide range of objects. There is a wired communication betweenthe robot and the $+ this can be improved by creating a wireless communication. Therobot can be controlled wireless in industries with ha#ardous environment. +olour detection along with pattern recognition and -peech recognition will play a vital role inmany industries and also will increase the accuracy of the task in logistic and packagingindustry.

Robotics is a technology with a future, and it is a technology for the future. n this projectwe are introducing a robot which can pick and place objects based on the color. (arlier this was done using color sensors but we have improved the entire project by using a

serial jpeg camera which can capture and identify or recogni#e the color of the image andeventually the robot picks and places that object accordingly. %y doing so the speed andthe accuracy of the color sorting process is increased. The cost for the color sorting

process is considerably reduced. And most importantly there is overall optimi#ation in the productivity if an industry. This robot arm can perform an action which is much similar tohuman. Although there is significant progress in robotics, still its usage is limited due toless availability of resources and high cost of production. f we able to overcome theserestrictions, more benefits can be achieved from robotics. 2e can put forward a likely

profile of the future pick and place robot based on the several research activities that are

presently being performed. This project can be enhanced to recogni#e shape and si#erecognition as well. The pick and place robot will have a wide range of sensingcapabilities including vision, tactile sensing, shape and si#e, and others. This is vital toenable robots to accomplish complex tasks that require some active controlling inresponding the situation. *uture pick and place robots will be automated and able to moveunder certain navigation systems.



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1I1LO+R PH)

Z3[ Alessandro 0olfarelli, Rossano +odeluppi and 4arco Tartagni, ^ A -elf"8earning4ulti"-ensing -election $rocess; 4easuring )bjects )ne by )ne by , AR+(- N ‖8JRA- 8A% 7niversity of %ologna, +ampus of *orl_, 3"6 66"3 ? " B/9B` .//

//9 (((, ((( -(F-)R- //9 +onference.

Z [ -ahu, -., 8enka, $. umari, -. -ahu, .%. 4allick, %. ^!esign a color sensor;Application to robot handling radiation work , >ol. ?, Fo. 3/, pp. 5? " 5?:, //9,‖

ndustrial. (ngineering.

Z5[ www.google.comBmicroepsilon.comBcatcolorsensor e

Z6[ www.shortcourse.comBwww.sensors.comBopticalBimagesensors

Z [ wwwgoogle.comBwisegeek.comBwhat is optical sensors.html

Z?[ www.google.comBosa.orgBsensors

Z9[ www.pdfgenicomBcompacsort.comBsorters

Z:[ www.pdfgenicomBindiamart.comBsorting machine

ZI[ www.google.comBAT4(0A 6:AB$AB5 :B$B!ATA-1((T -744ARJ

Z3/[ www.google.comB#imbio.comBclip"base cam

Z33[ www.google.comBpdfsb.comBsmps

Z3 [ www.google.comBpdfgeni.comBvermnlstweb.nl

Z35[ www.google.comBarduino.ccBmainBsoftware

Z36[ www.google.comBeyantra.orgBhomeBproject

Z3 [ $roject on^ $ick n $lace Robot , made by %harat Vain and !inesh Rajput, under ‖

guidance of $rof. aviArya, T 4umbai, /3/.



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Z3?[ >indhya !evalla, !r. Rajesh -ingh, Amit umar 4ondal and >ivek aundal,D!esign and !evelopment of )bject Recognition and -orting Robot for 4aterial1andling in $ackaging and 8ogistic ndustriesE nternational Vournal of -cience andAdvanced Technology, >olume Fo I -eptember /3 .

Z39[ 2eilin +ai, Tao Kiong and @houping Jin, D>ision"based inematic +alibration of a6"!)* $ick"and"place RobotE, nternational +onference on 4echatronics andAutomation, I9:"3"6?95"3 9:"5, $roceedings of /3 (((.

Z3:[ Antonio V. -anche# and Vosk 4. 4artine# DRobot"arm $ick and $lace %ehaviour programming -ystem 7sing >isual $erceptionE, 7niversidad $olitinica de >alencia,-pain/"9?I "/9 /"?, $roceedings of /// (((.

Z3I[ lhan onukseven, %ilgin aftanoglu D4oving $art Recognition and Automatic $ick

and $lace 7sing an ndustrial RobotE !epartment of 4echanical (ngineering 4iddle(ast Technical 7niversity /? 53 Ankara, Turkey, /"9:/5"63 3I, $roceedings of 3II9

(((.

Z /[ 8.A. Reeves and 4. *arooq DA 4ultiprocessor $ick"and $lace )peration for T2)Robot ArmsE !ept. of (lectrical and +omputer (ngineering, Royal 4ilitary +ollege of ‟

+anada, ingston, )ntario,/"9:/5"3665"5 ,$roceedings of 3II5 (((.

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