A robotic arm to sort different types of ball bearings from the knowledge discovered by size measurements of image regions and RFID support

Publications

Share / Export Citation / Email / Print / Text size:

International Journal on Smart Sensing and Intelligent Systems

Professor Subhas Chandra Mukhopadhyay

Exeley Inc. (New York)

Subject: Computational Science & Engineering, Engineering, Electrical & Electronic

GET ALERTS

eISSN: 1178-5608

DESCRIPTION

6
Reader(s)
6
Visit(s)
0
Comment(s)
0
Share(s)

VOLUME 7 , ISSUE 2 (June 2014) > List of articles

A robotic arm to sort different types of ball bearings from the knowledge discovered by size measurements of image regions and RFID support

Nicola Ivan Giannoccaro * / Luigi Spedicato / Aimè Lay-Ekuakille

Keywords : Planning of trajectories, Image processing, Pattern recognition, RFID technology.

Citation Information : International Journal on Smart Sensing and Intelligent Systems. Volume 7, Issue 2, Pages 674-700, DOI: https://doi.org/10.21307/ijssis-2017-676

License : (CC BY-NC-ND 4.0)

Received Date : 15-March-2014 / Accepted: 05-May-2014 / Published Online: 27-December-2017

ARTICLE

ABSTRACT

In this paper, the authors present a mechatronics system consisting of an intelligent robotic arm able to sort ball bearings having the same colour and shape drawing advantage from vision. After acquiring and processing an image from a camera, two almost concentric and circular regions are extracted from the image and their areas are calculated as number of pixels belonging to them. The center of these regions provides the point that the end-effector has to reach in order to grip a cylindrical transport structure where the bearing is placed. Since the size measurements of image regions are very repeatable and the depth between the camera and the object is known, the bearing is recognized from the area. For the sake of automatically appreciating the effectiveness of the proposed approach, a RFID (Radio-Frequency Identification) tag is attached to the transport structure that supports the object. The tag contains stored information on the specific bearing for verifying the success in recognition making use of a reader device. Several experimental tests confirmed that the suggested strategy may be applied to track spare parts in assembly lines.

Content not available PDF Share

FIGURES & TABLES

REFERENCES

[1] Hu, M.K.: 'Visual Pattern Recognition by Moment Invariants' Transactions on Information Theory, 1962, 8, (2), pp. 179-187.
[2] Leng, J., Huang, Z.: ‘On analysis of circle moments and texture features for cartridge images recognition' Expert Systems with Applications, 2012, 39, pp. 2092-2101.
[3] Wang Yan, Z.X.: 'Leaf Image Recognition Technology Research Based on Hu Invariant Moments' Intelligent Control System and Its Application, 2011, 6, pp. 70-72.
[4] Flusser, J.: 'On the independence of rotation moment invariants' Pattern Recognition, 2000, 33, pp. 1405-1410.
[5] Mercimek, M., Gulez, K., Mumcu, T.V.: 'Real object recognition using moment invariants', Sadhna, 2005, 30, (6), pp. 765-775.
[6] Flusser, J., Suk, T.: 'Rotation moment invariants for recognition of symmetric objects' IEEE Transactions on Image processing, 2006, 15, (2), pp. 3784-3790.
[7] Rizon, M., Yazid, H., Saad, P., Shakaff, A.Y.M., Saad, A.R., Mamat, M.R., Yaacob, S., Desa, H., Karthigayan, M.: 'Object detection using geometric invariant moment' American Journal of Applied Sciences, 2006, 2, (6), pp. 1876-1878.
[8] Flusser, J., Suk, T., Zitova, B.: 'Moments and moment invariants in pattern recognition' (John Wiley & Sons, Ltd., UK, 2009).
[9] Mindru, F., Tuytelaars, T., Gool, L.V., Moons, T.: 'Moment invariants for recognition under changing viewpoints and illumination', Computer Vision and Image Understanding, 2004, 94, pp. 3-27.
[10] Chonga, C., Raveendranb, P., Mukundan, R.: 'Translation invariants of Zernike moments' Pattern Recognition, 2003, 36, pp. 1765-1773.
[11] Belkasim, S., Hassan, E., Obeidi, T.: 'Explicit invariance of Cartesian Zernike moments' Pattern Recognition Letters, 2007, 28, pp. 1969-1980.
[12] Chen, B.J., Shu, H.Z., Zhang, H., Chen, G., Toumoulin, C., Dillenseger, J.L., Luo, L.M.: 'Quaternion Zernike moments and their invariants for color image analysis and object recognition' Signal Processing, 2012, 92, 308-318.
[13] Chonga, C., Raveendranb, P., Mukundan, R.: 'Translation and scale invariants of Legendre moments' Pattern Recognition, 2004, 37, pp. 119-129.
[14] Hosny, K.M.: 'Refined translation and scale Legendre moment invariants' Pattern Recognition Letters, 2010, 31, pp. 533-538.
[15] Mukundan, R.: 'Radial Tchebichef invariants for pattern recognition', Proc. of IEEE TENCON Conference, Melbourne, Australia, November 2005, pp. 2098-2103.
[16] Xiao, B., Maa, J.F., Cui, J.: 'Radial Tchebichef moment invariants for image recognition' Journal of Visual Communication and Image Representation, 2012, 23, pp. 381-386.
[17] Assaad, M., Yohannes, I., Bermak, A., Ginhac, D., Meriaudeau F. ‘ Design and characterization of automated color system’ International Journal on Smart Sensing and Intelligent Systems, March 2014, Vol. 7 n.1 pp 1-12.
[18] Szabò, R., Lie, I.: 'Automated Colored Object Sorting Application for Robotic Arms' Proc. of 10th International Symposium Electronics and Telecommunications (ISETC), Timisoara, Romania, November 2012, pp. 95-98.
[19] Nkomo, M., Collier, M.: 'A Color-Sorting SCARA Robotic Arm' Proc. of 2nd International Conference on Consumer Electronics, Communications and Networks (CECNet), Yichang, China, April 2012, pp. 763-768.
[20] 'Lynxmotion robotic arms', http://www.lynxmotion.com.
[21] Giannoccaro, N.I., Spedicato, L., Lay-Ekuakille, A.: 'A smart robotic arm for automatic sorting of objects with different tags' Proc. of the 4th Imeko TC19 Symposium on Environmental Instrumentation and Measurements Protecting Environment, Climate Changes and Pollution Control, Lecce, Italy, June 2013, pp. 95-98.
[22] Siciliano, B., Sciavicco, L., Villani, L., Oriolo, G.: 'Robotics – Modelling, Planning and Control' (Springer-Verlag Advanced Textbooks in Control and Signal Processing Series, London, U.K., 2009).
[23] 'Mathworks, R2012b', http://www.mathworks.it.
[24] 'SKF', http://www.skf.com/group/splash/index.html.
[25] Syamsuddin I., F. ‘State of the art on secure and low cost RFID authentication protocols for RFID based vehicle license plate’, International Journal on Smart Sensing and Intelligent Systems, December 2013, Vol.6 n.5 pp 1949-1969.

EXTRA FILES

COMMENTS