Vision-based Object’s Shape Determination for Robot Alignment

Authors

  • Farah Adiba Azman Instrumentation and Control Engineering Research Centre, Fakulti Kejuruteraan Elektrik & Elektronik, Universiti Malaysia Pahang (UMP), 26600 Pekan, Pahang, Malaysia,
  • Mohd Razali Daud Instrumentation and Control Engineering Research Centre, Fakulti Kejuruteraan Elektrik & Elektronik, Universiti Malaysia Pahang (UMP), 26600 Pekan, Pahang, Malaysia,
  • Amir Izzani Mohamed Instrumentation and Control Engineering Research Centre, Fakulti Kejuruteraan Elektrik & Elektronik, Universiti Malaysia Pahang (UMP), 26600 Pekan, Pahang, Malaysia,
  • Addie Irawan Instrumentation and Control Engineering Research Centre, Fakulti Kejuruteraan Elektrik & Elektronik, Universiti Malaysia Pahang (UMP), 26600 Pekan, Pahang, Malaysia,
  • R. M. Taufika R. Ismail Instrumentation and Control Engineering Research Centre, Fakulti Kejuruteraan Elektrik & Elektronik, Universiti Malaysia Pahang (UMP), 26600 Pekan, Pahang, Malaysia,

Keywords:

Circle Detection, Copper Wire Spool, Image Processing, Vision-based System,

Abstract

This study provides vision-based system solutions for a peg-in-hole problem faced by a fork lift like robot used to transport copper wire spools from a rack, in which the spools are arranged side by side to a specified place. The copper wire spool (a cylindrical object on which the copper wire is wound and have a rim at each end) is held by 3 cylindrical shafts; one of the shafts is inserted through the center hole of the spool and another two shafts is held at the bottom of the spool. The aim of the development of vision-based system is to enable the robot to pick up the spool autonomously. To enable the center cylindrical shaft to be inserted nicely through the center hole of the spool, the center point of the spool must be on the center line of the camera Field of View (FOV). The problem to be solved in this study is how to determine that the center point is overlapped with the center line of the camera FOV. Firstly, a circle with the same radius of the spool’s rim was created at the center of the camera frame on screen, and then the spool’s front rim was tracked until it is overlapped with the circle on the screen image to ensure it is on the line of the camera FOV. However, the scope of this paper is limited to copper wire spool detection, and the confirmation of the front rim overlapping conditions is based on real time video processing. The proposed system uses Circular Hough Transform (CHT), binarization, morphology and edge detection of the sampled images from real-time video recording. A Logitech Webcam C270, which has an autofocus camera and HD view with lower price is used. By integrating the Logitech webcam for windows with MATLAB R2016a, all computations, programming and processing of this project are done using the MATLAB. Several experiments had been carried out and from the result obtained, the system is able to track the spool and determine the correct position of the robot to pick up the spool.

Downloads

Published

2018-01-18

How to Cite

Azman, F. A., Daud, M. R., Mohamed, A. I., Irawan, A., & R. Ismail, R. M. T. (2018). Vision-based Object’s Shape Determination for Robot Alignment. Journal of Telecommunication, Electronic and Computer Engineering (JTEC), 10(1-2), 111–115. Retrieved from https://jtec.utem.edu.my/jtec/article/view/3330

Issue

Vol. 10 No. 1-2: Moving Towards Industry 4.0 I

Section

Articles

License

TRANSFER OF COPYRIGHT AGREEMENT

The manuscript is herewith submitted for publication in the Journal of Telecommunication, Electronic and Computer Engineering (JTEC). It has not been published before, and it is not under consideration for publication in any other journals. It contains no material that is scandalous, obscene, libelous or otherwise contrary to law. When the manuscript is accepted for publication, I, as the author, hereby agree to transfer to JTEC, all rights including those pertaining to electronic forms and transmissions, under existing copyright laws, except for the following, which the author(s) specifically retain(s):

  1. All proprietary right other than copyright, such as patent rights
  2. The right to make further copies of all or part of the published article for my use in classroom teaching
  3. The right to reuse all or part of this manuscript in a compilation of my own works or in a textbook of which I am the author; and
  4. The right to make copies of the published work for internal distribution within the institution that employs me

I agree that copies made under these circumstances will continue to carry the copyright notice that appears in the original published work. I agree to inform my co-authors, if any, of the above terms. I certify that I have obtained written permission for the use of text, tables, and/or illustrations from any copyrighted source(s), and I agree to supply such written permission(s) to JTEC upon request.