Scara-Classify Objects on Dynamic Conveyor

The main task of the equipment is as follows:

• Atmega328: will control the conveyor by PID, read data encoder to gripping the moving objects. Send the encoder pulse data to the computer.
• Computer: is used to collect data from the camera, process images, receive data from Atmega328 and send data to the controller.
• Controller of Robot: receive data from computer, control robot to gripping objects.

Figure 1: Control system structure

Figure 2: Model of control system

Figure 3: Software control interface

Sort by color and shape:

Objects, numbers and colors:

Working conditions:

• Maximum conveyor speed is 5cm/s.
• The object is randomly selected and dropped regardless of the order and direction of rotation.
• Light reference is not changed.

Output result as following:

• Total object: 50
• Missing object: 0
• The number of objects is misclassified: 0
• Number of objects in the wrong direction: 0
• Total time to execute: < 2 min.

Classification based on the characteristics of the object:

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