Automated Object Sorting System with Real-Time Image Processing and Robotic Gripper Mechanism Control

Abstract

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.