Skip to main content

Visual Processing and Classification of items on Moving Conveyor with Pick and Place Robot using PLC

Abstract

Many industrial applications require some sort of automated visual processing and classification of items placed on moving conveyor. This paper describes the design and implementation of a robot control system on a hardware platform based on a programmable logic controllers (PLC). The controlled vision based robot is designed for high-performance pick and place applications in packaging work cell. The system includes a pick and place robot whereby a vision system is integrated in its workspace to identify work pieces with respect to their shape and color. A personal computer, operating under the windows platform, carries out all vision related processing and motion planning for the robot. Relevant motion information is communicated through the serial port of the computer to programmable logic controller (PLC), which interfaces with the sensing and actuation devices for robot control. The controlling center of this robot is PLC 7035. After sensing and recognizing the objects features, MATLAB sends results to PLC. PLC sends related orders to robot’s joints, which are made of DC and stepper motors. The robot picks the object, locates it in its respective destination, and turns back to its reference location. The validity of the developed robot is verified through experimental results.

This is a preview of subscription content, access via your institution.

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6

References

  1. IEEE Robotics and Automation Society. http://www.ieee-ras.org. Accessed 15 Sep 2010

  2. PMMI, Robotics: Usage and Trends in PLCkaging Applications. http://www.pmmi.org/files/pib/Robotics.pdf. Accessed 31 Aug 2010

  3. World Robotics 2015 Industrial Robots,://www.ifr.org/industrial-robots/statistics/

  4. Mattone, R., Divona, M., Wolf, A.: Sorting of items on a moving conveyor belt. Part 2: performance evaluation and optimization of pick-and-place operations. Robot. Comput. Integr. Manuf. 16, 81–90 (2000)

    Article  Google Scholar 

  5. Bozma, H.I., Yalcin, H.: Visual processing and classification of items on a moving conveyor: a selective perception approach. Robot. Comput. Integr. Manuf. 18, 125–133 (2002)

    Article  Google Scholar 

  6. Verstegen, P.P.H., Van Gastel, J.M.M., Spronck, J.W.: Design of a novel single camera vision system for both component and board alignment in pick and place machines. IFAC Proc. 39(16), 706–712 (2006). doi:10.3182/20060912-3-DE-2911.00123

  7. Li, Z., Lou, Y., Li, Z., Yang, G, Gao, J.: A novel two Degree-ofoFreedom translational parallel robot for pick and place operation. In: Control and Automation(ICCA), 8\(^{{\rm th}}\) IEEE International conference (2010)

  8. Pop, C., Grigorescu, S.M., Davidescu, A.: Colored object detection algorithm for visual-servoing application. In: Optimization of Electrical and Electronic Equipment, 13\(^{{\rm th}}\) International conference (2012)

  9. Chiu, Y.-C., Chen, S., Lin, J.-F.: Study of an autonomous fruit picking robot system in greenhouses. J. Eng. Agric. Environ. Food 6, 92–98 (2013)

    Article  Google Scholar 

  10. Li, W.-B., Cao, G.-Z., Gua, X.-Q., Huang, S.D.: Development of a 4-DOF SCARA robot with 3RIP or pick-and-place tasks. In: Power electronics Systems and Applications (PESA), 6\(^{{\rm th}}\) International conference (2015)

  11. Tsai, C.-Y., Wong, C.-C., Yu, C.J., Liu. C.C., Liu, T.Y.: A hybrid switched reactive-based visual servo control of 5-DOF robot manipulators for pick-and-place tasks. IEEE Syst. J. 9(1), 119–130 (2015). doi:10.1109/JSYST.2014.2358876

  12. Lin, C.-J., Shaw, J., Tsou, P.-C., Liu, C.-C.: Vision servo based Delta robot to pick and place moving parts. In: Industrial Technology(ICIT), IEEE International conerence (2016)

  13. Teodorescu, C.S., Vandenplas, S., Depraetere, B., Anthonis, J., Steinhauser, A., Swevers, J.: A fast pick and place prototype robot, design and control. In: Control Application (CCA). IEEE International conference (2016)

  14. Shaw, J., Cheng, K.Y..: Object identification and 3-D position calculation using eye-in-hand single camera for robot gripper. In: 2016 IEEE International Conference on Industrial Technology (ICIT), Taipei, 2016, pp. 1622–1625. doi:10.1109/ICIT.2016.7475004

  15. Yulin, D.: The analysis and implement of PLC- based PI control for the permanent magnet DC motor. In: 2010 Second International Conference on Communication Systems, Networks and Applications, Hong Kong, pp. 448–451 (2010)

  16. Maghfiroh, H., Wahyunggoro, O., Cahyadi, A.I., Praptodiyono, S.: PID-hybrid tuning to improve control performance in speed control f DC motor base on PLC. In: 2013 3rd International Conference on Instrumentation Control and Automation (ICA), Ungasan, pp. 233–238 (2013)

  17. Gautam, A.K., Vasu, V., Raju, U.S.N.: Human machine interface for controlling a robot using image processing. In: 12th Global Congress on Manufacturing and Management, GCMM (2014)

  18. Kelemen, M., Kelemenová, T., Virgalaa, I., Miková, L., Lipták, T.: Rapid Control Prototyping of Embedded Systems Based on Microcontroller’. Modelling of Mechanical and Mechatronic Systems MMaMS (2014)

  19. Soliman, Doaa, Thramboulidis, kleanthis, Frey, Georg: Transformation of function block diagrams to UPPAAL timed automata for the verification safety applications. Ann. Rev. Control 36(2), 338–345 (2012)

    Article  Google Scholar 

  20. Wciślik, M., Suchenia, K., Łaskawski, M.: Programming of sequential control systems using functional block diagram language. In: IFAC (International Federation of Automatic Control (2015)

  21. Lewis, R.W.: Modeling distributed control systems using IEC 61499, p. 90 (2001)

  22. Vogel-Heuser Sr., B., Obermeier, M., Braun, S., Sommer, K., Jobst, F., Schweizer, K.: Evaluation of a UML-based versus an IEC 61131-3-based software engineering approach for teaching plc programming. IEEE Trans. Educ. 56(3), 329 (2013)

    Article  Google Scholar 

  23. Sarac, V., Pesic, S.: Application of Matlab/Simulink in hybrid stepper motor modeling. Faculty of Mathematics & Natural Science – FMNS (2013)

  24. Petru, L., Mazen, G.: PWM control of a DC motor used to drive a conveyor belt. 25th DAAAM International Symposium on Intelligent Manufacturing and Automation, DAAAM (2014)

  25. Arvind, S.K., Arun, T.A., Madhukar, T.S., Deka, J.: Speed control of DC motor using PIC 16F877A microcontroller. Multidiscip. J. Res. Eng. Technol. 1(2), 223–234 ISSN:2348 – 6953, M19-1-2-7- (2014)

  26. Puskarica, M., Kukushkinb, I., Haskovic, D.: Power supply concept for mobile robots in bionic assembly system. J. Proc. Eng. 69, 861–870, ISSN:1877-7058 (2014)

  27. Sharan, R.V., Onwubolu, G.C.: Client-server control architecture for a vision-based pick-and-place robot. J. Eng. Manuf. 226, 1369–1378 (2012)

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

Authors

Corresponding author

Correspondence to Sorayya Kazemi.

Rights and permissions

Reprints and Permissions

About this article

Verify currency and authenticity via CrossMark

Cite this article

Kazemi, S., Kharrati, H. Visual Processing and Classification of items on Moving Conveyor with Pick and Place Robot using PLC. Intell Ind Syst 3, 15–21 (2017). https://doi.org/10.1007/s40903-017-0071-3

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s40903-017-0071-3

Keywords

  • Robot vision
  • Pick and place
  • PLC
  • Industrial robots