HIGH SPEED VISION BASED

AUTOMATIC INSPECTION AND

PATH PLANNING FOR PROCESSING
CONVEYED OBJECTS
ELTN 492
132047
132144
Outline

Background
What made them do this?
Brief Introduction about this research work
Problem Statement
Approach
Implementation
Results
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Conclusion
Not so Easy

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MANUAL PROCESSING

Low Inspection Rate

Expensive Labour
Prone to Human error
Fatigue
Age Limit and Eye-Health
Questionable Hygiene
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 WHAT MADE THE AUTHORS DO THIS RESEARCH

Under the pressure of

Cost Reduction
Productivity Improvement
Sorting out defective objects is merely not enough.

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 PROBLEM FORMULATION

This paper presents a system capable of selective processing

objects being transported on a conveyor belt.
Flawless Defective and Defective and
Goes to further Processable non Processable
processing Applies a Removed from
suitable the production
processing line
strategy
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SYSTEM WORK-FLOW

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SYSTEM CONCEPT

Objects are continuously fed to the conveyor belt.

They are transported in quasi-constant velocity.
Images are obtained and analyzed by the PC-VU.
Analysis results give,
Location
Orientation
Arrangement of defects on the conveyed objects.
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SYSTEM CONCEPT

Based on the analysis results,

Objects are classified.
Basis for the path planning is achieved.

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SOLUTION APPROACH

The System Consists of,

1. Vision Unit
2. Path Planning and Motion Control
3. Object Processing

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 VISION UNIT

Capable of analyzing 2D and 3D objects.

2D 3D
The contour of the target Defective area is determined by
object is extracted using the texture analysis of the object
transmitted light. surface

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 IMAGE PROCESSING ALGORITHM

Detect Defects Classify Defects Find Optimal

Texture Analysis Parameters
Support Vector
Statistical Methods Machine developed Grid-Search and Cross
by Cortes and validation approach
Vapnik.

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 PATH PLANNING AND MOTION CONTROL

This work elaborates on,

Path achievability By feeding back the
current position of the manipulator.
Maximum Regain from Defective Objects
By calculating the optimal path for
processing

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 OBJECT PROCESSING

Linear axis water jet manipulator with 0.2mm

beam diameter and maximal acceleration 15G
has been used.

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RESULTS

The developed system has been able to segment

and classify,

Peel Defect
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 RESULTS

Path planning based on the results of image data analysis

= Minimum Accessible
cutting angle

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CONSTRAINTS

With the maximum conveyor speed of 0.4 m/s, the system

is capable of processing 2-3 defective objects per second.
Due to the limited working speed of pick and place robots
used to remove defective objects, the processing speed of
the system can not be increased more than 3pcs per
second.

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 CONCLUSIONS

This work has proved that,

The proposed system can be developed using the existing
technology using suitable components.
A significant save in the waste amount can be achieved.
Industrial PCs are required for powerful data processing.

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THANK YOU!
Any questions?

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