ChapterT1TIntroductionT

CHAPTERT1TINTRODUCTIONT
T

Normally,TsortingTofTtheTobjectsTisTdoneTbyTmanually.TItTconsistsTofT4TintegratedTstatio
nsTcalledTdistribution,Ttesting,TprocessingTandThandling.TOldTsortingTmethodTusesTaTsetT
ofTinductive,TcapacitiveTandTopticalTsensorsTdoTdifferentiateTobjectTcolourTinTtheTtesting
Tstation.THandlingTisTdoneTbyTusingTaTprogrammedTmanipulator.TNoTvisionTcapabilityTe
xistsTinTtheTsystemTtoTimproveTitsTperformanceTandTflexibility.TInTthisTcase,TthereTisTa
TpossibilityTofTminorTerrorTwhichTwillTaffectTtheTaccuracyTinTsorting.TAlsoTforThugeTs
ystems,TtimeTandTmanpowerTrequiredTwillTveryThigh.T

AutomatedTsystemsTcanTbeTusedTtoTremoveTsuchThumanTerrorsTandTalsoTitTsavesTtimeT
andTmoney.T

TElementaryTconveyorTbeltsTwereTusedTsinceTtheT19thTcentury.TInT1892,TThomasTRobin
sTbeganTaTseriesTofTinventionsTrelatingTtoTconveyorTsystems,TwhichTledTtoTtheTdevelop
mentTofTaTconveyorTbeltTusedTforTcarryingTcoal,ToresTandTotherTproducts.TRecentlyTcon
veyorTbeltTsystemsTareTnotTonlyTusedTinTminingTindustriesTbutTalsoTappliedTinTcement
Tindustries,TfoodTfactories,TpowerTplant,TandTproductionTindustriesTetc.TSoTitTisTessential
TequipmentTforTinThouseTmaterialTtransportationTtoday.T

InTthisTprojectTeffortsThaveTbeenTmadeTtoTuseTaTsingleTassemblyTlineTforTtheTclassifyin
gTandTsortingTpurposeTofTdifferentTobjectsTusingTelectronicTsystems,TadvancedTsensorsTa
ndTimageTprocessingTtechniqueTinTMATLABTonTtheTbasisTofTphysicalTandTcolorTcharac
terizationTofTeachTobject.T

BasedTuponTtheTcolorTdetected,TtheTlinearTactuatorTpushesTtheTobjectTtoTtheTspecifiedTl
ocation.TItTaimsTinTclassifyingTandTsortingTtheTcoloredTobjectsTwhichTareTcomingTonTc
onveyorTbeltTbyTplacingTthemTinTtheirTrespectiveTpre-
programmedTplace.TTheTGUITbasedTsystemThelpsTtoTcontrolTandTmonitorTtheTwholeTco
nveyorTbelt.TWithTthisTitTisTpossibleTtoTcalculateTtheTnumberTofTitemsTwithTtheirTrespe

1
ctiveTcolorsTandTpredefinedTweightsTwhichTwillTmakeTpackagingTmuchTeasierTandTcontr
ollable.TDueTtoTthisTonlyToneTconveyorTisTsufficientTinsteadTofTmany,TTherebyTachievin
gThighTaccuracyTandTspeedTinTtheTwork;TwhileTeliminatingTtheTmonotonousTworkTdone
TbyThuman.T

T
ChapterT2TProblemTStatement

CHAPTERT2TPROBLEMTSTATEMENTT
T

2.T1TPROBLEMTSTATEMENTT
ToTdevelopTanTInstrumentTSortingTMechanismTwhichTisTmoreTefficientTandTmoreTprodu
ctiveTthanTpreviouslyTusedTroboticTarm.TAutomatedTsystemsTcanTbeTusedTtoTremoveTsuc
hThumanTerrorsTandTalsoTitTsavesTtimeTandTmoney.T

2.T2TOBJECTIVET
TheTmainTintentionTofTthisTprojectTisTtoTelaborateTandTsimplifyThowTdifferentTproductsT
manufacturedTinTaTfactoryTcanTbeTputTonTaTsingleTconveyerTforTitsTproperTdistribution.
TearlierTweThaveTusedTaTroboticTarmTforTobjectTsortingT,TbutTthereTareTcertainTlimitati
onsTofTroboticTarmTsuchTas,TfirstTparameterTisTtimeTconstraint,TroboticTarmTtakesTmore
TtimeTtoTmoveTfromToneTpositTionTtoTotherTpositTionTasTroboticTarmTworksTonTpickT
andTplaceTmethodology.TWhileTpickingTupTtheTobjectTandTplacingTitTtoTdesiredTlocation
TtakesTaTmoreTtime.soTsortingTwillTtakeTaTmoreTtime,TandTotherTparameterTisTcost,Tthe
TcostTofTproductionTofTprojectTusingTroboticTarmTisTmoreTasTcomparedTtoTroboticTarm
TsortingTofTobjectTusingTconveyerTbeltTisTmoreTcostTeffective.T
Chapter 3 Literature Review

TheTideaTwasTintroducedTtoTreduceTtheThumanTeffortsTandTtheTtimeTrequiredTforTtheTs
orting.TButTtheTfirstTimplementedTsortingTmechanismT’theTroboticTarm’TwasTjustTanother
TwhoTleTmachineTdesignedTtoTaTsingleTobjectiveTi.e.TsortingTandTreducedThumanTefforts
.

2T
T

CHAPTERT3T LITERATURETREVIEW
.T T

3.T1TLITERATURETREVIEWT
3.1.1.TFengyunTWanga,TJiyeTZhenga,TXinchengTTianb,TJianfeiTWanga,TLuyanTNiua
,TWenjieTFenga,T

“AnTautomaticTsortingTsystemTforTfreshTwhiteTbuttonTmushroomsTbasedTonTi
mageTprocessing”T
T
WhiteTbuttonTmushrooms,ToneTofTtheTmostTcommonlyTandTwidelyTconsumedTmushroom
sTworldwide,TrequireTgradingTbeforeTenteringTtheTmarket.TTheTdiameterTofTtheTpileusTis
TanTimportantTfactorTthatTaffectsTtheTsellingTprice.TTheTaimTofTthisTstudyTisTtoTdevelo
pTanTautomaticTsortingTsystemTforTfreshTwhiteTbuttonTmushroomsTbasedTonTimageTproc
essingTaccordingTtoTtheTpileusTdiameter.TFirst,TanTautomaticTsortingThardwareTsystemTis
TdesignedTthatTconsistsTofTaTconveyingTmechanism,TanTimageTacquisitionTnTsystem,TaT
controlTmoduleTandTanTactuator.TSecond,TweTpresentTanTimageTalgorithmTbasedTonTthe
TwatershedTmethod,TcannyToperator,TORToperation,TandTclosedToperationTtoTdetermineTt
heTpileusTdiameterTofTfreshTwhiteTbuttonTmushrooms.TTheTalgorithmTeliminatesTtheTinfl
uenceTtheTshadowTandTpetioleTonTtheTimage.TThird,TaTpreciseTcontrolTstrategyTisTintrod
3
ucedTbasedTonTtheTconveyorTspeed,TdistanceTbetweenTtheTtriggerTandTtheTflapTpiece,Ttri
ggerTtimeTandTalgorithmTprocessingTtime.T

Finally,TweTpresentTanalysisTandTcontrolTsoftwareTbasedTonTOpenTCVT2.4.10TandTVisua
lTStudioT2010.TInTtheTexperimentalTportion,TaTprototypeTsystemTwasTtestedTtoTvalidateT
itsTapplicabilityTandTreliabilityTbyTtheTgradingTperformanceTandTresults.TTheTexperimenta
lTresultsTshowedTthatTtheTaverageTmaximumTgradingTspeedTwasTmushrooms/minute,Tthe
TaccuracyTofTgradingTwasT97.42%,T

theTdamageTrateTwasT0.05%,TandTtheTundetectedTrateTwasT0.96%.TRelativeTtoTmanualTg
rading,TtheTgradingTspeedTwasTimprovedTbyT38.86%,TandTtheTaccuracyTwasTimprovedTb
yT6.84%.TTheTsystemT

T
Chapter 3 Literature Review

canToperateTstablyTandTcontinuously.TForTlong-
TdurationTgradingTinTparticular,TtheTadvantageTofTtheTautomaticTsortingTsystemTisTappar
entTbecauseTeliminatesTlaborerTfatigue.TTheTsystemTachievesTonlineTautomaticTsortingTan
dTgradingTofTfreshTwhiteTbuttonTmushroomsTwithTminimalTdestruction.T

3.1.2.TRahulTVijayTSoansTPradyumnaTG.R.TYoheiTFukumizu.T

“ObjectTSortingTusingTImageTProcessing”T

AutomationThasTledTtoTtheTgrowthTofTindustriesTinTrecentTyears.TForTbetterTperformance
TofTindustrialTprocessTautomatedTmachinesTareTused.TImageTprocessingThasTledTtoTadva
ncementsTinTapplicationsTofTroboticsTandTembeddedTsystems.TSortingTofTobjectsTareTusu
allyTdoneTbyThumansTwhichTtakesTaTlotTofTtimeTandTeffort.TUsingTComputerTVisionTte
chniques,TaTconveyorTbeltTsystemTisTdevelopedTusingTstepper,TservoTmotorsTandTmechan
icalTstructures,TwhichTcanTidentifyTandTsortTvariousTobjects.TThisTreducesThumanTeffort,
TtimeTconsumed,TandTalsoTimprovesTtheTtimeTtoTmarketTtheTproducts.TTheTsystemTshou
ldTdetectTtheTobjectsTbasedTonTtheirTproperties.TObjectsTwillThaveTdifferentTshapesTandT
colors.TThisTprocessTisTmadeTeasyTbyTusingTautomation.TAutomationTprovidesTmechanic
alTassistanceTbyTusingTaTcontrolTsystem.TThisTreducesTmanualTeffortsTdoneTbyTaThuma
n,TtimeTconsumedTandTalsoTimprovesTtheTtimeTtoTmarket.TTheTaimTofTtheTproposedTpr
ojectTisTtoTdevelopTaTsystemTthatTcanTidentifyTvariousTobjectsTrunningTthroughTaTconve
yorTbeltTandTsortTthemTbasedTonTtheirTpropertiesTbyTdesigningTmechanicalTstructures,Th
enceTautomatingTtheTprocessTofTsegregationTofTproducts.
Chapter 4 Methodology

4T
T
3.1.3.TYonghuiTJia,TGuojunTYangTandTJafarTSaniieT

“Real-TimeTColor-BasedTSortingTRoboticTArmTSystem”T

DepartmentTofTElectricalTandTComputerTEngineeringTIllinoisTInstituteTofTTechnologyTSort
ingTisTaTlaborTintenseTprocess.TWithTmachinesTthatTcanTrecognizeTobjects,TitTisTpossibl
eTtoTautomateTtheTsortingTprocess.TInTthisTpaper,TweTpresentTaTroboticTsortingTarmTbas
edTonTcolourTrecognitionTtechnique.TInTthisTsystem,TwhenTaTnewTframeTisTcapturedTby
TtheTcamera,TtheTobjectTwillTbeTdetectedTusingTcolorcastTimageTprocessingTtechnique.TT
heTpositionTofTtheTobjectTinTrealTworldTwillTbeTcalculatedTbyTitsTmassTcentreTinTimag
e.TUsingTInverseTKinematicsTalgorithms,TtheTcontrolTinputTforTtheTroboticTarmTwillTbeT
calculatedTandTthenTsentTtoTArduinoTmicrocontroller.TThen,TtheTmicrocontrollerTwillTdriv
eTtheTmotorsTonTtheTroboticTarmTtoTsortTandTpositionTtheTobjectsTaccordingTtoTtheirTc
olor.TUsingTtheTproposedTtechnique,TtheTsortingTroboticTarmTsystemTcanTdistinguishTand
TsortTdifferentTobjectsTsuccessfullyTwithTproperlyTtunedTparametersTforTbothTmachineTvi
sionTandT3DTmobilityTofTtheTroboticTarm.

6
Chapter 3 Literature Review

CHAPTERT4TMETHODOLOGYT
T

4.T1TBLOCKTDIAGRAMT
T

Fig.T4.1TBlockTdiagram

7
Chapter 4 Methodology

4.T2TELEMENTTOFTBLOCKTDIAGRAMT
1. ImageTacquisition.T
2. ImageTpre-processing.T
3. ImageTsorting.T
4. Microcontroller.T
5. L293D.T
6. DcTMotors.T
7. ConveyorTbelt.T
8. PowerTsupply.T

4.T3TEXPLANATIONTOFTBLOCKTDIAGRAMT
4.3.1.TImageTacquisitionT

ToTstartTwithTwhenTtheTobjectTonTtheTconveyorTisTdetectedTbyTtheTcamera,TimageTisTc
apturedTbyTtheTcameraTandTisTsentTtoTtheTMATLABTworkspace.TTheTinputTimageTobta
inedTfromTtheTwebcamTcannotTbeTdirectlyTgivenTforTprocessing.TPre-
processingTisTdoneTonTtheTimageTsuchTasTthresholding.TThenTonlyTobjectTimageTisTcon
vertedTinTbinaryTformat.TThisTfinalTthresholdTimageTofTobjectTisTnowTreadyTforTprocess
ing.T

4.3.2.TImageTpre-processingT

TheTcameraTusedTinTthisTcaseTwillTbeToverhead,TitTwillTtakeTtheTsnapshotTofTtheTobjec
tTforTcolourTsensingTpurpose.TTheTimageTcapturedTbyTtheTcameraTwillTbeTprocessedTby
TimageTprocessingTusingTMATLAB.T
ImageTProcessing:TTheTobjectsTareTsortedTonTtheTbasisTofTcolorTandTpredeterminedTsha
pe.TToTidentifyTtheTcolor,TfirstlyTtheTimageTisTconvertedTintoTgrayTformatTandTthenTthr
esholdingTisTdone.TAfterTthresholdingTcolorTcomponentsTareTextractedTandTtheTimageTis

8
Chapter 4 Methodology

TconvertedTintoTblackTandTwhiteTformatTwhichTisTcalledTasTbinaryTformatTFindTregionT
propertiesT&TboundingTboxTandTtheTcolorTareTidentified.

Fig.T4.2TColourTImageT

9
Chapter 4 Methodology

Fig.T4.3TBlackTandTWhiteTImage
4.3.3.TImageTSortingT

TheTsortingTmechanismTconsistsTofTaTlinearTactuator,TservoTmotorsTandTaTconveyerTasse
mbly.TAfterTidentifyingTtheTcolorTwithTpredeterminedTsize,TcommandTwillTbeTsentTtoTdi
rectTtheTlinearTactuatorTthroughTCOMTportTofTtheTcomputerTviaTtheTdevelopmentTboard.
TConveyorTassemblyTisTinTOFFTstateTforTthisTperiod.TAccordingTtoTtheTsizeTandTcolor
TtheTservoTmotorsTwithThelpTofTlinearTactuatorTplacesTtheTobjectsTinTtheirTspecifiedTpla
ce.T

T
4.3.4.TMicrocontrollerT

TheTATmega328TisTaTlow-powerTCMOST8-
bitTmicrocontrollerTbasedTonTtheTAVRTenhancedTRISCTarchitecture.TByTexecutingTpower
fulTinstructionsTinTaTsingleTclockTcycle,TtheTAtmegaT328TachievesTthroughputsTapproach
ingT1TMIPSTperTMHzTallowingTtheTsystemTdesignerTtoToptimizeTpowerTconsumptionTve
rsusTprocessingTspeed.T
T

4.3.5.TMATLABT

TMATLABTisTaThigh-
performanceTlanguageTforTtechnicalTcomputing.TItTintegratesTcomputation,Tvisualization,Ta
ndTprogrammingTenvironment.TFurthermore,TMATLABTisTaTmodernTprogrammingTlangua
geTenvironment:TitThasTsophisticatedTdataTstructures,TcontainsTbuilt-
inTeditingTandTdebuggingTtools,TandTsupportsTobject-orientedTprogramming.T

4.3.6.TConveyorTBeltT

TheTconveyorTmotorTreceivesTpowerTandTsignalTfromTtheTcentralTsupplyTthroughTrectifie
rTandTcontrolTcircuit.TTheTcontrolTcircuitTconsistingTofTaTpotentiometerTwillTallowTtheT
userTtoTmanuallyTcontrolTtheTspeedTofTconveyorTbeltTbyTtheTregulatoryTknob.TPolyester

10
Chapter 4 Methodology

TisTusedTasTaTbeltTmaterial.TATconveyorTbeltTconsistsTofTtwoTorTmoreTpulleys,TwithTa
TcontinuousTloopTofTmaterialT-TtheTconveyorTbeltT-
TthatTrotatesTaboutTthem.TAsTshownTinTourTblockTdiagramTourTsystemTproposesTaThi-
techTvisionTsystemTforTsortingTbottlesTwithoutTcapTorTlabelsTfromTconveyorTline.THereT
weTuseThiTspeedTcamerasTwhichTcapturesTcontinuousTimagesTofTbottlesTandTthisTimages
TareTbeenTprocessedTusingTmatlabTreal-
time.TAsTsoonTasTtheTbottleTwithoutTcapTorTlabelTisTdetectedTtheTcontrollingTsignalsTar
eTsendTfromTPcTtoTcontrollerTtoTcontrolTtheTflapperTinTtwoTdifferentTdirectionTusingTpr
edefinedTangleTofTrotation.T

T
T

11
Chapter 5 Hardware implementation

CHAPTERT5T
HARDWARETIMPLEMENTATIONT
5.T1TDESIGNT
T

Fig.T5.1.TDesignT

12
Chapter 5 Hardware implementation

5.T2THARDWARETIMPLEMENTATION T

Fig.T5.2THardwareTcircuitTlayoutT

TheTArduinoTUnoTisTaTmicrocontrollerTboardTbasedTonTtheTATmega328.TItThasT14Tdigi
talTinput/outputTpinsT(ofTwhichT6TcanTbeTusedTasTPWMToutputs),T6TanalogTinputs,TaT1
6TMHzTcrystalToscillator,TaTUSBTconnection,TaTpowerTjack,TanTICSPTheader,TandTaTre
setTbutton.TItTcontainsTeverythingTneededTtoTsupportTtheTmicrocontroller;TsimplyTconnect
TitTtoTaTcomputerTwithTaTUSBTcableTorTpowerTitTwithTaTAC-to-
DCTadapterTorTbatteryTtoTgetTstarted.TTheTUnoTdiffersTfromTallTprecedingTboardsTinTth
atTitTdoesTnotTuseTtheTFTDITUSB-to-
serialTdriverTchip.TInstead,TitTfeaturesTtheTAtmega8U2TprogrammedTasTaTUSB-to-
serialTconverter.

13
Chapter 5 Hardware implementation

T
TTheTpowerTpinsTareTasTfollows:T

• VIN:TTheTinputTvoltageTtoTtheTArduinoTboardTwhenTit'sTusingTanTexternalTpowerTsou
rceT(asTopposedTtoT5TvoltsTfromTtheTUSBTconnectionTorTotherTregulatedTpowerTsourc
e).TYouTcanTsupplyTvoltageTthroughTthisTpin,Tor,TifTsupplyingTvoltageTviaTtheTpower
Tjack,TaccessTitTthroughTthisTpin.T
• 5V:TTheTregulatedTpowerTsupplyTusedTtoTpowerTtheTmicrocontrollerTandTotherTcompo
nentsTonTtheTboard.TThisTcanTcomeTeitherTfromTVINTviaTanTon-
boardTregulator,TorTbeTsuppliedTbyTUSBTorTanotherTregulatedT5VTsupply.T
• 3V3:TAT3.3TvoltTsupplyTgeneratedTbyTtheTon-
boardTregulator.TMaximumTcurrentTdrawTisT50TmA.T
• GND:TGroundTpins.T
• Serial:T0T(RX)TandT1T(TX).TUsedTtoTreceiveT(RX)TandTtransmitT(TX)TTTLTserialTdat
a.TTheseTpinsTareTconnectedTtoTtheTcorrespondingTpinsTofTtheTATmega8U2TUSB-to-
TTLTSerialTchipT
• ExternalTInterrupts:T2TandT3.TTheseTpinsTcanTbeTconfiguredTtoTtriggerTanTinterruptT
onTaTlowTvalue,TaTrisingTorTfallingTedge,TorTaTchangeTinTvalue.TSeeTtheTattachInterr
upt()TfunctionTforTdetails.T TPWM:T3,T5,T6,T9,T10,TandT11.TProvideT8-
bitTPWMToutputTwithTtheTanalogWrite()Tfunction.T
• SPI:T10T(SS),T11T(MOSI),T12T(MISO),T13T(SCK).TTheseTpinsTsupportTSPITcommunic
ation,Twhich,TalthoughTprovidedTbyTtheTunderlyingThardware,TisTnotTcurrentlyTincluded
TinTtheTArduinoTlanguage.T
• LED:T13.TThereTisTaTbuilt-
inTLEDTconnectedTtoTdigitalTpinT13.TWhenTtheTpinTisTHIGHTvalue,TtheTLEDTisTon,
TwhenTtheTpinTisTLOW,Tit'sToff.T
TheTmotorTdriverTL293DTisTconnectedTtoTportTno.T12TandT13TtheTmotorTisTdrivenT
byTL293DTwhichTisTaTDCTmotor.TPortT1TandTportT2TareTtheTtransmitterTandTreceiv
erTpinsTwhichTareTserialTcommunicationTpins.TUSBTtoTserialTconverterTisTconnected

14
Chapter 5 Hardware implementation

TtoTpinT1TandT2,TthroughTwhichTaTcomputerTisTconnectedTtoTarduinoTforTmatlabTc
odingTandTforTfurtherTexecution.T

T
5.3THARDWARETSPECIFICATIONST
5.3.1TArduinoTUnoT

Fig.T5.3TArduinoTBoardT
T

TheTArduinoTUnoTisTaTmicrocontrollerTboardTbasedTonTtheTATmega328T(datasheet).TItT
hasT14TdigitalTinput/outputTpinsT(ofTwhichT6TcanTbeTusedTasTPWMToutputs),T6Tanalog
Tinputs,TaT16TMHzTcrystalToscillator,TaTUSBTconnection,TaTpowerTjack,TanTICSPThead
er,TandTaTresetTbutton.TItTcontainsTeverythingTneededTtoTsupportTtheTmicrocontroller;Tsi
mplyTconnectTitTtoTaTcomputerTwithTaTUSBTcableTorTpowerTitTwithTaTAC-to-
DCTadapterTorTbatteryTtoTgetTstarted.TTheTUnoTdiffersTfromTallTprecedingTboardsTinTth
atTitTdoesTnotTuseTtheTFTDITUSB-to-
serialTdriverTchip.TInstead,TitTfeaturesTtheTAtmega8U2TprogrammedTasTaTUSB-to-
serialTconverter.T

15
Chapter 5 Hardware implementation

"Uno"TmeansToneTinTItalianTandTisTnamedTtoTmarkTtheTupcomingTreleaseTofTArduinoT
1.0.TTheTUnoTandTversionT1.0TwillTbeTtheTreferenceTversionsTofTArduno,TmovingTforw
ard.TTheTUnoTisTtheTlatestTinTaTseriesTofTUSBTArduinoTboards.

5.3.2TAtmegaT328T

ItTisTaTsingleTchipTmicrocontrollerTusedTinsteadTofTArduinoTboard.TTheTATmega328TisT
aTlow-powerTCMOST8-
bitTmicrocontrollerTbasedTonTtheTAVRTenhancedTRISCTarchitecture.TItThasT32KBTISPTfl
ashTmemoryTwithTread-while-writeTcapabilitiesT&TcompatibleTwithTArduinoTIDET

5.3.2.1TSpecificationsT

• MicrocontrollerTATmega328T
• OperatingTVoltageT5VT
• InputTVoltageT(recommended)T7-12VT
• InputTVoltageT(limits)T6-20VT
• DigitalTI/OTPinsT14T(ofTwhichT6TprovideTPWMToutput)T
• AnalogTInputTPinsT6T
• DCTCurrentTperTI/OTPinT40TmAT
• DCTCurrentTforT3.3VTPinT50TmAT
• FlashTMemoryT32TKBTofTwhichT0.5TKBTusedTbyTbootloaderT
• SRAMT2TKBT
• EEPROMT1TKBT
• ClockTSpeedT16TMHzT
T

5.3.3TL293DT

TheTDeviceTisTaTmonolithicTintegratedThighTvoltage,ThighTcurrentTfourTchannelTdriverTd
esignedTtoTacceptTstandardTDTLTorTTTLTlogicTlevelsTandTdriveTinductiveTloadsT(suchT
asTrelaysTsolenoids,TDCTandTsteppingTmotors)TandTswitchingTpowerTtransistors.TToTsimp
lifyTuseTasTtwoTbridgesTeachTpairTofTchannelsTisTequippedTwithTanTenableTinput.TATse
parateTsupplyTinputTisTprovidedTforTtheTlogic,TallowingToperationTatTaTlowerTvoltageTan
dTinternalTclampTdiodesTareTincluded.TThisTdeviceTisTsuitableTforTuseTinTswitchingTappl

16
Chapter 5 Hardware implementation

icationsTatTfrequenciesTupTtoT5TkHz.TL293DTisTaTdualTH-
bridgeTmotorTdriverTICT(integratedTcircuit).TSinceTtheyTtakeTaTlowTcurrentTcontrolTsigna
lTandTprovideTaThigher-
currentTsignalTwhichTisTusedTtoTdriveTtheTmotors,TitTactsTasTcurrentTamplifier.

T
5.3.3.1TSpecificationsT

• 600mAToutputTcurrentTcapabilityTperTchannelT
• 1.2ATPeakToutputTcurrentT(nonTrepetitive)TperTchannelT
• EnableTfacilityT
• OverTtemperatureTprotectionT
• LogicalT"0"TinputTvoltageTupTtoT1.5TVT
• HighTnoiseTimmunityT
• InternalTclampTdiodesT

5.3.4TDCTmotorsT

ATDCTmotorTisTanyTofTaTclassTofTelectricalTmachinesTthatTconvertsTdirectTcurrentTelect
ricalTpowerTintoTmechanicalTpower.TTheTmostTcommonTtypesTrelyTonTtheTforcesTproduc
edTbyTmagneticTfields.TNearlyTallTtypesTofTDCTmotorsThaveTsomeTinternalTmechanism,
TeitherTelectromechanicalTorTelectronic,TtoTperiodicallyTchangeTtheTdirectionTofTcurrentTf
lowTinTpartTofTtheTmotor.TMostTtypesTproduceTrotaryTmotion;TaTlinearTmotorTdirectlyT
producesTforceTandTmotionTinTaTstraightTline.TDCTmotorsTwereTtheTfirstTtypeTwidelyTu
sed,TsinceTtheyTcouldTbeTpoweredTfromTexistingTdirect-
currentTlightingTpowerTdistributionTsystems.TATDCTmotor'sTspeedTcanTbeTcontrolledTove
rTaTwideTrange,TusingTeitherTaTvariableTsupplyTvoltageTorTbyTchangingTtheTstrengthTof
TcurrentTinTitsTfieldTwindings.TSmallTDCTmotorsTareTusedTinTtools,Ttoys,TandTappliance
s.TTheTuniversalTmotorTcanToperateTonTdirectTcurrentTbutTisTaTlightweightTmotorTusedT
forTportableTpowerTtoolsTandTappliances.TLargerTDCTmotorsTareTusedTinTpropulsionTofT
electricTvehicles,TelevatorTandThoists,TorTinTdrivesTforTsteelTrollingTmills.TTheTadventTo
fTpowerTelectronicsThasTmadeTreplacementTofTDCTmotorsTwithTACTmotorsTpossibleTinT
manyTapplications.T

17
Chapter 5 Hardware implementation

5.3.4.1TSpecificationsT

• 60TrpmT
• 12vTdc

T
5.3.5TUSBTConnectionT

TToTformTaTconnectionTbetweenTPCBTandTcomputer.TUniversalTSerialTBusT(USB)TdefinesTth
eTvariousThardwareTcablesTandTcommunicationTprotocolsTusedTinTaTbusTwhichTareTresponsibl

eTforTcommunication-

connectionTfunctionTandTpowerTsupplyTbetweenTcomputersTandTelectronicTdevices.T5.3.6TCryst
alT12MHzT

StandardTfrequencyTcrystalsT–
TuseTtheseTcrystalsTtoTprovideTaTclockTinputTtoTmicroprocessor.T

5.3.6.1TSpecificationsT

• 20pFTcapacitanceT
• +/-T50ppmTstability.T
• 12MHzTisTgoodTforTuseTwithTdevicesTthatTneedTUSB.T

5.3.7TPowerTSupplyT

ToTfulfilTtheTpowerTrequirementTofTtheTcomponentsTaTpowerTsupplyTisTusedTwhichTisT
anTelectronicTdeviceTthatTsuppliesTelectricTenergyTtoTanTelectricalTload.TTheTroleTofTpo
werTsupplyTisTtoTconvertToneTformTofTelectricalTsignalTtoTanotherTthereforeTpowerTsup
pliesTareTmostlyTreferredTtoTasTelectricTpowerTconverters.T

5.3.7.1TSpecificationsT

• VoltageT3.3VT
• CurrentT50mAT

18
Chapter 5 Hardware implementation

5.3.8TConveyorTBeltT

ItTisTmechanicallyTmovableTbeltTusuallyTmadeTofTpolyesterTwhichTisTusedTforTtransporti
ngTtheTobject.TItThasTtwoTorTmoreTpulleys,TwithTaTcontinuousTloopTofTconveyorTbeltT-
TthatTrotatesTaboutTthem.TTheTdriveTpulleyTisTtheTpoweredTpulleyTwhileTtheTidlerTpulle
yTisTunpoweredTpulley.T

T
5.3.8.1TSpecificationsT

TTwoTpulleys:T
1) DriverTpulleyT
2) IdlerTpulleyT

5.3.9TWebcamT

ItTisTaTvideoTcameraTthatTcapturesTtheTimagesTinTrealTtimeTtoTorTthroughTaTcomputerTtoTc
omputerTnetwork.

19
 CHAPTER 6
ChapterT6TSoftwareTImplementation

SOFTWARETIMPLEMENTATIONT
T

6.T1TMATLABT
MATLABT(matrixTlaboratory)TisTaTmulti-
paradigmTnumericalTcomputingTenvironmentTandTfourthTgenerationTprogrammingTlanguage
.TATproprietaryTprogrammingTlanguageTdevelopedTbyTMathWorks,TMATLABTallowsTmat
rixTmanipulations,TplottingTofTfunctionsTandTdata,TimplementationTofTalgorithms,Tcreation
TofTuserTinterfaces,TandTinterfacingTwithTprogramsTwrittenTinTotherTlanguages,Tincluding
TC,TC++,TJava,TFortranTandTPython.TAlthoughTMATLABTisTintendedTprimarilyTforTnu
mericalTcomputing,TanToptionalTtoolboxTusesTtheTMuPADTsymbolicTengine,TallowingTac
cessTtoTsymbolicTcomputingTcapabilities.TAnTadditionalTpackage,TSimulink,TaddsTgraphic
alTmulti-domainTsimulationTandTmodel-
basedTdesignTforTdynamicTandTembeddedTsystems.TInT2004,TMATLABThadTaroundTone
TmillionTusersTacrossTindustryTandTacademia.TMATLABTusersTcomeTfromTvariousTback
groundsTofTengineering,Tscience,TandTeconomics.TMATLABTisTwidelyTusedTinTacademic
TandTresearchTinstitutionsTasTwellTasTindustrialTenterprises.T
 CHAPTER 7

Fig.T6.1.TMatlabTSoftwareT

19T
ChapterT7TEstimatedTCosting

ESTIMATEDTCOSTINGT
T

7.T1TCOSTINGT
T
Sr.TNo. PartTNameT PartTQty.T PartTEstimateTCostT
T
1T ArduinoT 01T 650/-T
 CHAPTER 8

2T ServoTMotorT 01T 750/-T

3T ConveyorT 01T 500/-T

4T FlapperTDeviceT 01T 1500/-T

5T FastenersT 01T 300/-T

6T ConnectorsT 10T 250/-T

7T BaseTFrameT 01T 1500/-T

T TotalT T T5450/-T
T

TableT7.1.THardwareTCostingT

20
T
ChapterT8TResultTandTConclusion

T
 CHAPTER 9

RESULTT&TCONCLUSION T

T
 CHAPTER 10
21
T
Chapter 9 References

CHAPTER 11

REFERENCEST
T

1. RahulTVijayTSoans,TPradyumnaTG.R,TYoheiTFukumizu,T“ObjectTSortingTusingTImageT
Processing”,T2018T3rdTIEEETInternationalTConferenceTonTRecentTTrendsTinTElectronics,TI
nformationT&TCommunicationTTechnologyT(RTEICT-2018),TMAYT18thT&T19thT2018T

2. FengyunTWanga,TJiyeTZhenga,TXinchengTTianb,TJianfeiTWanga,TLuyanTNiua,TWenjieT
Fenga,T
“AnTautomaticTsortingTsystemTforTfreshTwhiteTbuttonTmushroomsTbasedTonTimageTproces
sing”T

3. YonghuiTJia,TGuojunTYangTandTJafarTSaniiT“Real-TimeTColor-
BasedTSortingTRoboticTArmTSystem”TDepartmentTofTElectricalTandTComputerTEngneer
ingTIllinoisTInstituteTofTTechnologyT

4. https://electronicsforu.com/electronics-projects/image-processing-using-matlabpart-

1TT5.Thttps://en.wikipedia.org/wiki/MATLAB

T
T
T
Chapter 9 References

T
T
T
22T
T

APPENDIX T
T
TT

A.TMATLABTcodeT

x=imread('C:\Users\LSG\Desktop\nut.jpg');
Tsize(x)Timshow(x)Tgray_xT=Trgb2gray(
x);Timshow(gray_x);Tbw_xT=Tim2bw(gr
ay_x,0.9);Timshow(bw_x);TbwT=T~bw_x
;Timshow(bw);Tbw=Tbwareaopen(bw,100
0);Timshow(bw)T
[bwLabel,num]=Tbwlabel(bw,8);T
numT
T
s=Tregionprops(bwLabel,'Area');
TsT
s.AreaT
s=Tregionprops(bwLabel,'All');T
sT
s.AreaT
T
s=Tregionprops(bwLabel,'BoundingBox');
TsT
T
imshow(x)Thol
dTon;T
rectangle('Position',s.BoundingBox);
TholdToffTholdTon;T

12
Chapter 9 References

plot(cent(:,1),cent(:,2),'g*')Trectangl
e('Position',s.BoundingBox);TholdT
offT
T
T
T

T
B.TProjectTImageT

T
T

13
Chapter 9 References

FigT(B).1.TTheTAssembly

14
Chapter 9 References

FigT(B).2.TTheTFinalTModelT
T

15