Professional Documents
Culture Documents
AUTOMATION Yadav2020
AUTOMATION Yadav2020
Authorized licensed use limited to: San Francisco State Univ. Downloaded on June 18,2021 at 16:08:20 UTC from IEEE Xplore. Restrictions apply.
rate of 87.7 percent with a training to test data ratio of 80:20. D. Client-Server Communication
It has to do about nine times less work than other neural There are two communication protocols in the client-server
networks, providing the same accuracy. Thus, the suggested system; the UDP protocol and the TCP protocol [13]. In
system in this paper papers uses SSD MobileNet. UDP (User Datagram Protocol), each time the client sends
a datagram to the server, it also has to send the local socket
II. M ETHODOLOGY descriptor and the receiving socket’s address. In TCP (Transfer
A. TensorFlow Control Protocol), a connection is established between the two
sockets of client and server. The client’s socket will request
Tensorflow is the open-source library that is being used a connection while the other socket, i.e., the server’s socket,
in the proposed system for object detection. The tensors are will listen to the connection request and respond to it. Once
multidimensional arrays that consist of elements of the same the connection is established, the transmission of data can be
data type. These are a standard way of representing data in done in both the direction.
machine learning. For object detection, we provide some input In the proposed system, the TCP communication protocol
data which consists of a set of images. Using TensorFlow, is used to be more efficient than UDP[16]. The PC, where the
the model is trained using any machine learning algorithm. object detection is done, acts as a server, and Raspberry Pi 3,
The main objective of the model is to extract the main visual acts as a client. To establish a connection between the devices,
features based on edge detection and visual recognition. For they are connected to the same local network through Router.
testing the model, test data is provided, which is again a set of
images, and the final output is obtained. The output image is
then converted to Numpy array so that computation becomes
easy. TF records are also being used, which consists of images
along with the tags. TF records stores the data as a sequence
of binary strings.[16]
B. COCO Dataset
The suggested system uses a pre-trained object detection
model ’ssd mobilenet v1 coco’ on the COCO dataset, which
refers to ”Common Objects in Context.” [9],[12]. It is a
dataset used for large scale object detection, segmentation,
and captioning. This package provides Matlab, Python, and Fig. 1. Client Server Communication
Lua APIs. The COCO dataset has 330000 images, out of
which more than 200000 are labeled. It has 1.5 million object
instances, 80 object categories, 91 stuff categories, and five III. S YSTEM D ESIGN
captions per image. It also has 250000 people with key points. A. Block Diagram
[17,18]
C. SSD MobileNet
SSD is one of the popular methods used for the detection of
objects in an image. It provides scores for each object category
during screening and makes changes and adjustments to the
box if needed to match the object’s shape. This method is
easy to train as SSD has eliminated proposal generation and
feature resampling and encapsulation of all computation in a
single network. SSD is a faster method compared to other
single-stage methods.[10] Previous research has demonstrated
that SSD with Mobilenet features extractor is one of the most
accurate models out of all fastest models.[11] A significant
advantage of using MobileNet feature extractor is that it can Fig. 2. Block Diagram.
also be used in Low Powered Devices without GPU. The
efficiency of object detection using the MobileNet model is 1) Image Capturing and Processing Block:
well explained in the paper ”Real Time Object Detection Can a) USB Webcam: A USB camera captures a real-time
be Embedded on Low Powered Devices”[12]. The MobileNet image. We have used Logitech camera for this purpose. It
model makes the Object Detection process more efficient, has 720p HD video- capturing capacity, a lens of 5MP and
as well explained in the paper ”Object Sorting using Image automatic light correction features that rectifies the brightness-
Processing.[5]” related errors to give an improved viewing experience [14].
Authorized licensed use limited to: San Francisco State Univ. Downloaded on June 18,2021 at 16:08:20 UTC from IEEE Xplore. Restrictions apply.
Fig. 3. USB Webcam
Fig. 4. Raspberrypi 3
Authorized licensed use limited to: San Francisco State Univ. Downloaded on June 18,2021 at 16:08:20 UTC from IEEE Xplore. Restrictions apply.
Fig. 9. Conveyor Belt Frame Fig. 11. 5/2 Solenoid Valve
B. System Workflow
The system has a conveyor belt that rotates at a constant
speed with 12V dc geared motor. The objects are fed at the
feed side of the conveyor belt, where the camera captures the
object’s real-time image. The image captured is then identified
and recognized by the PC using TensorFlow Object Detection
API. Then a Client-Server network is established between PC
and Raspberry Pi to send the object label as ’string’ data type.
Raspberry Pi then compares this data with the object labels
that we stored in the program. If the detected label is the
Fig. 10. DC Geared Motor
same as the stored label, then Raspberry pi makes GPIO pin
HIGH or LOW accordingly. The pins of the Raspberry Pi are
connected to the relay module, which controls the solenoid.
c) Pneumatic solenoid valve: The pneumatic solenoid The Raspberry Pi controls the switching of the solenoid via the
valve converts electricals signals into pneumatic functions. relay module. The HIGH input to the relay module will turn on
Air is directed into the solenoid as soon as the electricity is the solenoid. A pressure between 0.15MPa-0.8MPa is applied
applied. The solenoid valve used in the proposed system is a to the Pneumatic cylinder when the solenoid is switched on.
5/2-way directional valve that has two output ports, one inlet The piston then pushes the object to its respective baskets.
port, and two exhaust ports. Solenoid valve with the following
specifications is used: Model: J4V110-06, Working Pressure:
0. 15-0.8MPa.
Authorized licensed use limited to: San Francisco State Univ. Downloaded on June 18,2021 at 16:08:20 UTC from IEEE Xplore. Restrictions apply.
Fig. 15. Bottle detection in sufficient light
Authorized licensed use limited to: San Francisco State Univ. Downloaded on June 18,2021 at 16:08:20 UTC from IEEE Xplore. Restrictions apply.
[6] S. Sumahasan, Udaya Kumar Addanki, Navya Irlapati, Amulya Jonnala,
“Object Detection using Deep Learning Algorithm CNN”, International
Journal for Research in Applied Science and Engineering Technology
(IJRASET), Volume 8 Issue VII July 2020
[7] Raghu Raj Prasanna Kumar, Suresh Muknahallipatna, John McInroy,
“An Approach to Parallelization of SIFT Algorithm on GPUs for Real-
Time Applications”, Journal of Computer and Communications(JCC),
2016
[8] Ajay Talele, Aseem Patil, Bhushan Barse, “Detection of Real Time
Objects Using TensorFlow and OpenCV”, Asian Journal of Convergence
in Technology, Volume-V, Issue-I
[9] R.S.Sandhya Devi, Vijaykumar VR , M.Muthumeena, “Waste Seg-
regation using Deep Learning Algorithm”, International Journal of
Innovative Technology and Exploring Engineering (IJITEE), Volume-
8 Issue-2S December, 2018
Fig. 18. Cup detection in poor light
[10] Wei Liu, Dragomir Anguelov, Dumitru Erhan, Christian Szegedy, Scott
Reed, Cheng-Yang Fu, Alexander C. Berg, “SSD: Single Shot MultiBox
Detector”, UNC Chapel Hill Zoox Inc. Google Inc. University of
Michigan, Ann-Arbor
[11] Huang J, Rathod V, Sun C, Zhu M, Korattikara A, Fathi A, Fischer I,
Wojna Z, Song Y, Guadarrama S, Murphy K, ”Speed/accuracy trade-offs
for modern convolutional object detectors”, CVPR 2017
[12] Jimut Bahan Pal, Shalabh Agarwal, “Real Time Object Detection Can be
Embedded on Low Powered Devices”, International Journal of Computer
Sciences and Engineering (JCSE), Vol.-7, Issue-3, March 2019
[13] Ming Xue, Changjun Zhu, “The Socket Programming and Software
Design for Communication Based on Client/Server”, 2009 Pacific-Asia
Conference on Circuits,Communications and System.
[14] Ranjitha S Rai, Madan G, K.R Prakash, G. Ravi Krishna, “Automation
of Object Segregation”, International Research Journal of Engineering
and Technology (IRJET), Volume: 06, Issue: 06 June 2019
[15] Sushrut Nagesh Kulkarni, Sanjay Kumar Singh, “Object Sorting Au-
Fig. 19. Bottle detection in poor light tomated System using Raspberry Pi”, Proceedings of the International
Conference on Communication and Electronics Systems (ICCES 2018)
[16] Ming Xue, Changjun Zhu, “The Socket Programming and Software
Design for Communication Based on Client/Server”, 2009 Pacific-Asia
V. C ONCLUSION Conference on Circuits,Communications and System.
[17] https://blog.tensorflow.org/2020/07/tensorflow-2-meets-object-detection-
Real-time Object detection is successfully implemented us- api.html
ing a CPU with an i5 6th generation processor. The Raspberry [18] https://cocodataset.org/home
Pi controls the pneumatic solenoid and piston for sorting [19] https://github.com/cocodataset/cocoapi
[20] https://www.raspberrypi.org/
purposes. The accuracy of the recognition of objects depends
on various factors like the lighting conditions and orientation.
After object recognition, it is ensured that the pneumatic
pistons work synchronously with proper delay for the sorting
of objects. For the improvement in accuracy, the environment
consisting of constant light and monochromatic background is
used. Efficiency can also be enhanced by training our model
for a vast dataset.
R EFERENCES
[1] Sheela. S, Shivaram. K. R, Meghashree. S, Monica. L, Prathima. A,
Shriya.M.Kumar, “Low Cost Automation for Sorting of Objects on
Conveyor Belt”, International Journal of Innovative Research in Science,
Engineering and Technology (IJERSET), Vol. 5, Special Issue 10, May
2016
[2] Vishnu R. Kale, V. A. Kulkarni, “Object Sorting System Using Robotic
Arm”, International Journal of Advanced Research in Electrical, Elec-
tronics and Instrumentation Engineering (IJAREEIE), Vol. 2, Issue 7,
July 2013
[3] Liang BinYan, Wang YanBo, Chen ZhiHong, LiuJiaYu, Lin JunQin,
“Object Detection and Robotic Sorting System in Complex Industrial
Environment”, 2017 Chinese Automation Congress (CAC), Jinan, 2017
[4] Navinkumar Patle, Shweta Dhake, Devayani Ausekar, “Automatic Ob-
ject Sorting using Deep Learning”, International Research Journal of
Engineering and Technology (IRJET), Volume: 05, Issue: 08 Aug 2018
[5] Rahul Vijay Soans, Pradyumna G.R., Yohei Fukumizu, “Object Sorting
using Image Processing”, 2018 3rd IEEE International Conference on
Recent Trends in Electronics, Information and Communication Technol-
ogy (RTEICT-2018), MAY 18th and 19th 2018
Authorized licensed use limited to: San Francisco State Univ. Downloaded on June 18,2021 at 16:08:20 UTC from IEEE Xplore. Restrictions apply.