Development of Colour Sorting Robotic Arm Using TCS3200 Sensor

Ahmad Rafiq Mohd Khairudin, Muhammad Hanif Abdul Karim, Asma’ Abu Samah, Dyanatasya Irwansyah, Muhammad Yunus bin Yakob, N. M. Zian
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引用次数: 1

Abstract

Sorting objects or products manually in industries using human labour consumes time and energy, especially when it involves large volume of products. Human sorting operations could be replaced with robotic implementation, which would save time and effort while producing better results. Robotic arm is a type of programmable mechanical arm, almost similar to the human arm which is programmed to faithfully carry out repetitive actions with a high degree of accuracy. However, creating an artificial sense of touch that is comparable to human's has been challenging. One of the challenges is the detection of objects with different colours. In this work, a light intensity to frequency converter method is used to detect colour. The robotic arm is controlled by a DC servo motors microcontroller-based system. An IoT platform is being used to monitor the detection process, especially the counting for each sorted colour block. Furthermore, the study also performed a comparison of the robotic arm indoor and outdoor efficiency. The chosen TCS3200 sensor operates by distinguishing different generated frequencies for different light intensities. It could distinguish the colours at 95% in a bright condition and 91% in a dimmer condition, based on object detection at 5 cm away from the sensor.
基于TCS3200传感器的分色机械臂研制
在使用人力的行业中,手工分类物品或产品消耗时间和能源,特别是当涉及大量产品时。人工分拣操作可以被机器人取代,这将节省时间和精力,同时产生更好的结果。机械臂是一种可编程的机械臂,几乎类似于人的手臂,通过编程忠实地执行高精度的重复性动作。然而,创造一种与人类相媲美的人工触觉一直是一项挑战。其中一个挑战是检测不同颜色的物体。在这项工作中,使用光强度-频率转换器方法来检测颜色。机械臂由基于直流伺服电机的微控制器控制。一个物联网平台被用来监控检测过程,特别是对每个分类色块的计数。此外,研究还对机械臂的室内和室外效率进行了比较。所选的TCS3200传感器通过区分不同光强产生的不同频率来工作。基于距离传感器5厘米的物体检测,它在明亮条件下可以分辨出95%的颜色,在较暗条件下可以分辨出91%的颜色。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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