TECHNICAL VISION SYSTEM WITH ARTIFICIAL INTELLIGENCE FOR CAPTURING CYLINDRICAL OBJECTS BY ROBOT

Abstract

The article presents a variant of working with a system of technical vision, which recognizes cylindrical objects. This vision
system based on artificial intelligence, which allows you to determine the circles in the image. The coordinates of the value of the circle are necessary for the exact positioning of the robot manipulator. The calculation of the gradient and threshold separation determine the gaps in the intensity of the image of the object. These methods define pixels lying on the border between the object and the background. The further process consists in connection of the segments of a contour separated by small intervals, and in association of separate short segments. Thus, contour detection algorithms accompanies by procedures for constructing object boundaries from the corresponding pixel sequences. The resulting image has sufficient information for artificial intelligence analysis to detect the circle. The software is developed and experimentally tested in operation. The operation of the technical vision system experimentally tested in the work, namely the capture of a cylindrical object. Work vision systems has been experimentally proven to work and is passionate cylindrical object. The coordinates of the value of the circle, which are necessary for the exact location of the robot manipulator were determined by artificial intelligence in 41 milliseconds. The obtained coordinates were transmitted to the microprocessor to adjust the position of the manipulator. The robot accurately captured a cylindrical object.