Quad-Partitioning-Based Robotic Arm Guidance Based on Image Data Processing with Single Inexpensive Camera For Precisely Picking Bean Defects in Coffee Industry

Chen Ju Kuo, Ding Chau Wang, Pin Xin Lee, Tzu Ting Chen, Gwo Jiun Horng, Tz Heng Hsu, Zhi Jing Tsai, Mao Yuan Pai, Gen Ming Guo, Yu Chuan Lin, Min Hsiung Hung, Chao Chun Chen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

In this paper, we propose a bean defect picking system with the quad-partitioning-based robotic arm guidance method, aimed at automatically and precisely picking bean defects in coffee industry. We assume the adopted inexpensive devices, including a robotic arm, a camera, and an IoT (Internet of Things) device, have only basic functions. For successfully picking the small size of beans as possible, stably moving the arm head to the target bean is the key technique in this topic. To achieve this goal under hardware limits, we design an iterative robotic arm guidance method to move the arm head close to the target with quad-partitioning relationships in the camera’s visual space by using image data processing techniques. The error distance after k iterations of the proposed method is approximately estimated as (Formula presented), where (Formula presented) and (Formula presented) are the width and the length of the field of view. We conduct a case study to validate the proposed method. Testing results show that the proposed system successfully picks bean defects with our proposed robotic arm guidance method.

Original languageEnglish
Title of host publicationIntelligent Information and Database Systems - 11th Asian Conference, ACIIDS 2019, Proceedings
EditorsTzung-Pei Hong, Ngoc Thanh Nguyen, Ngoc Thanh Nguyen, Bogdan Trawiński, Ford Lumban Gaol
PublisherSpringer Verlag
Pages152-164
Number of pages13
ISBN (Print)9783030148010
DOIs
Publication statusPublished - 2019 Jan 1
Event11th Asian Conference on Intelligent Information and Database Systems, ACIIDS 2019 - Yogyakarta, Indonesia
Duration: 2019 Apr 82019 Apr 11

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume11432 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference11th Asian Conference on Intelligent Information and Database Systems, ACIIDS 2019
CountryIndonesia
CityYogyakarta
Period19-04-0819-04-11

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • Computer Science(all)

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