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

研究成果: Conference contribution

2 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題Intelligent Information and Database Systems - 11th Asian Conference, ACIIDS 2019, Proceedings
編輯Tzung-Pei Hong, Ngoc Thanh Nguyen, Ngoc Thanh Nguyen, Bogdan Trawiński, Ford Lumban Gaol
發行者Springer Verlag
頁面152-164
頁數13
ISBN(列印)9783030148010
DOIs
出版狀態Published - 2019 一月 1
事件11th Asian Conference on Intelligent Information and Database Systems, ACIIDS 2019 - Yogyakarta, Indonesia
持續時間: 2019 四月 82019 四月 11

出版系列

名字Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
11432 LNAI
ISSN(列印)0302-9743
ISSN(電子)1611-3349

Conference

Conference11th Asian Conference on Intelligent Information and Database Systems, ACIIDS 2019
國家Indonesia
城市Yogyakarta
期間19-04-0819-04-11

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • Computer Science(all)

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