Pick-and-Place Application Based on 2D Camera System Usage

The authors describe an Ethernet communication link between a superior PLC system and a selected (collaborative) robotic system. Part of the presented approach is the hardware and software implementation of the 2D camera system in an experimental automated workplace. Its emphasis is on experimental verification based on pick-and-place principles. It describes the design, development, and testing of selected communication. Another purpose is to point out the possibilities of image data processing from the obtained image using suitable software modules. The common principle of our approach is a unified solution that includes as many components as possible from one provider, which is often impossible. Moreover, the image processing process requires three specifically focused software modules (Threshold HSV, Pattern Match, and Spreadsheet). The task of these modules is to gradually find the desired object from the obtained image scene (based on the comparison of black and white pixels). Subsequently, it compares it with the database of objects and selects the one with the highest percentage match. Part of this process is also finding the center of gravity and orientation of the object. Finally, with appropriate mathematical operations, it transforms the obtained coordination coordinates into a suitable length in such a way that the control system of the robotic arm can read it and implement the required application.