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Aleksey Budyakov

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Proceedings Article | 20 June 2021 Poster + Paper

Algorithm for the automated analysis of the shape of objects located on the cutting table of industrial robotic systems

Evgeny Semenishchev, Vyacheslav Voronin, Aleksandr Zelenskyy, Yury Ilyukhin, Aleksey Budyakov, Sos Agaian

Proceedings Volume 11782, 117821Y (2021) https://doi.org/10.1117/12.2593411

KEYWORDS: Shape analysis, Robotic systems, Image processing, Image resolution, Data conversion, Cameras, Video, Robotics, RGB color model, Optical resolution

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The article describes forming the device's software and hardware components for automated analysis of the shape of objects located on the cutting table in industrial robotic systems. A video camera with a resolution of 800x600 pixels is used as a data recording device. When performing an analysis object on the cutting table, a single image is formed. The image stitching process uses algorithms: preprocessing, simplification, and highlighting of key features. The converted data is combined into a single data field that is analyzed at multiple levels. The analysis is carried out based on the accumulated data and the basis of the full image with the subsequent transition to small (original) parts. The second step is to transform the image. On the resulting image highlights the border of the shape of the object, which is located on the cutting table. At the final stage, the shape is analyzed and its boundaries are clarified. Further, a cloud of data is formed, transmitted to the computing PC unit of the cutting table in the form of a complex contour of the object. The application of this approach makes it possible to automate the process of binding the zero point, minimize the number of unused residues, and form a field contour into which an object can be placed for its cutting. As test data, we used the results of applying the blocks of the proposed approach to analyze an object's shape located on the table's working table for waterjet cutting. The working field of the machine is 1.5x1.5 m. The camera resolution was 800x600 pixels in RGB format.

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