Đồ án tốt nghiệp - Image processing application for product classification and robot control

MINISTRY OF EDUCATION &amp TRAINING
HCMC UNIVERSITY OF TECHNOLOGY AND EDUCATION
FACULTY OF INTERNATIONAL EDUCATION
AUTOMATION AND CONTROL ENGINEERING TECHNOLOGY
-⸙∆⸙-

GRADUATION THESIS

IMAGE PROCESSING APPLICATION FOR
PRODUCT CLASSIFICATION AND ROBOT
CONTROL

Lecturer

: Assoc. Prof. Dr. Le My Ha

Student’s name : Nguyen Truong Thinh
Ngo Trieu Vy

18151038
19151091

HO CHI MINH CITY, JANUARY 6th , 2024

i

HCMUTE FACULTY OF

SOCIALIST REPUBLIC OF

INTERNATIONAL EDUCATION

VIETNAM

AUTOMATION AND CONTROL

INDEPENDENCE - FREEDOM –

ENGINEERING TECHNOLOGY

HAPPINESS
…***…

HCMC, January 6????ℎ , 2024

GRADUATION PROJECT ASSIGNMENT
Student’s name

: Nguyen Truong Thinh
Ngo Trieu Vy

ID: 18151038
ID: 19151091

Class

: 18151CLA2 &amp 19151CLA3

Major

: Automation And Control Engineering Technology

I. PROJECT NAME: Image Processing Application For Product Classification
And Robot Control.
II. TASKS
Implementation Content:
Content 1: Learn about using teach pendant to control the robot NACHI robot MZ07.
Content 2: Learn about the connection between Mitsubishi PLC and Nachi robot
controller.
Content 3: Learn about communication standards in the industry.
Content 4: Learn about OpenCV.
Content 5: Write a program for object detecting by OpenCV.
Content 6: Link and transfer data between camera and PC to control robot.
Content 7: Write a program for creating the Socket communication between robot
controller and PC by opencv.
i

Content 8: Write a program to detect the edges of an object.
Content 9: Write a program for sending the tracked position of an object to the robot.
Content 10: Debugging.
Content 11: Performance evaluation.
III.

DATE OF ASSIGNMENT: 21/8/2023.

IV. TASK COMPLETION DATE: 30/12/2023.
V. INSTRUCTORS FIRST AND LAST NAME: Assoc. Prof. Dr. Le My Ha.

CHAIR OF THE PROGRAM

ADVISOR

(Sign with full name)

(Sign with full name)

ii

HCMUTE FACULTY OF

SOCIALIST REPUBLIC OF

INTERNATIONAL EDUCATION

VIETNAM

AUTOMATION AND CONTROL

INDEPENDENCE - FREEDOM –

ENGINEERING TECHNOLOGY

HAPPINESS
…***…

HCMC, January 6????ℎ , 2024

ADVISOR’S EVALUATION SHEET
Name of Student 1: Ngo Trieu Vy

ID: 19151091

Name of Student 2: Nguyen Truong Thinh

ID: 18151038

Major: Control and Automation Engineering Technology.
Project title: Image Processing Application For Product Classification And Robot
Control.
Advisor: Assoc. Prof. Dr. Le My Ha.
EVALUATION:
1. Content and workload of the project:

...

...
to.com/net/SupportPortal/Files/286804/Basic_Vacuum_Technology_Principles.pdf.
[9] Festo, Datasheet of Suction cup complete VASB-30-1/8-SI-B, [Online]. Available:
https://vn.misumi-ec.com/vona2/detail/221303555501/?HissuCode=VASB-30-1%2F8-SI-B.
[10] Nachi Standard specifications., [Online]. Available: Nachi Robotics.
https://www.nachirobotics.com/wp-content/uploads/2017/05/MZ07_Specification-1.pdf..
[11] J. J. Craig, Introduction to Robotics, Pearson Education, Inc., 2005.

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Graduation Thesis
78

APPENDIX _____________________________________________________________

APPENDIX
 Define Move Robot:
def move_robot (move_coord, move_mode):
M = bytes(A, utf-8)
signal = đang bận
while True:
sock.sendall(M)
signal = sock.recv(3)
if signal == bREA:
break
x = {0:8.2f}.format(move_coord[0])
y = {0:8.2f}.format(move_coord[1])
z = {0:8.2f}.format(move_coord[2])
r = {0:8.2f}.format(move_coord[3])
p = {0:8.2f}.format(move_coord[4])
ya = {0:8.2f}.format(move_coord[5])
mode = {:03d}.format(move_mode)
message = x + y + z + r + p + ya + mode
message = bytes(message, utf-8)
sock.sendall(message)
M = bytes(A, utf-8)
signal = đang bận
while True:
signal = sock.recv(3)
if signal == bFIN:
break
 Define I_O Robot:
def IO_robot(move_mode):
M = bytes(A, utf-8)
signal = busy
while True:
sock.sendall(M)
signal = sock.recv(3)
if signal == bREA:
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Graduation Thesis
79

APPENDIX _____________________________________________________________
break
#data preparation
x = {0:8.2f}.format(0)
y = {0:8.2f}.format(0)
z = {0:8.2f}.format(0)
r = {0:8.2f}.format(0)
p = {0:8.2f}.format(0)
ya = {0:8.2f}.format(0)
mode = {:03d}.format(move_mode)
# binding data and converting
message = x + y + z + r + p + ya + mode
message = bytes(message, utf-8)
#send data message
sock.sendall(message)
# wait for machine FIN status
M = bytes(A, utf-8)
signal = busy
while True:
signal = sock.recv(3)
if signal == bFIN:
break
 Algorithm Hough circle:
circles = cv.HoughCircles( blurred, cv.HOUGH_GRADIENT, dp=1, minDist=50,
param1=50, param2=30, minRadius=10, maxRadius=100 )
 Algorithm Harris corner:
prev_corners = cv.goodFeaturesToTrack(roi, maxCorners=100, qualityLevel=0.01,
minDistance=10)

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Graduation Thesis
80