Vol.:(0123456789) 1 3 International Journal on Interactive Design and Manufacturing (IJIDeM) (2020) 14:201–209 https://doi.org/10.1007/s12008-019-00628-w ORIGINAL PAPER A real‑time automated sorting of robotic vision system based on the interactive design approach Wisam T. Abbood 1  · Oday I. Abdullah 2,3  · Enas A. Khalid 1 Received: 12 March 2019 / Accepted: 19 October 2019 / Published online: 1 November 2019 © Springer-Verlag France SAS, part of Springer Nature 2019 Abstract This research paper presents the proposes a robotic vision system to distinguish the color for the object and his position coor- dinate, and then sort the object (product) on the right branch conveyor belt according to color in real-time. The system was built based on the HVS mode algorithm for sorting product based on color. Furthermore, the system can be distinguished the object shape and then fnd his position to picking the object shape and putting on the right branch conveyor belt. The assump- tions for the object shape were based on the shape properties, centroid algorithm, and border extraction. Both the object detection and the contour coordinate extraction methods are implemented using a series of image processing techniques. The main goal is met by sorting the object depends on the color feature from a gathering of objects. The robot movement (open and close griper, move up and down the arm, and move to the left and right) controlled by a microcontroller that controls the movement to the right branch conveyor belt. When the color or the object is detected, the microcontroller will initiate the actions of the robot. It was found that the accuracy of results based on the approach that developed in this paper which is 92% for shape sorting and 97% for colors sorting objects. Keywords Robotic vision system · Real-time sorting system · Vision system machine · Automated vision system 1 Introduction Automated robotic vision systems are utilized as wide in a diferent felds such as agriculture, industrial, geographic maps and etc. The robotic vision system is becoming more important which applying in automated industry that are needed the fexible methods to image process and distin- guish objects. The robotic vision system identifying the location of object and recording images [1], 3D vision system for robot and solution for bin-picking problem that has been verifed for variety of objects [2]. Robotic vision system recognizes object to be spread using for the precise application of her- bicides in a seed line have been conducted [3]. Learning algorithm to build 3d-model of the object and attempt to identify a few points in two or more image corresponding to good locations at which to grasp the object [4]. Robotic vision system has very wide applications that can fnd purposive sensing, object and site modeling, robot localization, mapping, navigation, path planning, explora- tion, surveillance, tracking, search, recognition, inspection, robot manipulation, assembly and disassembly [5]. A vision system acquires and analyzes feld images, to detect the object and send their coordinates to robot arm control [6]. Vision system provide depth information, seg- mentation of objects of interest, object recognition, tracking and pose estimation by using integration for a number of algorithms for domestic environments [7]. Fruit-picking robot using vision system to estimate the size and position of fruit by employed statistical classifca- tion of color pixels [8]. It was developed a robotic vision sys- tem for the automatic nondestructive inspection and handing fruit, that detection of blemishes and evaluate the efciency of fruit [9]. Automated robotic vision system of orange har- vesting was based on an infrared laser range-fnder sensor; the output of vision system includes 3D position, radius of surface refectivity of each spherical object [10]. * Oday I. Abdullah odayia2006@yahoo.com 1 Automated Manufacturing Engineering Department, University of Baghdad, Baghdad, Iraq 2 Energy Engineering Department, University of Baghdad, Baghdad-Aljadria 47024, Iraq 3 Hamburg University of Technology, Hamburg, Germany