An application of vision technology on intelligent sorting system by delta robot

Combine the visual module with the Delta parallel robot to set up the sorting experiment platform based on visual technology. Matching results are sensitive to environmental interference. In order to eliminate the influence such as illumination and noise on matching process, the traditional grayscale features are replaced by edge features. The advantages of using edge features are that the edge contains complete information about the image and there is less data to be deal with. The input images are analyzed under multi-scale filtering in the Canny algorithm frame to extract accurate edge features, then build template sets according to the possible rotation angles of the objects and achieve the matching process between the targets and the templates. Experimental results conducted that the visual system can identify and locate the objects accurately and this experiment platform is able to collect the experimental objects with high success rate.