Development of an FPGA-Based Robotic Anti-Electromagnetic Interference Unsorted Bin-Picking System

In response to the problem of robots needing to perform bin-picking in many industries, a small robot system was developed with a workpiece-position-detection system based on Field-Programmable Gate Array (FPGA) technology. The system integrated object detection and feature matching techniques, bols...

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Bibliographic Details
Published in:Electronics (Basel) 2023, Vol.12 (13)
Main Authors: Zhang, Tianyuan, Sun, Baojiang, You, Xiaoxiao, Liu, Haiying, Chu, Chunlin
Format: Report
Language:English
Subjects:
Algorithms
Control systems
Design and construction
Digital integrated circuits
Electromagnetic interference
Materials handling
Prevention
Robots
Technology application
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Summary:In response to the problem of robots needing to perform bin-picking in many industries, a small robot system was developed with a workpiece-position-detection system based on Field-Programmable Gate Array (FPGA) technology. The system integrated object detection and feature matching techniques, bolstered by optimization methods, to enhance its functionality on the FPGA platform. Furthermore, a two-wire control bus was designed specifically for reliable operation in environments characterized by strong interference, drawing inspiration from the Controller Area Network (CAN) bus. The experimental results demonstrated that the system’s performance was comparable to that of the point-cloud-algorithm-based bin-picking system, while also exhibiting greater stability. Notably, the cost of the controller was significantly reduced, and the embedded hardware and software design ensured stability and adaptability for deployment in demanding settings, such as small-scale heavy industry factories.
ISSN:2079-9292
2079-9292
DOI:10.3390/electronics12132810