Conveyor Line Color Object Sorting using A Monochrome Camera, Colored Light and RGB Filters

This paper tests the ability of a machine vision system with a monochrome camera to differentiate colored objects. The system is designed to autonomously and continuously sort colored objects of which the user specifies the desired color(s). The system uses camera color light filters and red-green-blue (RGB) color light emitting diode (LED) lights to aid the machine vision system in recognizing part contrast. Additionally the system is controlled by a Programmable Logic Controller (PLC) which is integrated with a Robot that is used to remove parts. The parts are fed into the workcell via a conveyor belt that is controlled by the PLC. The user has the ability to select the desired acceptable colors on both the HMI and the physical pushbuttons.