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ARCHITECTURAL MODEL OF ROBOT VISION SYSTEM SMART CARD TECHNOLOGY

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ABSTRACT:

Technological advancement is widening up by the advent of new inventions. Robot is one such invention to overcome the ever-present challenges of high cost of labor, third world combination, and consumer demand for higher quality and greater variety at a lower cost. It is an interdisciplinary field that ranges in scope from the design of mechanical and electrical components to sensor technology, computer systems, and artificial intelligence. It is the Science of designing and building robots

suitable for real life applications in manufacturing and other non-manufacturing environment. In non-manufacturing environment robots act as computer-controlled camera that allows it to see its environment and respond accordingly is known as its vision.

In the current scenario, the Robot Vision System is basically used for inspection purposes in Industries such as gauging, verification of presence of components, detection of flaws, etc In this paper we have designed an architectural model of Robot Vision System, by integrating it with Smart Card. Some of the advanced features of the model are identifying the speeding vehicle, vehicles that are not in proper lanes, reporting and sending the details of the vehicle to nearby Control Station along with the particulars of the vehicle are the hallmarks of the designed system. To avoid the unauthorized use of National Highways, we have introduced a simple chip incorporated into the Robot Vision System. The main aim of our paper is to protect valuable human lives. This advanced Smart Card and Robotic Sensors System helps to avert accidents and damage to public property in future.

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1 INTRODUCTION: 1.1 MACHINE VISION SYSTEM:

Machine Vision can be defined as acquisition of image data followed by processing and interpretation of data by using computer for some useful applications. The Machine Vision System is generally classified as Two Dimensional and Three Dimensional System.

Generally, Three Dimensional is more advantageous, but

anyhow Two Dimensional System is much preferred for simple applications. The general applications of Machine Vision System are dimension measuring, gauging, verifying presence of components (flaws), and checking flatness of surface.

DIGITIZATION

COMPUTER PROCESSING

Camera

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IMAGE INTERPRETATION

ANALYSIS PROGRAM

Decision and Actions

Illumination

Object

Fig 1:Functioning of Machine Vision System

1.1.1 IMAGE ACQUISITION AND DIGITIZATION:

Image Acquisition and Digitization is accomplished using a video camera and a digitizing system to store the image data for subsequent analysis. The camera is focused on the object of interest or the subject of interest and the image is obtained by dividing the viewing area into a matrix of discrete picture elements called pixels, in which each element has a value that is proportional to the light intensity of that portion of the scene.

The intensity value for each pixel is converted into its equivalent digital value by an ADC (Analog to Digital Converter).

Two types of Vision System: 1. Binary Vision:

In Binary Vision the light intensity of each pixel is ultimately reduced to either of two values, black or white, depending on whether the light intensity exceeds a given threshold level.

2. Gray Scale Vision System:

Gray Scale Vision System is a more sophisticated vision system, which is capable of distinguishing and sorting different shades of gray in the image depending on the intensity level. This type of system can determine not only an objects outline and area characteristics, but also its surface characteristics such as texture and color. Gray Scale Vision System typically uses 4, 6 or 8

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bits of memory. Each set of digitized pixel value is referred to as a frame. Each frame

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is stored in a computer memory device called as frame buffer. The process of reading all the pixel values in a frame is performed with the frequency of 30 times per second.

Types of camera: The two types of cameras that are used in Machine Vision applications are: 1. Vidicon Camera: Vidicon Cameras are operated by focusing the image onto a photoconductive surface and scanning the surface with an electron beam to obtain the relative pixel values.

2. Solid State Camera:

Solid State Cameras are operated by focusing the image on to 2

Dimensional array of very small, finely spaced photosensitive elements which form the matrix of pixels. An electrical charge is generated by each element according to the intensity of light striking the element. The charge is

accumulated in a storage device consisting of an array of storage elements corresponding one to- one with a photosensitive picture element. These charge values are read sequentially in the data processing and analysis function of Machine Vision.

ILLUMINATION:

The scene viewed by the vision camera must be well illuminated, and the illumination must be constant over the time. This almost always requires the special lighting to be installed for Machine Vision applications rather than rely on ambient lighting in the surroundings.

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Types of Illumination: 1. Front Lighting: 2. Back Lighting: 3. Side Lighting: 4. Structured Lighting using a planar sheet of light: 5. Strobe Lighting:

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1.1.2 IMAGE PROCESSING AND ANALYSIS:

The second function in the operation of Machine Vision System is Image Processing and Analysis. The data that must be processed is significant and the data for each frame must be analyzed within the time required to complete one scan (1/30 second). A number of techniques have been

developed for analyzing the image data in Machine Vision System. The two categories in Image Processing and Analysis are: 1. Segmentation:

Segmentation techniques are intended to define and separate regions of interest within the image. Two of the common segmentation

techniques are thresholding and edge detection.

Thresholding involves the conversion of each pixel intensity level into a binary value, representing either whit or black. This is done by comparing the intensity value of each pixel with defined threshold value. If the pixel value is greater than the threshold, it is given the binary bit value of white, say 1; if less than the defined threshold, then it is given the bit value of black, say 0.

Edge detection is concerned with determining the location of boundaries between an object and its surroundings in an image.

accomplished by identifying the contrast in light intensity that exists between adjacent pixels at the borders of the object.

algorithms has been developed for following the border around the object.

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This is

A number of software for

2. Feature Extraction: Most of the Machine Vision System characterizes an object in

the image by means of the objects features. Some of the features of an object include the objects area, length, width, diameter, perimeter and center of gravity. Feature Extraction method are designed to determine these features based on a area and boundaries of the object

1.1.3 INTERPRETATION:

The interpretation function is usually concerned with recognizing the object, a task termed object recognition or pattern recognition. The objective in these tasks is to identify the object in the image by comparing it with predefined models. Two commonly used interpretation techniques are: 1. Template Matching:

Template Matching is the name given to various methods that attempt to compare one or more features of an image with the corresponding features of a model or templates stored in computer memory. The most basic

template matching technique is one in which the image is compared, pixel-bypixel, with the corresponding computer model.

2. Feature Weighting:

Feature Weighting is a technique in which several features such as area, length, perimeter, etc are combined into a single measure by assigning a weight to each feature according to its relative importance in identifying the object. The score of the object in the image is compared with the score of an ideal object residing in computer memory to achieve proper identification.

1.2 SMART CARD TECHNOLOGY:

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make a significant impact on the quality of human life. It is manufactured using Semi Conducting and Magnetic Materials. There are two types of Smart Cards namely Contact Smart Cards for

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Smart Card is a technological advancement, which has the potential to

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which a Smart Card reader is required, and the Contact-less Smart Cards, which can be waved in front of Sensors and used accordingly. This type of Smart Card is very useful for Mass Transit and applications where large number of movement of people happen very quickly and frequently. The main applications of these Smart Cards are data carrier and identification.

1.3 ENCODERS:

One of the most widely used position sensors is the optical encoder. Capable of resolutions that are more than adequate for robotic applications, these non-contact sensory devices come in two classes (1) absolute (2) incremental. In former case, the encoder is able to give the actual linear or

rotational position even if power has just been applied to electro mechanical

system using the sensor. Thus a robot joint equipped with an absolute encoder will not require any calibration cycle since the controller will immediately, upon power-up, know the actual joint position.

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2 PROPOSED MODEL OF ROBOT VISION USING SMART CARD TECHONOLOGY

2.1 OVERVIEW

After a study regarding the accidents in National Highways, it was found the main cause behind these were due to over speeding of vehicles and change of lanes

during the course of travel. In addition to this we have introduced a chip card, which

will prevent the unauthorized usage of National Highways. In order to avert these we have designed a paper, which would be valuable.

Gray Scale Vision

Solid State Camera

Regn. Check

ACCM

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Object

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Fault

Image Check

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Speed Check (Encoders)

Ok
Safe Travel

Strobe Lighting

Information to Control Room

Fig 2: Configuration of proposed model

ACCM: Automated Card Checking Machine REGN. CHECK: Registration Number Check SPEED CHECK: Done using Optical Encoders

2.2 PROCESSES INVOLVED:

2.2.1 SMART CARDS FOR TOLL COLLECTION:

Several states in India have a system of Tax called octroi which is tax collected for goods or entry. This introduces a tremendous amount of paper work and also lack of transparency. By usage of Automated Fare Collection

System (prepaid Smart Card) will assist in reducing paper work and also will ensure complete transparency at the toll. A contact less Smart Card with

electronically pre-loaded money is used to pay the exact fare by flashing the card to contact less Smart Card reader. The Card communicates with the reader through Radio Frequency. This method gives a significant benefit to the Highways Department.

The procedure is that the highway user should buy the Smart Card in advance to his usage of the National Highway. The highway user is expected to insert the Smart Card in the Automated Card checking System and if the required conditions were satisfied, the user would be permitted to enter the National Highway.

2.2.2

ROBOT VISION SYSTEM:

The Robotic Sensors have the capability of identifying the vehicle to a distance of 50 meters on either side and accordingly the Robotic Sensors are placed.

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2.2.3 IMAGE ACQUISITION AND DIGITIZATION:

Video Camera: CHARGE COUPLED DEVICE (SOLID STATE CAMERA) Vision System: GRAY SCALE VISION SYSTEM 1. The basic idea of using a Gray Scale Vision System is to exactly get the image of the vehicle and the Registration Number of the vehicle so as to be compared with the images already stored in the host computer. 2. If the Registration Number of the vehicle that is traced is not present in the sorted list of Registration Numbers then this indicates an unauthorized usage of the highway for which the highway user is to be fined.

Illumination: STROBE LIGHTING

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In Strobe Lighting, a short pulse of high -intensity illuminates the scene

light, which causes a moving object to appear stationery. The pulse of light can last 5-500 microseconds. This is sufficient time for camera to capture the image although the camera actuation must be synchronized with that of the strobe light.

2.2.4 IMAGE PROCESSING AND ANALYSIS: Thresholding: Thresholding is one of the Segmentation techniques. This technique is very useful in getting the image of the approaching vehicle with the Registration Number in white or black.

2.2.5 INTERPRETATION: Technique used: TEMPLATE MATCHING

The images of most commonly used models of vehicles are stored in the host computer. The image of the approaching vehicle is

compared with the images in the host computer. And if the images of the vehicle dont match, then it indicates the improper usage of lanes. Then immediately the particulars about the vehicle are stored and informed immediately to nearby Control Station.

SPEED CHECK:

The speed of the vehicles is calculated using the Velocity Sensors. The velocity Sensor used in this system is Encoders. Encoders: Encoders

are

potentiometers, which give analog signals, encoders give digital signals directly. They basically consist of a photo transmitter (light source), photo receiver (photo cell). Types of Encoders:

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position

sensors.

Unlike

1. Incremental Encoders: 2. Absolute Encoders:

Rotary Absolute Encoder: The absolute encoder is capable of giving the correct rotary position at all times even after power-up has occurred. The device produces a separate and unique coded word for each vehicle position and unlike the incremental encoder; every reading is independent of the preceding one. A major

advantage of the absolute encoder is that even if system power is accidentally lost (due to a power outage or relay trip) for (e.g.) the device will remember

where it is and will report this to the system as soon as power is restored. Calibration of machines using this type of encoder is, therefore, maintained even if the position of the rotating member is moved when the power is off.

Absolute Encoders consists of: A multiple track light source A multiple channel light receiver A multiple track rotary disk

LANE CHECK: Three basic components are: Pre Processing (Image Pre Processing)

Initially the full image is converted into partial image and then edge enhancement is performed and finally re-sampling is done. Edge enhancement is basically a differentiation step, which provides robustness independent of brightness variation due to the shadows of the moving sun. Automatic Lane Detector Lane Inference System

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ROBOTIC SENSOR SYSTEM FOR CHECKING UNAUTHORISED ENTRY

Regn.No card Model

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Card Host Computer (Control System)

Card ACCM

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OPTICAL ENCODER (speed check)

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Flow Chart for Our Robot Vision System

START

No @ Is Smart Card Inserted A

Yes Vehicle allowed

* Is Camera activated?

Yes

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Locate License Plate

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Image Capture

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Is there any License Plate? Yes Identify Registration Number

No A

No **Check for legal Usage A

#Speed Check

##Lane Check

# Speed Check:

## Lane Check

Vehicle Speed Noted

Vehicles Lane Noted

$ Is Condition satisfied? Yes Safe Travel

No A

$$ Is Vehicle in Proper Lane? Yes Safe Travel

No

* Usually the camera is expected to be activated always and placed at a quite a far distance so as to provide the vehicle time to acquire a standard speed @ If Smart Card is not inserted, the vehicle cant enter the Highway. ** The legal usage is checked is separated into 2 stages, both lane and speed as to be appropriate, and it is given in two separate flow charts # A separate flow chart has been given for speed check ## A separate flow chart has been given for lane check $ For different vehicles different speed limits have been specified, and the

speed of the vehicle is found using rotary optical encoder and the speed is

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compared with correct speed values. The vehicle is identified using templatematching techniques and then only speed is checked. For different vehicles different lanes have been allocated, and using

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template matching techniques the vehicles image is compared.

ADVANTAGES OF OUR PROPOSED SYSTEM:

ADVANTAGES OF VISION SYSTEM: 1. In current scenario, a system exists in United States of America, that identifies the over speeding vehicles and automatically spikes appears within a certain distance both in front and at back of the

vehicle, which may lead to traffic jam in the Highway till officials from the Control Station comes and clears it, and it also causes damage to the vehicle.

But in Robot Vision System, no damage is caused to vehicle but it identifies the vehicle uniquely using the Registration Number and they are ultimately fined.

2. When accidents occur in National Highways, the clear picture of the Accident can be got, and the culprit can be held with then help of Registration Number.

3. Unauthorized use of National Highway could be averted.

ADVATANGES OF AUTOMATED FARE COLLECTION SYSTEM (Using SMART CARD)

1. This improves the operational efficiency.

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CONCLUSION This system if implemented in National Highways would be very helpful in

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2. Minimization of Revenue leakage. 3. Increased Cash flow due to advance collection. 4. Highway user gets better service.

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reducing the number of accidents. In future this system would be forced to be implemented as the usage of vehicles is on a constant increase. So we recommend this paper to the Highways Department. The modified version of system can also be introduced in the Railways, as it will be useful in averting the collusions between the trains due to improper signaling.

REFERENCES Robotics by William P Groover. Robotic Engineering An Integrated Approach by Richard D Klafter Thomas A Chmielewski Michael Negin Robotics and Automation Engineering by S.R. Deb

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