Real-time Implementation of Image Based PLC Control for a Robotic Platform

Abstract

In this study, image based real-time control of a linear robotic platform was performed. This robotic platform is used to determine the location of the mushroom and to direct the linear platform to the detected position in real time with PLC control. Haar-Cascade classifier was used to detect mushroom position and Visual Studio C # .NET platform was used to test the Cascade classifier and write other evaluation codes. One of the most important outputs of this work is to determine the actual position in the global coordinate from the pixel-based location of the object in the image using an ordinary USB camera or built-in camera. Calibration technique was used for this determination.