Title: Raspberry Pi Based Intelligent Robot that Recognizes and Places Puzzle Objects

Abstract: In this study, computer vision application was realized by using Raspberry Pi, USB camera and 3D robotic arm system, which are designed with 3D modeling programs and output from 3D printer. The system automatically determines the position information of the detected objects from the camera and calculates the directions and angles of the robot joints using the position information. Because of calculations, the robot Arm moves to the target. The robot arm is 6-axis industrial type. The Raspberry PI-based system uses python programming language and OpenCV library for image processing.

Keywords: Raspberry PI; 3D modelling; 6 axis robot arm; image processing; Python; OpenCV

Başlık: Bulyap Nesnelerini Tanıyıp Yerleştiren Raspberry Pi Tabanlı Akıllı Robot

Özet: Bu çalışmada 3D modelleme programları ile tasarlanıp 3D yazıcıdan çıktı alınarak oluşturulan robot kol sistemi, Raspberry Pi ve USB kamera kullanılarak bilgisayar görme uygulaması gerçekleştirilmiştir. Sistem kameradan tespit edilen nesnelerin konum bilgilerini otomatik belirler ve konum bilgilerinden faydalanarak robot eklemlerinin yön ve açıları kontrol denklem çözüm yöntemi ile hesaplar. Yapılan hesaplamalar sonucunda robot kolunu hedefe yönlendirir. Kullanılan robot kolu 6 eksenli endüstriyel tiptir. Raspberry PI tabanlı geliştirilen sistemde python programlama dili ve görüntü işleme için OpenCV Kütüphanesi kullanılmıştır.

Anahtar kelimeler: Raspberry PI; 3D tasarım; 6 eksen robot kolu; görüntü işleme; Python; OpenCV

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