Image based control of a linear robotic system

Today, in parallel with the development of technology, the increasing needs lead people to seek different innovations. The industrialization process that started with the use of steam machines in the industry has been continuing until the present and is still continuing. In this process, the industry has gone through certain stages and have reached today with the name of Industry 4.0. Industry 4.0 provides advantages such as fast, error-free and efficient production in sectors such as production, agriculture and defense industry. With the Industry 4.0 based autonomous systems can easily offer solutions to many problems in the field of agriculture. One of the products that are encountered in agriculture and require extra care is undoubtedly cultural mushroom. Mushroom production is quite sensitive and requires a lot of human resources at every stage of these processes. For these reasons, problems such as low production efficiency and inability to produce products of the desired quality arise. Solutions to these problems encountered in the production of mushrooms can be brought up with Industry 4.0 technology. The system described in this thesis is control of an image based linear robotic platform with the industrial automation control system (PLC). In this thesis, a system consisting of PLC, camera and motors will be used to locate the mushroom with the camera. The system of this thesis will be the basis for the more advanced Robotic Mushroom Collection system. "Robotic Mushroom Collection" system is an autonomous system, which is contained a manipulator which is movable on XYZ plane on a moving conveyor system, the cases which are moving on conveyor belts and the mushroom production in the cases. This thesis was supported within the scope of KOSGEB's R & D Innovation Program within the scope of the project dated 11/01/2017 and numbered 2016/13. In addition, this thesis was supported by the Erzurum Technical University Scientific Research Projects 2017/18.