PANTOGRAPHY APPLICATION WITH REAL-TIME PLC BASED ON IMAGE PROCESSING IN GANTRY ROBOT SYSTEM

Abstract

Programmable Logic Controllers (PLC) is one of the indispensable products of automation industry. PLCs, which are widely used in many fields of programming, make our lives easier in daily life. In this study, after determining the coordinates of the image taken from the camera with the help of image processing algorithm, the servo drives of cartesian machine are controlled and processed in X-Y plane with Rexroth PLC in real time. In this application, it is aimed to obtain the image again by subtracting the boundary coordinates of the image taken with the camera in MatLab environment. To achieve this goal, the servo drives of the cartesian machine were controlled and the application was realized. Two different methods were applied for the image taken in Matlab environment. The skeleton of the image was taken for the first method and then the boundary coordinates were determined. For the second method, the contour of the image was first extracted. The coordinates of the contour image were not directly used. These coordinates have been tried to be optimized.

In this study, it is aimed to draw a desired image by drawing border coordinates in Matlab with Rexroth PLC on a cartesian machine. As a result of the test studies, it was seen that the drawing process was carried out properly (according to the coordinates received) as a result of the analysis and measurement processes (metric caliper and measurement methods).

Keywords

• Rextoth PLC,MatLab,Image Processing,Skeleton,Contour

References

1. [1] Özden, M. , Ortalama Kayma Algoritmasının Geliştirilerek Görüntü Dizilerinde Hareketli Nesne Takibi ve Görüntü Kesimleme Amaçlı Kullanılması, Master thesis, Kırıkkale University, 2005.
2. [2] Karakkoç, Y., Öztürk, S., & Kuncan, M. (2012). Hareket Eden Renkli Nesnelerin Takibinin PID ile Gerçeklemesi. Otomatik Kontrol Ulusan Toplantısı, Niğde, Turkey, 281-286.
3. [3] Kuncan, M., Kaplan, K., Fatih, A. C. A. R., Kundakçi, I. M., & Ertunç, H. M. (2016). Fuzzy Logic Based Ball on Plate Balancing System Real Time Control by Image Processing. International Journal of Natural and Engineering Sciences (IJNES), 7(3), 28-32.
4. [4] Bakır, A., Güney, Ö. F., Kuncan, M., & Ertunç, H. M. (2012). 3 Eksenli Robot Mekanizmasına Monte Edilmiş Bir Kamera Vasıtasıyla Farklı Rotasyon ve Boyutlardaki Geometrik Cisimlerin Tanımlanarak Vakum Tutucu ile Ayrılması. Otomatı̇k Kontrol Ulusal Toplantısı, Niğde, Turkey, 606-609.
5. [5] Çubukçu, A., Kuncan, M., İmren, M., Erol, F., Ertunç, H. M., Öztürk, S., & Kaplan, K. (2015). Object Discrimination and Sorting with Image Processing on 3-Axis Robot Mechanism. Otomatı̇k Kontrol Ulusal Toplantısı, Denizli, Turkey, 637-641.
6. [6] Horoz, E., Öten, H. F., Kuncan, M., & Ertunç, H. M. (2013). Kamera Yardımı ile Ayırt Edilen ve Tanımlanan Cisimlerin 3 Eksenli Robot Mekanizmasi ile Taşınması. Otomatı̇k Kontrol Ulusal Toplantısı, Malatya, Turkey, 1236-1240.
7. [7] Cuşkun, Y., Duman, F., Basik, H., Gün, F., Kaplan, K., & Ertunç, H. M. (2016). Image processing based multi-purpose 4-axis robot mechanism. In 2016 National Conference on Electrical, Electronics and Biomedical Engineering (ELECO) IEEE, Bursa, Turkey, 247-251.
8. [8] Morphological Operations, https://www.mathworks.com, (ziyaret tarihi: 09.0.2019).

9. [9] Morphological Image Processing, https://www.slideshare.net, (ziyaret tarihi: 09.0.2019).
10. [10] Tekinalp, Z., Öztürk, S., & Kuncan, M. (2013). OPC Kullanılarak Gerçek Zamanlı Haberleşen Matlab ve PLC Kontrollü Sistem. Otomatik Kontrol Ulusal Toplantısı, Malatya, Turkey, 465-470.
11. [11] Erol, F., Emren, M., Öztürk, S., & Kuncan, M. (2015). Real Time PI Implementation on Liquid Level Control by means of PLC. Otomatı̇k Kontrol Ulusal Toplantısı, Denizli, Turkey, 506-511.
12. [12] Thirumurugan, P., Aravind, R., Kumar, M. A., Manjunath, S. D., & Kalaiselvan, R. (2018). Automatic sorting in process industries using PLC. Global Research and Development Journal for Engineering, 3(3).