YAPAY ZEKA TABANLI GÖRÜNTÜ İŞLEME İLE AKILLI ROBOT SÜPÜRGELERDE TEHLİKE VE ENGEL ALGILAMA

Öz

Günümüzde teknolojinin hızla gelişmesi ile birlikte yapay zekâ teknolojileri birçok alanda sıklıkla kullanılmaya başlanmıştır. Yapay zekâ teknolojileri sağlık, eğitim, mühendislik gibi birçok disiplinler arası alanda sıklıkla kullanılmaktadır. Yapay zekâ teknolojisinin önemli kullanım alanlarından birisi de mühendislik alanıdır. Özellikle makina, elektrik-elektronik ve bilgisayar sistemlerinin bir arada kullanıldığı disiplinler arası bir mühendislik alanı olan mekatronik mühendisliğinde de yapay zekâ teknolojilerinden faydalanılmaktadır. Mekatronik mühendisliğinde özellikle robotik yapay zekâ algoritmaları sıklıkla kullanılmaktadır. Yapılan çalışmada, yapay zekâ tabanlı görüntü işleme tekniklerinin robot süpürgelerde engel ve tehlike algılama işlevine uygulanması gerçekleştirilmiştir. Geleneksel sensör tabanlı sistemlerin yüksek maliyetleri ve algılama doğruluğu sınırlamaları nedeniyle, kamera ve yapay zekâ destekli bir alternatif olarak yapay zekâ tabanlı sistemler robot süpürgelerin ev ortamındaki cansız nesneleri ve tehlikeli bölgeleri algılayarak güvenli bir şekilde temizlik yapması hedeflenmiştir. Bu amaçla, sandalye, koltuk, oyuncak ve terlik nesnelerden oluşan bir veri seti oluşturularak elde edilen veri seti VGG-19, AlexNet, MobileNet V2 derin öğrenme mimarileri ile eğitilmiştir. Çalışmada kullanılan üç derin öğrenme mimarisi içerisinde MobileNet V2 modeli %97.87 doğruluk oranı ile en başarılı model olarak tespit edilmiştir. Çalışmada gerçekleştirilen derin öğrenme yaklaşımı, sensör tabanlı sistemlere kıyasla maliyet etkinliği ve çevresel farkındalık açısından daha avantajlı bir çözüm sunmaktadır.

Anahtar Kelimeler

• Anahtar derin öğrenme
• Görüntü işleme
• Robotik

HAZARD AND OBSTACLE DETECTION IN SMART ROBOT SWEEPERS WITH ARTIFICIAL INTELLIGENCE-BASED IMAGE PROCESSING

Öz

Nowadays, with the rapid development of technology, artificial intelligence technologies have begun to be used frequently in many areas. Artificial intelligence technologies are frequently used in many interdisciplinary fields such as health, education, and engineering. One of the important areas of use of artificial intelligence technology is the field of engineering. Artificial intelligence technologies are also used in mechatronics engineering, which is an interdisciplinary engineering field where machinery, electrical-electronics, and computer systems are used together. Robotic artificial intelligence algorithms are frequently used in mechatronics engineering. In the study, the application of artificial intelligence-based image processing techniques to the obstacle and danger detection function in robot vacuum cleaners was carried out. Due to the high costs and detection accuracy limitations of traditional sensor-based systems, camera and artificial intelligence-supported alternative artificial intelligence-based systems are aimed to detect inanimate objects and dangerous areas in the home environment and clean robot vacuum cleaners safely. For this purpose, a data set consisting of chair, armchair, toy, and slipper objects was created and the obtained data set was trained with VGG-19, AlexNet, MobileNet V2 deep learning architectures. Among the three deep learning architectures used in the study, the MobileNet V2 model was determined to be the most successful model with an accuracy rate of 97.87%. The deep learning approach implemented in the study offers a more advantageous solution in terms of cost effectiveness and environmental awareness compared to sensor-based systems.

Anahtar Kelimeler

• Deep learning
• Image processing
• Robotics

Kaynakça

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