Automated lego blocks sorter using machine vision

Namen magistrske naloge je bila izdelava programa, kateri bi s pomočjo kamere preveril tip kocke na tekočem traku in jo pospravil v pravilen zaboj. Uporabili smo sortirnik lego kock s koračnimi motorji za premikanje traku, analognimi senzorji za zaznavo kocke, servomotorji za pospravljanje kocke v zaboj in mikrokrmilnik STM. Mikrokrmilnik je služil za premikanje tekočega traku, zaznavanje prisotnosti kocke in pospravljanje kocke v pravilen zaboj. Nanj smo priklopili računalnik na katerem je deloval program za prepoznavo tipa kocke in uporabniški vmesnik. Program na mikrokrmilniku je napisan v programskem okolju STM32CubeIDE v jeziku C, program na računalniku pa v programskem okolju Visual Studio v jeziku Python.The purpose of the master\u27s thesis was to create a program that would check the type of lego cube on the conveyor with a camera and insert it into the right box. We used a lego cube sorter with stepper motors to move the conveyor, analog sensors to detect the lego cube, servomotors to move the cube into the box and a STM microcontroller. A microcontroller was used to move the conveyor, detect lego cube on the conveyor, and to move that cube in the correct box. We connected computer to the microcontroller where was the program for recognizing the type of lego cube and the user\u27s interface. The program on the microcontroller was written in the STM32CubeIDE software environment in C language and the program on the computer in the Visual Studio software environment in Python language