1 / 17

Intelligent Tennis Ball Retrieval System Using Microcontrollers and Sensors

This project outlines a sophisticated tennis ball retrieval system developed by Vivek Manoharan, William Dubel, and Steven Pickles. Utilizing an Atmega128 microcontroller and a SparkFun AVR board, the system employs a CMU camera to locate the tennis ball, and ultrasonic sensors to center it for mechanical arm retrieval. It features a robust mechanical arm powered by a high-torque DC motor to pick up and place the ball into a container. The study highlights the importance of color contrast detection, obstacle avoidance, and the challenges faced in behavior interaction, proposing future improvements for enhanced motor control and communication.

keelie-hays
Télécharger la présentation

Intelligent Tennis Ball Retrieval System Using Microcontrollers and Sensors

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Ball Man By Vivek Manoharan TAs: William Dubel and Steven Pickles

  2. Problem/Solution

  3. Microcontroller • Atmega128 • SparkFun AVR board • 16 MHz ext. crystal

  4. Behaviors • Locate – CMU Cam to locate tennis ball • Ping/Center – Ultrasound to center ball for mechanical arm retrieval • Retrieve – Pickup tennis ball • Return – CMU cam searches for bright orange

  5. CMU Camera • Detect contrast level of tennis ball on tennis court • Initialization of color required • Allows for differently colored tennis balls to be located

  6. White Balance Indoors • White Balance off

  7. White Balance Indoors • White balance on

  8. Ultrasound Sensors • Determine whether objects are on the tennis court • If CMU camera RGB values do not match that of tennis ball, obstacle avoidance is initiated • If there is a match, retrieval system is called upon

  9. Devantech SRF-04’s

  10. Mechanical Arm • Timing used to determine when to stop “push” • Use a high torque DC motor to lower and hoist mechanical arm • Places ball into container

  11. Mechanical Arm

  12. Mechanical Arm

  13. Other Parts

  14. Research/Findings • CMU resolution is very limited • Interaction of independently working behaviors is extremely frustrating

  15. Findings

  16. Future Work • Use a better motor driver for control of all 3 motors (two wheels and one arm) • Create a “dropping off” mechanism • Allow communication to a remote computer indicating how many balls have been retrieved

  17. Conclusion

More Related