Design and control of a tennis ball collector robot

Vehbi Umur Cabuk, Ahmet Kubilay Savkan, Ramazan Kahraman, Ferdi Karaduman, Okan Kiril, Volkan Sezer

Araştırma sonucu: ???type-name???Konferans katkısıbilirkişi

1 Atıf (Scopus)

Özet

In this study, an autonomous robot that collects scattered tennis balls in a tennis court is designed and developed. The robot perceives the balls by using a camera placed on it and starts to collect the balls starting from the nearest ones. Mechanical design is achieved with considerations given to increase ease of ball capturing and to prevent captured balls falling out. Image processing is implemented using OpenCV libraries on Raspberry Pi 3. Using edge detection algorithm and appropriate color filter, tennis balls are detected and sorted by their distance to the robot. After the generation of desired robot angle, it is converted to appropriate motor velocity values and transmitted to the motor controller unit. In order to achieve the operation, four DC motors are used. Two of them are used for platform movement, one of them is used to control camera angle for ball scanning operation, and the last one is utilized for ball capturing mechanism. On motor controller board with ARM MCU, position and velocity control of two DC motors with rotary encoders are achieved by discrete PI controllers. System design is validated through real world experimental tests.

Orijinal dilİngilizce
Ana bilgisayar yayını başlığı2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018
EditörlerSeref Naci Engin, Dogan Onur Arisoy, Muhammed Ali Oz
YayınlayanInstitute of Electrical and Electronics Engineers Inc.
ISBN (Elektronik)9781538676417
DOI'lar
Yayın durumuYayınlandı - Eki 2018
Etkinlik6th International Conference on Control Engineering and Information Technology, CEIT 2018 - Istanbul, Turkey
Süre: 25 Eki 201827 Eki 2018

Yayın serisi

Adı2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018

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???event.eventtypes.event.conference???6th International Conference on Control Engineering and Information Technology, CEIT 2018
Ülke/BölgeTurkey
ŞehirIstanbul
Periyot25/10/1827/10/18

Bibliyografik not

Publisher Copyright:
© 2018 IEEE.

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