AUTOMATED TENNIS BALL COLLECTOR ROBOT
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Transcript of AUTOMATED TENNIS BALL COLLECTOR ROBOT
AUTOMATED TENNIS BALL
COLLECTOR ROBOT
: RAHUL N S SAJIN SAMJAN SARATHPRASAD K V SUDEESH K S
Group Members
Project Guide : -------------
FISAT: S8ECE-B 2011-2015
Contents
Introduction
Literature survey
Block Diagram
Overview
Hardware Components
Software components
Circuit Diagram
Working ( Flow chart )
Algorithm for MATLAB Programming
Matlab Output
Hardware System (output)
Application & Future score
Conclusion
Reference
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Introduction
It is a wastage of energy to move around the tennis court
to collect balls during training sessions.
The currently available technology to launch balls will also
consume approx 35% of player‟s effective time.(ITF Survey)
The main Objective of this project is to design and develop an automated
robotic tennis ball collector, to be able to identify the standard tennis
balls in the court and collect it to the carriage along with it.
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LITERATURE SURVEY
Realized the relevance of need for a robotic system for collecting tennis
balls during practice sessions with mathematical evidence. [1]
And gave the idea about applying MATLAB as a tool for
accurate ball recognition; by image processing techniques.
Could familiarize a few existing systems like „Vacuum cleaner type collector‟,
‟Eagnas roller ball collector‟, ‟Bear claw collector‟, ‟Remote controlled collector‟.
All these system required partial or full manual control.
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The system consists of two sections
The Robotic Section
• Involves random movement through the court, automatically diverting from
large obstacles.(Using sonar sensor)
• Detection of balls/small obstacles (Using IR Sensor)and accessing its image
to the server PC (Processing unit) using Wi-Fi camera and zigbee module.
• Ball acquisition system with robotic arm which gets activated on receiving
“YES” command from image processing unit (server).
Image processing section
• The image received at server PC is processed using MATLAB,
If attributes like size, colour etc of image matches with that of standard
tennis ball, sends a “YES” command to the robot.
Overview
MICROCONTROLLER
( PIC 16x877 )
ULTRASONIC SENSOR
IR TXR
IR RXR
CAMERA
(wifi cam) MATLAB UNIT
(@ server pc )
ROBOTIC
ARM
MOTOR
WiFi Zigbee
Hardware requirements
Microcontroller ( PIC 16f877)
Advanced MC manufactured by MICROCHIP, with High
performance RISC CPU, suitable for machine control apps.
40 Pin package with 5 I/O Ports A,B,C,D,E
Operating speed: 20 MHz clock input
Timer0: (8-bit ) Timer1: (16-bit) Timer2: (8-bit ) timer/counter
Program Flash 8K : Data Memory 368 Bytes : Data EEPROM 256 Bytes
Low-power, high-speed Flash/EEPROM
15 Interrupts
Serial I/O module : USART
operating voltage : 2.0V to 5.5V [ Low-power consumption ]
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Ultrasound sensor
Active ultrasonic sensors generate high frequency sound waves and
evaluate the distance from obstacle based on the echo received.
Here it is used for the robot to identify any large obstacles (like wall)
and to redirect its motion path.
Connected serially to the USART module of PIC
IR Sensor
The IR Sensor is a general purpose proximity sensor. Usually its is
used for collision detection or obstacle detection
Here used to detect small objects including balls
When connection b/w IR txr and rxr is disturbed it produces a HIGH
o/p
Hardware requirements 8
Zigbee
Here it is used to send command from Matlab to the robot and vice versa.
ZigBee is a technological standard that allows to create personal area networks; especially for control and sensor networks
DC Motors and L293D
For motion of robot 2 dc motors are used
Controlled using motor driver IC L293D, which processes the
signals from PIC to drive the motor
Hardware requirements
Wi-Fi Camera
A digital camera that transmits images to a computer via Wi-Fi.
Using this images can be stored on a local computer , allowing for an
unlimited number of pictures to be taken and process them lively.
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Hardware requirements
CD 4052
CD4052 is a 4-channel analog multiplexer digitally controlled
analog switch.
It is having two binary control inputs, A and B, and an inhibit input.
The two binary input signals select one among 4 pairs of channels
to be turned on and connect the differential analog inputs to the
differential outputs.
Here it is used to switch access to the serial port between max sonar
and zigbee ( to Matlab)
Servo Motor as Robotic Arm
To tuck in the detected tennis ball into the carriage
By changing the servo duty the gate is opened and closed to acquire
the Ball.
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MAT LAB
(to process the image for ball recognition)
MATLAB (matrix laboratory) is a matrix -based powerful software package
for scientific and engineering computation and visualization
• Image Processing Toolbox
Provides a comprehensive set of functions, and apps for
image processing, analysis, segmentation, enhancement,
visualization, noise reduction etc.
• Image Acquisition Toolbox
Enables user to acquire images and video from cameras
directly into MATLAB workspace
Software requirements 11
Software requirements
mikroC
• mikroC is a full-featured ANSI C compiler
• Used to prepare source code in embeddedC, compile it and to produce
.hex file
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Circuit Diagram 13
Working
START Power ON
TIMER initialization. Setting servo duty
to open gate
PORTS initialization
Move Forward
Checks Max
sonar
STOP Motors
Take reverse Leftwards (Anticlockwise rotation
of right motor)
STOP Motor
If any large obstacle found
If No obstacle found
Move Forward
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Working
Checks IR
sensor
STOP Motors
If any object found
Switch from Sonar to Zigbee using
CD4052
Zigbee (Sends sym ‘D’ to MATLAB)
MATLAB captures image of object using wi-fi cam
Image is processed
Zigbee (Sends character to PIC)
Change servo duty & Tuck the ball in
Switch from Zigbee to sonar using
CD4052
Take reverse Rightwards (Anticlockwise rotation of
left motor)
STOP Motor
If no object found
(O) If TENNIS BALL (N) If not a TENNIS BALL
Move Forward
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Algorithm for MATLAB programming
Step 1: Start
Step 2: Set up the serial port
Step 3: Perform camera initialization settings using image acquisition tool box
Step 4: Wait for signal from zigbee and read the character if received
Step 4: If character „D‟ is received take snapshot of current frame using “getsnapshot()”
Step 5: Linear filtering. A predefined gausian filter is accessed using “fspecial()”
applied to the image using “imfilter()”
Step 6: Separate Red, Green, Blue layers
Step 7: Define Yellow color plane ( Color of tennis ball)
Step 8: Adjust the image for uniform intensity distribution using “imadjust()”
Step 9: Convert to binary for property estimation using “im2bw()”
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Algorithm for MATLAB programming
Step 10: Perform morphological closing and opening using “imclose” & “imopen”
Step 11: Fill black pixels with in the white region using “imfill()”
Step 12: Remove unwanted small white pixels in the image using “bwareaopen()”
Step 13: Detect circular object of specified brightness and radius using
“imfindcircles()”.
Step 14: Draw a circle around detected balls using “viscircles()”
Step 15: If detected, show a warning dialogue “Tennis ball detected”
& send a character „O‟
Else
Show “No Tennis ball detected”
& send a character „N‟
Step 16: Stop
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Input image Filtered Image
Extracted yellow color plane Uniformly distributed image
Binary Image
Matlab Output
Image after combined dilation and erosion
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Final Image
Matlab Output
Black pixels in the
white region are removed
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Warning Dialogues
Case1: Sends ‘O’ Case1: Sends ‘N’
20 Hardware System
Side View
21 Hardware System
Back View
Front View
The system has worked successfully and delivered the necessary output as expected
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To avoid stopping the tennis players for ball collection during their
practice time, permitting a higher use rate of the time. Or simply
we can say, avoids the extra requirement of a ball boy.
APPLICATION
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FUTURE SCOPE
There is still room for further improvements. Like the model may incorporate
some extra high-tech features such as Improved robotic arm with more
intelligence to pick balls .
Improved system to avoid collisions (By use of multiple max sonar).
The same system can be used for collecting cricket balls during practice in
nets or ground, with some necessary changes in image processing part.
CONCLUSION
Thus R.T.B.C can be regarded as an efficient system that can reduce the
time and effort required in collecting the tennis balls around the tennis
court, which enables players to concentrate more on the game.
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REFERENCE
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1] Neha Chawla, Wuqayan Alwuqayan, Ahmed Faizan, Sabri Tosunoglu
“Robotic Tennis Ball Collector”, 2012 Florida Conference on Recent Advances in Robotics
Boca Raton, Florida, May 10-11, 2012
[2] John Wang
“Ballbot: A Low-Cost Robot for Tennis Ball Retrieval”,
Technical Report No. UCB/EECS-2012-157
http://www.eecs.berkeley.edu/Pubs/TechRpts/2012/EECS-2012-157.html June 2, 2012
[3] Ryan Collier, Mohammed Adham , Perry Haldenby, Kevin Smit
“Autonomous Tennis Ball Collector “
University of waterloo, December 4, 2009
[4] Naomi Henderson , Professor Rick Middleton
“Digital Image ProcessingIn Robot Vision”
The University of Newcastle, Australia.