Date post: | 17-Jan-2016 |
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OuimetGolf Playing Robot
- Shashank G. Sawant
Topics covered:
• Block and Circuit Diagram• Sensors :
– CMUCAM – OPT101
• The mechanical Hardware• Behaviour
Block Diagram
CMUCAM
AtmegaMicrocontroller
Board
Continuous Servo Motor
Servo Motors for CMUCAM
Servo Motorfor club
MAX232A
Continuous Servo Motor
OPT101 sensors
Atmega164p Board
Atmega164p
MAX232A
Servo Headers
ADC Headers
LM7805
LCD Port
OPT101
OPT101
CMUCAM
CMUCAM Block Diagrams
CMUCAM Serial Communication
CMUCAM Serial Communication (TTL)
The Mechanical Hardware
• The CMUCAM is mounted on a platform connected to 1 servo. Thus it has a single degree of freedom.
• For its locomotion, Ouimet relies on 2 continuous servo motors setup in a differential configuration.
• Ouimet’s Golf Club is connected to its chassis by means of a micro-servo motor.
The Mechanical Hardware
Continuous servos Golf Club
Idle WheelMicro-servo
Algorithm
• Search for a white ball by executing random turns and straight line motion, with the camera pointed downwards.
• Once a white ball is detected align it in the center of the frame.
• Raise the camera to 0o elevation and rotate till the flag(marking the hole) is located while measuring the angle of rotation.
Algorithm
• Once the flag has been and the relative angle between the ball’s location and the hole has been measured calculate the next steps of motion.
ɸd
d1
Algorithm
• Align with the ball and the hole in a straight line and then putt the ball into the hole.
Ouimet
Algorithm
• If the ball is visible repeat the process. Otherwise the objective has been accomplished!
Ouimet
Behavior Flowchart
Start
Search for a white ball by moving
randomly
Ball detected ?Center the ball in the
image
Rotate and locate the
flag
Calculate the position of alignment, move
to the same and putt the ball into the hole
Is the ballVisible?
End
YES
NO
NO
YES
Thank You