Скачать или смотреть Robot Balances Ping-Pong Ball On SeeSaw | Arduino Ball Balancing Robot With Python Image Recognition

This is a ball-balancing robot. It will try to balance the ball in the middle with Object Detection & Image Recognition through Arduino & Python. We have used distance sensors, as well as image recognition techniques to keep it balanced.

This is the CAD design of the ball-balancing robot. Here we can see a ping pong ball placed inside the box. This ball is free to move in the box. The box is placed on the side of the triangular edge. Such a box can act as a see-saw. To move the box up & down, we have attached a servo motor in the box, with the help of a link. There is n ultrasonic sensor placed at the end of the box, this measures the distance of the ball in front of it. This sensor sends the distance to the microcontroller, which sends commands to the servo motor. To move the box up or down. Such that the ball is always in the center of the box. We will take a servo motor. & connect & bend a wire in its horn. This wire will be attached to the box. The whole robot will be powered by this tiny motor. Then we will place a cardboard box on a cardboard triangle. This arrangement will act as a sea saw. The top box will be free to move up & down. We have attached the motor to the box through a wire. & we can see that the box now moves up & down. At the other end of the box, we have attached an ultrasonic sensor. This sensor measures the distance between itself & the ball in front of it. The concept of the ball-balancing robot is simple. The ball must remain in the middle of the box. If it rolls towards the left, the box is raised from the left. So, that it rolls down the other end. This process repeats until the ball gets in the middle. This green ball seems to be balanced. But it is not in the middle of the box. The ball is too small. So the ultrasonic waves coming out of the sensor easily passes from the sides of the ball. That's why it is not able to detect this ball properly. The sensor gets a constant reading if the ball is exactly in the middle. We also tried placing the ultrasonic sensor below the moving box, to keep it balanced. But then we figured out that it is total bullshit. Then we got back to our previous setup. But with a different ball. This white ball is slightly bigger than the previous one. Also, it is not spherical. It looks like the robot is trying to balance the ball. But then the ball stucks at its flat part. Then we thought to stick two wheels together. This will restrict its motion to a straight line. This is forwards & backward. And, it is big enough to be detected by the sensor. But if we were wrong. These wheels still get stuck on the sides of the box. Finally, we got the right ball, will proper dimensions. We got the right ball now let's try to balance it. To balance it we will be using PID control. The input will be the distance of the ball from the sensor. And the output from the PID control will be the angle of the servo motor. Which will ultimately raise or lower the box. Roll the ball uphill or downhill. This continuous feedback loop should result in the ball being stable at the center. Here starts the process of tuning PID parameters. We are able to balance the ball for very little time. Then we used the image recognition technique, OpenCV. In python programing language. It has a threshold set for the orange color. It encircles any orange-colored object seen from the camera. There is an imaginary line separating the video on the left and right. Whenever it detects the object on the left side, it displays the word left in blue color. And whenever it detects the object on the right side, it displays the word right in red color. After detection, Python serially sends the data to the microcontroller. And microcontroller moves the motor based on the input. For this period the ultrasonic sensor is disconnected All the balancing work is done by camera and servo.

Chapters:
0:00 What is a Ball Balancing Robot?
0:11 CAD Design of the Ball Balancing Robot
0:50 Servo Motor Interfacing for the Ball Balancing Robot
1:00 Cardboard Box See-Saw for the Ball Balancing Robot
1:15 Ultrasonic Sensor Interfacing with Arduino for the Ball Balancing Robot
1:25 Concept of the Ball Balancing Robot
1:48 Issues with the Ball Balancing Robot
2:53 Finally balanced the Ball Balancing Robot
3:08 Tuning PID Parameters for the Ball Balancing Robot
3:46 Python OpenCV Image Recognition for the Ball Balancing Robot

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