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our AMS

Robot

by Johannes Magraf
and Steffen Tröster

Agenda

task
used hardware and software
image registration
stepper motor controlling
iterations and implementation
results and improvements

Task

"The robot should find and move a colored ball into a colored goal on a flat ground."

Used Hardware

Raspberry Pi as controller
Raspberry Pi camera module
stepper motor with driver
3D printed construction

Raspberry Pi

10 of 40 GPIO Pins used
USB Port for WLAN
I2C for Pi Camera
700MHz CPU

Used Software

python as programming language
Raspbian linux as OS
OpenCV for image processing

Ball Detection

Hough Circle approach

Square Detection

Convex Hull approach

Building Process

constructing elements for the printer
Implementing object detection
building our robot and implementing movement
combining all together and implementing actual task

Construction

OpenSCAD Wheel Model

1#

2#

Demo 1

Demo 2

Improvments

Performance Tuning with separation
Use of Robot Operating System (:ROS)
changing motors
improving image processing time

Questions?

https://github.com/stetro/AMSRobot