Ball Tracking Robot Using Raspberry Pi Final Year Project

Ball Tracking Robot

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Ball Tracking Robot

Project Scope

We plan to build a car-mounted robot that can identify and track a small ball-like object of a specific color (Frequency).

This can be implemented on a larger Industrial-scale for tracking suspicious movements of objects or persons and chasing them while avoiding any obstacles in the path and taking the shortest route.

Team Members

Dhyan Chandra Pandey (1664110016)
Ekta Upadhyay (1664110018)
Sushrut Pandey (1664110059)
Rahul Rai (1664110047)

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Member Roles

Dhyan Chandra Pandey: Software Setup, Blog, Coding and Algorithm, Equipment gathering
Ekta Upadhyay: Blog, Coding and Algorithm, Equipment gathering
Sushrut Pandey: Hardware implementation, design, and connections setup
Rahul Rai: Synopsis Writing, Block Diagram Setup, Testing

Mentor

Mr. Ankur Srivastava

Block Diagrams

Ball Tracking Robot

Pin Diagram

Ball Tracking Robot

Components

Raspberry Pi 2 - Model B.
Raspberry Pi Camera Module.
Ultrasonic sensors.
H-Bridge.
DC Motors.
Chassis with wheels.
Caster wheel.
Breadboard.
Male and Female connectors.

Raspberry Pi Camera Module

Raspberry Pi 2

Ultrasonic Sensors

H-Bridge

DC motors

Chassis with Wheels

Wheels

Female Connectors

BreadBoard

Male Connectors

Software Support

Raspbion OS
Open CV
Python 3.6

Components Sources

Amazon.in
Lajpat Rai Market, Chandni Chowk.
ECE lab, IIIT-Delhi.

Initial Approach

We will be using Raspberry Pi as our micro-controller for this project as it gives us great flexibility to use the Raspberry Pi camera module and allows us to code in Python which is very user friendly.

We plan to use adjacent ultrasonic sensors which can be read in parallel for detecting any obstacles in the path of our robot, the crucial thing would be to set limits and conditions for our bot to move in a set pattern when it encounters an obstacle in its path, or when an obstacle is in it's either direction and the various possibilities of obstacles in its the path.

For controlling the motors, we will be using an H-Bridge to switch from clockwise to counter-clockwise or to stop the motors. This would be integrated via our code when direction and speed have to be controlled in different obstacle situations.

Our code is running in Python script using OpenCV library support.

We will be using the Raspberry Pi camera module to detect images frame by frame and to analyze and detect the presence of our set object like a red ball. The crucial thing here would be to avoid any frame drops as then our bot can go into a limbo state if the bot is unable to predict the direction of the ball after few frame drops.

Even if we manage the frame drops then also if the ball goes out of the scope of the camera, it will go into a limbo state, if that be the case, then we will have to make our bot take a 360-degree view of its environment till the ball comes back in the scope of the camera and then start moving in its direction.

We are integrating the obstacle avoidance part and the image detection and following part via our code.

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Prototype

Prototype 1

Prototype 2

Prototype 3

Final Prototype

Design and Working

Raspberry Pi micro-controller and Raspberry Pi camera are mounted on a chassis along with other support components including an H-Bridge and three ultrasonic sensors.

The chassis is supported by two wheels (powered by two DC motors) and a castor wheel.

The direction of the car is controlled by the H-Bridge controlling the DC motors.

Direction control is needed for avoiding obstacles in the path of the bot and also to make it go in a particular direction while it is the detection and tracking of the ball.

The robot also avoids any obstacles in its path using adjacent ultrasonic sensors placed in the north, east, and west relative to the camera module.

The Raspberry Pi camera module shoots the environment within its scope and uses open CV software( open-source) to do detection.

While detection, if the ball goes out of the scope of the camera, then it rotates around its a current position to take a 360-degree view so that the ball can come back in its scope.

The ball of a particular color (frequency) is identified and its movement is detected.

Eventually, according to the algorithm provided( see Pseudo Code section), the robot tracks the ball and follows it until the ball comes to a stationary position or halt.

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Pseudo Code

Challenges Faced

Installing OpenCV in RaspberryPi.
Dealing with dropping frames.
Setting resolution for RaspberryPi.
Inbuilt functions complexity problem (Hough-Circles).

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Milestones Achieved

Detecting the color and shape of the object.
Synchronizing motor speed and camera frame rate.
Fixing the resolution problem for Raspberry Pi and dealt with dropped frames problem.
Aligning robot along with the x- y- coordinates of the center of an object.
Making our bot 'smart' to avoid obstacles.

References

https://itp.nyu.edu/physcomp/labs/motors-and-transistors/dc-motor-control-using-an-h-bridge/

http://www.raspberrypi.org/help/faqs/

http://www.solarbotics.net/library/pdflib/pdf/motorbas.pdf

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Ball Tracking Robot Using Raspberry Pi Final Year Project - Ball Tracking Robot Project