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Ouimet Golf Playing Robot

Ouimet Golf Playing Robot. - Shashank G. Sawant. Topics covered:. Block and Circuit Diagram Sensors : CMUCAM OPT101 The mechanical Hardware Behaviour. Block Diagram . CMUCAM. Servo Motors for CMUCAM. Continuous Servo Motor. MAX232A. Atmega Microcontroller Board. Continuous

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Ouimet Golf Playing Robot

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  1. OuimetGolf Playing Robot - Shashank G. Sawant

  2. Topics covered: • Block and Circuit Diagram • Sensors : • CMUCAM • OPT101 • The mechanical Hardware • Behaviour

  3. Block Diagram CMUCAM Servo Motors for CMUCAM Continuous Servo Motor MAX232A Atmega Microcontroller Board Continuous Servo Motor Servo Motor for club OPT101 sensors

  4. Atmega164p Board ADC Headers LCD Port LM 7805 Atmega164p Servo Headers MAX232A

  5. OPT101

  6. OPT101

  7. CMUCAM

  8. CMUCAM Block Diagrams

  9. CMUCAM Serial Communication

  10. CMUCAM Serial Communication (TTL)

  11. 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.

  12. The Mechanical Hardware Micro-servo Idle Wheel Continuous servos Golf Club

  13. 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.

  14. 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. d ɸ d1

  15. Algorithm • Align with the ball and the hole in a straight line and then putt the ball into the hole. Ouimet

  16. Algorithm • If the ball is visible repeat the process. Otherwise the objective has been accomplished! Ouimet

  17. Behavior Flowchart Is the ball Visible? Start End NO Calculate the position of alignment, move to the same and putt the ball into the hole Search for a white ball by moving randomly YES NO Ball detected ? Center the ball in the image Rotate and locate the flag YES

  18. Thank You

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