Published September 19, 2022 © CC BY-NC-ND

Ball Balancing Robot | Arduino Object Detection Via OpenCV

This is a ball-balancing robot. It balances the ball in the middle with Object Detection & Image Recognition through Arduino & Python

BeginnerFull instructions provided1,988

Ball Balancing Robot | Arduino Object Detection Via OpenCV

Things used in this project

Hardware components

Arduino UNO

SG90 Micro-servo motor

Jumper wires (generic)

Breadboard (generic)

9V 1A Switching Wall Power Supply

Software apps and online services

Arduino IDE

Hand tools and fabrication machines

Scissor, Electrician

Soldering iron (generic)

Story

What is your project about?

Demostration Video

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 and image recognition techniques to keep it balanced.

Why did you decide to make it?

I wanted to balance a ping-pong ball in the middle of a plane, to do so I made this robot.

How does it work?

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.

Image Recognition

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.

So, 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. And All the balancing work is done by camera and servo.

Schematics

Code

Code for Ball Balancing Robot

#include <PID_v1.h>
#include<Servo.h>

Servo m;
int t=8,e=9;
int d_mid = 0;

double Setpoint, Input, Output;
//double Kp=0.5, Ki=2.4, Kd=4;
double Kp=0, Ki=0, Kd=400;

PID myPID(&Input, &Output, &Setpoint, Kp, Ki, Kd, DIRECT);

void setup() {
  pinMode(t, OUTPUT);  //trigger pin
  pinMode(e, INPUT);  //echo pin
  m.attach(7);
  
  Input = distance();
  Setpoint = 10;

  myPID.SetMode(AUTOMATIC);

}

int distance(){
  
  float duration, cm;
  
  digitalWrite(t, LOW);
  delayMicroseconds(2);
  digitalWrite(t, HIGH);
  delayMicroseconds(5);
  digitalWrite(t, LOW);
  
  duration = pulseIn(e, HIGH);

  cm = duration/ 29 / 2;
  
  return cm; //returns distance in centimeters
}

void loop() {

  int d = distance();

  
  if (d<22){
    if (d<11){
      myPID.SetOutputLimits(0,90);
      Input = d;
      myPID.Compute();

      m.write(90+Output);
      
    }else{
      myPID.SetOutputLimits(-80,10);
      Input = d-10;
      myPID.Compute();

      m.write(90+Output);
      
    }
  }else{
    m.write(110);  
  }
}

Credits

Robotics EveryDay

0 projects • 9 followers

Ball Balancing Robot | Arduino Object Detection Via OpenCV

Things used in this project

Hardware components

Software apps and online services

Hand tools and fabrication machines

Story

What is your project about?

Why did you decide to make it?

How does it work?

Image Recognition

Custom parts and enclosures

CAD Design Ball Self Balancing Robot

Schematics

Circuit Schematic For Ball Balancing Robot

Code

Code for Ball Balancing Robot

Credits

Robotics EveryDay

Comments

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Ball Balancing Robot | Arduino Object Detection Via OpenCV

Ball Balancing Robot | Arduino Object Detection Via OpenCV

Things used in this project

Hardware components

Software apps and online services

Hand tools and fabrication machines

Story

What is your project about?

Why did you decide to make it?

How does it work?

Image Recognition

Custom parts and enclosures

CAD Design Ball Self Balancing Robot

Schematics

Circuit Schematic For Ball Balancing Robot

Code

Code for Ball Balancing Robot

Credits

Robotics EveryDay

Comments

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