Shulou(Shulou.com)06/01 Report--

This article is to share with you about the Arduino+OpenCV-based Dianqiu robot, the editor thinks it is very practical, so I share it with you to learn. I hope you can get something after reading this article. Let's take a look at it with the editor.

For the problem of the 17-year electric tournament, the common solution is to put the camera on it, and the ball only moves in two dimensions on the flat plate. In this project, the camera is placed under the transparent glass, and the height of the ball is proportional to the size of the image captured by the camera, which is upgraded to three-dimensional motion on the basis of two-dimensional motion.

Real-time status display of host computer

This is a table tennis control system based on stepper motor + Teensy 4.0 + OpenCV. The block diagram of the whole project is as follows:

Software block diagram

The upper computer is mainly divided into the upper computer and the lower computer. The upper computer collects the image through the camera, uses the OpenCV algorithm for image processing, calculates the three-dimensional position of the ball, then calculates the motion angle of each stepper motor through the PID algorithm, and then sends the data to the lower computer Teensy development board through the serial bus. The development board parses the four angles required by the stepper motor according to the data sent by the upper computer. Then output the pulse signal to the driver through PWM.

Main components of output control square wave

1 Teensy 4.0development board, main frequency 600MHz, based on i.MX RT1060, can be developed using Arduino.

1 DM442S stepper motor driver, which can drive 4 stepper motors at the same time

4 Nema 17 42 stepper motors

1 48V 8A power supply

1 high resolution See3CAM_CU135 camera

1 Windows mainframe with OpenCV installed

Teensy 4. 0 development board, using NXP RT1062, can be used as Arduino.

Teensy 4.0development board

The stepper motor and driver used.

Stepper motor and driver

3D printed hardware components.

Spare parts

Spare parts

The effect of assembly.

Assemble, assemble I hope you can learn more from this article. For more details, please follow the industry information channel.

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