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Air-Hockey-Robot

使用OpenCV3 + Arduino mega2560,可与人对战的桌上冰球机器人

展示视频:https://www.bilibili.com/video/BV1ax411d7me?share_source=copy_web


参考项目:https://github.com/JJulio/AHRobot.git

原项目是国外一个大神做的,相关教程也很详细,链接里文档、视频、源码都有,他的球桌甚至都是自己做的,我也试着用三合板做了个球桌,做的有些大了,而且xy平台用的是H-bot结构,这种结构xy轴是联动的,x轴越长,在快速运动时会产生一个使轴旋转的力,导致高速运动时会卡住。

接下来干脆直接tb买个球桌,长这个样子,81*42cm,比较小,接下来就是将所有机械部分组装上去。

一些连接件也要自己设计了,用SolidWorks2016设计出以下三维图,黑色的为3D打印件。xy轴是分开控制的,x轴单独由一个电机控制,y轴左右两边各一个电机,这两个电机运动完全同步。

下位机控制采用的arduino mega2560+ramps1.4扩展板,和diy 3d打印机常用的主控一样。

下位机Arduino代码使用的VS2013编译,Arduino官方IDE实在是太难用。Visual Studio安装一个Arduino插件后也可以编译上传Arduino代码。下位机功能类似于GRBL固件,控制击球器点对点移动。与GRBL不同的是,使用GRBL固件时,向下位机发送A点坐标,电机向A点运动,运动期间再发送B点坐标,电机要到达A点之后才会向B点运动。但冰球机器人运动轨迹是上位机来预测的,终点在不断变化,如果还按照GRBL固件来的话会走很多多余路线,也就不能及时抵挡冰球。因此冰球机器人是接收到新的坐标B后便放弃A坐标,立刻向B坐标运动。

上位机图像处理的策略是:通过HSV颜色阈值在画面中寻找冰球和机器人击球器坐标,通过帧差判断出冰球的运动速度和方向,当冰球朝着机器人运动时根据冰球的轨迹预测撞击点坐标(其中包括有反弹和无反弹的情况),将预测的终点坐标发送给下位机,下位机运动到终点视具体情况进行防御或主动进攻。

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