Rolling Ball Control System

In this competition, we need to control the ball placed on the tablet to roll to the designated position.

We first use DC push rod motors to control the white plate, and perceive the tilt angle of the plate through the IMU attached to the white plate, and design a feedback system using incremental cascade PID to control the tilt angle of the plate, and then drive the black ball to move .

Then we designed a visual perception algorithm to detect the position of the ball on the plate through the camera, and use the positional PID to control the tilt angle of the plate to control the ball to roll to the set target position.

And we designed our own UI to complete the control of the system

After the competition, we updated the system to sense the position of the ball on the plate through the resistive pressure-sensitive screen, use 6 steering gears to design the Stewart platform to control the rolling of the ball, and determine the position of the infrared laser point through the camera.

In addition, we added the iFLYTEK voice module control system to the original system and used LCD to display the ball track.