Project
| # | Title | Team Members | TA | Documents | Sponsor |
|---|---|---|---|---|---|
| 19 | Autonomous Golf Green Divot Locator Robot |
Akhil Bonela Michael Cherry Ved Eti |
Pusong Li | design_document1.pdf proposal2.pdf proposal1.pdf |
|
| # Autonomous Golf Green Divot Locator Robot Team Members: - Ved Eti (vedeti2) - Michael Cherry (mcherry3) - Akhil Bonela (abonela2) # Problem For those familiar with golf, one of the biggest problems golfers face is ball marks on the green. When a golfer lands their ball on the green of the hole, it leaves a divot in the ground. It is common etiquette to use a tool to repair the mark your ball left behind to flatten the green back out. Sadly, many golfers do not follow this etiquette, which leaves golf greens full of divots and uneven bumps. This leads to worse quality greens and an overall worse quality experience while golfing. # Solution Our idea is to create an autonomous robot to identify these divots at the end of the golf day and mark all of the locations on the green. We will create our own custom tool to mark these divots. We would dispatch the robot after all of the golfers are done with the course at the end of the day, and traverse the golf green similar to a Roomba. We plan to use stereo cameras to pinpoint the exact locations of divots and plan to use an infrared camera as a failsafe to ensure we are able to identify all divots. # Solution Components Stereo Camera - Used to detect the edges of golf greens, and divots (Amazon.com: Synchronized Dual Lens Stereo USB Camera 1.3MP HD 960P Webcam 3D VR Web Camera Module with 1/3 CMOS OV9715 Image Sensor Industrial Camera USB2.0 Lightburn Camera Plug&Play for Android,Linux,Windows : Electronics) Micro-Controller - (A chip from the ESP32-S3 series) Raspberry Pi - Used for additional computer power for computer vision tasks Servo - Divot Marker Dropper (Amazon.com: Miuzei 20KG Servo Motor High Torque RC Servo Metal Gear Waterproof for 1/6, 1/8, 1/10, 1/12 R/C Model DIY Car Robot, DS3218, Control Angle 270° : Toys & Games) Battery - Zeee 14.8V 4S Lipo Battery (50C 3300mAh) with an XT60 plug BMS System - 14.8V 4S 30A 18650 Lithium Battery BMS PCB Integrated Circuits Protection Board Robot Chassis - Prebuilt chassis with motors (Amazon.com: Metal Smart Robotic RC Tank Chassis Kit with 4pcs DC TT Motors for Arduino UNO R3, Raspberry Pie, STEAM Education, TT04 Crawler Tank Car Chassis Platform for Adults Teens (Black) : Everything Else) Ultrasonic Sensor - Failsafe mechanism to also help detect divots in the green (Amazon.com: WWZMDiB 2Pcs HC-SR04 Ultrasonic Sensor Module for Arduino R3 MEGA Mega2560 Duemilanove Nano Robot XBee ZigBee (2Pcs HC-SR04 with housing) : Industrial & Scientific) Casing for Components - Plan to use 3-D printed materials ## Autonomous Traversal This subsystem is mostly going to be interfacing with our microcontroller, our motors, and the stereo cameras. We plan to have the microcontroller controlling the motors to continue going forward until the edge of the green is detected. Once it is, we will turn around and look at the ground next to the place we just checked. This will act very similar to a common roomba, and robotic vacuum cleaners. We repeat this process until we check the entire green. We plan on using a pre-produced chassis from either a toy car or an RC car, so that we don't have to spend time making and manufacturing our own car. We will add our own microcontroller, PCB for power distribution, and battery to the chassis. ## Image Processing and Sensing The image processing module will mostly have two tasks, identify divots, and identify edges of golf greens. It will pass along information about what it detects to the Raspberry Pi so that we can either use the traversal module to move the robot, or the marker placement module to place markers down. In addition to the computer vision tasks, we plan to add an ultrasonic sensor to detect distances to the divots as well. This is going to be used more as a failsafe, in case the stereo camera does not detect the divot. ## Power The robot utilizes a Zeee 14.8V 4S Lipo Battery (50C 3300mAh) with an XT60 plug, paired with a 14.8V 4S 30A 18650 Lithium Battery BMS PCB Integrated Circuits Protection Board. This combination provides reliable power management and safety features for the robot. LiPo batteries are chosen for their high energy density, which allows for a compact and lightweight battery pack, ideal for mobile robots. The BMS safeguards against overcharging, over-discharging, short circuits, and overcurrent, ensuring the battery's longevity and the robot's safe operation. ## Marker Placement Will be using input from the microcontroller module to allow a marker to fall down from a tube. Will plan on using a tube filled with markers with an arm at the bottom to block markers from falling down, driven by a servo. We will 3D print our own brightly colored markers, and a container for the markers. ## Remote Power On / Return Controller We plan on developing a bluetooth/WiFi based controller that tells the robot to begin traversing the course and also be told when to stop and return to its “dock”. We intend to create or purchase a cage of some sort for the robot to safely reside in near the golf green and return to when done. It would also come with a RF transmitter that we can receive and dictate the robot to return to the cage using the esp 32’s RF receiver. # Criterion For Success Describe high-level goals that your project needs to achieve to be effective. These goals need to be clearly testable and not subjective. For this to be effective, we need to first be successful at identifying the divots and the edge of the greens. We plan to test this by buying a portable green and artificially making divots. Task 1 is to correctly identify a divot on a fake gold green using computer vision. We also need to mark this using the marker placement subsystem. Task 2 is to make sure we can detect the edges of the green accurately, and turn the robot around to continue traversing the course. |
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