Embedded Files
Introduction
Introduction
Ball on Small Plate is built with a Raspberry Zero, a camera, two servos, a STM32F103 board. Capable of setting target coordinate, circle around the center with adjustable radius.
Ball on Small Plate project is a work of team. The other two teammates are shicaiwei123 and yoyolalala.
Demo
Demo
Primary demo with very limited precision and robustness is shown below.
Mechanical structure
Mechanical structure
First version
First version
The 20cm*20cm plate is made of 1mm thick black glass fiber board. In the first version shown in the video, the plate is covered with white paper to provide contrast between ball and plate. Below shows the original plate.
The plate is supported by a universal joint with 2 degrees of freedom. Two servos control the angle of the plate through ball bearing connecting rods.
In this first version. The camera and a Raspberry Pi Zero is beyond the plate and fixed to the base. In this case, the area of the plate must be segmented and projected into a square. The noise introduced in this progress is one of the reasons for the jitter in the video.
Second version
Second version
I managed to reduce the jitter by fixing the camera with carbon fiber tubes to the plate in the second version. The plate itself is also changed to yellow. A Raspberry Pi 3b is hanged beyond the camera.
A LED circle is around the camera for illustration.
Below shows the PCB board also used in the later project Ball on Big Plate.
Google Sites
Report abuse