1. Pool Player Bot Final Presentation Jiaying Zhang Mechanical Engineering

2. CameraComputerRobot Integrated System DroidCam App Xbee Serial Port Img process OpenCV

3. Board Epiphany DIY Actuation Gear Motor (x2) To drive the robot Servo(x2) To rotate and extend the cue Solenoid To strike the ball Sensor IR Sensor (x2) To detect the pool table corner IP Camera To detect the balls and cue position Feedback LCD Mobile Platform Components

4. Behavior Analysis Step 1 :Robot Initialization Step 2 :Cue Paralleling Blue cue tip position (X1,Y1) White ball position (X2,Y2) Objective ball position (X3,Y3) double a=posY3-posY2; double b=posX3-posX2; angle=atan(a/b)*180/3.1415926; Send angle signal to robot; Step=3

5. Behavior Analysis Step 3 :Robot Moving Step 4 :Cue ApproachingStep 5 :Strike the ball if(posX1>(posY2-posY1)*posX3/(posY2- posY3)+(posY1-posY3)*posX2/(posY2-posY3)-20 && posX1<(posY2-posY1)*posX3/(posY2- posY3)+(posY1-posY3)*posX2/(posY2-posY3)+20 ) {send stop signal to robot; Step=4} If (step=4) double c=(posX2-posX1)*(posX2-posX1); double d=(posY2-posY1)*(posY2-posY1); double dis=sqrt(c+d); if (dis 15) {send strike signal to robot Step=5}

6. Human-Robot Interface

7. Working Process Robot initializes People select an objective ball on computer screen Robot moves along one side of the pool table Robot tries to shot the selected objective ball Robot initializes

8. Problems & Vision Limited striking range: cue tip is easy to move out of the camera range when the striking angle is very large. While on the other side, if the white ball is very close to the edge, the cue is not able to reach it. Not able to move around the pool table which causes people to put the balls at reachable position to serve the robot otherwise it will not finish the task. Low precision: the robot moves after the cue is turned an angle. If the wheels do not go a straight line it will cause some problem. Needs to add more function in OpenCV program. Frequent communication with computer by Xbee. When the surrounding has too much signal noise, the robot is easy to miss some signal and cannot finish the task. Do not detect holes: more work needs to do if the color balls are far from the holes or at special angles.

9. Thank You! Jiaying Zhang Mechanical Engineering https://sites.google.com/site/poolplayerzjy/