Untitled e ISSN 2582 5208 International Research Journal of Modernization in Engineering Technology and Science Volume 03/Issue 05/May 2021 Impact Factor 5 354 www irjmets com www irjmets com @Interna[.]
Trang 1balls by hand after training sessions The automatic ball picking robot can pick up tennis balls by scanning around the tennis court This workshop discusses system configuration in terms of mechanics and controller subsystems, navigation, and system performance The knowledge and experience gained from developing different subsystems of robotics is very useful for improving university students' knowledge
Keywords: Robot, Control, Tennis Ball, Education
Today, robotics is a multidisciplinary field of technology that is applied in a number of fields such as manufacturing, home industry and sports Recently, the use of robots in the sports field has received extensive attention from the robotics community In particular, intelligent robotic systems are more and more used in detecting the kinematic changes of the environment by using sensors, selecting and creating the appropriate motion to accomplish the goal Tennis (tennis) is known as "the sport of a lifetime" Tennis is one of the important sporting events that has grown in popularity in recent years Correspondingly, coaching or training sessions have increased as the feedback received from the majority of tennis practitioners is the arduous task
of hand-collecting tennis balls after each practice as tennis courts often become mess with shadows as they are used However, there are many limitations The downside of the current method of collecting tennis balls is that
it wastes time, not enough rest time for tennis players, makes tennis players more exhausted and unsatisfactory
in practice So, the goal of this research is to develop an automatic robot that can scan around the tennis court
to collect tennis balls automatically, improving tennis coaching/training quality, saving time a tennis player's time and energy and most importantly, serves as an educational tool This article is organized in the following ways Part 2 discusses the design requirements of the automatic ball picking robot, part 3 fabrication methods, follows the results in section 4 and finally concludes in section 5
The diameter and mass of a tennis ball are 6.67cm and 57.7g, respectively The typical size of a tennis court is 29.80 meters long and 14.63 meters wide During each practice session, the coach will give tennis balls to the tennis students, and so there will be a lot of tennis balls scattered at the end of the court Figure 1 illustrates the tennis balls scattered on the court after each practice session An additive activation model is defined by a system of n + p coupled first-order differential equations that interconnects the fields FC and signal function of the ith neuron in the field FC and the signal function of the jth neuron in the field FJ
p k
j
n k
i
J A C S ( j ) m I
Discrete additive activation models correspond to neurons with threshold signal functions The neurons can assume only two values ON and OFF On represents the signal value + 1 and OFF represents 0 or -1 ( -1 when the representation is bipolar) The bipolar version of these equations yield the signal value -1 when ci <Ui or Jj <
Vj
Trang 2Figure 1 Tennis ball in the court
Automatic tennis ball picking robot is divided into control and mechanical systems
Mechanical system
The mechanical subsystem of the automatic tennis ball picking robot is shown with different views The top view shows the robot's dashboard Viewed from the front of the design, it can be seen that the robot consists of three travel switches, a tennis ball recuperator, wheels and a motor Limit switch is activated when it is activated by obstacles Tennis ball dispenser includes 3 blades to sweep tennis balls into storage Meanwhile, a
DC motor is used to spin the tennis ball recuperator
Figure 2: Robot design framework
From other angles of the prototype, it can be seen that the tennis ball storage used to hold the tennis balls has been swept in by the person taking the tennis ball The electronic compartment is used to place the entire control system of the robot as well as the battery The wheel rotates freely according to the direction of the wheels The robot consists of four DC motors that are used to control the navigation direction of the robot
Control system
The control subsystem includes a front and side limit switch board, a motor control board, a power supply board for 12V to 24V regulation, a microcontroller board, and a BTS7960 motor driver board
The robot's navigation/collection area was determined based on a literature review, where it mentioned most tennis balls would be distributed around the back of the court
Trang 3Figure 3: Robot's operating range
Initially, the user needs to turn on the power Then, control the robot to move in the desired direction of the user, on the control handle, there are eight convenient directions for the robot to move around the field The design of the robot is solid and stable The control subsystem includes a front and side limit switch board, a DC motor driver, a power supply board, a BTS7960 motor driver, a side limit switch board, and a microcontroller board
Figure 4 Control subsystem of the robot
Several experiments were conducted on a developed tennis ball picking robot Robot prototypes have been found that can take tennis balls with satisfaction For example, in 10 runs, the average number of balls collected
is about 65% (13/20 balls) However, there are cases where the robot can't get all the balls, 0% (0/20 balls) due
to malfunction of the servo motor and is not capable of taking the ball However, it should be emphasized that the main goal of the study was achieved, which was to design an automatic tennis ball collecting machine as an educational tool In this regard, the tennis ball recovery robot ball consists of a mechanical structure, a control system and a positioning system to equip students with the necessary knowledge and skills Modification is required to produce better results The prototype can be improved by adding new features such as using solar power and a proximity sensor replacing the cruise switch, and by incorporating dimming-based controllers, the sensor is introduced out in research studies
Trang 4Collector" in Design Report, Ontario, Canada; University of Waterloo, 2009
[3] K G Beranek, “Tennis ball retriever,” ed: Google Patents, 1995
[4] Rodrigo Andres Barbosa, Karina Chang, Luxon Laborieux and Juan Zuluaga, "Self-Piloted Tennis Ball
Collector" in Final Report, Miami, Florida; Florida International University, 2008
[5] Heiner Gillmeister, “Tennis: A Cultural History,” Leicester University Press, London, England, 1998