Arduino Ping-Pong Collecting Robot

ENGR 121 - Intro Engr II: Design

May 21, 2018

Team
Nostalgic Llamas

Members
Rigo Lopez
Robert Neamtiu
Brittany Potter
Qifeng Wu
Introduction

Our team project seeks to construct an autonomous ping pong collecting robot that can avoid
obstacles and both identify and collect specific colored ping pong balls. While this iteration is
intended to be used for specific color ping pong ball collection, the design can be modified to
collect other similar sized, color coded objects. Even though the task may seem menial, with
little real-world application, (making the safe assumption that the average user is not running a
ping pong tournament,) the design concepts and logic control will help set the foundation
needed to scale this project to be applied to real world scenarios. Our team is ultimately aiming
to realize this robot as a proof of concept for what could become a more robust autonomous
identification and delivery system.

Background Research

Background research for this project was not as extensive as we had imagined it would be.
Most of the research performed was aimed at figuring out how to get our various components
working and a look at some autonomous navigational strategies in a static environment.

Learn how to utilize IR Distance sensors to help with providing stop and turn navigation.
[Source: http://www.instructables.com/id/How-to-Use-the-Sharp-IR-Sensor-GP2Y0A41SK0F-Arduin/]

Research on using existing motor control functions to simplify our coding design.
[Source: http://bildr.org/2012/04/tb6612fng-arduino/]

Educating on relay switches to pass power source to motors that run spinning rollers.
[Source: https://www.youtube.com/watch?v=AK-u71Lk5VI]

RGB sensor library information and basic analysis coding to adapt for ball color detection.
[Source: http://arduinolearning.com/code/arduino-tcs34725-color-sensor.php]

Research on simple obstacle avoidance logic in static environments to be applied to our design.
[Source: https://pdfs.semanticscholar.org/519e/790c8477cfb1d1a176e220f010d5ec5b1481.pdf]

Problem Specification

The main goal is to autonomously collect and maintain as many red and white ping pong balls
as possible in a given time period. The robot must be able to navigate itself through the various
rooms without any human guidance. In addition, a color identification and collection system
needs to be incorporated to collect only red and white balls while rejecting the green ones. The
secondary tasks include the ability to demonstrate that the robot can: drive 20 feet down a
straight hallway, collect 5 inline ping pong balls, and avoid walls and obstacles. Bonus tasks
include: a home return at end of round and victory dance.

Constraint Objective Assumption

Must be within 10” x 10” x 12” Everything needs to be By collecting only red balls we
dimensions. contained within this space at can increase point value while
start and end of objective. reducing required storage
space.

Navigation. We can utilize obstacle

avoidance and color sensing to
cover most of the floor area.

Can’t move any walls. Incorporate a obstacle avoiding We can incorporate enough
logic system utilizing multiple sensors so that we never make
sensor systems. contact with the walls.

Must be stationary until On / Off system. Utilize code or physical power

activated. switches.

Collect red and white ping pong Constructing an efficient

balls. collection system that saves
space and is not prone to error.

Green balls are negative points. Eject the green balls. The internal identification
system should be able to route
green balls out.

Color identification system. Accurate enough for our needs.

Test to see if can also be
incorporated into initial
guidance.

Drive 20 feet down a hallway. Robot will drive 20 ft if no

obstacles is in front of it.

Collect 5 inline balls. Use the same method as

competition mode; request no
green balls.

Include a home return. GPS system may aid in this.

Include a end of round dance. Multiple arduino systems can be

used to run code without over
complicating any one system.

Table 1 - Constraint, Objective and Assumption Table

Table 2 - Weighted Analysis - On/Off

Table 3 - Weighted Analysis - Navigation

Table 4 - Weighted Analysis - Ping Pong Collection

Weighted analysis indicates that our best design incorporates navigation using 3 different
sensors, a roller feed ball collection system and a combination of both physical and digital
switches to activate [Table 2, 3, 4].
Fig 1 - Top Down Design Tree

Design Concepts

We created three design concepts for this project in order to analyze the feasibility of the
different approaches. It was these design concepts that drove our weighted tables [Tables 2, 3,
4]. While the overall body shape and electronic component locations are the same for the three
designs, they differ in the approach of ping pong ball collection.

Our first design [Fig 2] focused on utilizing a simple scooping mechanism to collect any ping
pong balls that fall within its path of travel. We figured this simple design would be error proof
and allow us to place most of our focus on the navigational logic control.

The second design [Fig 3] took a look at using a scooper claw to grasp the ball, lift it up and let
the ball roll into the body of the robot. The assumption was that the robot could then be
programmed to be more selective with the ball collection. The downside would be the increase
of mechanical parts and time it takes for the full operation of ball pick up and deposit.

The final concept [Fig 4] involves a pair of rollers, akin to a car wash, that will grab the ball and
feed it into the robot. The thought process behind this design was that the collection system
could then be contained inside the robot and allow the body to encompass the maximum
dimensions.

Fig 2 - Design 1 - Simple Scooper

Fig 3 - Design 2 - Scooper Claw

Fig 4 - Design 3 - Roller Feed

Concept Selection

Of the three different high concept designs [Fig 2, 3, 4] for this robot, we chose our final design
based on our weighted analysis [Table 2, 3, 4]. We determined that design concept three would
be the best option to move forward with. We found that it could achieve our main goals and
allows for integration of both the secondary and bonus goals [Table 1]. It also gave us more
simplicity then some of our other designs, yet gave us more control over ball collection. At the
same time it also allowed us to utilize the constraining dimension parameters to our advantage
without worrying about component placement. This semi-simple approach will also allow us to
better split our focus between navigation and collection.

Concept Implementation Plan

After creating a top down chart [Fig 1] we assigned the different components among the team
members and independently tackled them. As a team we then decided on how to integrate the
components to best form the final product.

The entire system will be housed in a 3D printed body with approximately 10” x 10” x 9”
dimensions. The robot incorporates a combination of digital and physical switches to activate
the system with a autonomous navigation system consisting of IR distance sensors, pressure
sensors and a RGB sensor, as well as a roller feed collection system. The spinning rollers will
be made of fabric and are reminiscent of car wash scrubbers.

It was concluded that the most economical way to incorporate a on/off system for our robot
would be to utilize both electrical and physical switches. Physical flip switches would complete
circuitry to provide main power to our device and push buttons would electrically signal code to
start the robot from a static mode. The switch could then be used to power the system off too.

Our navigation logic will be controlled by multiple different sensors. Three IR sensors will be
used to determine the impedance of forward movement and then analyze the sides to determine
direction of rotation. A couple of corner pressure sensors will reverse and realign the robot if it
makes contact with the walls in its IR sensor blind spots. In addition, we plan to analyze the
surroundings, via a rotating RGB sensor, in order to seek out red ping pong balls. (The RGB
sensor still needs testing to see if it can be viably used for this feature.)

The ping pong collection device will be integrated into the underside of the main body. Using
channels to guide ping pong balls as they are driven over, spinning rollers will grab the balls and
feed them to an internal sensor. Once the sensor has determined the color of the ball it will
either retain it within the body or eject it back out to the floor. A servo controlled door will
determine which path the ball takes.

We plan on using multiple UNO boards to control the different systems to keep coding for ball
collection and navigation separate.

Fig 5 - Initial 3D Rendition of Final Navigation Body Design

After some preliminary work on the navigation component of the robot we were able to create a
alpha prototype [Fig 6]. The alpha currently demonstrates obstacle avoidance and basic travel
system logic. This component will be raised an extra 4” to allow the collection device be
mounted below it [Fig 5]. Based on the alpha testing, the rear wheel system may be replaced by
a stationary support that utilizes skidding.

Fig 6 - Constructed Alpha of the Final Navigation Body Design