Microprocessor-based Mobile Robot with On-board vision system driving range golf ball Retriever The Golf Retrieving Mobile Robot is an undergraduate thesis of the D LSU students. It is a robot that is capable of retrieving golf balls automatically without the assistance of a person. This is very useful in a driving range or the area where golfers practice their swings to hit golf balls. The robot is named Greg, it is able to accumulate golf balls on the field. The problems that might arise are the confusion of the driving ranges and re-use of golf balls. The flow of the operation starts from capturing the image, after which is the process image for detection of the borders as well as the golf balls.
Using image processing base on the RGB values or the white and non-white image, the system is capable of distinguishing whether the object is a golf ball or not. The logic of the system is created using neural networks. The logic is programmed in such a way that the robot is able to determine how far the golf ball is and whether the object is actually a golf ball or not. The dimples of the golf ball are also one of the considerations they use in creating the logic of the system. The person is able to set the boundaries for the robot to move around. This is done by putting a boundary using blue or red tapes for the robot to sense.
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The border detection and avoidance is used to prevent the robot from going out of the prescribed area. The main objective of the system is to be able to identify and retrieve golf balls. There are five main components of the system, namely, the PC compartment, the remote control, the wheels and chassis, the vision system, and the ball counter. The vision system used is the modified desktop computer. Wheels and chassis are utilized to have the robot move around the field. The robot is capable of moving around and retrieving golf balls by itself, but the user has the option of controlling the robot through the use of the remote control or the master control of the robot.
The robot consists of a front wheel which is the caster wheel and a back wheel or the rubber wheels. Aside from these, the robot has a counter for balls. This is used for the collection and storage of the golf balls. As it is mentioned earlier, the robot is to be tested in an open field.
After testing the efficiency of the Golf Retrieving Robot, they have a success rate on detection of golf balls of 95. 5% to 100% depending on the ground their working on. Some of the problems encountered were due to the holes in the area, and the robot was not able to pick up some balls.
