Coding initialization.......

Programming procedure and flow chart

Initial stage:

Module 1: Enabling the image acquisition device and take snapshots for processing. Also the precision and the delay between "acquiring the image" and  "its processing"  would be dealt.

Module 2: Object/foreground extraction based on threshold and morphology.

Module 3: Calculation of the geometric values(i.e. object's geometric center etc.).

Module 4: Decision making based on relative geometric values of the object in the image.  

Module 5: End effector activity.

Flow diagram of initial programming:

AIM:

detect a ball in the field and capture it using robot arm and put in the backpack of robot

OUTLOOK

1.image acquisition

2.image processing(video)

3.output to controller

4.input to controller

5.actuation of robot

6.feedback

7.result

ADVANCEMENTS:

1.detecting multiple balls in the field and capture it using robot arm and put in the backpack of robot

2.detect a motion ball in the field and capture it using robot arm and put in the backpack of robot

3.detecting multiple motion balls in the field and capture it using robot arm and put in the backpack of robot

 1.IMAGE ACQUISITION: different ways to capture video are

            a. Webcam

            b. Camera

            c. IP cam

2.IMAGE PROCESSING(VIDEO): different ways to process the captured frame

            a. Matlab

            b. LabView    

            c. OpenCV

            d. can be also processed on any microcontroller

3.OUTPUT TO CONTROLLER: Output to microcontroller can be communicated in the following ways

            a. HyperTerminal

            b. Another wired communication

            c. RF module

            d. Zigbee module

            e. CC2500

4.INPUT TO CONTROLLER: the processed information from PC is obtained through any one of the above communication .

5.ACTUATION OF ROBOT: depending on the information obtained by the microcontroller, the output is planned through actuators(end effectors).

6.FEEDBACK:feedback is obtained using goal image and present image frame and required actions are performed to gain zero error

7.RESULT: after the end effectors procure the ball the robotic arm places the ball in its backpack