Advanced

Self-Playing Labyrinth Game Using Camera and Industrial Control System

Persson, Daniel and Wadman, Fredrik (2014)
Department of Automatic Control
Abstract
In this master’s thesis, an industrial control system together with a network camera and servo motors were used to automate a ball and plate labyrinth system. The two servo motors, each with its own servo drive, were connected by joint arms to the plate resting on two interconnected gimbal frames, one for each axis. A background subtraction-based ball position tracking algorithm was developed to measure the ball-position using the camera. The camera acted as a sensor node in a control network with a programmable logical controller used together with the servo drives to implement a cascaded PID control loop to control the ball position. The ball reference position could either be controlled with user input from a tablet device, or... (More)
In this master’s thesis, an industrial control system together with a network camera and servo motors were used to automate a ball and plate labyrinth system. The two servo motors, each with its own servo drive, were connected by joint arms to the plate resting on two interconnected gimbal frames, one for each axis. A background subtraction-based ball position tracking algorithm was developed to measure the ball-position using the camera. The camera acted as a sensor node in a control network with a programmable logical controller used together with the servo drives to implement a cascaded PID control loop to control the ball position. The ball reference position could either be controlled with user input from a tablet device, or automatically to make the labyrinth self-playing.
The resulting system was able to control the ball position through the labyrinth using the camera for position feedback. (Less)
Please use this url to cite or link to this publication:
author
Persson, Daniel and Wadman, Fredrik
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
keywords
ball and plate, computer vision, background subtraction, PID, object tracking
ISSN
0280-5316
other publication id
ISRN LUTFD2/TFRT--5948--SE
language
English
additional info
month=jun
id
4522749
date added to LUP
2014-06-30 09:01:36
date last changed
2014-06-30 09:01:36
@misc{4522749,
  abstract     = {In this master’s thesis, an industrial control system together with a network camera and servo motors were used to automate a ball and plate labyrinth system. The two servo motors, each with its own servo drive, were connected by joint arms to the plate resting on two interconnected gimbal frames, one for each axis. A background subtraction-based ball position tracking algorithm was developed to measure the ball-position using the camera. The camera acted as a sensor node in a control network with a programmable logical controller used together with the servo drives to implement a cascaded PID control loop to control the ball position. The ball reference position could either be controlled with user input from a tablet device, or automatically to make the labyrinth self-playing.
The resulting system was able to control the ball position through the labyrinth using the camera for position feedback.},
  author       = {Persson, Daniel and Wadman, Fredrik},
  issn         = {0280-5316},
  keyword      = {ball and plate,computer vision,background subtraction,PID,object tracking},
  language     = {eng},
  note         = {Student Paper},
  title        = {Self-Playing Labyrinth Game Using Camera and Industrial Control System},
  year         = {2014},
}