Modernizace laboratorního modelu kuličky na plošině

Abstract

The bachelor thesis deals with the analysis of the laboratory model Humusoft CE-151, its putting into working order and modernization of internal electronics. The model will keep the ball at the specified position using the control system. The position can be entered by the user and can be changed at any time from the RexHMI user interface. The thesis deals with usage of REXYGEN control system and its practical application. The REXYGEN demo runs on Raspberry Pi and the implemented algorithm controls the ball's motion on the platform. The motion of the ball is detected by the camera via Raspberry Pi. The evaluation of images is ensured by the algorithm that runs as a standalone program on Raspberry Pi which use OpenCV libraries for motion detection. The modernization of the model consists of two changes, the first is the interface between Rexduino and drivers, the second change is the addition of an inclinometer and the inclusion of data from the inclinometer to the control system.