Ball Direction Detection on Wheel Guard Robot Using Trigonometrymethod

The goalkeeper robot guards the goal from the ball played by the opposing team's robot to prevent goals. The goalkeeper robot uses complex sensors to perform its movements, which allows it to complete missions according to the rules of the match. The camera is used as a sensor for the robot. Image processing is used to detect ball objects on the goalkeeper robot. The object detection delay reduces the robot’s responsiveness in blocking ball, a multivision detection mechanism is made on the goalkeeper robot. The robot can reduce the delay in ball detection by applying the detection of the direction of the ball using the trigonometry method, this is based on the linear nature of the ball's motion when rolling. The calculation uses the current ball coordinates and the last ball coordinates on the frame. Where from the application of this method, the location of the next ball coordinates and the direction of the ball are obtained. In this design, a goalkeeper robot drive mechanism is also made, where the 3 omniwheel kinematic system is applied to the robot. Arduino mega as a robot controller receives output from the detection of the direction of the ball, which will later be used as movement input. The test results show that the robot's response to the ball being rolled towards the goal is good. The robot can move to block the ball that is rolled according to the designed scheme.