IMDL Robot Presentation

forestevanescentElectronics - Devices

Nov 2, 2013 (3 years and 10 months ago)

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IMDL Robot Presentation

EEL5666

Robert Hartwell

31 Jan 2012

Summary


1: Scope


Take a wireless drink order, navigate to drink station and correctly mix the
drink


2: Gain from the solution to the problem


Mixed drinks and inebriation


3: Approach to the problem


4 wheeled mobile platform with servo actuation, drink mixing station


4: What has been done


Design of the mobile platform. Design of drink station. Ordering of sensors,
chassis, servos, motors, materials for “arena”, materials for drink station, misc
building supplies (wood, hinges, wiring, break out boards, etc).


5: Results to date


Uploaded and executed blinking LED code to microcontroller, most planning
completed


6: Future plans


After
BoA

sends me a new debit card (because some
Eurotrash

stole my
number and bought a lot of clothes in Italy and France), order the
Xbee

modules. Construction, sensor testing, coding.

Introduction


Completed work


Chassis design


Mixing station design and dispensing method design


Actuation of individual containers design


Sensor and servo placement on chassis design


Scope of sensor and movement control


Wireless communications


Color Detection


Bump Sensors


IR Detection


Motors and Servos



Module Interaction

-
Wireless
-

Order

Navigation
to station

Object
Detection

Line
Detection

Color
Detection

Bump

Sensors

Mix
Drink

Retrieval?

-
TBD
-


Sensors and Servos

#

Motion Producer

Application

1

DC Motors

Control overall robot movement

2

Pan/Tilt Servos

Controls actuation of drink station levers

3

Servos

Misc Movement

#

Phenomena

Sensor

Behavior

1

Proximity

IR Proximity

Collision avoidance

2

Contact

Bump
-
Switches

Object detection/course correction.

3

Light

Color
-
Sensor

Waypoint/position indication

4

Light
-
Return

IR
-
array

Line following

5

RF/Communication

Xbee

Receive instructions/transmit information

#

Feature

Robot Interaction

1

Colored Square

Allows identification of location in the arena for drink sequence

2

Black Line

Follows the line

3

Drink Station

Activates the proper lever to dispense liquid

4

Obstacles

Shows object avoidance

Robot Arena

Robot Actuation

Robot Sensors

Conclusions


Robot in a nutshell


Take an order wirelessly


Navigate to drink station


Activate the correct mixtures and amounts of order


Retrieval, if any, TBD

Future Work


Construction of robot chassis


Mounting motors, servos, sensors, microcontroller


Coding the microcontroller


Line following, object avoidance, wireless
comm
, mixing sequence,
color detection


Testing sensor ranges and tweaking code


Creation of Robot arena


Drink station, line course, obstacles


Overall operations

Module Interaction

-
Wireless
-

Order

Navigation

Object
Avoidance

Line
Detection

Color
Detection

Bump

Sensors

Mix
Drink

Retrieval?

-
TBD
-


Docking

IR Array

XBEE

IR Ranger

Color
Sensor

Undocking