26-04-2011, 12:13 PM
Presented by:
MOHAMMED ALFATIH BAKHEIT
AHMED IBRAHIM ALEMAM
SAMI BAKHEIT HAMMOOD
ALHADI NAEEM YASEEN
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INTRODUCTION
When human started to use robots , he was using it in normal works like cutting , carrying things , welding and so on .
Then computer science and artificial intelligent has been developed . It was necessary to develop the implementations of robots to escort this big development in AI .To do that , AI was been implemented in robot science , and that cause a huge evolution in domains of robot implementations . It is no longer used just for ordinary implementations . The robot became capable to do human’s jobs in obvious intelligent . Not only that , but some robots have been developed to recognize the outside world ( environment) , detect obstacles and walls and walk in its way without hitting things but avoid them . One of famous examples of these robots is intelligent micromouse .
WHAT IS MICROMOUSE ?
A Micromouse is a small microprocessor-controlled robot vehicle that is able to navigate its way through an unknown maze. It is a typical product of "mechatronics" embodying within itself an integration of computer and electronic technology and mechanics. The main challenge for the contestant is to impart to the micromouse an adaptive intelligence to explore different maze configurations and to work out the optimum route for the shortest travel time from start to finish.
The first record of a maze-solving mouse problem was in 1950 at the Massachusetts Institute of Technology. The first maze competition was the Amazing Micromouse Maze contest in 1979; the winner was Moonlight Flash, a dumb wall follower mouse.
Subsequent contests allowed more challenging mazes to encourage the building of more intelligent mice. International micromouse competitions followed; the first World Micromouse Competition was held in Tsubuka, Japan in 1985. Micromice have also appeared on the BBC Technogames.
AIM OF THIS PROJECT
The objective of this project is to make a mouse robot . This robot has to find its way from corner cell to one of the cells in the maze , in the fastest possible time . To achieve this , it is allowed to make as many runs from the start cell to the finish cell as it can fit within a short time . The idea is to let the robot in the maze and let it to find the way by program it . And then the robot will try to find the way to the final cell .
DESIGN OF THE ROBOT
To design this robot , we has to deal with three sides : electronic side , mathematical side and programming side .
ELECTRONIC APROUCH
The mechanism of robot movement , relationship between different parts of it and the way that the robot move from place to another .
MATHIMATICAL APROUCH
The mathematical algorithm which using by the robot to reach the final cell and solve the algorithm .
PROGRAMITIC APROUCH
Software using to program the robot , the way to tell it the instructions that it must follow .
Hardware
MicrocontrollerPIC16F87
A microcontroller is an integrated chip that is often part of an embedded system. The microcontroller includes a CPU, RAM, ROM, I/O ports, and timers like a standard computer, but because they are designed to execute only a single specific task to control a single system, they are much smaller and simplified so that they can include all the functions required on a single chip.
A microcontroller differs from a microprocessor, which is a general-purpose chip that is used to create a multi-function computer or device and requires multiple chips to handle various tasks. A microcontroller is meant to be more self-contained and independent, and functions as a tiny, dedicated computer.
We will use PIC16F877A to control the movement operation of the robot by emit electric signals according to the instructions whose saved inside it and information whose come from outside environment .
We chose this type of microcontroller to apply this project because its high capability of controlling motors in excellent flexibility by emitting square signals . Beside it is widely popular around the world and could be used in various implementation and controlling different devices in same time .
The 40 pins make it easier to use the peripherals as the functions are spread out over the pins. This makes it easier to decide what external devices to attach without worrying too much if there enough pins to do the job.
One of the main advantages is that each pin is only shared between two or three functions so it is easier to decide what the pin function (other devices have up to 5 functions for a pin).
Features :
• Operating speed: DC – 20 MHz clock input
• DC – 200 ns instruction cycle
• Up to 8K x 14 words of Flash Program Memory,
• Up to 368 x 8 bytes of Data Memory (RAM),
• Up to 256 x 8 bytes of EEPROM Data Memory
• Pinout compatible to other or 40-pin
TWIN DC MOTOR GEARBOX, 70097
The twin motor gearbox uses a two motor system to provide power and speed to turn the hex shaft. The gear box is made from high quality plastic. We can set different gear ratio for either side. It provides full fwd-rev-left-right action . Two FA-130 metal brush motors are included.
Specification
• Gear Ratio: 58:1, 207:1
• Motor: FA-130, 2 units
• Shafts: 3mm hex, 105mm long
• Operating Voltage: 1.5V-3.0VDC
Theoretical Speed and Torque outputs (approximate), at 3 Volts:
IR SENSOR (SHARP GP2Y0A21YK)
We will use two IR sensors to detect the obstacles ( the walls of the maze) and send the distance between the robot and the walls to microcontroller so it can order the motor to go to right way .
We will use SHARP GP2Y0A21YK to detect obstacles in this robot . this sensor is one of the famous IR sensors that using to detect obstacles and calculate distance between the robot and the object , Its range is 10-80 cm
This sensor is rely unique . Simply connect +5v and ground and a voltage proportional to the distance between the sensor and
an object in front of it will be returned (ranging from 0.4 volts at 80 cm to 3volts at 10 cm). It really couldn't be simpler to use.
Converting to Distance
The voltage returned is not linear (see graph), however it can be converted to a distance using some simple math .
