06-03-2012, 04:03 PM
spy robot report
[attachment=18038]
Abstract
Explorer robot is a robot can be used to explore limited space and transmit live video through wireless RF channel to remote workstation, the goal of spy robot is to search interesting stuff from where people are not able to reach.
Explorer can avoid collision through its advanced sensor system. It can reach specific location thorugh its wheel encoder and return to its home.
I. Executive Summary
The SPY robot includes 1 wireless RF channel video camera, 4 IR emitters and detectos, 2 shaft encoders and 1 photocell. While in task execution, robot will transmit video through RF channel to remote site to show the live image that robot sees at that time. When an obstacle is detected by robot, it will try to avoid it by change its direction.
In the beginning, user must enter location to robot. The location is presented by coordinate like (x,y) in feet. The real world coordinate is then transferred to internal coordinate in X direction and Y direction. Initially, robot thinks its current location as (0,0), when left wheel rotates, shaft encoder will begin to count. Each time robot makes a turn, internal coordinate will rotate too. When internal location has reached, robot think itself has reached its destination in real world then it will begin returning to base.
In the road to detination, when an obstacle is detected, robot will try to avoid collision by changing direction. It will first backward then turn 90 degree clockwise then continue its journey.
II. Introduction
Sometimes we drop small things like diamond rings, pens or valuable stuff under hidden places like under bed, under table or places that we can not reach. If we can have some mechanism that can show us where’s the lost stuff would helps a lot. That’s why I proposed this SPY robot that can explore certain places that human couldn’t reach.
SPY is a robot that is very tiny (about 5 in cube) and capable of navigating some specific places. It will explore toward pointed direction, avoid obstacles and transmit images that it “sees”. When the specified location is reached, it will return to its home. While it is exploring, it will transmit live video through its wireless (RF) video camera to home base. If the place that user assigned is in low light condition, robot will turn on its light in order to capture images.
III. Platform design
Since SPY is designed for exploring limited places like very narrow places or height limited places. It is will be more appropriate to make it as small as possible. I did not choose it to as small as 1-inch cube size because it will increase design difficulty and because this is a prototype, the size of some parts probably not small enough, so the whole platform size is around 5-inch cube.
IV. Actuator Design
The actuation that will be used in this project are tow hacked servos. Hacked servo is connected with driven wheel, it can forward and backward according to code used. Two wheels are being used as driven wheel.
V. Sensors Design
Sensors that will be used in this project are: 4 IR sensors, two wheel encoders, 4 micro-switches, one photoresistor and one sonar.
IR sensors are used for sense possible obstacles. Wheel encoders are used to record how many “steps” has passed in a given time at each wheel. And micro-switches are used for bumper. Photoresistor is used for sense environment light condition, if it is in low light condition, robot will turn on its own light to help camera capture images.
[attachment=18038]
Abstract
Explorer robot is a robot can be used to explore limited space and transmit live video through wireless RF channel to remote workstation, the goal of spy robot is to search interesting stuff from where people are not able to reach.
Explorer can avoid collision through its advanced sensor system. It can reach specific location thorugh its wheel encoder and return to its home.
I. Executive Summary
The SPY robot includes 1 wireless RF channel video camera, 4 IR emitters and detectos, 2 shaft encoders and 1 photocell. While in task execution, robot will transmit video through RF channel to remote site to show the live image that robot sees at that time. When an obstacle is detected by robot, it will try to avoid it by change its direction.
In the beginning, user must enter location to robot. The location is presented by coordinate like (x,y) in feet. The real world coordinate is then transferred to internal coordinate in X direction and Y direction. Initially, robot thinks its current location as (0,0), when left wheel rotates, shaft encoder will begin to count. Each time robot makes a turn, internal coordinate will rotate too. When internal location has reached, robot think itself has reached its destination in real world then it will begin returning to base.
In the road to detination, when an obstacle is detected, robot will try to avoid collision by changing direction. It will first backward then turn 90 degree clockwise then continue its journey.
II. Introduction
Sometimes we drop small things like diamond rings, pens or valuable stuff under hidden places like under bed, under table or places that we can not reach. If we can have some mechanism that can show us where’s the lost stuff would helps a lot. That’s why I proposed this SPY robot that can explore certain places that human couldn’t reach.
SPY is a robot that is very tiny (about 5 in cube) and capable of navigating some specific places. It will explore toward pointed direction, avoid obstacles and transmit images that it “sees”. When the specified location is reached, it will return to its home. While it is exploring, it will transmit live video through its wireless (RF) video camera to home base. If the place that user assigned is in low light condition, robot will turn on its light in order to capture images.
III. Platform design
Since SPY is designed for exploring limited places like very narrow places or height limited places. It is will be more appropriate to make it as small as possible. I did not choose it to as small as 1-inch cube size because it will increase design difficulty and because this is a prototype, the size of some parts probably not small enough, so the whole platform size is around 5-inch cube.
IV. Actuator Design
The actuation that will be used in this project are tow hacked servos. Hacked servo is connected with driven wheel, it can forward and backward according to code used. Two wheels are being used as driven wheel.
V. Sensors Design
Sensors that will be used in this project are: 4 IR sensors, two wheel encoders, 4 micro-switches, one photoresistor and one sonar.
IR sensors are used for sense possible obstacles. Wheel encoders are used to record how many “steps” has passed in a given time at each wheel. And micro-switches are used for bumper. Photoresistor is used for sense environment light condition, if it is in low light condition, robot will turn on its own light to help camera capture images.
