Post on 15-Dec-2015
AUTONOMOUS TRACKING
ROBOT
Team 7Victor AbreuThomas SchreiferBrent EisenmannMatthew BeutlerPeng XieHisham Hassan
Sponsor: ECE DepartmentFaculty Advisor: Jian Ren
OVERVIEW
Project Description Prototype Design Hardware Software Budget Risk Analysis Summary
PROJECT DESCRIPTION
Robotic vehicle to identify and follow a marked target
Close within certain distance Communication capability
Data Documentation Additional Requirements
Structurally sound body Self powered Zero Turning Radius Manual Shutdown
PROTOTYPE DESIGN
Tank Design Zero turn radius Easily customizable Structurally Sound Greater terrain
navigation
HARDWARE Tamiya Dual Motor Gearbox
3V operating voltage Free run motor shaft speed:
12300rpm Free run current: 150mA Stall current: 2100mA
Devantech SRF05 Ultrasonic Range Finder 1cm-4m Range 43mm x 20mm x 17mm 3-4cm Resolution
Blue-tooth Joystick Bandwidth 2400-2480MGHz Class 2: 10m range indoors
HARDWARE CONTINUED D-Link Wireless Enabled Webcam
Stream to laptop Wi-Fi
Bandwidth up to 5GHz 36m range indoors
Tank Body Chassis Treads
Arduino Uno Board Specifications
14 digital input/outputs 6 analog inputs 16MHz ceramic resonator USB connection Power jack ICSP header Reset button
2.7”x 2.1” Compatible with wifi/bluetooth Easily programmable
Power usage and protection Lithium Ion
11.1V (working) 12.6V peak 7.5V cut-off 2400mAh capacity
Protection Circuit Module (10A) installed Overcharge (>12.6V) Overdischarge (<7.5V) Over drain (>10 Amp) Short Circuits
Manual Shutdown
HARDWARE CONTINUED
SOFTWARE Microprocessor Programming
Arduino Open Source Software Large community support for similar applications
Movement Control and Obstacle Avoidance Calculating and Transmitting through Bluetooth:
Distance Via Ultra-sonic Sensors
Speed Via Sharp Infrared Sensor
Runtime Power Usage
SOFTWARE CONTINUED Target Tracking
Processing video using OpenCV Library Open Source Computer Vision (OpenCV) Library
Real-time computer vision Multilanguage interfaces Multiplatform supports Built-in optimized algorithms Widely adopted all around the world
User Interface Receiving streamed video from the robot via Wi-Fi Displaying data transmitted from the robot via
Bluetooth Target selecting and user control of the robot Mac OSX and Windows support
BUDGET REQUIREMENTS
Budget
Part Cost
Robot Body
Tamiya Double Gearbox $14.48
Tamiya Track and Wheel Set $7.84
Tamiya Universal Plate $5.33
Data Acquisition
Wireless Wifi Enabled Webcam $58.00
4x Ultrasonic Range Finder $118.00
Sharp Infrared Sensor $14.95
Microprocessor and Electronics
Arduino Uno Board $20.95
Motorshield for Arduino $24.99
DFRobot Serial Bluetooth Module $21.90
Li-Ion 18650 Battery + Charger $69.90
Total $328.69
RISK ANALYSIS
Mobility Difficulties Ledges Obstacles Communication
range Tracking Errors
Target loss Wrong Target
Battery Issues Combustion Power issues
TIMELINE
SUMMARY
Tank style robotics 4/6 Devantech SRF05 Ultrasonic Range
Finder Tamiya Double Gearbox Bluetooth Remote Controller Wifi Webcam Arduino UNO Microprocessor Target Tracking Robot Data Storage Lithium Ion (Li-Ion 18650) Protection Circuit Module (10A) installed
QUESTIONS??