A UTONOMOUS T RACKING R OBOT Team 7 Victor Abreu Thomas Schreifer Brent Eisenmann Matthew Beutler...
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Transcript of A UTONOMOUS T RACKING R OBOT Team 7 Victor Abreu Thomas Schreifer Brent Eisenmann Matthew Beutler...
![Page 1: A UTONOMOUS T RACKING R OBOT Team 7 Victor Abreu Thomas Schreifer Brent Eisenmann Matthew Beutler Peng Xie Hisham Hassan Sponsor: ECE Department Faculty.](https://reader035.fdocuments.in/reader035/viewer/2022062712/56649ca65503460f94968e84/html5/thumbnails/1.jpg)
AUTONOMOUS TRACKING
ROBOT
Team 7Victor AbreuThomas SchreiferBrent EisenmannMatthew BeutlerPeng XieHisham Hassan
Sponsor: ECE DepartmentFaculty Advisor: Jian Ren
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OVERVIEW
Project Description Prototype Design Hardware Software Budget Risk Analysis Summary
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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
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PROTOTYPE DESIGN
Tank Design Zero turn radius Easily customizable Structurally Sound Greater terrain
navigation
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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
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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
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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
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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
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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
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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
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RISK ANALYSIS
Mobility Difficulties Ledges Obstacles Communication
range Tracking Errors
Target loss Wrong Target
Battery Issues Combustion Power issues
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TIMELINE
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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
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QUESTIONS??