Tag Bot: A Robotic Game of Tag

1. Tag Bot: A Robotic Game of Tag Jonathan Rupe Wai Yip Leung

2. Project Objectives • Simulate a game of one-way “tag” using two RC vehicles • User controlled target RC vehicle • Self-Automated Seeker RC vehicle • Infinite games of “tag”

3. Project Description • Signal Detection accomplished by modulated IR Emitters and Detectors • Tag simulated by a predefined distance detected by IR Range Sensors • No obstacle avoidance • If there is no signal detected, seeker vehicle will run a predetermined search pattern

4. Design Specifications • Target will be able to be detected within 8 feet from the seeker vehicle • To tag the target, the seeker must be within 24cm of the target

5. IR LED Emitters Batteries Target RC Vehicle • User Controlled via RF Remote Control • Circular array of 8 Modulated IR Emitter LED’s

6. Seeker RC Vehicle • 360 degree stand-still turning achieved by 2 independently controlled motors

7. IR range sensors Front rear Circular array of 8 IR detectors Seeker RC Vehicle • Circular Array of 8 IR LED Detectors • 3 IR Range Detectors mounted in the front of the vehicle

8. User Interface • Target RC Vehicle • On / Off power switch(es) • RF Remote Control • Seeker RC Vehicle • Self-Automated • On / Off power switch(es) • 3 status LED’s

9. Signal Present Tagged ERROR User Interface – Seeker RC Vehicle • Status LED’s • Signal Present is “on” if the seeker has detected the presence of the target signal, “off” otherwise. • Tagged is “on” if the seeker vehicle has tagged the target vehicle, “off” otherwise. • ERROR is “on” if an error has occurred. (i.e. hit an object other than target). “Off” otherwise.

10. Analytical Components • IR Detector Sensors • 8 sensors, mounted equally around 3”- 4” diameter tube • Will detect signal up to 8’ away • Non-modified detection beam width is ±60º • Will be shrunk down using tubing to obtain desired beam width based on testing

11. Analytical Components (cont’d) • IR Range Sensors • 3 mounted on front as shown in an earlier slide • Detection distance of target or object is 24 cm • Uses triangulation to detect obstacle

12. HC12 Microcontroller PORTA PORTB PORTP 8 bits IR Detectors 3 bits IR Range Sensors 3 bits/5 bits LED’s/Motors Analytical Components (cont’d) Port Mapping

13. IR Range Sensor Mapping IR Detector Mapping Output Port Mappings 1 0 2 Front rear 0 7 1 6 2 5 3 4 Analytical Components (cont’d) Front rear Status LED0 HC12 Status LED1 Status LED2 Motor 1 Motor 2

14. Analytical Components (cont’d) • Seeker Vehicle Analysis • Speed of seeker vehicle will be adjusted to suitable speed determined upon testing • Vehicle will continuously turn to ensure that the signal is always detected from the front-most detector • Non-signal based turning will be done on a timed basis

15. Test Plan • Test each segment separately • Modulated IR emitter and detector circuits • Complete 360º emission of IR signal • Proper directional detection of IR signal • IR range sensors • DC motor control • HC12 code w/out sensors attached • Proper execution of search pattern • HC12 code w/sensors attached • Proper execution of search pattern & interaction w/sensors

16. Test Plan (cont’d) • Fully assembled testing of seeker and target vehicles • Non-mobile detection of IR signal from target vehicle • Mobile detection of IR signal from target vehicle • Successful searching, tracking, and tagging of target vehicle

17. Power Consumption

18. Division Of Work

19. Work Completed

20. Work Completed (cont’d) Modulated IR Emitter Circuit

21. Work Completed (cont’d) Modulated IR Detector Test Circuit

22. Work Completed (cont’d) IR Range Sensor Circuit

23. Work to be done • Complete IR emitter/detector sensor testing • HC12 coding • Web page • IR range sensor mounting • Vehicle construction and hardware mounting • Project Testing

24. Total System Cost

25. Potential Safety Problems • Stubbed toe

26. Questions?