1 / 21

Semi-Autonomous Ice Detecting Robot

Semi-Autonomous Ice Detecting Robot. Naman Mehta | Tim Wang-Lee Ryan May – Spring 2012 ECE 445. What?. Goal : A robot that can detect ice, dispense salt , and be either directly controlled or semi-autonomous

kaydence
Download Presentation

Semi-Autonomous Ice Detecting Robot

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Semi-Autonomous Ice Detecting Robot Naman Mehta | Tim Wang-Lee Ryan May – Spring 2012 ECE 445

  2. What? • Goal: A robot that can detect ice, dispense salt , and be either directly controlled or semi-autonomous • Delivery: A robot that can detect ice and be either directly controlled or semi-autonmous. Ice detection circuitry not mounted on robot.

  3. Block Diagram

  4. The PC • Runs a GUI interface that communicates to Pandaboard. • GUI done using wxPython • Backend of interface done in C

  5. User Interface

  6. Status Panel • Gives user a information about the state of system • Connected • Robot status • Ice Detection

  7. The Control Modes • Three possible modes • Remote – Controlled • Initialization Phase • Autonomous

  8. Arrow keys • Controls the directions of the car.

  9. Wireless Network • wireless 802.11 network using sockets (TCP/IP) • Static IP address configuration

  10. Main Contoller • Pandaboard, an ARM platform • A “server” program which accepts connections from PC. • Command packets forwards to VCU (Wild Thumper Controller) • Respond to periodic “ALIVE?” pokes

  11. Pandaboard • Accepts 5V DC • HDMI • USB • SD card

  12. Vehicular Control • Receives commands from Pandaboard through USB • Controls motors • Requires external batteries source • Provides On-board charging

  13. I/O Board • Uses Teensy 2.0 Microcontroller • Reads analog inputs from detection circuitry • Outputs digital Low or High for indication

  14. Ice Detection • Uses LTE-301, LTR-302 Emitter Receiver pair • Tests for highly reflective surfaces (ice) • Has an Intensity indicator • Has connection indicator

  15. Detection mechanism Optimum distance for det. Emitter Receiver Optimum distance for det. Ground

  16. Schematics

  17. Power Unit • Provides ~5V and maximum 4A • Uses one 6V batteries and 6 AA s

  18. The Chassis • Wild Thumper 6WD

  19. Final Robo-Car

  20. Ethical consideration • High current draw from batteries to Pandaboard • High temperature of on-board charging circuit

  21. Credits

More Related