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IMDL Summer 2007: RoBeDeS

IMDL Summer 2007: RoBeDeS. by David Ladolcetta. Summary. Platform Sensors Behaviors. Platform Design. 3 layers. Bottom Layer. Motors and wheels mounted below Bumper attached to front Servo add-on Board MAVRIC board 3 Battery Packs SONAR JTAG. Middle Layer. Drink platform

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IMDL Summer 2007: RoBeDeS

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  1. IMDL Summer 2007: RoBeDeS by David Ladolcetta

  2. Summary • Platform • Sensors • Behaviors

  3. Platform Design • 3 layers

  4. Bottom Layer • Motors and wheels mounted below • Bumper attached to front • Servo add-on Board • MAVRIC board • 3 Battery Packs • SONAR • JTAG

  5. Middle Layer • Drink platform • CdS Cells under drink • Status LED array

  6. Top Layer • Drink stabilizer • Pyro Sensor • LCD screen

  7. Sensors • Bump • Sonar • CdS • PIR

  8. Bump • Backup Obstacle Avoidance • 3 on front • Bumper connecting all three • Coat hanger inside Rubber weather stripping • 1 on back for reverse Obstacle avoidance

  9. Sonar • Main Obstacle avoidance • Mounted to minimize middle blind spot and maximize angle of viewing

  10. CdS Drink detector • Senses amount of light • 3 mounted under middle layer under drinks • AD reads ~250 when covered, <100 when uncovered

  11. Pyro Infra Red (PIR) • Hacked Wal-Mart Motion detecting night light • Senses moving heat • Mounted on a sweeping servo to get relative motion from static people • Cardboard “Cone” to narrow field of vision

  12. Behaviors • Person seeking • Obstacle avoidance • Person Tracking • Drink removal waiting • Tray empty

  13. Person seeking behavior • The robot moves forward while panning the servo back and forth 120 degrees • Continuously checks PIR on AD port 0 for any value above 170 and below 100 on a 0-255 scale. If triggered, enters person tracking mode. • Simultaneously checks for Sonar or bump sensors – if triggered, enters obstacle avoidance mode

  14. Obstacle Avoidance Behavior • When sonar or bump sensors trigger • Stops motors • Moves backward for 1 second • Turns randomly left or right 90 degrees • Moves forward and returns to Person seeking mode

  15. Person Tracking Behavior • When pyro triggers meaning a person (or other heat source) is found • Reads direction servo is facing and turns platform toward that direction • Moves forward and continues sweeping servo • If person is within +/- 15 degrees of center keep moving until sonar detects something within 3 in. • If person is outside of threshold, robot will adjust platform direction accordingly

  16. Person Tracking (cont’d) • If person is not found after 3 full sweeps then robot spins ~400 degrees to re-find person, then adjusts accordingly when found • If person is fully lost, returns to Person seeking • Once sonar detects person within 3in, stops movement and enters waiting mode

  17. Waiting Behavior • Continuously checks CdS cells on AD port 1-3 to detect any removal of a drink • Once drink is removed or if no drink is removed after 8 seconds, RoBeDeS turns 180 degrees and returns to person seeking mode • If drink is removed and no more drinks remain, enters tray empty mode

  18. Tray Empty Behavior • Turns 180 degrees • Finds nearest wall • Shuts AD off and blinks signifying it needs to be refilled and reset

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