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Autonomous Self-Guiding Wall Charging Robot

Autonomous Self-Guiding Wall Charging Robot By: Ani Bagepalli Moses Zamora David Sanchez Outline Project Description Parts and Specifications Testing Conclusions Description

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Autonomous Self-Guiding Wall Charging Robot

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  1. Autonomous Self-Guiding Wall Charging Robot By: Ani Bagepalli Moses Zamora David Sanchez

  2. Outline • Project Description • Parts and Specifications • Testing • Conclusions

  3. Description • The robot that we have proposed building will automatically guide itself around a room, and through the use of an electromagnetic sensor move towards a potential wall socket. When it reaches the socket, it will use an onboard camera and image processing board to see whether the source is a socket or not. If it is, it will proceed to plug itself in to recharge.

  4. Whats the Use for This? • Robots currently need charging stations • Make robots more independent • “Charger” is more a basis for ways future robots will recharge

  5. Use Sensors find electrical field Move robot in front of electrical field Image processing on Check to see if electrical outlet Yes No Move robot into electrical socket Move robot to next electrical field Once charging shut off image processing After charging along the wall The Idea

  6. Limitations to Charger • Outlet must be unobstructed • Horizontal facing outlet • Room must be rectangular in size • Well lit room for the camera • An uncluttered room

  7. E-Field Sensor • ELFLX Detector • Problems with it

  8. What We Found

  9. Interfacing • Erratic waveforms at output • Cleaned up using bridge rectifier w/ RC filter • C=.1uF, R=100k • VDC=.9583Vin

  10. Interfacing (cont’d) • Signal amplitude still low for Brainstem to read • Amplified w/non-inverting amp with gain=2

  11. Complete E-field circuit

  12. PCB layout

  13. Problems w/ Antenna • Sensing limited to 1” • Bypassed patch antenna • Monopole antenna has 4” sensing distance

  14. Charging Circuit • MAX713 Fast Charge-Controller • Ends fast charge when voltage slope goes negative

  15. Charging Circuit (cont’d)

  16. PCB Layout

  17. After the robot plugs in??

  18. Timer Circuit

  19. Complete Circuit

  20. PCB Layout

  21. Robot Base

  22. Cmucam • Programming through serial port • Tracks Black color • Sensitive to light • 200ma power consumption • Resolution 176x255 RGB color

  23. Brainstem gp 1.0 • Onboard 1 A, 5V power regulation (low dropout) • 40 MHz RISC processor • 4 servo outputs with 8-bit resolution, variable range, and speed control • 5 A/D inputs • 5 digital I/O pins with polling and timing functions • 4 pins can be used for logic event timing • 1MB IIC port • RS-232 TTL serial port • 544 bytes of RAM available to user • Small size (2.5" square, 0.5" high) and easily stacked

  24. Sharp GP2D120 • Price : $12.50 • Accuracy: +/- 0.5cm • Disdvantages: • Analog Voltage • output • A/D converter

  25. Robot Arm • 2 servos control arm

  26. Arm on Robot

  27. Wall following

  28. Price List

  29. Complete robot

  30. Conclusion • Robot works well under conditions listed • Next step in robot automation • Issues during testing

  31. Questions?

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