Transcript Hide-n-seek Robot

Hide-n-seek Robot
Ivan See & Karen Tsang
Presentation Date: 9/18/03
Objectives
A robot that recognize and search for
tangible objects and carries the correct
object back to the original location
 Involves servomotor control, DC motor
control, image processing, PDA
programming, and ultrasonic sensor
utilization

Overview
1.
2.
3.
User shows targeted object in front of the
robot’s camera
Robot takes a picture of the object and
stores it in its memory
User hides the object within ultrasonicreachable area and press the “Go”
button on the robot
Overview (cont.)
4.
5.
6.
Robot starts searching for the object by
using its ultrasonic sensor
Robot approaches sensed object and
recognize if it’s the correct object by
using its camera
Robot grabs on the object and brings it
back to the start position
Parts Arrangement
Block Diagram
User Interface
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User interacts with the Palm
which will be mounted at the back
of the robot
“OK” button will be shown on the
screen of the Palm for starting the
initial photo taking procedure
“Go” button will be shown on the
screen for starting the searching
procedure
“Reset” button will be shown on
the screen for restarting all the
procedures
Specification
1.5m radius ultrasonic effective area
 320 x 240 image processing resolution
 Travels approximately 1ft/sec
 Hold targeted object in arms up to 0.5lb
 Final returning position error < 1ft2

Specification
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Only objects in symmetrical shapes will be used
Only floor in plain color will be used for testing to
avoid image background confusion (No patterns
are allowed on the carpet)
Sufficient light source to avoid too much shadow
area appear under the target object
No obstacles allowed in operating area
Ultrasonic Range Finder SRF08
By Devantech
Uses sonar to detect objects
Voltage
5V only
Current
15 mA typical,
3 mA standby
Frequency
40 KHz
Range
3 cm (~1") to 6 m (~20
ft.)
Timing
Fully time echo, freeing
host controller of task
Echo
Multiple echo for
velocity determination
Detects up to 16 returning echoes
Built-in light sensor
Connection Standard IIC bus
Units
Range reported in uS,
mm, or inches
Object Location Algorithm
Image Processing Algorithm
Image Processing Algorithm
Compare pixels one by one
 Pixel is valid if color value is within
tolerance ranges
 Validity of an entire image is considered by
a certain percentage of valid pixels

The foot
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DC Motor Module from the
“Rumble Robots Invasion”
Motor A drives two wheels on
the right, while Motor B drives
two wheel on the left
Forward, backward, turn left or
right
Make 0 degree radius turns
Driven by SN754410 Motor
Controller IC from Texas
Instruments
The foot
Test Plan

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Targeted objects such as apple, orange, and
lemon will be used to check if the robot will be
able to distinguish between objects in different
color
Accurately locate itself in front of the targeted
object after searching
Make sure target object is hold in arms while
moving
Return to original position with in 1ft2 error
Work Completed
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Acquired all hardware components
Downloaded Palm emulation software for Palm
software development
Acquired reference books for programming Palm
in C
Dissembled and investigated “Rumble Robots
Invasion” from Toys R Us
Acquired DC Motor wheel module from “Rumble
Robots Invasion”
Work to be done
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Assemble arms with servos and optical sensor
(Ivan/Karen)
Build DC motor controller circuit with motor controller
chip and PAL chip (Ivan)
Install Palm and HC12 on plexiglass rack on the robot
(Ivan/Karen)
Investigate SRF08 ultrasonic sensor and its IIC interface
(Karen)
HC12 code write up (Karen)
Palm code write up (Ivan)
Investigate SD camera interface with Palm (Ivan)
System Cost
Palm m130
$130
SRF08 Ultrasonic sensor
$55
Motorola HC12
$160 (provided)
Servomotors x 4
$60 (provided)
Motor controller IC SN754410
$5
Palm serial cable
$15
Veo SD Camera for Palm
$60
Rumble Robots Invasion
$15
Plexiglass for base
$2
Aluminum Bar for arms
$3
Screws and other mountings
$2
Optical Sensor x 2
$5 (from IDE class)
Batteries AA X 4
$3
Total
$290
Questions?
Comments?
Suggestions?