Transcript Tag Bot - Rochester Institute of Technology

Tag Bot: A Robotic Game of Tag
Jonathan Rupe
Wai Yip Leung
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”
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
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
Target RC Vehicle


User Controlled via RF Remote Control
Circular array of 8 Modulated IR Emitter LED’s
IR LED Emitters
Batteries
Seeker RC Vehicle

360 degree stand-still turning achieved by 2
independently controlled motors
Seeker RC Vehicle


Circular Array of 8 IR LED Detectors
3 IR Range Detectors mounted in the front of the
vehicle
IR range sensors
Front
Circular array of 8
IR detectors
rear
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
User Interface – Seeker RC Vehicle

Status LED’s
Signal
Present



Tagged
ERROR
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.
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
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
Analytical Components (cont’d)
Port Mapping
HC12 Microcontroller
PORTA
8 bits
IR Detectors
PORTB
PORTP
3 bits
3 bits/5 bits
IR Range Sensors LED’s/Motors
Analytical Components (cont’d)
1
0
2
Front
0
7
Front
1
6
Status LED0
Status LED1
HC12
2
5
rear
3
4
IR Detector Mapping
PORTA Bit
A0 (LSB)
A1
A2
A3
A4
A5
A6
A7 (MSB)
Mapping to IR
Detector
IRD0
IRD1
IRD2
IRD3
IRD4
IRD5
IRD6
IRD7
Status LED2
Motor
1
IR Range Sensor Mapping
PORTB Bit
B0 (LSB)
B1
B2
B3
B4
B5
B6
B7 (MSB)
IR Range Sensor
Mapping
IRR0
IRR1
IRR2
Not Used
Not Used
Not Used
Not Used
Not Used
rear
Motor
2
Output Port Mappings
PORTP Bit
Mapping
P0 (LSB)
Status LED0
P1
Status LED1
P2
Status LED2
P3
H-bridge P1 & P9 (enable)
P4
P5
P6
P7 (MSB)
H-bridge P2
H-bridge P7
H-bridge P15
H-bridge P10
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
Test Plan

Test each segment separately
–
Modulated IR emitter and detector circuits


–
–
–
IR range sensors
DC motor control
HC12 code w/out sensors attached

–
Complete 360º emission of IR signal
Proper directional detection of IR signal
Proper execution of search pattern
HC12 code w/sensors attached

Proper execution of search pattern & interaction w/sensors
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
Power Consumption
Part
HC12
IR LEDs
IR Detectors
IR Range Sensors
DC Motors
Dissipation
Total Current
Power
Quantity
Current (mA)
Dissipation (mA) Consumption (W)
300
1
300
1.5
45
10
450
2.25
0.2
8
1.6
0.008
50
3
150
0.75
300
2
600
3
Total Power Consumption:
7.508
Division Of Work
Task Description
Coding
DC Motor Drive Circuitry & Testing
Modulated IR Emitter and Detector Assembly & Testing
IR Range Sensor Assembly & Testing
Power Circuitry Design, Construction, and Testing
Web Site
Seeker RC sensor and hardware mounting
Target RC IR emitting beacon mounting
Project Testing
Person Assigned
Jon
Jon
Wai
Wai
Wai
Wai
Both
Both
Both
Work Completed
Task Description
Coding
DC Motor Drive Circuitry & Testing
IR Range Sensor Assembly & Testing
Power Circuitry Design, Construction, and Testing
Web Site
Seeker RC sensor and hardware mounting
Target RC IR emitting beacon mounting
Final Project Testing
Modulated IR Emitter and Detector Assembly & Testing
% Complete
6.78%
100%
50%
0%
2%
0%
0%
0%
90%
Work Completed (cont’d)
Modulated IR Emitter Circuit
Component
U1
R1
R2
R3
C1
RLED
Value/Description
555 Timer IC
47 ohm resistor
470 ohm resistor
5k variable resistor
0.0047uf ceramic capacitor
82 - 150 ohm resistor
Work Completed (cont’d)
Modulated IR Detector Test Circuit
Work Completed (cont’d)
IR Range Sensor Circuit
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
Total System Cost
Item Description
Qty. Unit Price Actual Cost Our Cost
RC Car (Seeker)
1
$29.95
$29.95
$29.95
RC Car (target)
1
$29.95
$29.95
$29.95
HC12 Micro Controller
1 $159.00
$159.00
$0.00
IR Range Sensors
3
$13.50
$40.50
$0.00
IR LEDs
8
$0.26
$2.08
$2.08
IR Receivers
8
$0.83
$6.64
$6.64
Motor Batteries
2
$8.00
$16.00
$16.00
Other Expenses
N/A
N/A
$50.00
$50.00
Total:
$334.12 $134.62
Potential Safety Problems

Stubbed toe
Questions
?