A Beacon-Sensing, Path Finding Robot Operating in a Crowded Environment JEEVES the Robot Butler Team JEEVES Daniel Steffy, Alissa Halvorson, Bogdan Pisica, Christopher Pearson, Hameed.
Download ReportTranscript A Beacon-Sensing, Path Finding Robot Operating in a Crowded Environment JEEVES the Robot Butler Team JEEVES Daniel Steffy, Alissa Halvorson, Bogdan Pisica, Christopher Pearson, Hameed.
A Beacon-Sensing, Path Finding Robot Operating in a Crowded Environment JEEVES the Robot Butler Team JEEVES Daniel Steffy, Alissa Halvorson, Bogdan Pisica, Christopher Pearson, Hameed Ebadi Project Objectives • Create a Robot System that: ▫ Carries Beverage From Vendor to User ▫ Detects Direction of Beacon Signal ▫ Dynamic Path Finding Based on Ultra-Sonic Sensors ▫ Detects When To Stop ▫ Able to Return to Base Station Bogdan Pisica Project Purpose • Possibilities for Nursing Homes or Hospitals. ▫ Base Station with multiple robots delivering meds, food, etc. to patients • People with disabilities • Convenience Bogdan Pisica Achievable Goals • • • • • • Implementation of the Robotic Chassis Detection of Feedback on Robotic Motors Robot Is Able To Move From Point A to Point B Sonar Object Detection Beacon Initiates Robotic Movement Capable of Carrying a Beverage Bogdan Pisica Medium Level Goals • • • • Robot Able to Detect Direction of Beacon Dynamic Object Avoidance Calibration of Wheels Based on Feedback Returns to Point A Bogdan Pisica High Level Goals • Beverage Dispenser That Contains Multiple Options • Beacon Allows for Multiple Selections • Multiple Users Bogdan Pisica Details of Design Details of Design •Three Separate Pieces • Robot, Base Station, Remote • Majority of the Processing Power will be in the Robot • Remote and Base Station both Transmit Daniel Steffy Robot Design • State Machine in Microcontroller • Different Batteries for Motors, Sensors and Microcontroller • Sensors: • Beverage Presence Monitor (BPM) • RFID Reader • Directional Antennae • Ultra-Sonic Sensors Daniel Steffy State Machine Daniel Steffy Remote Design • User Interface • Unique RF ID tag • Communications with Base Station (XBee) • RF Transmitter Beacon • Logic Interfaces with Modules Daniel Steffy Base Station Design Daniel Steffy Motors • Stepper Motor Precise No calibration needed Hameed Ebadi • Reluctance Motor High Power Density Feed back system needed Magnetic Reluctance [resistance] Microprocessor • MSP 430 F2616X • Low Supply Voltage Range 1.8 V to 3.6 V • 16-Bit RISC Architecture • 64 I/O pins • 12 A/D and 12 D/A Convertor Pins Hameed Ebadi Antenna Wave Properties to worry about • Transmission (use high frequencies to avoid) • Refraction • Reflection • Absorption • Diffraction Hameed Ebadi Xbee Wireless Comm Signal Strength Detection Possible Design Ideas • Multiple Xbee • Rotation Chris Pearson Ultrasonic Sensor • PING (Ultrasonic Sensor) • Precise, non-contact distance measurement from 2 cm to 3 m. • 20 mA, 5 VDC • Narrow Acceptance Angle • Multiple Sensors Chris Pearson Power • Motorcycle battery for robot main power • 9v for remote beacon • Wall wart for base station Chris Pearson Division of Labor Task Alissa Bogdan Chris Danny X X X X X X Hameed Electrical Controls Sensors Comm PCB Power X X X X X X Software Path Finding State Machine Device Interfacing Debugging motors wheels antenna chassis X X X X X X Integration Testing X X X X X X X X X X X X X X X X X X X X X X X X X X X Mechanical X X System Documenta tion Alissa Halvorson Schedule Alissa Halvorson Budget Part Description Price ($) Comm System Xbee Series 1 75 Micro-Controller System MSP430 150 Antenna 20 Motor System 200 Batteries/Power Motorcycle/9v/Wall 100 Sonic Sensors PING))) 120 RFID System 100 PCB 105 Mechanical Wheels/Chassis 150 Printing Expo Docs 150 Misc 200 TOTAL 1370 Alissa Halvorson Funding • • • • UROP Team Members Donations Scavenging Alissa Halvorson Risks and Contingency Plans • Ultra-sonic sensors don't work or too much interference ▫ Use bump sensors • Run out of time or money ▫ Reduce features/capability • Mechanical issues • Failure to detect beacon signal direction ▫ Enlist mechanical ▫ Use IR "line of sight" sensors Alissa Halvorson major's help Questions?