a utonomous t racking r obot team 7 victor abreu thomas schreifer brent eisenmann matthew beutler...

AUTONOMOUS TRACKING

ROBOT

Team 7Victor AbreuThomas SchreiferBrent EisenmannMatthew BeutlerPeng XieHisham Hassan

Sponsor: ECE DepartmentFaculty Advisor: Jian Ren

OVERVIEW

Project Description Prototype Design Hardware Software Budget Risk Analysis Summary

PROJECT DESCRIPTION

Robotic vehicle to identify and follow a marked target

Close within certain distance Communication capability

Data Documentation Additional Requirements

Structurally sound body Self powered Zero Turning Radius Manual Shutdown

PROTOTYPE DESIGN

Tank Design Zero turn radius Easily customizable Structurally Sound Greater terrain

navigation

HARDWARE Tamiya Dual Motor Gearbox

3V operating voltage Free run motor shaft speed:

12300rpm Free run current: 150mA Stall current: 2100mA

Devantech SRF05 Ultrasonic Range Finder 1cm-4m Range 43mm x 20mm x 17mm 3-4cm Resolution

Blue-tooth Joystick Bandwidth 2400-2480MGHz Class 2: 10m range indoors

HARDWARE CONTINUED D-Link Wireless Enabled Webcam

Stream to laptop Wi-Fi

Bandwidth up to 5GHz 36m range indoors

Tank Body Chassis Treads

Arduino Uno Board Specifications

14 digital input/outputs 6 analog inputs 16MHz ceramic resonator USB connection Power jack ICSP header Reset button

2.7”x 2.1” Compatible with wifi/bluetooth Easily programmable

Power usage and protection Lithium Ion

11.1V (working) 12.6V peak 7.5V cut-off 2400mAh capacity

Protection Circuit Module (10A) installed Overcharge (>12.6V) Overdischarge (<7.5V) Over drain (>10 Amp) Short Circuits

Manual Shutdown

HARDWARE CONTINUED

SOFTWARE Microprocessor Programming

Arduino Open Source Software Large community support for similar applications

Movement Control and Obstacle Avoidance Calculating and Transmitting through Bluetooth:

Distance Via Ultra-sonic Sensors

Speed Via Sharp Infrared Sensor

Runtime Power Usage

SOFTWARE CONTINUED Target Tracking

Processing video using OpenCV Library Open Source Computer Vision (OpenCV) Library

Real-time computer vision Multilanguage interfaces Multiplatform supports Built-in optimized algorithms Widely adopted all around the world

User Interface Receiving streamed video from the robot via Wi-Fi Displaying data transmitted from the robot via

Bluetooth Target selecting and user control of the robot Mac OSX and Windows support

BUDGET REQUIREMENTS

Budget

Part Cost

Robot Body  

Tamiya Double Gearbox $14.48

Tamiya Track and Wheel Set $7.84

Tamiya Universal Plate $5.33

Data Acquisition  

Wireless Wifi Enabled Webcam $58.00

4x Ultrasonic Range Finder $118.00

Sharp Infrared Sensor $14.95

Microprocessor and Electronics  

Arduino Uno Board $20.95

Motorshield for Arduino $24.99

DFRobot Serial Bluetooth Module $21.90

Li-Ion 18650 Battery + Charger $69.90

Total $328.69

RISK ANALYSIS

Mobility Difficulties Ledges Obstacles Communication

range Tracking Errors

Target loss Wrong Target

Battery Issues Combustion Power issues

TIMELINE

SUMMARY

Tank style robotics 4/6 Devantech SRF05 Ultrasonic Range

Finder Tamiya Double Gearbox Bluetooth Remote Controller Wifi Webcam Arduino UNO Microprocessor Target Tracking Robot Data Storage Lithium Ion (Li-Ion 18650) Protection Circuit Module (10A) installed

QUESTIONS??