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Intelligent Autonomous Robot used to Collect Hazardous Material - - PowerPoint PPT Presentation
Intelligent Autonomous Robot used to Collect Hazardous Material - - PowerPoint PPT Presentation
Intelligent Autonomous Robot used to Collect Hazardous Material Group 5 Ben Bishop Jibu Abraham Steve Mezzo Tracy Shigemura Presentation Agenda Overview Project Requirements Detailed Description Program Concepts Sensors
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Project Overview
Design an intelligent fully Autonomous robot for detection and collection of Hazardous Material Design a containment system for the material Emphasis on Intelligence and autonomy
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Product Requirements
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Detailed Description
Assumptions
- Rectangular room
- Minimal obstructions
- Material is colored power
Plan of attack
- Created localized map of room with Ultrasonic
range finder
- Avoid/ hug obstacles with infrared sensor
- Locate material using CMU cam-color detection
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Programming Intro
Control Program will perform several tasks:
Collect data from sensors Interpret data and make decisions Implement appropriate algorithm
Language of choice: Visual Basic
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Programming: This Semester
Create and test motor subroutines Collect and react to sensor data Create and test wall-hugging /
- bstacle avoidance algorithm
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Program Storyboard
General Control Program
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Program Storyboard
Searching for spills
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Program Storyboard
Cleaning the spills
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Program Storyboard
Wall-hugging flowchart using infrared sensors
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Programming Difficulties
Mapping strategy
Use ultrasonic sensor to determine location of obstructions Map obstructions into a matrix
Difficulties in mapping will affect:
Creation of search grid Localization of Hazbot and spills
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Mapping concept
Mapping Concept
Room divided into matrix 1 stored where obstruction is Data obtained by ultrasonic sensor and CMUcam
= Roomba = Obstructed square = Previously occupied square
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Mapping Concept cont’d
= Previously occupied square = Obstructed square = Roomba
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Long Distance Ranging
- Devantech SRF04 Ranger
Low Cost Fast response time Long range Low power
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Short Distance Ranging
Less influence on the color of reflected
- bjects, reflectivity
Analog voltage corresponding to distance Detecting distance of 4 to 30 cm External control circuit unnecessary Low Cost
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Infrared Calibration
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CMUcam
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Hazbot Command
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Roomba
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Hazbot Command
Labjack u12-DAQ board
- Pros:
Allows us to use VB for mapping idea Works with OOPIC board Lots of support on website
- Cons:
Ultrasonic sensor does not interface well No PWM output for motor driver
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Hazbot Command
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Hazbot Command
- OOPIC microcontroller Board
Pros:
- Works well with ultrasonic
sensor
- Has PWM outputs for motor
driver
- Uses BASIC syntax
- Free
Cons:
- Programming language not
powerful
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Sample Code
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Hazbot Command
Motor Driver
- Controls the motors
using PWM (Pulse width modulation)
- Allows for
additional power for motors
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Hazmat Options
Hazardous materials considered: Anthrax Transuranic Waste (Radio-Active)
Remote handled Contact handled
Material must be:
Solid form Appropriate size/ weight range Not extremely easily disbursed into atmosphere
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Concept Designs
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Concept Chosen
Features: + Modular disposable containment system connected using current Roomba configuration + Vacuum pump located at front close to entrance of material
- Narrow window for suction
- Little space for storage
- Material can fall out from entry
point Features: + Modular disposable containment system using quick-connect mechanism + Large space for storage of collected material + “Trap door” + Larger collection area
- Will need a more powerful pump
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Final Concept
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Final Concept
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Final Concept
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Project Gantt Chat
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Questions
Questions
Questions