A UTONOMOUS T RACKING R OBOT Team 7 Victor Abreu Thomas Schreifer Brent Eisenmann Matthew Beutler Peng Xie Hisham Hassan Sponsor: ECE Department Faculty Advisor: Jian Ren
O VERVIEW Project Description Prototype Design Hardware Software Budget Risk Analysis Summary
P ROJECT D ESCRIPTION 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
P ROTOTYPE D ESIGN Tank Design Zero turn radius Easily customizable Structurally Sound Greater terrain navigation
H ARDWARE 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 MGHz Class 2: 10m range indoors
H ARDWARE C ONTINUED 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 H ARDWARE C ONTINUED
S OFTWARE 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
S OFTWARE C ONTINUED 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
B UDGET R EQUIREMENTS 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 $ x Ultrasonic Range Finder $ 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 Battery + Charger $69.90 Total $328.69
R ISK A NALYSIS Mobility Difficulties Ledges Obstacles Communication range Tracking Errors Target loss Wrong Target Battery Issues Combustion Power issues
T IMELINE
S UMMARY 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
Q UESTIONS ??