Smart Lens Robot William McCombie IMDL Spring 2007
Current progress ● Currently have most of the components, including Servo motor (to drive camera) Motors Compass, LCD, etc. Light sensors ● Currently have some components working LCD working ● Written code to write text and numbers to LCD IR sensors working and interfaced with μ C Compass tested We get signal! Main screen turn on!
To do ● Write behavior algorithms ● Mount components ● Interface motors and servo ● Interpret data from compass board ● Write serial interface for RFID device
Sensors ● IR ● Bump switches ● Compass ● RFID ● Light sensors
IR ● Simple Infrared detectors ● Most accurate within 3-6 inches ● Used for collision avoidance ● If objects are too close, sensor cannot detect them
Bump switches ● Simple on/off switch ● Pressing a switch would activate an interrupt ● When activated, robot will retreat ● At least three bump switches will be used
Compass ● Board with two magnetic sensors oriented orthogonal to each other ● Contains a controller chip ● Interface with either I2C or PWM ● PWM signal consists of high signal with variable length and constant length low signal
RFID ● Radio frequency identification ● Serial interface ● Different readers use different methods of communication ● Half-duplex or full-duplex
Light sensors ● Use of a CDS cell ● CDS acts as a variable resister ● Connected to A/D input ● Colors can be determined by using filters and colored LEDs Example ● Locate red object ● Navigate along blue line
The camera ● Not a sensor ● Simple point-and-shoot digital camera ● Powered by either two AA batteries or 3.3v input Could be wired directly to the board if current consumption low enough ● Servo motor can control both power and shutter release by mounting servo between both buttons Moving servo one way will apply pressure to power switch Moving servo other direction will apply pressure to shutter release ● Light pressure will allow the camera to focus ● Heavy pressure will release shutter Servo has adequate power for both functions
Other notes ● The entire setup will be powered by a 9V power supply. 6 rechargeable AA batteries ● Platform designs may differ from original plans Tripod mount will work, but would require extra weight Camera tilt function may not work Instead, mount the camera closer to the ground, to reduce weight ● RFID interface may be reconsidered Weight and power requirements Alternative use of simple machine vision using CDS cells ● Camera will be controlled by servo motor