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Author Archives: almaclean
Overhead Camera
The overhead camera program uses image processing to detect the large triangle atop the robot. The triangle’s shape makes it easy to determine which way the robot is facing. The detection program first filters out all other objects. Then calculates the position … Continue reading
Posted in Software Design
Tagged camera, direction, image processing, intersection, overhead, software
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Overhead Camera
Our robot also uses data from another source: an overhead camera suspended above the intersection of the course. The data from this camera is only used when the car is in the intersection. It uses image processing to detect the … Continue reading
Posted in Mechanical Design
Tagged camera, direction, image processing, intersection, mechanical, overhead
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Overview
This is a diagram showing all the physical components of our robot. Click for enlarged view.
PCB
The PCB on our robot performs several functions. It supplies power to all parts of the robot and also incorperates the H-bridge motor control circuitry. Our robot requires 3 different voltage levels to operate. The microcontroller runs on 3.3V, The … Continue reading
Direction Detection Algorithm
For detecting the direction the robot is travelling, we use a reflectance sensor. The sensor returns 0V if it sees a white surface, and a higher voltage value if it sees a black surface. The program uses an external interrupt. … Continue reading
Posted in Software Design
Tagged algorithm, detection, direction, line sensor, photo sensor, software
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IR Rangefinders Algorithm
One of the robot’s navigation logic is implemented using the digital inputs from 8 identical on-board Infrared Sensors. Each of these sensors returns a digital voltage signal. Real Distance Linearization Front Sensor 6 Blind Spot Sensors Rear IR sensor Reverse … Continue reading
Posted in Software Design
Tagged algorithm, infrared, IR, rangefinder, sensors, software
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Laser Detection Algorithm
The laser sensor program is run on a laptop, not in the microcontroller. The API is Matlab. In Matlab, the Image Processing Toolbox and the Image Acquisition Toolbox are the main tools for this algorithm. Using the Image Acquisition Toolbox, … Continue reading
Posted in Software Design
Tagged algorithm, c, camera, image acquisition, image processing, laser, matlab, software, webcam
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Wheels & Motor
The wheels and motor for our robot were taken from a RC car. This was chosen because the motor was already connected to drive both rear wheels. Additionally the front wheels were already attached to hinged mounts, allowing for easy connection to the … Continue reading
Sensors
Our robot incorporates three main sensor systems: the laser / webcam triangulation sensor, the IR rangefinders and the IR reflectance sensor. The primary sensor consists of a class 3 green laser mounted on the front of the robot. The reason for choosing a green … Continue reading
Chassis
The chassis of our robot is a four wheeled design. The rear wheels are used for propulsion, while the front wheels are for steering. This design was chosen over a differential drive system because it allows for greater speed. The propulsion motor … Continue reading