Vision-Based Robot Control Bax Smith Term 8 Electrical (CC)
Outline • How I came up with this project • Components of the project • Visual Demo • Conclusion
Vision-Based Robot Control • Person: 5 SensesRobot: 1 Sense • Person: MobileRobot: Mobile • Person: Can Grasp ObjectsRobot: Can Grasp Objects • Person: Intelligent • Robot: ?
Applications for Sambuca • Get me beer from fridge • Vacuum carpet • Mow the lawn • Give tours • Recycle!Illustrates the point and Saves the environment!
Components of Sambuca • Vision System • Mobility System • Intelligence System • Arm System
Sambuca - Vision System • Hardware: Webcam • The Problem: Distinguishing Cans/Bottles from other things • The Solution: Image Processing and Feature Extraction
Hardware: Electric Wheelchair Base Turns by reversing direction of wheel rotations Sambuca - Mobility System
Sambuca - Intelligence System • What to do if it sees an object? • How far away is the object? • Is on the left or right? • What about multiple objects? • How to get to the object?
START DETECT Retrieval Scavenger GRAB RELEASE Delivery DONE Sambuca - Intelligence - FSM • Scavenger - look for object • Retrieval - grasp object • Deliver - put in bin
Serial RT200 Robotic Arm PC - Intelligence Sambuca - Arm System • RT200 Robotic Arm • Go to Point - Acknowledge
Conclusion • Finds and distinguishes objects very well • Tracks and follows targets very well • Arm could do with its own vision system • Mobile Base could do with its own Control System/Encoders