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Autonomous Self-Guiding Wall Charging Robot By: Ani Bagepalli Moses Zamora David Sanchez Outline Project Description Parts and Specifications Testing Conclusions Description

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autonomous self guiding wall charging robot

Autonomous Self-Guiding Wall Charging Robot

By:

Ani Bagepalli

Moses Zamora

David Sanchez

outline
Outline
  • Project Description
  • Parts and Specifications
  • Testing
  • Conclusions
description
Description
  • The robot that we have proposed building will automatically guide itself around a room, and through the use of an electromagnetic sensor move towards a potential wall socket. When it reaches the socket, it will use an onboard camera and image processing board to see whether the source is a socket or not. If it is, it will proceed to plug itself in to recharge.
whats the use for this
Whats the Use for This?
  • Robots currently need charging stations
  • Make robots more independent
  • “Charger” is more a basis for ways future robots will recharge
the idea

Use Sensors find electrical field

Move robot in front of electrical field

Image processing on

Check to see if electrical outlet

Yes

No

Move robot into electrical socket

Move robot to next electrical field

Once charging shut off image processing

After charging along the wall

The Idea
limitations to charger
Limitations to Charger
  • Outlet must be unobstructed
  • Horizontal facing outlet
  • Room must be rectangular in size
  • Well lit room for the camera
  • An uncluttered room
e field sensor
E-Field Sensor
  • ELFLX Detector
  • Problems with it
interfacing
Interfacing
  • Erratic waveforms at output
  • Cleaned up using bridge rectifier w/ RC filter
  • C=.1uF, R=100k
  • VDC=.9583Vin
interfacing cont d
Interfacing (cont’d)
  • Signal amplitude still low for Brainstem to read
  • Amplified w/non-inverting amp with gain=2
problems w antenna
Problems w/ Antenna
  • Sensing limited to 1”
  • Bypassed patch antenna
  • Monopole antenna has 4” sensing distance
charging circuit
Charging Circuit
  • MAX713 Fast Charge-Controller
  • Ends fast charge when voltage slope goes negative
cmucam
Cmucam
  • Programming through serial port
  • Tracks Black color
  • Sensitive to light
  • 200ma power consumption
  • Resolution 176x255 RGB color
brainstem gp 1 0
Brainstem gp 1.0
  • Onboard 1 A, 5V power regulation (low dropout)
  • 40 MHz RISC processor
  • 4 servo outputs with 8-bit resolution, variable range, and speed control
  • 5 A/D inputs
  • 5 digital I/O pins with polling and timing functions
  • 4 pins can be used for logic event timing
  • 1MB IIC port • RS-232 TTL serial port
  • 544 bytes of RAM available to user
  • Small size (2.5" square, 0.5" high) and easily stacked
sharp gp2d120
Sharp GP2D120
  • Price : $12.50
  • Accuracy: +/- 0.5cm
  • Disdvantages:
  • Analog Voltage
  • output
  • A/D converter
robot arm
Robot Arm
  • 2 servos

control arm

conclusion
Conclusion
  • Robot works well under conditions listed
  • Next step in robot automation
  • Issues during testing