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Sensor Report

Sensor Report. Bradley Morin EEL 5666 Intelligent Machine Design Laboratory March 23, 2006. Project Overview. Helper will perform the following behaviors: Locate an object in the defined area Approach and pick up the object using gripper

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Sensor Report

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  1. Sensor Report Bradley Morin EEL 5666 Intelligent Machine Design Laboratory March 23, 2006

  2. Project Overview Helper will perform the following behaviors: • Locate an object in the defined area • Approach and pick up the object using gripper • Find appropriate box to deposit the object based on the objects color • Drop object into box • Remain within predefined area • Avoid colliding with obstacles

  3. Sensors • Bump Switches/IR Sensors – Obstacle Avoidance • Hamamatsu Photoreflectors – Border Detection

  4. CMUCam • Special Sensor • Used to locate objects and determine color • Microcontroller interfaced with a CMOS camera. • Communicates with MAVRIC board using RS232 port

  5. CMUCam • Get Mean • measure the RGB statistics of an image region • Rmean Gmean Bmean Rdev Gdev Bdev

  6. CMUCam • Track Color • Takes in the minimum and maximum RGB values. • Returns center mass of the object, bounded box that contains the pixels of the current defined color, the number of found pixels, and a confidence ratio.

  7. CMUCam • Lighting Concerns • Auto White Balance On • White LEDs

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