26-03-2014, 04:13 PM
Autonomous Object Sorting Robot
[attachment=60490]
Abstract
In many situations, autonomous robots can provide effective solutions to menial or
dangerous tasks. In this case, it is desirable to create an autonomous robot that can identify
objects and relocate them if the object meets certain criteria. Obviously, when dealing with a
large number of objects, this is a very menial task. This is an excellent application for a robot of
this type. In this case, to keep costs and design complexity low, the robot is designed around the
iRobot Create platform and uses several different sensors to collect information about the robots
environment to allow the robot to react accordingly.
Functionality of Autonomous Robot
1. Navigate 5’ x 10’ table without getting stuck in pockets
2. Identify desired ball locations using ultrasonic signals
3. Obtain status information through IR signal
4. Capture balls, identify color, and release if not correct color within 10 seconds
5. Move ball in to closest pocket if identified as correct
6. Avoid other robot and walls, as well as avoid sinking black ball early
Conceptual Design
A main microcontroller will handle the behavior of the robot using input from peripheral
microcontrollers that will handle location and object information. Another peripheral
microcontroller will control the arm used to capture balls, as well as record information from
color sensor mounted inside a cup at the end of the arm. All circuit boards and assemblies will
be mounted to robot via an aluminum plate mounted on standoffs in pre-tapped locations on
robot.
[attachment=60490]
Abstract
In many situations, autonomous robots can provide effective solutions to menial or
dangerous tasks. In this case, it is desirable to create an autonomous robot that can identify
objects and relocate them if the object meets certain criteria. Obviously, when dealing with a
large number of objects, this is a very menial task. This is an excellent application for a robot of
this type. In this case, to keep costs and design complexity low, the robot is designed around the
iRobot Create platform and uses several different sensors to collect information about the robots
environment to allow the robot to react accordingly.
Functionality of Autonomous Robot
1. Navigate 5’ x 10’ table without getting stuck in pockets
2. Identify desired ball locations using ultrasonic signals
3. Obtain status information through IR signal
4. Capture balls, identify color, and release if not correct color within 10 seconds
5. Move ball in to closest pocket if identified as correct
6. Avoid other robot and walls, as well as avoid sinking black ball early
Conceptual Design
A main microcontroller will handle the behavior of the robot using input from peripheral
microcontrollers that will handle location and object information. Another peripheral
microcontroller will control the arm used to capture balls, as well as record information from
color sensor mounted inside a cup at the end of the arm. All circuit boards and assemblies will
be mounted to robot via an aluminum plate mounted on standoffs in pre-tapped locations on
robot.