REEB: Autonomous Drink Retriever Final Presentation

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REEB Autonomous Drink RetrieverFinal
Presentation

• Sarit Patel
• EEL 5666C IMDL
• October 30, 2008

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Topics

• Concept
• Design
• Hardware Solution
• Software Solution
• Demo
• Conclusions and Future Work

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Concept

• Design a robot that will retrieve drinks based on
  a users order.
• Simple interface between user and robot.

4
Design

• Line tracking for navigation.
• RFID ordering system.
• Sonar to detect user within a certain range.
• LCD and LEDs for feedback.
• Servos for movement and actuation.
• Bottle rack to hold different bottles.
• Interrupt driven system.

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Hardware Solution

• Line Tracker
• 2 6-IR Sensor Line Tracking boards
  Forward/Reverse
• RFID Reader
• ID-12 RFID Reader Module w/ antenna
• Easy Serial interface w/ 1-4cm range
• Sonar Sensor
• Maxbotix LV-EZ1 module
• Analog Output 10mV/inch

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Hardware Solution

• LCD
• Simple 2 Row LCD for feedback
• LED
• RGB Led on top of robot used for different status
  indicators
• Servos
• Continuous Rotation Servos for movement
• HS-475HB High Torque Servo for bottle arm

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Software Solution

• Line tracking achieved with equation based
  system.
• RFID tags sorted based on last two bytes of tag
  ID.
• Interrupt driven system Updates servo movements
  and system functions every 20ms.

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Demo
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Conclusions and Future Work

• Robot performs main function correctly.
• Custom environment needed to define behaviors in
  software.
• Improve Line Tracking algorithm to smooth out
  jitters.
• Add multiple RFID stations onto table top with
  wireless link to robot.

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Questions?