Ant: Sensors

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Ant Sensors
Andrew May
EEL 5666 - Intelligent Machines Design Lab
March 22, 2006
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CMUCam

• For color differentiation between red and blue
• My camera points downward at a 45 degree angle, 7
  inches to the ground
• Serial interface to microcontroller
• Needs white LEDs

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CMUCam
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Hamamatsu P5587

• Photoreflector
• For line-tracking
• Continuously firing
• 0 if white
• 1 if black
• Placed 4 mm above ground
• Custom board from Protel 99 (Older version of
  Altium)

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Sharp GP2D12

• Infrared (IR) beam
• For edge detection and as a break beam
• Can be for object avoidance if I dont need sonar

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Devantech SRF05

• Sonar pulse
• For obstacle avoidance because light from cameras
  popping on demo day wont effect this sensor

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Conclusions

• I tested my photoreflectors, IR detectors, and
  sonar rangers as they will be demonstrated
  successfully.
• I used my CMUCam to get data about my robots
  environment.
• My issues include learning how to use a UART for
  the CMUCam communication and incorporating a
  gripper and wheels.