Robot Surveyor Tool

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Robot Surveyor Tool

• CpE 415 Senior Design
• Fall 2001

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Group 2

• Group Leader
• Andrew DeLiso
• Group Members
• Greg Fior
• Mike Haas
• Dan Okken
• Brian Treacy
• Faculty Advisor
• Dr. Hong Man

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Abstract
The Robot Surveyor Tool (RST) is a robot with a
wireless link to a central computing station to
develop a floor plan for an unknown and possible
hostile environment. This RST system is going to
address the issues of identifying the size and
shape of unknown objects in a two-dimensional
format. The final result of the process will be a
diagram detailing the size and locations of
objects on a map.
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Introduction

• Autonomous robots are becoming increasingly more
  popular
• Robots present a solution for time consuming or
  hazardous jobs
• High cost and complexity of operation has
  hampered previous use of robots
• The recent technology boom has driven down the
  cost of creating and operating autonomous
  machinery

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Project Objectives

• To
• Design
• Build
• Test
• Evaluate
• A functional prototype of the RST

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Robot Design

• Entirely self-contained
• Programmed to travel around the perimeter of a
  room
• No physical contact with walls or obstacles
• Collect information about the layout of the room
• Two-way wireless communication with a PC using
  RF Signals

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PC Software Design

• Communicate with robot over wireless link
• Receive information
• Send commands
• Use information to construct a map of the room
• Create user interface to display the map

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System Design

• Robot Sensor Description
• Sensor Placement
• Odometer Design
• RF Communication
• Robot Algorithm
• PC Mapping Algorithm

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Sensor Description

• Four infrared sensors
• Use for object detection
• 940 nm wavelength
• Range of 4 to 16 inches

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Sensor Placement

• Two forward IR sensors
• One left IR sensor
• One right IR sensor

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Odometer Design

• Use to measure distance traveled
• Each wheel measured independently
• Use of two miniature snap switches
• Each switch triggered by every quarter turn of
  the drive wheels

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RF Communication

• Comprised of two transmitters and two receivers
• Transmits an Amplitude Modulated frequency of 300
  MHz
• Input and output data in serial format
• Range of 50 feet

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RF Data Format

• Baud rate is 1200 bps
• One stop bit
• No parity
• Two byte data frame sent
• First byte contains sensor information
• Second byte contains distance information

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Case 1 Frame sent after the robot has turned.
The sensors will be set to one when the wall is
present within a certain range and set to zero
when there is no wall within the range. The
Turning Flag bit is set to 1
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Case 2 Frame sent after the robot has gone
straight.
The sensors will be set to one when the wall is
present within a certain range and set to zero
when there is no wall within the range. The
Turning Flag bit is set to 0.
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Robot Algorithm

• Robot to find the exterior wall
• Robot to travel parallel to wall at a distance of
  4 to 6 inches
• Robot to travel perimeter in counter-clockwise
  format
• Robot to send sensor and distance information at
  each directional change

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PC Mapping Algorithm

• Translates information transmitted from robot
• Develops map from data
• Creates vector information from data

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Financial Budget
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Financial Budget
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Project Schedule
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Conclusion

• The project has two distinct parts, the robot
  and the computer. The computer is being used as
  a medium for the creation of a map and minor
  direction of the robot. The map is to be
  developed in a two-dimensional format created by
  the footprint of any objects in the area. The
  robot is given the roll of mapping the area and
  relaying information about distances. With the
  current design objectives the project will become
  a success with the predefined time as designated
  by senior design at Stevens Institute of
  Technology Computer and Electrical Engineering
  Department.

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Questions?