„Creating prototype of a robot - Komoro · cashier desk Using smart phone ... AVR Programmer, AVR...

„Creating prototype of a robot

supporting people

in their everyday life”

Julian Żebrecki

Supervised by– Mrs. Ewa Libiszewska

Project supported by EU funds: Mazowiecki program stypendialny dla

uczniów szczególnie uzdolnionych – najlepsza inwestycja w człowieka

w roku szkolnym 2015/2016

Presentation Agenda

Project Objectives

Hardware and Software

Line Follower

Lego Sorter

Shopping Robot

- Main Assumptions

- Final Results

- Work Continuation

Film

Project Objectives

Designing a robot carrying shopping basket and following shopper through a supermarket.

Building mechanical parts of a robot, enabling maneuvering through the market, safely carrying all collected goods to the cashier desk

Using smart phone transmitter and onboard receivers/detectors to locate shopper (basket owner) in the market and find direction of a robot movement

Writing an intelligent computer program enabling robot collision less movement through the market avoiding various obstacles like: shelves, product humps, other shoppers etc.

Objectives Hardware & Software

Program Code

Line Follower

Lego Sorter Shopping Robot

Film

• RoboRobo Kit, Atmega Processor, Rogic Program, Rogic Programming Language,

AVR Programmer, AVR Studio Program, C/C++ Programming Language

• Lego Mindstorms Kit, EV3 Program, EV3 Programming Language

• Arduino Board, Atmega Processor, Arduino Programming Environment, C/C++

Programming Language



Program Code

Line Follower


Film

1. RoborRobo Atmega

2. Arduino Atmega

3. Distance detectors

4. Engine / Servo

5. IR Source

6. IR Detectors

7. AVR Programmer

8. LED

9. Beeper

10. Cables

11. Mechanical Parts

1

2

3

4

5

5

6

7 8

9

10 11



Program Code

Line Follower


Film

Line Follower - RoboRobo

Following a black line on the floor

Avoiding obstacles

Stopping at the horisontal black line


Program Code

Line Follower


Film

Lego Sorter - Mindstorms

Detects and sorts colour balls to 4 different containers

Making voice signals e.g. colour type, job completion


Program Code

Line Follower


Film

Shopping Robot


Program Code

Line Follower


Film

Shopping Robot- Main Assumptions

Shopping

Robot

Basket

Owner

Obstacle

Carrying shopping basket and following shopper through a supermarket.

Avoiding obstacles, following IR signal transmitted by a smart phone carried by

basket owner

IR Transmiter IR Receiver


Program Code

Line Follower


Film

IR signal antena / detector

Gives the information about position of basket owner / robot movement direction

IR Signal

SS

LT PT

3 IR detectors,

SS – front,

LT – left,

PT – right



Program Code

Line Follower


Film

Moving along an

obstacle

Distance corridors.

Making decisions based on

the corridor position


Obstacle

Obstacle

Distance [cm]


Program Code

Line Follower


Film

Distance

measurements

Avoiding obstacles

Shopping Robot- Final Results


Program Code

Line Follower


Film

C/C++ Computer Program

Multiple conditions „if”, „switch case” also loops ”for”, ”while” applied to control

servo engines based on data delivered by distance meters and IR receivers



Program Code

Line Follower


Film

Arduino Atmega

Engine / Servo Controller

IR Receiver

Distance detectors



Program Code

Line Follower


Film

Shopping Robot- Live Presentation


Program Code

Line Follower


Film

Developing robot prtototype: mechanical and software

Running along walls and obstacles, avoiding obstacles

Detecting IR signal from one receiver, making movement

direction decisions



Program Code

Line Follower


Film

Program time optimization

Add more distance detectores for precise movement

Add two additional IR receivers to better calculate

movement direction

Making real size robot based on prototype

Shopping Robot- Work Continuation


Program Code

Line Follower


Film

Questions?

Film Presentation

Watch on YouTube


Program Code

Line Follower


Film

Thank you for your attention

Julian Żebrecki

„Creating prototype of a robot - Komoro · cashier desk Using smart phone ... AVR Programmer, AVR...

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