Team: The TechniciansApplied Robotic

Security Robot.

Predetermined path.

It will take photos every certain interval of time.

The photos will be transferred to a PC.

Module 1Camera and image

processing

Module 2Physical structure

Module 3Sensors

Module 4Movement and path

Module 5Documentation

Camera and Image Processing

DIGIC II.

5 Megapixel.

4x optical Zoom.

CHDK◦ Free software available for Cannon Power Shot

digital cameras.

◦ It enriches the camera´s capacities allowing to have access to the microprocessor that controls the camera so that it can work as a programable computer.

◦ It allows to programme the camera so that it can take photos every certain interval of time or when it detects movement.

It executes our programs (CHDK).

Great control on the photography´s parameters. (Time of zoom exhibition, f/stop)

@title DEMO de intervalos @param a MINUTOS @default a 0 @param b SEGUNDOS @default b 3 let t=a*60000+b*1000 let x=1 while x<2 sleep t shoot wend end

Programming.

Photographies storage in a PC.

Image processing.

Physical Structure

For the construction of the physical structure we will use a trash can.

Also, we will adapt the traction and space to accommodate the circuitry, battery, camera, etc.

Sensors

Signal acquisition.

Obstacles detection.

Path calibration.

Robot position.

Ultrasonic SRF08

◦ I2C Protocol.

2 sign lines and a common one.

One line indicates the time and the other one is used

for the information exchange.

Information exchange between several devices.

◦ Very used in this type of applications.

5 Volts power supply.

It requires 15mA to work and 3mA while it is not in use.

The SRF08 sensor includes in addition a light sensor that allows to know the level of luminosity using the bus I2C.

Infrared

◦ Sharp gp2d15

◦ Continuous distance reading.

◦ Logical value at the output.

◦ 10cm-80cm (24cm)

Movement and Path

Stepper Motors.

Resolution of 1.8 degrees by step and 2.53 Ohm by inductor.

1.9 V by phase.

.75 A by phase.

The MC3479 is used to control:◦ Speed of draft.◦ Direction.

An additional power stage is required.

Rechargeable sealed battery.

It offers 12 V with a capacity of 7 Ampers-hour.

1.7 Kg of weight.

DEMOQE 128 Freescale card.

The path will be programmable.

A wireless control will be used.

The algorithm will count with path correction using the information of the sensors.

Differential traction will be used.

Documentation

Process of elaboration.

Detailed description of each of the modules.

Design of the user manual.

Use of LaTeX.