Features:
Navigation: 2 Clarostat optical encoders 128 pulses/rev
quadrature encoded
4 side looking & 1 forward looking Sharp GP2D12 IR range sensors
1 forward looking Sharp GP2D15 IR proximity detector
Processor: Motorola 68HC912B32. Technological Arts
Adapt912 board
8 Mhz. 32K Flash, 1K RAM, 768 bytes EEPROM
Power supply: 14.4 vdc 2000 mAh ( 2 racing car packs)
Motors: 2 12vdc 200 rpm 3.6 KG-gm LMD 18201 H bridges
Candle sensing: Hamamatsu UVtron for general area
detection
Eltec pyroelectric sensor to localize direction. Mounted on RC servo
Extinguisher: Speed 300 electrical model airplane motor with propeller
White circle sensor: QT Optoelectronics QRB 1114 (2 of)
Software: Imagecraft C compiler (ICC12)
approx. 2000 lines of code
22K bytes of code space
200 variables, 400 bytes of RAM used
More Pictures....click on each to enlarge
Here is a right side view. Some of the obvious changes from last years (2001) robot are: use of a camera to locate the candle replacing the previous pyro detector. The camera is connected to a frame grabber which downloads the image into a MiniRoboMind (MRM) board (Motorola 68332) which searches the image for the flame and downloads the coordinates to the main processor over an SPI data bus.
The plastic wheels are replaced with aluminum (first use of my new lathe). The toothbrush casters are replaced with a rolling caster in the front and a spring loaded measuring spoon in the back. These casters were better able to go over the carpeted surfaces in the exper division than the previous toothbrush casters.
This front view shows the camera better and shows how it is mounted high to
see over the propeller if it happens to stop pointed straight up.
An SRF04 sonar is mounted on the front which was used in conjunction with the
camera to stop the robot when within 12 inches of the candle.
This
left side view shows the little black box mounted under the top platform toward
the rear which contains the microphone and circuitry to detect the starting
tone.
Top
view. The MRM is mounted on top of the frame grabber. The yellow
wires are a parallel interface between the frame grabber and the MRM. The
twisted wires are the SPI interface and the red and black are power. The
flat cable is the camera to frame grabber interface.
This
is the bottom looking from the front. The two H-bridges are mounted at the
left rear (of the picture). The right rear is the robot and fan power
switches and some power connectors. The rear caster can be seen
deflected down by its spring.
