Bozooka The projects details are as follows:
Robot consists of: - 2 wheel chair Magnetic motors (run at 12 or 24v, each about 4.5hp+) - 1 RoboteQ 2550 Motor Controller (dual channel) 120 amps per channel - 1- On board 125w power supply (to power Fuzzy MSI 945gm1 MII core 2/2gh w/ 2gb ram - 1- 80GB hdd 7200 rpm - 1- Robotics connection Serializer robot controller with 2- I2C expansions - 2 ZX 1280 Dev Boards
- 1- On board color web camera (wireless) - 6- Max EZ-1 sonar’s
- 6- Sharp GP2D12 IR Sensor
- 1-CMUcam2+ w/ Turret for vision applications
Note: there are other parts, but those relative to programming and to give you an idea of what this project consists of are listed above.
Primarily this robot needs to be versatile, it should be able to switch between various modes. These modes are separated as follows; Manual mode via web GUI similar to the
RoboteQ Roborun interface with a web cam screen, or a Joystick. RC mode which allows the user to control it via RC , and autonomous mode. In autonomous mode it must have also other modes such as, Line following, object following and predetermine route following via GPS and magnetic compass. I must stress that this is a very strong and considerably heavy robot,
and safety is a primary concern. I wish to program in C# with dot Net frame work( I am open to other )
in order to take 4 SRF08 sonar’s in order to avoid obstacles in autonomous mode, and to discontinue movement in remote control mode (in direction of obstacle). These sonar and iR's are located on servos for panning , thus there movement must also be programmed accordingly. This robot must also consist of bumper switches which if triggered, stop the robot and cause it to retrace its last 5 or so seconds of movement In autonomous mode, the line following mode is considerable strait forward, it must follow a line laid out on the floor, using a line tracker (serializer and the ZX 1280 accessory). In object following most probably the more difficult part of this project the robot must follow a pre-determined object , and maintain it’s distance. This task must be done using the on board camera (cu2cam), if necessary a secondary camera may be used. As for the GPS mode I wish to instruct the robot through a map on the computer to follow a specific route, the route will recorded
and re used as a program to run the robot thru.
Height With body and dome; 3’6". Without body and dome; 2’ 2" Diameter With body; 18". Without body; 17" Speed 1 ½ feet/second; three football fields in 10 minutes Motor-wheel range Minimum of 20 miles on a full 4 battery charge Wheel size 13" Diameter Microprocessor Mini Itx 2.2 Mhz processor Memory SDRAM 2 GB Data storage 80GB Disk and 1 GB (Gigabyte) Compact Flash Drive Operating system Windows Xp Programming languages C# ( Visual Basic Express supported as well on the Serializer robot controller board) Microsoft Robotics Studio Communications Wireless 802.11b (Wi-Fi) to Web, PCs, LANs and other robots Connectivity USB, Serial, I2C and Ethernet ports and connectors Robot control Serializer robot controller board Robotics Connection Motor Controllers RoboteQ AX2550 dual channel 120 smart amps per channel Batteries Four 12v33Ah gel cell batteries; 1 electronics, 3 motors (provision for a battery for addition of robot arm) Navigation Map-based way-point navigation, Sensors Wheel encoders, GPS, Compass, Sonar (obstacle avoidance), Infrared, Temperature Wheel encoder Measures/detects approximately 0.157" incremental distance traveled Web connectivity On-board web server for serving up data and overall web accessibility Motor-wheel configuration Two independent drive wheels (differential steering) and two casters (one spring loaded and the other offset from the ground --- able to negotiate door jams and wheel chair ramps) Educational uses C#, programming languages, networking, wireless technology, electronics, mechanical technology Add-ons Voice Synthesizer and Amplified Speaker
Visit my robot space at http://my-robotspace.com