Line following robots Ondřej Staněk [email protected] pocketBot pRobot ostan.
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Transcript of Line following robots Ondřej Staněk [email protected] pocketBot pRobot ostan.
![Page 2: Line following robots Ondřej Staněk ostan89@gmail.com pocketBot pRobot ostan.](https://reader035.fdocuments.us/reader035/viewer/2022062322/56649f555503460f94c78ff6/html5/thumbnails/2.jpg)
![Page 3: Line following robots Ondřej Staněk ostan89@gmail.com pocketBot pRobot ostan.](https://reader035.fdocuments.us/reader035/viewer/2022062322/56649f555503460f94c78ff6/html5/thumbnails/3.jpg)
Infra Red Sensor
IE ID
Signal
![Page 4: Line following robots Ondřej Staněk ostan89@gmail.com pocketBot pRobot ostan.](https://reader035.fdocuments.us/reader035/viewer/2022062322/56649f555503460f94c78ff6/html5/thumbnails/4.jpg)
microcontroller ATMega8-16PU„robot’s brain“
9V electromotor Lego Technic
A guideline sensor module
obstacle sensor (CNY70 + infra LED)
Infrared receiver (remote control)
light emitting diode(signalization)
AA 1,2V NiMHaccumulators
What does the robot consist of?robot’s brain, sensors, efectors, power supply
![Page 5: Line following robots Ondřej Staněk ostan89@gmail.com pocketBot pRobot ostan.](https://reader035.fdocuments.us/reader035/viewer/2022062322/56649f555503460f94c78ff6/html5/thumbnails/5.jpg)
How a robot can follow a guideline
left engine
rightengine
L R
Leftsensor
rightsensor
1) Being on a line…The simplest case is when both sensors are above a guideline and a robot follows it going straight on.
![Page 6: Line following robots Ondřej Staněk ostan89@gmail.com pocketBot pRobot ostan.](https://reader035.fdocuments.us/reader035/viewer/2022062322/56649f555503460f94c78ff6/html5/thumbnails/6.jpg)
How a robot can follow a guideline
left engine
rightengine
L R
Leftsensor
Rightsensor
2) Loosing a line…Approaching a curve, a right sensor looses contact with a line. The robot unclutches its left engine, thereby it begins to turn left to return to the line.
STOP
![Page 7: Line following robots Ondřej Staněk ostan89@gmail.com pocketBot pRobot ostan.](https://reader035.fdocuments.us/reader035/viewer/2022062322/56649f555503460f94c78ff6/html5/thumbnails/7.jpg)
How a robot can follow a guideline
leftengine
rightengine
L RLeftsensor
Rightsensor
3) Outside of a line…If a curve is too sharp (it means a curve radius of the line is smaller than robot’s turning radius), a robot can loose the guideline and it is outside of it. It changes the direction of the engine, which causes the robot to turn towards to the line. The sensors that are placed off axis get closer to the line...
![Page 8: Line following robots Ondřej Staněk ostan89@gmail.com pocketBot pRobot ostan.](https://reader035.fdocuments.us/reader035/viewer/2022062322/56649f555503460f94c78ff6/html5/thumbnails/8.jpg)
How a robot can follow a guideline
left engine
rightengine
Leftsensor
Rightsensor
Left sensor is again in contact with the line
STOP
L R
![Page 9: Line following robots Ondřej Staněk ostan89@gmail.com pocketBot pRobot ostan.](https://reader035.fdocuments.us/reader035/viewer/2022062322/56649f555503460f94c78ff6/html5/thumbnails/9.jpg)
FeCL3
Making a Making a circuit boardcircuit board
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pocketBotpocketBot
![Page 12: Line following robots Ondřej Staněk ostan89@gmail.com pocketBot pRobot ostan.](https://reader035.fdocuments.us/reader035/viewer/2022062322/56649f555503460f94c78ff6/html5/thumbnails/12.jpg)
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Ambient light problem
Id1
Signal
IeId2