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Draft2 (Sensors)

This document provides information on the sensors for a Beer Pong Bot project. It describes two sensors: a sonar sensor that detects distance and provides experimental distance-reading data; and a CMU camera that allows for color tracking of cups to enable panning of a shooting mechanism. The behaviors of the bot are outlined as waiting for a ball, shooting the ball, and repeating the sequence.

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40 views

Draft2 (Sensors)

This document provides information on the sensors for a Beer Pong Bot project. It describes two sensors: a sonar sensor that detects distance and provides experimental distance-reading data; and a CMU camera that allows for color tracking of cups to enable panning of a shooting mechanism. The behaviors of the bot are outlined as waiting for a ball, shooting the ball, and repeating the sequence.

Uploaded by

getbizzy
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as PDF, TXT or read online on Scribd
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Beer Pong Bot: Draft 2 (Sensor Information)

March 27, 2008

Gram Slingbaum

EEL5666 Intelligent Machine Design Laboratory

Instructors: Dr. A. Antonio Arroyo


Dr. Eric M. Schwartz

TAs : Mike Pridgen


Adam Barnett
Sara Keen
Table of Contents

1. Abstract 3

2. Executive Summary 3

3. Introduction 3

4. Integrated System 3

5. Mobile Platform 3

6. Actuation 3

7. Sensors 3

8. Behaviors 4

9. References 4

10. Experimental Layout and Results 4

11. Conclusion 4

12. Documentation 4

13. Appendices 4
Slingbaum 3

Abstract

TBD

Executive Summary

TBD

Introduction

The idea of this project is for Beer Pong Bot to be able to play beer pong.

Integrated System

Beer Pong Bot uses the Atmel128 on the Mavric-IIB board obtained from BD Micro.

Mobile Platform

Actuation

Sensors

There are two sensors used by Beer Pong Bot. The first is an SRF05 Sonar used to detect the

distance the closest cup is to the robot. The sonar sends data to the Mavric-IIb board by sending a

pulse, with the length of the pulse varying by how far the object is from the sonar. By counting clock

cycles that pass while the pulse remains logically high, the distance can be determined experimentally.

The number of clock cycles for various distances are shown in the table below:

Distance (Inches) Sonar Reading


6 599
12 1174
18 1785
24 2391
30 3001
36 3627
42 4256
48 4900
Slingbaum 4

The second sensor used is the CMU Camera developed by Carnegie Melon University. It is a

basic CMOS camera integrated with a micro-controller board that allows it to have several built in

functions. The function used for Beer Pong Bot is the color tracking ability. By using this function, a

servo can be controlled to turn the shooting mechanism to point towards the center of the cups as long

as the cups are the same color. This is important for the robot because the formation of the cups will

not always be in a straight line directly in front of the shooting mechanism so some panning ability is

necessary.

Behaviors

The behaviors will potentially be, waiting for a ball, shooting the ball, and starting sequence

over.

References

Experimental Layout and Results

Conclusion

Documentation

Appendices

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