“little homie” presentation jesse martin 12/04/02 intelligent machine design lab
TRANSCRIPT
“Little Homie” Presentation
Jesse Martin
12/04/02
Intelligent Machine Design Lab
Overview
Application Sensors SOFTWARE Pitfalls Conclusion
Application
What I said it would do…. Autonomously take pictures of things that is
“interesting” Robot will have a rich UI from an onboard Pocket
PC Pictures taken will be stored on the pocket PC
where they can be viewed, emailed, or sent to a PC
Application
What Little Homie actually does… Take high resolution images of people (not
necessarily interesting people) Up to 1248 x 960 pixels
Images are stored on 32 mb Flash where they can be transferred to a PC via USB
Provide the user with a rich UI via Pocket PC On board diagnostics tool
Sensors
2 Sharp GPD212 IR 2 Whisker Bump
switches Aiptek Pencam HVW Technologies
PIR Sensor
PIR Sensor
Advantages Cheap!! Cost only
$10.95 Neat Fresnel Lens Only Three Lines
Disadvantages Digital If platform moves, you
get unreliable readings
CMUcam
Originally had plans on using the CMUcam to take pictures but…
Takes about 4.8 sec to transmit small image over serial port at 115k baud
My microprocessor doesn’t even support that speed Therefore, on my uP, it would take about 15 sec
Images aren’t buffered!
CMUcam
What is this????
Steady Picture @ 313 x 285
CMUcam
Too low quality; unreliable results Solution…..
Aiptek Pencam!
Aiptek Pencam
32 mb Flash can store 140 pictures Small Low Power 1248 X 960 resolution Can take video
Interfacing Pencam
Just need to connect wires from the Pencam’s buttons to a microprocessor controlled relay
Aiptek Pencam
CMUcam
Pocket PC Software
Main Menu Control Panel Actuation Calibration Test Camera Take Pictures (View Pictures is
disabled)
Pocket PC Software
Control Panel Allows you… Test sensors Test motors Test Servos Obstacle Avoid
Pocket PC Software
Actuation Calibration Allows you to change
each motor’s values to make the robot go straight or turn in the manor you want it too
Pocket PC Software
Test Camera Allows you to…
Turn on Camera Take a Picture Clear Contents on
camera
Pocket PC Software
Take Pictures Main Program
Pitfalls
Caster Wheel Would always get stuck so platform couldn’t go
straight Solution: Replaced it with a stub
Interfacing CMUcam Couldn’t get clear images from CMUcam Max baud rate on uP too slow Solution: Replaced CMU cam with Aiptek Pencam
Conclusion
Orginal vision for Little Homie was “Pie in the Sky”
Total Cost over $694.63 (not including PPC)
$73.30 in shipping $109.00 wasted toward CMUcam Burned out many IRs Bought wrong items and vendor wouldn’t take back
Conclusion
As of right now, 1,462 lines of code has been written
Many more lines are hidden
Conclusion
Any Questions???