The robot's objectives are the following:
1. Follow a line with sharp turns
2. Maneuver through breaks in the line
3. Detect obstacles and manuever around them
4. Identify colors to be able to locate green and aluminum victims.
GOAL: This robot will be built to compete in the 2008 Robocup Junior Rescue competition. In this competition the robot must " follow a black line which twists and turns , avoid obstacles present on the line , and identify green and aluminum tape victims with a flashing lamp". The robot itself will have three main functions making it a 3 in 1 robot .
Lets begin the long process of researching , designing , building, and programming the robot.
Note: Quite a few people have told me that they would probably do only part of this tutorial , and not the entire project. Therefore , I have divided each "part" of the tutorial with its own parts needed list. A I hope you learn something from this tutorial!
The Bill of Materials and Hours Spent can be found here :
After many , many hours of research I decided upon making a prototype version , which would allow me to test out the different concepts which I will need to master before finishing this robot.
I broke down the robot into 5 subsytems: Locomotion , Power , Sensors , Control, and Display.
Summary of Robot Procedure
I made a quick CAD of what my final product should resemble.
After ordering all these parts from various online stores, i put together the first version of my line following robot. The assembling of this version is unimportant , as it was just a testing platform.
Here's a quick video of it. As you can see , it is unable to handle sharp turns and is relatively slow. Also note the crude design and the hotglue everywhere. The completed , plexiglass version of this robot will be faster and more sophisticated.
Here is the list of things which I learned from the prototype version of the robot.
After this I drew up the design of the bottom of the robot.
Before we begin assembling the mount for the line sensors , lets just review how they work. In your QRB1113 sensor there are actually two components, an IR emitter and a phototransistor. The IR emitter LED , as its name implies , emits infrared light which is "invisible" to the human eye. But, a cool trick with IR light is to use a camera, such as a cell phone camera, to see the IR light.
The IR will appear to the camera bluish/ purpleish , while looking ( or not looking) invisible to you. this is very useful when debugging IR circuits Anyway, lets get back on track. The IR LED emits infrared light and the phototransistor will detect the amount of IR light being reflected from the object. Since black objects reflect less light than white objects, the difference can be detected and fed to the microcontroller.
Before we begin building you should have the following tools on hand:
1. Soldering Iron with solder
4. Drill with various bits
5. Phillips screwdriver ( electric or nonelectric)
6. Vise ( optional, but it'll make your life easier)
8. Glue Gun
9. Tablesaw is the best but Jigsaw or Hacksaw is acceptable
You can get a jig saw for cheap here : American Science and Surplus
Go ahead and take an hour or two break. You'll need the energy . Take a walk, watch some TV, or just get some fresh air.
I hope you enjoyed your break. Lets get back to business.
So far I've explained to you how everything will work , but we now have to assemble everything .
Also, in the following instructions there are pictures posted. To enlarge any picture simply right click the picture and then click View Image.
DISCLAIMER: ANYTHING THAT YOU BUILD , WHETHER SEEN ON THIS SITE OR ELSEWHERE, SHOULD BE DONE WITH CAUTION AND WITH THE SAFETY IN MIND. DO NOT USE ANY TOOLS IF YOU ARE NOT FAMILIAR WITH THEIR USE. BY CONTINUING TO READ THIS TUTORIAL AND BY CLICKING THE LINK TO SEE THE ACTUAL INSTRUCTIONS , YOU ARE ACCEPTING RESPONSIBILITY FOR ANY DAMAGE OR INJURY WHICH MAY OCCUR BY FOLLOWING THE INSTRUCTIONS PRESENTED IN THIS TUTORIAL.