Group:   SIUC:IEEE

Competition:   IEEE Robotics Competition Region 5 Conference

Due Date:   19-Apr-07

Purpose:   To design and build a small autonomous robot that can visually detect, navigate to, manipulate and deliver color-coded cans to color-coded areas.

Description:   Robot is constructed of VEX Robotics Systems parts, will be controlled by an FPGA and use a conveyor-belt system to pick up and deliver cans. 

Sub-Systems:

Drive-Train:   2-wheel drive w/ 3" powered wheels in rear and ball-casters in front.

Frame:   VEX Robotics Systems steel frame members.  Requires little machining.

Electronics:

 Control:    Consists of an FPGA with appropriate software.  Robot will be primarily autonomous.

 Sensors:   Color Camera (CMUcam1), Ultrasonic Sensor (PING), 2 photo-sensors, 6 switches.

 Power Regulation:   Powered by 16 AA NI-Mh batteries delivering 9.6V w/ approx 3 Amp-Hours of current.  Have to provide series of voltages:  5V, 6V, 7.8V, and 9V

Mechanisms:

 Pickup/Delivery System:  Vertically oriented Conveyor Belt System powered by 2 motors.

Budget:  <$500   

Weight:  50lbs. max

Size:  16”x16”x36” tall

Team:

David Gitz

Michael Welling

George Wyatt

Shawn Muir

Main Obstacles:   

-Implementing FPGA design

-Camera system to efficiently interpret color values and pass onto Control system

-Ensure pickup/delivery system is efficient and consistent.

-Not enough time for complete evaluation.

Contingency Plan:

A)  Use a MicroChip PIC for controller.

B)  Use a PSOC for a controller.