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Integrated system
Danny will have five modes; jewel detection, navigation to the jewel, jewel retrieval, exit detection and navigation to the exit.
- The robot will begin in jewel detection mode. The CMUcam will rotate 360 degrees on a top mounted turret until the bright green emerald is detected.
- After detection the robot will navigate towards the location of the jewel. On the way, he will avoid obstacles until he reaches the jewel.
- Once at the jewel Danny will retrieve it through the use of a servo-actuated cantilever arm.
- As soon as the jewel is secured, Danny’s CMUcam will again begin scanning for the exit, as designated by an illuminated sign.
- When the exit sign is found, the robot will navigate under it in a similar manner as he did to get to the jewel.
Mobile Platform
Danny is built atop the substructure of the iRobot Roomba Red vacuum cleaner. Advantages of this are prefabricated wheel and battery holding areas. The base of the robot has a large open area in the front which will house the jewel retrieval arm. A circular Lexan platform will be secured parallel to the base. This level will house The CMUcam turret as well as LED and LCD displays.
Actuation
Actuation will be demonstrated in both the CMUcam turret and retrieval arm. The turret will have two rotational degrees of freedom, allowing for both pan and tilt movement. This will be accomplished by dual servo motors. The retrieval arm will have a singular rotational degree of freedom. The arm will have a split down the center that will slide under the jewel. Then, the arm will rotate up, securing the emerald.
Sensors
IR sensors will provide a halo of security around Danny, protecting him from colliding with obstacles. The sensors will detect objects too close to the robot and direct movement away from them.
In the event of IR fail, the robot will feature bump sensors, which will activate upon contact with an object. These will allow Danny to escape in the event of a collision or security guard intervention.
A turret-mounted CMUcam will provide jewel and exit detection through “blob detection” mode. The camera is capable of identifying color and tracking position of that color. This will enable Danny to find and navigate towards the jewel and exit sign.