Tom and Jerry - Solar "Tom" catches RC "Jerry" - Team members: 1. Sander Vocke 2. Sethuraman J 3. Jumana MP 4. Praveen Pujari
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Tom and Jerry
- Solar “Tom” catches RC “Jerry”
Team members:
1. Sander Vocke
2. Sethuraman J
3. Jumana MP
4. Praveen Pujari
Goals • A Solar powered car – TOM that follows a small RC car –JERRY and tries to catch it! • Visual tracking of the moving RC car and try interception. Servo-mounted camera or stationary “omni-camera” • Probably weak magnets attached to both cars in order to perform the “catch”
Block Diagram : servo-mounted cam Excluded: various voltage regulators may be necessary
Indicative: design of robot
• Two powered wheels, one
freely rotating caster wheel:
small turning circle.
• Target RC car encased in a
spherical, colored housing, to
make detection manageable
• Most surface area of robot
dedicated to solar panels
• Use typical hobby supplies to
construct our own large, flat
light-weight chassis
Alternative vision: 360 degree omni-cam Example: http://www.kscottz.com/dewarped-panoramic- images-from-a-raspberrypi-camera-module/ (includes sample video of warped and de- warped 360deg image from raspberry camera) - uses Kogeto Dot lens (Iphone design) - blurry, but adequate video. - Lightweight lens with small form-factor
Alternative vision: 360 degree omni-cam
Another way: point camera at a spherical mirror:
mirror
Example:
https://www.youtube.com/watch?v=z7SwpT9ymb4
- Typically stainless steel – heavy! And blocks the
sun…BubbleScope 360 degree lens
• Better vertical range and quality
than Kogeto Dot and Gopano Micro
• ~35 euros (order from UK)
• Has also been tinkered onto a RasPi
before:
https://www.youtube.com/watch?v
=EecfGJCjog0 (note the sharpness
and range, though lens=dirty)
• Small, lightweight, relatively easy to
mount.Alternative vision: 360 degree omni-cam - Lower power: no moving servo parts - More awareness: simultaneous view of “everything” - We e-mailed the builder of the spherical mirror ESCALADE360 robot. He mentioned they didn’t de-warp the image but instead processed the circular image directly to do object detection.
Processing • Raspberry Pi 2 board: quad-core ARM CPU with Broadcom GPU • Many possibilities for parallel visual processing: multi-core code and GPU through OpenGL ES interface • Cheap (
MPPT for solar panels • No off-the-shelf solution available for high- current solar LiPo charging • Design custom PCB using TI BQ24650 MPPT battery charger IC, which offers external switches/inductor and programmable current settings.
Battery • 3.7V LiPo single cell battery. • Low-capacity version for final version (650mAh), high-capacity version for testing (2200mAh, 5000mAh) • Need a boost converter board for getting 5V to Raspberry Pi, DC motors, possibly a motor controller.
Current Status • Waiting for the final approval of components from instructors • Order the components as soon as possible • Literature survey for control and video processing!
Components list
S.No. COMPONENTS SPEC COST Link
900 Mhz,
1GB
Raspberry LPDDR2, http://www.kiwi-electronics.nl/raspberry-pi-2-
1 pi 2 B ARM v7 €45.00 model-b-1gb
5 Mp,
Pi onchip 2592*1944, http://www.kiwi-electronics.nl/raspberry-pi-
2 camera 30 frames/s €30.00 camera-module?search=pi%20camera
9g micro-
Servo servo, http://www.hobbyking.com/hobbyking/store/
motor for hobbyking, __663__HXT500_6_2g_0_6kg_08sec_Micro_S
3 camera 0.6kg €2.32 ervo.html
DC Motor- http://www.makeblock.cc/dc-motor-25-6v-
DC Geared 25 185rpm/
motors (2) 6V/185RPM
+ Motor http://www.robotshop.com/en/dagu-4-
4 controller €32.00 channel-brushed-dc-motor-controller.html
Lipo 5000mAh
Battery round cell
High @ 40C http://www.hobbyking.com/hobbyking/store/
capacity for charge rate __18562__Turnigy_5000mAh_1S_40C_Lipoly_Components list
S.No. COMPONENTS SPEC COST Link
2200mAh flat cell @ http://www.hobbyking.com/hobbykin
20C discharge rate, 2C g/store/__18558__Turnigy_2200mAh
Lipo Battery Low charge rate _1S_20C_Lipoly_Single_Cell_.html
capacity for car
(two versions: 650mAh round cell @ http://www.hobbyking.com/hobbykin
2200mAh and 15C discharge rate, 5C g/store/__23317__Turnigy_nano_tech
6 650mAh) charge rate €5.74 _650mAh_1S_15c_Round_Cell.html
http://www.hobbyking.com/hobbykin
g/store/__60568__100_500mah_LiPol
y_or_LiIon_1_Cell_Micro_USB_Charge
7 Battery charger 100-500mAh €2.22 r_RU_Warehouse_.html
8 Three wheels hobby shop name mentioned by Mark
9 Two caster wheels
€10.00 hobby shop name mentioned by Mark
Styrofoam plate for According to the size
10 solar cell mounting of the chassis €5.00 hobby shop name mentioned by Mark
11 MPPT BQ24650 + Adapter €3.00 Circuit buildingComponents list
S.No. COMPONENTS SPEC COST Link
to buy at hobby shop,
12 RC tiny little car tiny €20.00 Easily visible mini sized car to chase
Chassis board hobby shop name mentioned by
13 (wood plate) to buy at hobby shop Mark
http://www.miniinthebox.com/nl/lm
2587-high-power-dc-dc-3-5-30v-
DC-DC 3.7v to 5v Boost boost-converter-
14 Voltage regulator converter €6.92 module_p905577.html
Misc items for Wires, connectors,
15 building pliers, foam €25.00 from hobby shops
BubbleScope 360 http://store.bubblepix.com/uk/bubb
16 degree lens from UK, Ebay €40.00 lescope-1.html
Solar cells left-over 12x4cm 25% eff.stable
17 from Solar Team cells €60.00
18 GRAND TOTAL €298.69You can also read
