BABY DUCK Chenlu Sun MAE. IDEA A baby duck looking for her mom Functions:  Basic motion  Obstacle avoidance  Distance keeping  Color tracking.

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Presentation transcript:

BABY DUCK Chenlu Sun MAE

IDEA A baby duck looking for her mom Functions:  Basic motion  Obstacle avoidance  Distance keeping  Color tracking

LAYOUT

STRUCTURE Micro Controller Unit ( MCU ) Sensors Human feedback Communication Motors

MICRO CONTROLLER UNIT (MCU) Atmel Xmega 128A1

SENSORS Webcam Sonar Photoresistor

SENSORS - WEBCAM iPhone: iOS 6 App Laptop: OpenCV Visual Studio 2012 IP address Video capture

SENSORS - WEBCAM

SENSORS - SONAR TC  Sonar rigger signal IO port input interrupt M(L/R) { Read TC M(L/R)_Distance = average of 20 history data M(L/R)_Distance > 800  Obstacle detected } If (M_Detected) { Slow down or back If L_Distance > R_Distance + ∆, turn left If R_Distance > L_Distance + ∆, turn right } If (L_Detected), turn right If (R_Detected), turn left M L R

SENSORS - PHOTORESISTOR Dark Beep Stop ADC problem

HUMAN FEEDBACK LED  Show status of three sonar sensors  If M ( L / R ) _Detected, turn M ( L / R ) _LED on

COMMUNICATION Blue Tooth Built-in Blue Tooth Blue Tooth Slave Module

MOTORS Two motors  Rear-wheels driving  speed control  Front-wheel turning  Work with gears  position control Motor driver IC  Dual drivers  PWM input – easy control × 2 +

THIS IS NOT THE END OpenCV Atmel Spark Fun T-Tech webcam START Lowe’s

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