Pyrobot (Of The Swampibbean) FINAL Presentation Charles M Groom University of Florida ECE Instructors: Dr. A. Antonio Arroyo Dr. Eric M. Schwartz TAs : Ryan Stevens Tim Martin

 PyroBot tracks and seeks Pirate Treasure (colorful objects)  He will not move unless it hears sound, music, or yelling pirates.  Once PyroBot has found the Treasure, it will make a signal with its on board flame thrower  If the Treasure is up side down, PyroBot toggles the flame indicating Pirates are around Objective of robot

 2” x 12” x 24” – laminated, carved, and shaped  Flame thrower  Mast and sails  Panning sonars Physical description

 A Frankenstein of:  - Propane heating torch (flame)  - Marine Grade 12v propane safety solenoid (turn on/off)  - Camping stove (for regulator)  - Backpacking propane (light weight, small)  - Lots of pipe fittings and brazing (very hard to get everything together)  Sparks - My cars ignition system… (yes you can not drive it right now) Flame Thrower

 IP cam (PC)OpenCV XBee back to bot  Color blob array detection, output (x, y) location Special sensor

 For safety and minimal false alarms I couldn’t do just blob tracking (I would be that guy who caught IMDL on fire)  Simple!!! (kinda..) Every other frame I change the threshold value for the color  I compare the location, size, and angles of each color  If all the colors, locations, and sizes are a match, Key fits!!!  Bam! Send out fire command and XY location -> XBEE How I did imaging

 Two sonars on front, panning with help of servos  Zones: int Sonar_left[6], Sonar_right[6];  50 ish ms to get to each zone  L-R Zones 180º ish of each other Sonar Zone_L[3] Zone_L[4] Zone_L[5] Zone_L[6] Zone_L[0] Zone_L[1] Zone_L[2] Zone_R[3] Zone_R[4] Zone_R[5] Zone_R[6] Zone_R[1] Zone_R[2] Zone_R[0]

 Basically a full wave rectifier with a 10 Pt. running ave.  Full wave == fun, ADC output is 0v-3.3v never goes negative -PHD level stuff-  Y=mx+b, y-y1=m(x-x1)  ambient sound == 550 = 50%duty  loud == 1023 = 100%duty -So-  Motor_pwm=(1.9*mic_stuff)-2490;  Linear/simple!!!  Almost instant response (ms) Sound

 Don’t wait till the last min! (shipping, blow stuff up.. Etc.)  My XBEE blew up it cost me almost two weeks of fixes and money  Imaging was time intensive, but Open CV is very powerful! (learn how it works!!)  Questions?? Conclusions