DEVICES
Presentation of the HardwarePlatform:
|
Hardware |
Description |
|
Four independent axes of motions (motors/wheels). |
Defines the installment of motors to every wheel of the robot, 4 in total. This enables 4WD differential drive kinematic model support. |
|
2 or 4 motor controllers |
Implementation of the 4WD differential drive kinematic model. In order to achieve cost reduction the motors will be controlled in couples, at each side of the platform. |
|
Robotic base platform. |
Integration of embedded boards, sensors, effectors, and power management circuits |
|
Integration of position/velocity encoders to the motors. |
The platform will support position/velocity encoders for every motor in order to be able to correct the errors in the robot motion. |
Sensors:
|
Sensor |
Number |
Description |
|
Distance Sensor (ultrasonic): HC-SR04 Ultrasonic Range Finder. |
2 |
Two ultrasonic distance sensors with at least 2 meter measurement range. |
|
Distance Sensor (InfraRed): Infrared Proximity Sensor Short Range – Sharp GP2Y0A41SK0F. |
4 |
Two IR sensors for short and two for long distance measurements. |
|
Distance sensor laser time-of-flight: VL53L1X Time of Flight (ToF) Sensor. |
1 |
One distance sensor time-of-flight, with high frequency measurements capability. |
|
Environment temperature sensor: BME680 Air Quality, Temperature, Pressure, Humidity Sensor Breakout Board. |
1 |
One temperature sensor for indoors environment temperature measurements. |
|
Pressure sensor: BME680 Air Quality, Temperature, Pressure, Humidity Sensor Breakout Board. |
1 |
One pressure measurement sensor. |
|
Humidity Sensor: BME680 Air Quality, Temperature, Pressure, Humidity Sensor Breakout Board. |
1 |
One humidity sensor for indoors environment. |
|
3D Compass: SparkFun 9-DoF Sensor Stick. |
1 |
One 3D compass to measure the angle of the robot’s in the 3D space so as to enable changes in the robot’s orientation. |
|
3-axis accelerometer: SparkFun 9-DoF Sensor Stick. |
1 |
One accelerometer sensor to measure the acceleration of the TekTrain device. |
|
3-axis gyroscope: SparkFun 9-DoF Sensor Stick. |
1 |
One gyroscope to measure the angular velocity and for orientation assessment. |
|
Microphone system: Adafruit Mini USB Microphone |
1 |
One system of microphones to capture sounds from the robot’s environment. |
|
RGB Camera: Raspberry Pi 8MP Camera board v2 |
1 |
One RGB camera with appropriate resolution capabilities for the required machine learning algorithms of the project. |
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Tact sensor: Tact Switch 12x12mm 7.3mm + Cap for Tact Button |
10 |
Ten tact sensors that will be used either as state changing buttons or for collision detection. |
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Line following sensor (line following): Cytron Line Sensor. |
1 |
One line following sensor that will be integrated beneath the platform, which enables the robot to follow lines in the floor. |
|
Position/velocity encoders on the wheels |
4 |
Four position/velocity encoders on the wheels in order to enable position errors detection and provide odometry data. |
Effectors:
|
Effector |
Number |
Description |
|
Platform motors: DFRobot 6V,180rpm Micro DC Geared Motor with Back Shaft. |
4 |
Four motors, each integrated in every wheel. |
|
RGB Leds: NeoPixel Digital RGB LED. |
20 |
Programmable LEDs with adjustable color and luminous intensity. |
|
Sound speaker: Adafruit Mini External USB Stereo Speaker. |
1 |
One sound speaker for robot sounds and messages. |
|
Screen: Pi Display 4″ HDMI 800x480 IPS Resistive |
1 |
One screen for videos and robot emotion illustration. |
|
Pan-Tilt mechanism: Pan/Tilt Bracket Kit. |
1 |
One Pan-Tilt mechanism to enable camera motion. |