Autonomous Sumo Robot Autonomous Sumo Robot By Scott Skousen
Autonomous Sumo RobotAutonomous Sumo Robot
By Scott Skousen
AgendaAgenda
Brief description of sumo robot contestBrief description of sumo robot contestRobot specificationsRobot specificationsProject goalsProject goalsHardware designHardware designSoftware designSoftware designPreliminary cost estimatePreliminary cost estimateSchedule for completionSchedule for completionQuestionsQuestions
What is Robot Sumo?What is Robot Sumo?
International International competitioncompetitionObjective is to remain Objective is to remain inside the ring while inside the ring while attempting to push or attempting to push or trick your opponent trick your opponent out of the ringout of the ring
Robot SpecificationsRobot Specifications
AutonomousAutonomous20cm x 20cm size limit (L x W)20cm x 20cm size limit (L x W)Mass less than 3kgMass less than 3kgMust start operation 5 seconds after Must start operation 5 seconds after beginning of matchbeginning of matchMust not damage ringMust not damage ringNot designed to damage other robotNot designed to damage other robot
Goals for ProjectGoals for Project
Robot must not go outside of the ring on Robot must not go outside of the ring on its ownits ownMust actively seek out opponentMust actively seek out opponentTough enough to survive competitionTough enough to survive competitionAble to win reasonable pushing contestAble to win reasonable pushing contestBuilt as cheap as possible while remaining Built as cheap as possible while remaining competitivecompetitive
Robot ChassisRobot Chassis
Stomper Viper
Predator Terminator
Basic Hardware Block diagramBasic Hardware Block diagram
ObjectDetectors
Line Detectors
MicroController
MotorDriver
Motors
Motors and WheelsMotors and Wheels
6V gear head motor6V gear head motor100mA 100mA –– 2.0 Amps2.0 Amps186 rpm186 rpm
Green dot compound Green dot compound that sticks to the ring that sticks to the ring like gluelike glueGreat tractionGreat traction
Motor DriversMotor Drivers24 Amps24 AmpsVery easy to useVery easy to useExpensive ($69.95)Expensive ($69.95)Need two of themNeed two of them
3 Amps3 AmpsPWM controlPWM controlCheap (free)Cheap (free)Need six of themNeed six of them
Hitec SP-560
Allegro 3959 PWM Motor Driver
Object DetectionObject Detection
InfraredInfrared UltrasonicUltrasonic
IR Object DetectionIR Object DetectionProsPros
CheapCheapEasy to useEasy to useGood range (4 feet)Good range (4 feet)
ConsCons
Sensitive to changes Sensitive to changes in ambient lightin ambient lightReadings vary with Readings vary with color of objectcolor of objectAffected by heat of Affected by heat of objectobjectMain regret of Main regret of previous designersprevious designers
Ultrasonic Object DetectionUltrasonic Object Detection
ProsPros
ReliableReliableGood range (9 feet)Good range (9 feet)Easy to useEasy to use
ConsCons
ExpensiveExpensiveMore programming More programming involvedinvolvedNot great with “fuzzy” Not great with “fuzzy” objectsobjects
Line DetectionLine Detection
Extremely accurateExtremely accurateAdjustable for varying Adjustable for varying light conditionslight conditionsEasy to useEasy to use
Microprocessor RequirementsMicroprocessor Requirements
Needs at least 16 I/O pinsNeeds at least 16 I/O pinsEnough memory for program storageEnough memory for program storagePWM output for motor controlPWM output for motor controlEasy to program (no special programming Easy to program (no special programming devices)devices)InexpensiveInexpensive
Microprocessors ConsideredMicroprocessors Considered
PicPic68HC1168HC11Basic Stamp 2pBasic Stamp 2p
Basic Stamp 2p24Basic Stamp 2p24
Has 16 I/O pinsHas 16 I/O pinsPWM output for motor controlPWM output for motor controlPlenty of program memory (16K)Plenty of program memory (16K)Only need a serial cable for programmingOnly need a serial cable for programmingPolling capabilitiesPolling capabilitiesAlready have oneAlready have one
Hardware Block DiagramHardware Block DiagramLeft
Drivers
BS2P
IR Sensors
UltrasonicSensors
Basic StampMicrocontroller
Motors
RightDrivers
System LayoutSystem Layout
Basic Stamp
Ultrasonic SensorsMotor Drivers
IR Line Detectors
Top View
BS2P
DB9
System LayoutSystem Layout
MotorsInside
Chassis
Batteries
DB9Connection
IR LineDetectors
UltrasonicSensors
Microcontroller And other electronics
Side View
ScoopScoop
Drop scoop after 5 second delay
Software AlgorithmsSoftware Algorithms
Search and attackSearch and attackSearch and runSearch and runRandom movementRandom movement
Search and AttackSearch and Attack
Useful when opponents robot is weakUseful when opponents robot is weak
Locate opposing robotLocate opposing robotCharge robotCharge robotAttempt to push out of ringAttempt to push out of ring
Search and Attack Flow ChartSearch and Attack Flow Chart
Search and RunSearch and Run
Useful when overpowered by other robotUseful when overpowered by other robot
Locate opponentLocate opponentRun awayRun awayHope that other robot makes a mistake Hope that other robot makes a mistake and falls out of ringand falls out of ring
Search and Run Flow ChartSearch and Run Flow Chart
Random MovementRandom Movement
Used when object detectors aren’t workingUsed when object detectors aren’t working
Move forward until line is detectedMove forward until line is detectedTurn predetermined amountTurn predetermined amountMove forward until line is detectedMove forward until line is detected
Random Movement Flow ChartRandom Movement Flow Chart
Which Algorithm?Which Algorithm?
Decided to use all threeDecided to use all threeWill load program based on opponentWill load program based on opponent
Preliminary Cost EstimatePreliminary Cost Estimate
$2.44$0.614DigikeyMolexWM-4201-ND3 pin connectors for IR sensor
$1.08$0.274DigikeyMolexWM-2001-ND3 pin header for IR sensors
$3.04$0.764DigikeyMolexWM-4202-ND4 pin connectors for ultrasonic
$1.32$0.334DigikeyMolexWM-2002-ND4 pin headers for ultrasonics
$8.76$1.466DigikeyMill-MaxED58243-ND24 pin sockets for motor driver
$1.73$1.731DigikeyMill-MaxED58246-ND24 pin socket for Basic Stamp
$79.00$79.001ParallaxParallaxBS2P24Basic Stamp BS2P
$19.50$3.256Allegro MicroAllegro Micro.A3959Motor Drivers
$59.80$14.954AcronameOptekSLD-01IR Line Sensor
$107.80$26.954AcronameDevantechSRF04Ultrasonic Sensor
$18.00$6.003LynxmotionLynxmotionHUB-01Hubs
$54.00$18.003LynxmotionLynxmotionTSR-01Delux Sumo Tires
$114.00$19.006LynxmotionHsiangGHM-01Gearhead Motors
$25.00$25.001LynxmotionLynxmotionCP-01Predator Chasis
TotalCostQtyVendorManufacturerPart NumberDescription
Preliminary Cost EstimatePreliminary Cost Estimate
$561.92Total
$18.99$18.991Radio
ShackRadio Shack23-440Battery Charger
$27.98$13.992Radio
ShackNikko23-3317.2 Volt Battery
$5.00$5.001Home
DepotN/AN/AMisc screws
$3.89$3.891Radio
ShackN/AN/AWire
$2.99$2.991N/AN/APlexiglass 1'x1'
$3.98$1.992Radio
ShackRadio Shack276-150PC Board
$1.68$0.842DigikeyLumex67-1316-NDPC mount LED
$1.94$1.941DigikeyAMPA23305-NDDB9 connector
TotalCostQtyVendorManufacturerPart NumberDescription
Gantt ChartGantt Chart
30Test and debug11
40Complete final code10
2Retest after mounting9
30Mount HW to chassis8
2Test motor drivers7
2Test ultrasonics6
2Test IR sensors5
3Write test code4
15Assemble test circuits3
3Purchase parts2
40Detailed HW design1
FTHWTMFTHWTMFTHWTMHoursTask NameID
Week of Dec 30Week of Dec 23Week of Dec 16
Gantt ChartGantt Chart
30Test and debug11
40Complete final code10
2Retest after
mounting9
30Mount HW to
chassis8
2Test motor drivers7
2Test ultrasonics6
2Test IR sensors5
3Write test code4
15Assemble test
circuits3
3Purchase parts2
40Detailed HW design1
FTHWTMFTHWTMFTHWTMHoursTask NameIDWeek of Jan 20Week of Jan 13Week of Jan 6
??Questions????Questions??